An image-based power transmission overhead line channel hidden danger alarm filtering method

Abstract

The present application belongs to the field of transmission line online monitoring, and more particularly to a kind of image-based transmission overhead line passage hidden danger alarm filtering method.The method includes obtaining visualized photographed picture and manually drawing polygon protection zone, the polygon protection zone is divided into effective protection zone and invalid protection zone;According to the coordinate set C i Of the n endpoints of the polygon protection zone obtained in sequence, and the left lower vertex and the right upper vertex of the identified rectangular alarm box;According to the coordinate set C i And the left lower vertex and the right upper vertex of the rectangular alarm box, the positional relationship between the polygon protection zone and the rectangular alarm box is judged;Filter the alarm according to whether the polygon protection zone is effective protection zone or invalid protection zone.The present application solves the problem that the number of hidden danger alarms identified in the prior art is also increasing, the work pressure of manual secondary confirmation is also increasing, causing the difficulty of monitoring and operation.

Description

Technical Field

[0001] This invention belongs to the field of online monitoring of power transmission lines, and more specifically, relates to an image-based method for filtering alarms of potential hazards in overhead power transmission line corridors. Background Technology

[0002] With the increasing demand for electricity from various industries, the length of power transmission lines is also growing rapidly, and overhead lines are widely distributed, making the safety of overhead line corridors particularly important. Visual monitoring of overhead power transmission lines has been widely used as an important safety assurance method. By using artificial intelligence algorithms, it can accurately identify potential hazards near overhead line corridors, which can reduce the workload of inspection and maintenance to a certain extent.

[0003] Chinese patent document CN113345019A discloses a method, device, and medium for ranging potential hazards in power transmission line corridors. The method includes acquiring two-dimensional image data and three-dimensional point cloud data of the power transmission line corridor; obtaining two-dimensional location information of the potential hazard target based on a target segmentation network model; if the two-dimensional location information of the potential hazard target is within a preset three-dimensional protection area of ​​the corridor, mapping the two-dimensional location information of the potential hazard target into the three-dimensional point cloud data through a pre-set ground data mapping model to obtain the three-dimensional coordinate location information of the potential hazard target; and obtaining the distance information between the potential hazard target and the conductor based on the three-dimensional coordinate location information of the potential hazard target and a preset conductor data mapping model.

[0004] In summary, as the number of visualization devices continues to grow, the number of identified hazard alarms is also increasing, and the workload of manual secondary confirmation is also increasing, causing difficulties in monitoring and maintenance, and lacking a method to filter hazard alarms. Summary of the Invention

[0005] The present invention aims to overcome at least one of the defects of the prior art and provide an image-based method for filtering alarms of potential hazards in overhead power transmission line channels.

[0006] The detailed technical solution of this invention is as follows:

[0007] To address the aforementioned technical problems, this invention provides an image-based method for filtering alarms of potential hazards in overhead power transmission line corridors. This method can specifically define protection zones based on images captured by a visual monitoring device and the corridor scene of the overhead line, and intelligently filter alarms outside the protection zones.

[0008] To achieve the above objectives, this invention provides an image-based method for filtering hazard alarms in overhead power transmission line corridors, comprising the following steps:

[0009] S1: Obtain the image captured by the visual camera and manually draw a polygonal protection zone, dividing the polygonal protection zone into an effective protection zone and an invalid protection zone;

[0010] S2: Obtain the coordinate set C of the n endpoints of the polygonal protection zone according to the connection order of the polygonal protection zone. i And to obtain the lower left and upper right vertices of the identified rectangular alarm box;

[0011] S3: Based on coordinate set C i Determine the positional relationship between the polygonal protected area and the rectangular alarm box using the lower left and upper right vertices of the rectangular alarm box;

[0012] S4. When the polygonal protection is an effective protection zone, if the rectangular alarm box is outside the effective protection zone, filtering will be performed; if the rectangular alarm box is not outside the effective protection zone, a normal alarm will be triggered.

