An interactive wire repair method and system based on point cloud

Abstract

The application discloses an interactive wire repairing method and system based on point cloud, wherein the method comprises the following steps: performing cut-file division on the wire point cloud data, then identifying and judging whether there is a point cloud missing defect in the point cloud wire points in each file after the cut-file division, selecting the point clouds on both sides of the point cloud missing defect after it is determined that there is a point cloud missing defect; selecting a wire characteristic type based on the point clouds on both sides to perform wire fitting to obtain a fitting equation, and calculating a starting point position and an ending point position of the current missing part according to the fitting equation; calculating a target line segment according to the fitting equation and the starting point position and the ending point position of the missing part of the wire, then discretizing the target line segment to a target cylindrical plane according to a set diameter, and finally merging all the point clouds on the target cylinder to obtain a target cylinder entity; thus, a cluster of cylindrical point clouds is dispersed by the set wire diameter, and the cluster is placed at a wire breakage position, so that the whole wire repairing process is completed. The point cloud repaired by the method of the embodiment of the application can effectively solve the power wire point breakage and missing problem of a power transmission line.

Description

Technical Field

[0001] This invention relates to the field of power transmission line inspection technology, and in particular to an interactive conductor repair method and system based on point clouds. Background Technology

[0002] With the rapid development of modern society, various industrial and civil facilities rely heavily on energy supply. The power grid, as a crucial transportation hub for energy transmission, is an indispensable link in social development. With the development of digital power grids, the inspection and maintenance of power grid channels has become paramount. Currently, lidar technology is a commonly used method for power grid channel maintenance. Compared to traditional manual inspection methods, its combination with UAV payload systems offers higher inspection accuracy, faster operation speed, larger task radius, and applicability to complex terrain. However, during channel inspection, operational issues or weather conditions can lead to incomplete scanning of some conductors, resulting in broken conductors and compromising the safety of conductors due to tree obstructions. Therefore, an accurate point cloud repair method for power conductors is of great significance in solving the problem of missing point clouds in power conductor inspections.

[0003] Currently, there are several other methods to address conductor breakage issues. One method is to perform vectorized modeling of the conductor, fitting a straight line by selecting the insulator's two hanging points and any other point on the conductor, or by setting the conductor's sag. However, the generated result is a vector line segment, leading to errors in the detection results and failing to fundamentally solve the conductor loss problem. Another method involves discretizing the conductor point cloud before detection. However, this method does not recalculate the start and end points of the conductor break, and the density of existing conductor points increases after merging the point cloud. Furthermore, this method is only applicable to parabolic conductor point clouds, not linear ones. Summary of the Invention

[0004] To address the above problems, this invention proposes a method for repairing power line point cloud conductors, which can effectively solve the aforementioned issues.

[0005] This invention provides an interactive wire repair method and system based on point clouds to solve the technical problems in the background art.

[0006] To achieve the above objectives, according to a first aspect of the present invention, an interactive wire repair method based on point clouds is proposed, comprising:

[0007] Three-dimensional laser scanning is used to collect point cloud data of the target work area, and the collected point cloud data is classified to identify the conductor point cloud data of all power lines.

[0008] The point cloud data of the conductor is divided into segments. Then, the conductor points in each segment are identified and judged to determine whether there is a point cloud breakage defect. After it is determined that there is a point cloud breakage defect, the point clouds on both sides of the part of the point cloud where the point cloud breakage defect is located are selected.

[0009] A fitting equation is obtained by selecting the feature type of the conductor based on the point clouds on both sides, and the starting point and ending point positions of the current missing point are calculated according to the fitting equation.

[0010] Based on the fitted equation and the starting and ending points of the missing points of the wire, a target line segment is calculated. Then, based on the set diameter, the target line segment is discretized onto the target cylindrical plane. Finally, all point clouds on the target cylinder are merged to obtain the target cylindrical entity.

[0011] Preferably, as one possible implementation scheme, point cloud data of the target work area is collected by three-dimensional laser scanning, including: scanning the work area with three-dimensional lidar to collect point cloud data of power transmission lines, wherein the point cloud data of power transmission lines includes point clouds of towers, conductors, ground, vegetation, and buildings; classifying the collected point cloud data and extracting the point cloud data of the target area.

