Substation conductor live-line distance checking method and device based on laser point cloud technology

Abstract

The application discloses a substation conductor live wire distance verification method and device based on laser point cloud technology, comprising the following steps: establishing a three-dimensional model according to the design parameters and position information of a line to be verified; collecting point cloud data corresponding to the line to be verified according to the position information; matching the point cloud data and the three-dimensional model, and verifying the point cloud data according to the design parameters to obtain a verification result. The three-dimensional model is established according to the design parameters and position information of the line to be verified, and the point cloud data corresponding to the line to be verified is collected to generate a point cloud model, then the three-dimensional model and the point cloud model are matched, the live wires are automatically identified according to the design parameters in the three-dimensional model, the spacing between the live wires is judged in combination with the point cloud data of the live wires, the actual spacing between the live wires is obtained, the problem of judging the minimum distance between non-parallel live wires can be effectively avoided, and the acceptance conclusion is more objective and accurate.

Description

Technical Field

[0001] This invention relates to the field of power technology, and in particular to a method and apparatus for verifying the energized distance of substation conductors based on laser point cloud technology. Background Technology

[0002] With the development of power detection technology, determining the distance between conductors using laser beam emitters or optical instruments has become the mainstream method for measuring conductor distance. This has replaced traditional methods using measuring tapes and other equipment. However, laser beam emitters or optical instruments cannot accurately determine the closest distance between non-parallel conductors.

[0003] Currently, image recognition technology is mainly used to measure the distance between non-parallel conductors. However, image recognition is labor-intensive, and the quality of the captured images is limited by the on-site environment, which can lead to significant deviations in the final judgment. Therefore, it is impossible to accurately measure the actual distance between conductors. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a method and device for verifying the energized distance of substation conductors based on laser point cloud technology, so as to improve the accuracy of judging the distance between energized conductors.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0006] A method for verifying the energized distance of substation conductors based on laser point cloud technology includes the following steps:

[0007] A three-dimensional model is established based on the design parameters and location information of the line to be verified.

[0008] Collect point cloud data corresponding to the line to be verified based on the location information;

[0009] The point cloud data and the 3D model are matched, and the point cloud data is verified according to the design parameters to obtain the verification result.

[0010] To solve the above-mentioned technical problems, another technical solution adopted by the present invention is as follows:

[0011] A substation conductor live distance verification device based on laser point cloud technology includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the various steps of the substation conductor live distance verification method based on laser point cloud technology described above.

[0012] The beneficial effects of this invention are as follows: a three-dimensional model is established by using the design parameters and location information of the line to be verified, and a point cloud model is generated by collecting point cloud data corresponding to the line to be verified based on the location information. Then, by matching the three-dimensional model with the point cloud model, the live conductors are automatically identified by the design parameters in the three-dimensional model, and the spacing between the live conductors is judged by combining the point cloud data of the live conductors to obtain the actual spacing between the live conductors. This can effectively avoid the problem of judging the minimum distance between non-parallel conductors, and the acceptance conclusion is more objective and accurate. At the same time, there is no need for repeated manual measurement, and the acceptance efficiency is high. Attached Figure Description

[0013] Figure 1 This is a flowchart illustrating the steps of a method for verifying the energized distance of substation conductors based on laser point cloud technology, as described in an embodiment of the present invention.

[0014] Figure 2 This is a flowchart of another step in a method for verifying the energized distance of substation conductors based on laser point cloud technology, as described in an embodiment of the present invention.

[0015] Figure 3 This is a schematic diagram illustrating the acquisition of target point cloud data in a method for verifying the energized distance of substation conductors based on laser point cloud technology, as described in an embodiment of the present invention.

[0016] Figure 4 This is a schematic diagram of the point cloud spacing within a conductor in a substation conductor energized distance verification method based on laser point cloud technology, as described in an embodiment of the present invention.

[0017] Figure 5 This is a schematic diagram of a substation conductor live distance verification device based on laser point cloud technology in an embodiment of the present invention. Detailed Implementation

[0018] To explain in detail the technical content, objectives, and effects of the present invention, the following description is provided in conjunction with the embodiments and accompanying drawings.

[0019] Please refer to Figure 1 A method for verifying the energized distance of substation conductors based on laser point cloud technology, comprising the following steps:

[0020] A three-dimensional model is established based on the design parameters and location information of the line to be verified.