[0013] When the polygon protection is an invalid protection zone, if all alarm frames are within the invalid protection zone, filtering will be performed; if not all alarm frames are within the invalid protection zone, a normal alarm will be triggered.

[0014] Step S3 specifically includes:

[0015] S31. Obtain the coordinate set C i {p1(x1, y1), p2(x2, y2)...p i (x i y i The lower left vertex M(x) of the identified rectangular alarm box. m ,y m ) and the top right vertex N(x) n ,y n );

[0016] S32. Compare coordinate set C sequentially. i The coordinates of the i points relative to the bottom left vertex M and top right vertex N of the rectangular alarm box are as follows:

[0017] 1) If set C i There exist s points P(x,y) such that x m <x<x n And y m <y<y n When i = s, then set C i All points are within the rectangular alarm box, meaning the polygonal protection area is within the rectangular alarm box.

[0018] 2) When i>s and s≠0, then C i The central part of the alarm point is within the rectangular alarm frame, meaning that the polygonal protection area and the rectangular alarm frame partially overlap and intersect.

[0019] 3) When s = 0, then C iIf all points are outside the rectangular alarm frame, then the polygonal protection area either includes the rectangular alarm frame or is separate from the rectangular alarm frame.

[0020] If situation 3) occurs, then it is necessary to further determine whether the polygonal protection area contains the rectangular alarm frame or whether the polygonal protection area is separate from the rectangular alarm frame.

[0021] According to a preferred embodiment of the present invention, step 3) specifically includes:

[0022] 31) Calculate the coordinates Q(x) of the center point of the rectangular alarm box. q ,y q );

[0023]

[0024]

[0025] 32) According to Q(x) q ,y q Obtain a straight line L with a slope of 1. q1 ;

[0026] L q1 =x'+b q1 (3);

[0027] Among them, b q1 For line L q1 The intercept;

[0028] 33) Obtain C according to the order of the connections. i Given a set of two adjacent endpoints, find the lines L1, L2...L... that form the line connecting the two adjacent endpoints. i The slopes k1, k2, ..., k i and intercepts b1, b2...b i ;

[0029]

[0030] 34) Obtain lines L1, L2...L in sequence. i With line L q1 The intersection point T1(x) 11 ,y 11 ), T2(x 22 ,y 22 ...T i (x ii ,y ii );

[0031] 35) Determine the intersection points T1, T2...T in sequence. i Are they on lines L1, L2...L? iBetween the two vertices:

[0032] If present, obtain the coordinates of the intersection point;

[0033] If not, then it was not passed through, and ultimately L is obtained. q1 The set of intersection points V{V1(x v1 y v1 V2(x) v2 y v2 )......V v (x v y v )};

[0034] 36) According to Q(x) q ,y q Obtain a straight line L with a slope of -1. q2 :

[0035] L q2 =x+b q2 (5);

[0036] And repeat steps 33) to 35) to obtain L. q2 The set of intersection points U{U1(x u1 y u1 ), U2(x u2 y u2 )......U u (x u y u )};

[0037] 37) Define a straight line L with a slope of 1. q1 A straight line L with r1 intersection points with the lines connecting its two adjacent endpoints and a slope of -1. q2 The number of intersections of the lines connecting the two adjacent endpoints is r2:

[0038] If r1 = 0 and r2 = 0, then the line L q1 Straight line L q2 The lines connecting the two adjacent endpoints do not intersect, meaning the polygonal protection zone is separated from the rectangular alarm frame;

[0039] If r1≥1 or r2≥1, then the line L q1 Straight line L q2 If the lines connecting the two adjacent endpoints intersect, then further determine L. q1 The set of intersection points V{V1(x v1 y v1 V2(x) v2 y v2 )......V v (x v y v)} and L q2 The set of intersection points U{U1(x u1 y u1 ), U2(x u2 y u2 )......U u (x u y u )} and center point Q(x q ,y q Positional relationship:

[0040] If x in set V v1 x v2 ......x v and x in set U u1 x u2 ......x u All are greater than x q or less than x q If the intersection points are all on one side of the center point Q, that is, the intersection points are all on the left or right side of the center point, that is, the polygonal protection area is separated from the rectangular alarm box.