[0012] Preferably, as one possible implementation, the point cloud loss defect includes point cloud breakage defect or point cloud missing defect.

[0013] Preferably, as one possible implementation: For example, a fitting equation is obtained by selecting the feature type of the guide wire based on the point clouds on both sides, and the starting and ending points of the current missing point are calculated based on the fitting equation, specifically including:

[0014] For manually selecting the conductor feature type based on the point clouds on both sides; the conductor feature type includes straight line form and parabolic form;

[0015] The fitting equation is obtained by fitting the selected conductor feature type. The two points with the largest distance between the front and rear segments are calculated according to the conductor direction and are regarded as the starting and ending points of the missing conductor.

[0016] Preferably, as one possible implementation: based on the fitted equation and the starting and ending points of the missing points of the wire, a target line segment is calculated; then, based on a set diameter, the target line segment is discretized onto a target cylindrical plane; finally, all point clouds on the target cylinder are merged to obtain the target cylindrical entity, specifically including:

[0017] Based on the fitting equation and the starting and ending points of the missing points of the conductor, a target line segment is calculated using the discretized fitting function of the conductor diameter.

[0018] Then, based on the set conductor diameter, points are randomly selected on the circular plane of the normal vector of each conductor point cloud on the target line segment to obtain the cylindrical point cloud of the current point and form the target cylindrical plane. Finally, all point clouds on the target cylinder are merged to obtain the target cylindrical entity.

[0019] Accordingly, the present invention provides an interactive wire repair method system based on point cloud, including a classification module, a file cutting module, a fitting module and a calculation module;

[0020] The classification module is used to collect point cloud data of the target work area through 3D laser scanning, and to classify the collected point cloud data to identify the conductor point cloud data of all power lines.

[0021] The file-slicing module is used to slice the conductor point cloud data, and then identify and determine whether there is a point cloud breakage defect in the point cloud conductor points in each file after slicing. After determining that there is a point cloud breakage defect, the point clouds on both sides of the part of the point cloud where the point cloud breakage defect is located are selected.

[0022] The fitting module is used to perform wire fitting based on the selected wire feature type of the point cloud on both sides to obtain the fitting equation, and to calculate the start point position and end point position of the current missing point according to the fitting equation.

[0023] The calculation module is used to calculate a target line segment based on the starting and ending points of the missing points of the fitted equation and the wire, then discretize the target line segment onto the target cylindrical plane according to the set diameter, and finally merge all the point clouds on the target cylinder to obtain the target cylindrical entity.

[0024] Preferably, as one possible implementation, the classification module is further specifically used to scan the work area with a three-dimensional lidar to collect point cloud data of the power transmission line; classify the collected point cloud data, and extract the point cloud data of the target area.

[0025] Preferably, as one possible implementation, the fitting module is further specifically used to manually select the traverse feature type based on the point clouds on both sides; the traverse feature type includes straight line form and parabolic form; the fitting equation is obtained by fitting according to the selected traverse feature type, and the two points with the largest distance between the front and rear segments are calculated according to the traverse direction and regarded as the starting point and ending point of the missing traverse.

[0026] Preferably, as one possible implementation, the fitting module is further specifically used to calculate a target line segment based on the fitting equation and the starting and ending points of the missing points of the wire, and the discretized fitting function of the wire diameter; then, based on the set wire diameter, randomly select points on the normal vector circular plane of each wire point cloud on the target line segment to obtain the cylindrical point cloud of the current point and form the target cylindrical plane; finally, merge all the point clouds on the target cylinder to obtain the target cylindrical entity.

[0027] Compared with the prior art, the embodiments of the present invention have at least the following technical advantages:

[0028] This invention provides an interactive conductor repair method and system based on point clouds. The method includes: acquiring point cloud data of the target work area through three-dimensional laser scanning, classifying the acquired point cloud data, and classifying the conductor point cloud data of all power lines; dividing the conductor point cloud data into segments, and then identifying and judging whether there is a point cloud breakage defect in the point cloud conductor points in each segment; after determining that there is a point cloud breakage defect, selecting the point clouds on both sides of the part of the point cloud where the point cloud breakage defect is located.