[0021] Collect point cloud data corresponding to the line to be verified based on the location information;

[0022] The point cloud data and the 3D model are matched, and the point cloud data is verified according to the design parameters to obtain the verification result.

[0023] As described above, the beneficial effects of this invention are as follows: a three-dimensional model is established using the design parameters and location information of the line to be verified; a point cloud model is generated by collecting point cloud data corresponding to the line to be verified based on the location information; the three-dimensional model is then matched with the point cloud model; live conductors are automatically identified using the design parameters in the three-dimensional model; and the spacing between live conductors is judged by combining the point cloud data of the live conductors to obtain the actual spacing between them. This effectively avoids the problem of judging the minimum distance between non-parallel conductors, making the acceptance conclusion more objective and accurate. At the same time, no repeated manual measurements are required, resulting in high acceptance efficiency.

[0024] Furthermore, the step of establishing a three-dimensional model based on the design parameters and location information of the line to be verified includes:

[0025] Obtain the latitude and longitude dataset of the route to be verified;

[0026] A three-dimensional model of the line to be verified is constructed based on the latitude and longitude dataset, and the marking attributes of the live conductors are set according to the design parameters.

[0027] As described above, a three-dimensional model is constructed using the latitude and longitude dataset of the line to be verified, and the live conductors are marked with identification attributes according to the design parameters. Thus, during the matching and verification process, the live conductors can be automatically identified through the identification attributes in the three-dimensional model without manual intervention.

[0028] Furthermore, the step of verifying the point cloud data according to the design parameters and obtaining the verification result includes:

[0029] Based on the indicated attributes, the charged wires in the three-dimensional model are traversed sequentially to obtain the minimum distance of the point cloud data between the traversed target wire and its adjacent wires.

[0030] The verification threshold is obtained based on the indicated attribute, and it is determined whether the minimum spacing is greater than the verification threshold. If not, the verification passes.

[0031] As described above, by sequentially traversing the charged wires in the 3D model and obtaining the point cloud data between the target wire and its adjacent wires, the minimum distance between the wires can be accurately obtained. Then, the obtained minimum distance is compared with the verification threshold obtained based on the labeling attribute. Different verification thresholds are used to judge wires with different labeling attributes, thereby improving the accuracy of the wire spacing.

[0032] Furthermore, obtaining the minimum spacing of the point cloud data between the traversed target traverse and its adjacent traverses includes:

[0033] Acquire all first target point cloud data within the traversed target conductor, and acquire all second target point cloud data within the energized conductor adjacent to the target conductor;

[0034] The first target point cloud data and the second target point cloud data are sequentially connected to obtain a set of lines;

[0035] The minimum spacing is obtained by sequentially determining the spacing of each connection in the set of connections.

[0036] As described above, by acquiring all the first target point cloud data within the target conductor and all the second target point cloud data within its adjacent energized conductor, and connecting them sequentially to obtain a set of lines, and then obtaining the minimum distance based on the judgment of the spacing between each line in the set of lines, the problem of judging the minimum distance between non-parallel conductors can be effectively avoided.

[0037] Furthermore, acquiring all first target point cloud data within the traversed target guideline includes:

[0038] Obtain the data collection radius;

[0039] A cylinder is constructed with the target conductor as its axis and the data acquisition radius as its radius.

[0040] All point cloud data within the cylinder are acquired to obtain the first target point cloud data.

[0041] As described above, by using the target conductor as the axis and constructing a cylinder with a preset acquisition radius, the point cloud data within the range of the charged conductor is filtered through the cylinder to obtain the first target point cloud data. This effectively determines the conductor region and thus the spacing between charged conductors.

[0042] Furthermore, the marking attributes include conductor spacing, conductor phase, and conductor voltage;

[0043] The data acquisition radius includes:

[0044] The data acquisition radius is obtained based on the conductor spacing, conductor phase, and conductor voltage.

[0045] As described above, by using conductor spacing, conductor phase, and conductor voltage, safety standards between live conductors can be obtained. Then, by setting the corresponding data acquisition radius according to the safety standards, the identification effect of live conductor areas can be improved.

[0046] Further, the step of collecting point cloud data corresponding to the line to be verified based on the location information includes:

[0047] Select any coordinate point in the three-dimensional model as a spatial reference point;

[0048] Collect the target point cloud coordinates corresponding to the spatial reference point, and obtain the relative point cloud coordinates corresponding to the target point cloud coordinates based on the target point cloud coordinates;

[0049] The point cloud data is obtained based on the target point cloud coordinates and the relative point cloud coordinates.