[0041] If x in set V v1 x v2 ......x v or x in set U u1 x u2 ......x u There exists x j Greater than x q And there exists x k Less than x q The intersection points are distributed on both sides of the center point Q, that is, the rectangular alarm frame is within the polygonal protection area.

[0042] S4 specifically includes:

[0043] When the polygonal protection area is a valid protection area, and the valid protection area and the rectangular alarm box partially overlap or intersect, or the rectangular alarm box is contained within the valid protection area, then this alarm is considered a valid alarm.

[0044] When the polygonal protection area is a valid protection area, and the valid protection area is separated from the rectangular alarm frame, the alarm is considered an invalid alarm and is filtered out.

[0045] When the polygonal protection area is an invalid protection area, and the rectangular alarm frame and the polygonal protection area partially overlap or intersect, or the rectangular alarm frame is separated from the invalid protection area, then this alarm is considered a valid alarm.

[0046] If a polygonal protected area is an invalid protected area, and a rectangular alarm box is contained within the invalid protected area, then the alarm is considered an invalid alarm and is filtered.

[0047] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0048] This invention provides an image-based method for filtering alarms of potential hazards in overhead power transmission lines. It specifically distinguishes between effective protection zones and ineffective protection zones, and dynamically analyzes whether potential hazards will threaten the safety of overhead lines by judging the overlap between the protection zone and the alarm identification box. This filters out most invalid alarms and improves the work efficiency of line maintenance personnel. Attached Figure Description

[0049] Figure 1 This is a schematic diagram of the alarm filtering method in Embodiment 1.

[0050] Figure 2 This is a schematic diagram of the polygonal protection area within the rectangular alarm frame in Embodiment 1.

[0051] Figure 3 This is a schematic diagram showing that the polygonal protection area and the rectangular alarm frame in Embodiment 1 partially overlap and intersect.

[0052] Figure 4 This is a schematic diagram of the lines in Embodiment 1 without intersections.

[0053] Figure 5 This is a schematic diagram showing that the lines in Embodiment 1 intersect and are on the same side.

[0054] Figure 6 This is a schematic diagram of the lines in Embodiment 1 intersecting at different sides.

[0055] Figure 7 This is a detailed flowchart of the alarm filtering method in Embodiment 1. Detailed Implementation

[0056] The present disclosure will be further described below with reference to the accompanying drawings and embodiments.

[0057] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of this disclosure. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains.

[0058] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this disclosure. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0059] Where there is no conflict, the embodiments and features described herein can be combined with each other.

[0060] Example 1

[0061] This embodiment provides an image-based method for filtering hazard alarms in overhead power transmission line corridors, such as... Figure 1 As shown:

[0062] S1: Obtain the image captured by the visual camera and manually draw a polygonal protection zone; divide the polygonal protection zone into an effective protection zone and an invalid protection zone.

[0063] S2: Obtain the coordinate set C i And the coordinates of the rectangular alarm box;

[0064] Obtain the coordinate set C of the n endpoints of the polygonal protection zone according to the connection order. i And obtain the lower left and upper right vertices of the identified rectangular alarm box.

[0065] S3: Based on coordinate set C i Determine the positional relationship between the polygonal protected area and the rectangular alarm box using the lower left and upper right vertices of the rectangular alarm box.