[0029] A fitting equation is obtained by selecting the feature type of the conductor based on the point clouds on both sides and then fitting the conductor. The starting and ending points of the missing points are calculated based on the fitting equation. A target line segment is calculated based on the fitting equation and the starting and ending points of the missing conductor. The target line segment is then discretized onto the target cylindrical plane according to the set diameter. Finally, all point clouds on the target cylinder are merged to obtain the target cylindrical entity.

[0030] This invention proposes an interactive conductor repair method based on point clouds. The method involves manually selecting point clouds on both sides of the break in the power line, then choosing the conductor type. After selection, the method fits the conductor equation to the chosen type and calculates the start and end points of the break based on the point clouds. Finally, a cluster of cylindrical point clouds is discretized using a set conductor diameter and placed at the break, completing the entire conductor repair process. The point cloud repaired using this method is precisely positioned and closely matches the original conductor. Furthermore, the even distribution of points after discretization closely approximates the actual points, effectively solving the problem of broken and missing points in power transmission lines. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0032] Figure 1 This is a schematic diagram of the main process of the interactive wire repair method based on point cloud provided in the embodiments of the present invention;

[0033] Figure 2 This is a schematic flowchart of an example of an interactive wire repair method based on point cloud provided in an embodiment of the present invention;

[0034] Figure 3 This is a schematic flowchart of another example of the interactive wire repair method based on point cloud provided in this embodiment of the invention;

[0035] Figure 4 This is a schematic flowchart of another example of the interactive wire repair method based on point cloud provided in the embodiments of the present invention;

[0036] Figure 5 This is a schematic diagram of an example of an interactive conductor repair system based on point clouds provided in an embodiment of the present invention.

[0037] Labels: Classification module 10, Segmentation module 20, Fitting module 30, Calculation module 40. Detailed Implementation

[0038] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0039] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0040] In the description of this invention, it should be noted that the terms "center", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0041] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0042] like Figure 1 As shown, to achieve the above objectives, according to a first aspect of the present invention, an interactive wire repair method based on point clouds is proposed, comprising the following steps:

[0043] S101. Collect point cloud data of the target work area through three-dimensional laser scanning, and classify the collected point cloud data to identify the conductor point cloud data of all power lines.

[0044] S102. The conductor point cloud data is divided into segments, and then the conductor points in each segment are identified and judged to determine whether there is a point cloud breakage defect. After determining that there is a point cloud breakage defect, the point clouds on both sides of the part of the point cloud where the point cloud breakage defect is located are selected.

[0045] Specifically, by inspecting the point cloud of each data type for the conductor, for each missing or broken conductor, the point clouds on both sides of each missing or broken conductor are selected for subsequent repair and fitting.

[0046] S103. Based on the point cloud on both sides, select the feature type of the guide wire to perform guide wire fitting to obtain the fitting equation, and calculate the starting point position and ending point position of the current missing point according to the fitting equation.

[0047] S104. Based on the fitting equation and the starting and ending points of the missing points of the wire, calculate a target line segment, then discretize the target line segment onto the target cylindrical plane according to the set diameter, and finally merge all the point clouds on the target cylinder to obtain the target cylindrical entity.

[0048] This invention proposes an interactive conductor repair method based on point clouds. The method involves manually selecting point clouds on both sides of the break in the power line, then choosing the conductor type. After selection, the method fits the conductor equation to the chosen type and calculates the start and end points of the break based on the point clouds. Finally, a cluster of cylindrical point clouds is discretized using a set conductor diameter and placed at the break, completing the entire conductor repair process. The point cloud repaired using this method is precisely positioned and closely matches the original conductor. Furthermore, the even distribution of points after discretization closely approximates the actual points, effectively solving the problem of broken and missing points in power transmission lines.

[0049] It should be explained that all the calculated point clouds constitute the point cloud within the entire target cylindrical entity. Segmentation refers to manually marking tower positions in transmission lines, and then dividing the point cloud based on the outer extension distances on both sides of the tower and the connecting line between two tower positions. Segmentation results in a smaller point cloud area, facilitating practical observation and reducing the amount of point cloud data, thus improving the processing speed of subsequent algorithms.

[0050] See Figure 2The above step S101 further includes:

[0051] S1011: The operation area is scanned by a three-dimensional lidar to collect point cloud data of the power transmission line. The point cloud data of the power transmission line includes various ground features such as towers, conductors, ground, vegetation, and buildings.

[0052] S1012: Classify the collected point cloud data and extract the point cloud data of the target area.

[0053] Specifically, the acquired laser point clouds undergo denoising, segmentation, and classification. Denoising removes noise and discrete points from the point cloud. Segmentation divides the point cloud into multiple segments, and finally, point cloud classification is performed. Classification methods include manual and automatic classification. Automatic classification uses deep learning methods or point cloud clustering to separate information such as conductors and towers. Manual classification involves manually selecting point clouds and classifying them into specific categories to assist automatic classification and correct its accuracy. Point cloud classification helps manual inspection of point clouds for conductor categories to detect missing or broken points.

[0054] Preferably, as one possible implementation, the point cloud loss defect includes point cloud breakage defect or point cloud missing defect.

[0055] See Figure 2 The method involves selecting the feature type of the guide wire based on the point clouds on both sides, fitting the guide wire to obtain a fitting equation, and calculating the start and end points of the current missing point based on the fitting equation. Specifically, this includes:

[0056] S1031. Manually select the conductor feature type based on the point cloud on both sides; the conductor feature type includes straight line form and parabolic form; wherein, the straight line form is suitable for conductors with short distances between the two ends and a straight shape, and the parabolic form is suitable for conductors with long connecting segments such as tower lines or conductors with large curvature.

[0057] S1032. Fit the fitting equation according to the selected conductor feature type, and calculate the two points with the largest distance between the front and rear segments according to the conductor direction. These two points are regarded as the starting and ending points of the missing conductor.

[0058] It should be noted that either a straight line or a parabola can be chosen for traverse fitting, and the starting and ending points of the missing sections can be calculated. Specifically, traverse shapes are mainly classified into two types: straight lines and parabolic curves. Straight lines are mainly suitable for traverses with short distances between the two ends and a straight shape, while parabolic curves are suitable for longer connecting segments such as tower lines, or traverses with large curvature. Based on the characteristics of the point cloud selected in the previous step, an appropriate traverse type is chosen. Then, the corresponding traverse equation is fitted using the point cloud data. At the same time, the two points with the largest distance between the preceding and following segments are calculated according to the traverse direction and are considered as the starting and ending points of the traverse break.

[0059] The fitting process uses the least squares method to fit the equations of straight lines and parabolas. Then, the points are sorted according to their projected distances along the conductor's direction. The distance between any two sorted points is then calculated, and the point with the largest distance is the location of the conductor break. These two points are the start and end points of the conductor break.

[0060] See Figure 4 Based on the fitting equation and the starting and ending points of the missing wires, a target line segment is calculated. Then, based on the set diameter, the target line segment is discretized onto the target cylindrical plane. Finally, all point clouds on the target cylinder are merged to obtain the target cylindrical entity.

[0061] S1041. Based on the fitting equation and the starting and ending points of the missing points of the wire, the wire diameter discretization fitting function is used to calculate a target line segment.

[0062] S1042. Then, according to the set conductor diameter, randomly select points on the circular plane of the normal vector of each conductor point cloud on the target line segment to obtain the cylindrical point cloud of the current point and form the target cylindrical plane. Finally, merge all the point clouds on the target cylinder to obtain the target cylindrical entity (that is, merge all the cylindrical point clouds to obtain the cylindrical line segment, and place it at the break).

[0063] It should be noted that discretizing the point cloud of the fitting function based on the set wire diameter makes the point cloud fitting results more realistic and the repair effect better.