[0066] Specifically, step S3 includes:

[0067] S31. Obtain the coordinate set C i {p1(x1, y1), p2(x2, y2)...p i (x i y i The lower left vertex M(x) of the identified rectangular alarm box. m ,y m ) and the top right vertex N(x) n ,y n );

[0068] S32. Compare coordinate set C sequentially. i The coordinates of the i points relative to the bottom left vertex M and top right vertex N of the rectangular alarm box are as follows:

[0069] 1) If set C i There exist s points P(x,y) such that x m <x<x n And y m <y<y n When i = s, then set C i All points are within the rectangular alarm frame, meaning the polygonal protected area is within the rectangular alarm frame, such as... Figure 2 As shown, at this time i = s = 7;

[0070] 2) When i>s and s≠0, then C i The central point is located within the rectangular alarm frame, meaning that the polygonal protected area and the rectangular alarm frame partially overlap and intersect, such as... Figure 3 As shown, at this time i = 7, s = 1;

[0071] 3) When s = 0, then C i If all points are outside the rectangular alarm frame, then the polygonal protection area either includes the rectangular alarm frame or is separate from the rectangular alarm frame.

[0072] If situation 3) occurs, then it is necessary to further determine whether the polygonal protection area contains the rectangular alarm frame or whether the polygonal protection area is separate from the rectangular alarm frame.

[0073] Specifically, 3) includes:

[0074] 31) Calculate the coordinates Q(x) of the center point of the rectangular alarm box. q ,y q );

[0075]

[0076]

[0077] 32) According to Q(x) q ,y q Obtain a straight line L with a slope of 1. q1 ;

[0078] L q1 =x'+b q1 (3);

[0079] Among them, b q1 For line L q1 The intercept;

[0080] 33) Obtain C according to the order of the connections. i Given a set of two adjacent endpoints, find the lines L1, L2...L... that form the line connecting the two adjacent endpoints. i The slopes k1, k2, ..., k i and intercepts b1, b2...b i :

[0081]

[0082] 34) Obtain lines L1, L2...L in sequence. i With line L q1 The intersection point T1(x) 11 ,y 11 ), T2(x 22 ,y22 ...T i (x ii ,y ii );

[0083] 35) Determine the intersection points T1, T2...T in sequence. i Are they on lines L1, L2...L? i Between the two vertices;

[0084] If present, obtain the coordinates of the intersection point;

[0085] If not, then it was not passed through, and ultimately L is obtained. q1 The set of intersection points V{V1(x v1 y v1 V2(x) v2 y v2 )......V v (x v y v )};

[0086] Specifically, determine whether the x-coordinate of intersection point T1 is between the x-coordinates of the two endpoints of line L1, and whether the y-coordinate of intersection point T1 is between the y-coordinates of the two endpoints of line L1. If both are true, then it means that line L1 is not a straight line. q1 Intersect the line connecting the two endpoints of line L1 and obtain the coordinates of the intersection point T1(x1,y1); then sequentially determine the intersection points T2...T i Finally, obtain L q1 The set of intersection points V{V1(x v1 y v1 V2(x) v2 y v2 )......V v (x v y v )};

[0087] 36) According to Q(x) q ,y q Obtain a straight line L with a slope of -1. q2 :

[0088] L q2 =x+b q2 (5);

[0089] And repeat steps 33) to 35) to obtain L. q2 The set of intersection points U{U1(x u1 y u1 ), U2(x u2 y u2 )......U u (x uy u )}:

[0090] 37) Define a straight line L with a slope of 1. q1 A straight line L with r1 intersection points with the lines connecting its two adjacent endpoints and a slope of -1. q2 The number of intersections of the lines connecting to the two adjacent endpoints is r2;

[0091] If r1 = 0 and r2 = 0, then the line L q1 Straight line L q2 The lines connecting the two adjacent endpoints do not intersect, meaning the polygonal protected area is separated from the rectangular alarm frame, such as... Figure 4 As shown;

[0092] If r1≥1 or r2≥1, then the line L q1 Straight line L q2 If the lines connecting the two adjacent endpoints intersect, then further determine L. q1 The set of intersection points V{V1(x v1 y v1 V2(x) v2 y v2 )......V v (x v y v )} and L q2 The set of intersection points U{U1(x u1 y u1 ), U2(x u2 y u2 )......U u (x u y u )} and center point Q(x q ,y q Positional relationship:

[0093] If x in set V v1 x v2 ......x v and x in set U u1 x u2 ......x u Both are greater than or less than x q Then the intersection points are all on one side of the center point Q, and the polygonal protection area is separated from the rectangular alarm frame, such as Figure 5 As shown;

[0094] If x in set V v1 x v2 ......x v or x in set U u1 x u2 ......x ux exists in j Greater than x q And there exists x k Less than x q The intersection points are distributed on both sides of the center point Q, meaning the rectangular alarm frame is within the polygonal protection zone, such as... Figure 6 As shown.

[0095] S4. Filter warnings based on whether the polygonal protection zone is a valid or invalid protection zone;

[0096] When the polygonal protection is an effective protection zone, if the rectangular alarm box is outside the effective protection zone, filtering is performed; if the rectangular alarm box is not outside the effective protection zone, a normal alarm is triggered.

[0097] When the polygon protection is an invalid protection zone, if all alarm frames are within the invalid protection zone, filtering will be performed; if not all alarm frames are within the invalid protection zone, a normal alarm will be triggered.

[0098] S4 specifically includes:

[0099] When the polygonal protection area is a valid protection area, and the valid protection area and the rectangular alarm box partially overlap or intersect, or the rectangular alarm box is contained within the valid protection area, then this alarm is considered a valid alarm.

[0100] When the polygonal protection area is a valid protection area, and the valid protection area is separated from the rectangular alarm frame, the alarm is considered an invalid alarm and is filtered out.

[0101] When the polygonal protection area is an invalid protection area, and the rectangular alarm frame and the polygonal protection area partially overlap or intersect, or the rectangular alarm frame is separated from the invalid protection area, then this alarm is considered a valid alarm.

[0102] If a polygonal protected area is an invalid protected area, and a rectangular alarm box is contained within the invalid protected area, then the alarm is considered an invalid alarm and is filtered.

[0103] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the technical solutions of the present invention, and are not intended to limit the specific implementation of the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the claims of the present invention should be included within the protection scope of the claims of the present invention.

Claims

1. An image-based power transmission overhead line corridor hazard alert filtering method, characterized in that, Comprise; S1: obtaining a picture of a visual photograph and manually drawing a polygon protection area, dividing the polygon protection area into an effective protection area and an ineffective protection area; S2: Obtain the coordinate set C of the n endpoints of the polygon guard area in the connection order of the polygon guard area i and obtain the left lower vertex and the right upper vertex of the identified rectangular alarm frame; S3: determining the position relationship between the polygon guard area and the rectangular alarm frame according to the coordinate set C i and the lower left vertex and the upper right vertex of the rectangular alarm frame to determine the position relationship between the polygon guard area and the rectangular alarm frame. S4, when the polygon protection is the effective protection area, if the rectangular alarm frame is outside the effective protection area, filtering is performed; if the rectangular alarm frame is not outside the effective protection area, normal alarm is performed; When the polygon protection is the ineffective protection area, if all the alarm frames are in the ineffective protection area, filtering is performed; if the alarm frames are not all in the ineffective protection area, normal alarm is performed; Step S3 specifically comprises: S31, obtaining a coordinate set C i {p1(x1, y1), p2(x2, y2)... p i (x i , y i )} and the left lower vertex M(x m , y m ) and the right upper vertex N(x n , y n ) of the identified rectangular alarm frame; S32, sequentially compare the coordinate set C i The position coordinates of the i points and the left-bottom vertex M and the right-top vertex N of the rectangular alarm frame: 1) If there are s points P(x, y) in the set C i such that x m < x < x n and y m < y < y n , when i = s, then all points in the set C i are within the rectangular alarm box, i.e., the polygon guard area is within the rectangular alarm box. 2) when i > s and s ≠ 0, then C i The middle part of the points is in the rectangular alarm frame, that is, the polygon protection area and the rectangular alarm frame have a partial area overlap. 3) When s = 0, then C i If all the points are outside the rectangle alarm box, the polygon protection area contains the rectangle alarm box or the polygon protection area is separated from the rectangle alarm box. If the case of 3) occurs, further judge whether the polygon protection area contains the rectangular alarm frame or the polygon protection area is separated from the rectangular alarm frame.