[0064] Specifically, based on the fitted equation and the starting and ending points of the traverse break, a fixed, relatively small offline equation parameter distance is set (this offline equation parameter distance is used to discretize the traverse equation; generally, a value of 0.1 is sufficient, and can be simply set according to the actual traverse point density). The traverse segment (i.e., the target segment) is then calculated. Next, based on the set traverse diameter, points are randomly selected on the normal vector circular plane of each traverse point cloud to obtain a cylindrical point cloud for the current point. Finally, all cylindrical point clouds are merged to obtain a cylindrical segment, which is then placed at the break point.

[0065] The point cloud within the cylindrical body is generated by establishing a small cylindrical point cloud range based on the perpendicular direction of the current point and the traverse direction, and according to a set diameter. Point clouds are then randomly calculated within this cylindrical point cloud. The result is the point cloud covering the entire entity.

[0066] For offline equation parameters, a setting of 0.1 is preferable as it aligns with the actual point cloud density. Setting this distance too small increases computational load, while setting it too large results in excessively large wire spacing, leading to lower point cloud density in the repaired result.

[0067] Example 2

[0068] See Figure 5 Embodiment 2 of the present invention provides an interactive wire repair method system based on point cloud, including a classification module 10, a file cutting module 20, a fitting module 30 and a calculation module 40;

[0069] The classification module is used to collect point cloud data of the target work area through 3D laser scanning, and to classify the collected point cloud data to identify the conductor point cloud data of all power lines.

[0070] The file-slicing module is used to slice the conductor point cloud data, and then identify and determine whether there is a point cloud breakage defect in the point cloud conductor points in each file after slicing. After determining that there is a point cloud breakage defect, the point clouds on both sides of the part of the point cloud where the point cloud breakage defect is located are selected.

[0071] The fitting module is used to perform wire fitting based on the selected wire feature type of the point cloud on both sides to obtain the fitting equation, and to calculate the start point position and end point position of the current missing point according to the fitting equation.

[0072] The calculation module is used to calculate a target line segment based on the starting and ending points of the missing points of the fitted equation and the wire, then discretize the target line segment onto the target cylindrical plane according to the set diameter, and finally merge all the point clouds on the target cylinder to obtain the target cylindrical entity.

[0073] Preferably, as one possible implementation, the classification module is further specifically used to scan the work area with a three-dimensional lidar to collect point cloud data of the power transmission line; classify the collected point cloud data, and extract the point cloud data of the target area.

[0074] Preferably, as one possible implementation, the fitting module is further specifically used to manually select the traverse feature type based on the point clouds on both sides; the traverse feature type includes straight line form and parabolic form; the fitting equation is obtained by fitting according to the selected traverse feature type, and the two points with the largest distance between the front and rear segments are calculated according to the traverse direction and regarded as the starting point and ending point of the missing traverse.

[0075] Preferably, as one possible implementation, the fitting module is further specifically used to calculate a target line segment based on the fitting equation and the starting and ending points of the missing points of the wire, and the discretized fitting function of the wire diameter; then, based on the set wire diameter, randomly select points on the normal vector circular plane of each wire point cloud on the target line segment to obtain the cylindrical point cloud of the current point and form the target cylindrical plane; finally, merge all the point clouds on the target cylinder to obtain the target cylindrical entity.

[0076] In summary, the interactive conductor repair method and system based on point clouds provided by this invention can repair various types of conductor point clouds, including straight and parabolic power conductors. The method in this embodiment discretizes the point cloud of the fitting function according to a set conductor diameter, making the point cloud fitting results more realistic and achieving better repair effects.

[0077] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0078] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0079] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0080] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0081] It should be noted that any reference signs placed between parentheses in the claims should not be construed as limiting the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claims. The word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. The invention can be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names.

[0082] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the invention.