2. The image-based power transmission overhead line path hidden danger alarm filtering method according to claim 1, characterized in that, 3) specifically comprises: 31) Calculate the coordinates Q(x q ,y q ) of the center point of the rectangular warning frame. （1）； （2）； 32) According to Q(x q ,y q ) get a straight line L q1 with a slope of 1; （3）； wherein is the intercept of the straight line L q1 is the intercept of the straight line L 33) Obtain C in the order of the connection i Collect two adjacent endpoints in the set, and obtain the slope k1, k2...k i and the intercept b1, b2...b i of the straight line L1, L2...L i on which the connection between the two adjacent endpoints lies; 34) Obtain lines L1, L2...L in sequence. i With line L q1 The intersection point T1(x) 11 ,y 11 ), T2(x 22 ,y 22 ...T i (x ii ,y ii ); 35) in turn, the intersection points T1, T2...T i whether between the two vertices of the straight lines L1, L2...L i ​ If yes, the intersection coordinates are obtained; If not, not crossed, end up with L q1 The intersection set V {V1(x v1 , y v1 ), V2(x v2 , y v2 )... V v (x v , y v )} ; 36) According to Q(x q ,y q ) a straight line L q2 with slope -1 is obtained: （5）； and repeat steps 33)~35) to obtain L q2 the intersection set U {U1(x u1 , y u1 ), U2(x u2 , y u2 )... U u (x u , y u )} ; 37) a straight line L with a slope of 1 q1 a straight line L with a slope of -1 intersecting the lines connecting the adjacent two end points r1 times q2 a straight line L with a slope of -1 intersecting the lines connecting the adjacent two end points r2 times If r1=0 and r2=0, then the straight line L q1 , the straight line L q2 has no intersection with the line connecting the two adjacent end points, i.e. the polygon protection area is separated from the rectangular warning frame; If r1≥1 or r2≥1, then the line L q1 Straight line L q2 If the lines connecting the two adjacent endpoints intersect, then further determine L. q1 The set of intersection points V{V1(x v1 y v1 V2(x) v2 y v2 )......V v (x v y v )} and L q2 The set of intersection points U{U1(x u1 y u1 ), U2(x u2 y u2 )......U u (x u y u )} and center point Q(x q ,y q Positional relationship: If x v1 , x v2 ... x v in set V and x u1 , x u2 ... x u in set U are all greater than x q or less than x q , then the intersection points are all on one side of the center point Q, and the polygon protection area is separated from the rectangular warning frame; If x v1 , x v2 ... x v in set V or x u1 , x u2 ... x u in set U exists intersection point x j > x q and x k < x q , the intersection point is distributed on both sides of the center point Q, and the rectangular alarm frame is in the polygon protection area.

3. The image-based power transmission overhead line path hidden danger alarm filtering method according to claim 1, characterized in that, The S4 specifically comprises: When the polygon protection area is the effective protection area, and the effective protection area has a partial area overlap with the rectangular alarm frame or the rectangular alarm frame is contained in the effective protection area, the alarm is considered as valid alarm; When the polygon protection area is the effective protection area, and the effective protection area is separated from the rectangular alarm frame, the alarm is considered as invalid alarm, and filtering is performed; When the polygon protection area is the ineffective protection area, and the rectangular alarm frame has a partial area overlap with the polygon protection area or the rectangular alarm frame is separated from the ineffective protection area, the alarm is considered as valid alarm; When the polygon protection area is the ineffective protection area, and the rectangular alarm frame is contained in the ineffective protection area, the alarm is considered as invalid alarm, and filtering is performed.

Images