[0083] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. An interactive wire repair method based on point clouds, characterized in that, The following steps are included: Three-dimensional laser scanning is used to collect point cloud data of the target work area, and the collected point cloud data is classified to identify the conductor point cloud data of all power lines. The point cloud data of the conductor is divided into segments. Then, the conductor points in each segment are identified and judged to determine whether there is a point cloud breakage defect. After it is determined that there is a point cloud breakage defect, the point clouds on both sides of the part of the point cloud where the point cloud breakage defect is located are selected. The method involves selecting a guide feature type based on the point clouds on both sides, fitting a guide to obtain a fitting equation, and calculating the start and end points of the missing section based on the fitting equation. Specifically, this includes: manually selecting a guide feature type based on the point clouds on both sides; the guide feature type includes straight line and parabola; fitting a fitting equation based on the selected guide feature type; and calculating the two points with the largest distance between the preceding and following segments according to the guide direction, which are then considered as the start and end points of the missing guide. Based on the fitted equation and the starting and ending points of the missing points of the wire, a target line segment is calculated. Then, based on the set diameter, the target line segment is discretized onto the target cylindrical plane. Finally, all point clouds on the target cylinder are merged to obtain the target cylindrical entity.

2. The interactive wire repair method based on point clouds according to claim 1, characterized in that, The point cloud data of the target work area is collected through three-dimensional laser scanning, including: scanning the work area with three-dimensional lidar to collect point cloud data of power transmission lines, including point clouds of towers, conductors, ground, vegetation, and buildings; classifying the collected point cloud data and extracting the point cloud data of the target area.

3. The interactive wire repair method based on point clouds according to claim 2, characterized in that, The point cloud loss defect includes point cloud breakage defect or point cloud missing defect.

4. The interactive wire repair method based on point clouds according to claim 3, characterized in that, Based on the fitted equation and the starting and ending points of the missing points of the wire, a target line segment is calculated. Then, according to the set diameter, the target line segment is discretized onto the target cylindrical plane. Finally, all point clouds on the target cylinder are merged to obtain the target cylindrical entity, specifically including: Based on the fitting equation and the starting and ending points of the missing points of the conductor, a target line segment is calculated using the discretized fitting function of the conductor diameter. Then, based on the set conductor diameter, points are randomly selected on the circular plane of the normal vector of each conductor point cloud on the target line segment to obtain the cylindrical point cloud of the current point and form the target cylindrical plane. Finally, all point clouds on the target cylinder are merged to obtain the target cylindrical entity.

5. An interactive conductor repair system based on point clouds, characterized in that, It includes a classification module, a file segmentation module, a fitting module, and a calculation module; The classification module is used to collect point cloud data of the target work area through 3D laser scanning, and to classify the collected point cloud data to identify the conductor point cloud data of all power lines. The file-slicing module is used to slice the conductor point cloud data, and then identify and determine whether there is a point cloud breakage defect in the point cloud conductor points in each file after slicing. After determining that there is a point cloud breakage defect, the point clouds on both sides of the part of the point cloud where the point cloud breakage defect is located are selected. The fitting module is used to fit a guideline feature type selected based on the point clouds on both sides to obtain a fitting equation, and to calculate the start and end points of the current missing point based on the fitting equation. Specifically, the fitting module is also used to manually select a guideline feature type based on the point clouds on both sides; the guideline feature type includes straight line and parabolic form; a fitting equation is obtained based on the selected guideline feature type, and the two points with the largest distance between the preceding and following segments are calculated according to the guideline direction, which are then considered as the start and end points of the missing guideline; the fitting module is also used to calculate a target line segment based on the fitting equation and the start and end points of the missing guideline, and a discretized fitting function for the guideline diameter; then, based on the set guideline diameter, points are randomly selected on the normal vector circular plane of each guideline point cloud on the target line segment to obtain a cylindrical point cloud of the current point and form a target cylindrical plane; finally, all point clouds on the target cylinder are merged to obtain the target cylindrical entity. The calculation module is used to calculate a target line segment based on the starting and ending points of the missing points of the fitted equation and the wire, then discretize the target line segment onto the target cylindrical plane according to the set diameter, and finally merge all the point clouds on the target cylinder to obtain the target cylindrical entity.

6. The interactive conductor repair system based on point clouds according to claim 5, characterized in that, The classification module is also specifically used to scan the work area with a three-dimensional lidar to collect point cloud data of the power transmission line; classify the collected point cloud data and extract the point cloud data of the target area.

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