[0050] As described above, by using the actual field coordinates of the spatial reference point as a reference for the point cloud data, the target point cloud coordinates (absolute position) and relative point cloud coordinates (relative position) are obtained. Thus, a point cloud model is generated based on the correspondence of the positions, which improves the consistency between the point cloud model and the three-dimensional model and ensures the accuracy of the coordinates of the charged conductor.

[0051] Furthermore, the matching of the point cloud data and the 3D model includes:

[0052] The 3D model is matched with the point cloud data based on the spatial reference point and the target point cloud coordinates.

[0053] As described above, the 3D model is matched with the point cloud model based on the spatial reference point and the target point cloud coordinates, so that the point cloud model and the 3D model can effectively overlap, ensuring the accuracy of the coordinates of the charged conductor.

[0054] Further, the step of collecting point cloud data corresponding to the line to be verified based on the location information includes:

[0055] The position of the conductor corresponding to the live conductor is determined based on the location information;

[0056] The flight path of the UAV is determined based on the position of the guide wire, and the point cloud data corresponding to the position of the guide wire is obtained through the UAV.

[0057] As described above, by collecting point cloud data using drones and lidar, more comprehensive point cloud data corresponding to charged conductors can be obtained, thereby constructing an accurate point cloud model.

[0058] Another embodiment of the present invention provides a substation conductor live distance verification device based on laser point cloud technology, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the various steps of the substation conductor live distance verification method based on laser point cloud technology described above.

[0059] The substation conductor energization distance verification method and device provided by this invention can be applied to the measurement of conductor spacing, and are described below through specific embodiments:

[0060] Example 1

[0061] Please refer to Figure 1 as well as Figure 2 A method for verifying the energized distance of substation conductors based on laser point cloud technology, comprising the following steps:

[0062] S1. Establish a three-dimensional model based on the design parameters and location information of the line to be verified, including:

[0063] S11. Obtain the latitude and longitude dataset of the line to be verified; that is, when the 3D model is built, it is constructed according to the actual latitude and longitude positioning so as to facilitate the later matching of the position with the point cloud data.

[0064] S12. Construct a three-dimensional model of the line to be verified based on the latitude and longitude dataset, and set marking attributes for the live conductors according to the design parameters; the marking attributes include parameters such as conductor spacing, conductor phase (A, B, C), and conductor voltage level; input the marking attributes onto each of the live conductors; wherein, the live conductors adopt an independent linear graphic design, making the model of the live conductors more complete, so that effective point cloud data can be identified based on the cylinder constructed from the live conductor model in subsequent processes, thereby improving the accuracy of judging the spacing of the live conductors; specifically: extract the latitude and longitude data of the conductors corresponding to the live conductors from the latitude and longitude dataset, and then construct the corresponding three-dimensional model of the conductors based on the conductor latitude and longitude data combined with the independent linear graphic design.

[0065] The model verification method in this embodiment has more advantages over the prior art. The prior art usually reconstructs 3D models based on collected point cloud data, which is a technically demanding task. Moreover, the reconstructed 3D model does not have attributes. In actual use, it is necessary to manually intervene in determining which part is the wire and whether the ABC of the wire is equal. However, the model construction method proposed in this embodiment can automatically identify the wire and its attributes by marking the wire in the 3D model, which can eliminate the need for manual intervention and greatly improve the degree of automation. Furthermore, the principle is simpler and the computer's processing workload is also smaller.

[0066] S2. Collect point cloud data corresponding to the line to be verified based on the location information, including:

[0067] S21. Select any coordinate point in the three-dimensional model as a spatial reference point; if special values ​​are assigned to the three-dimensional model, the specific spatial location of a certain live wire can be directly determined, and a relative position spatial reference point A1 can be set in the three-dimensional model.

[0068] S22. Collect the target point cloud coordinates corresponding to the spatial reference point, and obtain the relative point cloud coordinates corresponding to the target point cloud coordinates based on the target point cloud coordinates; for example, point A2 is the actual field coordinate of point A1 set in the three-dimensional model. When collecting point cloud data, the relative and absolute positions of all point clouds can be determined based on coordinate point A2, that is, the target point cloud coordinates and relative point cloud coordinates are obtained; wherein, when collecting point cloud data, first determine the position of the conductor corresponding to the live conductor based on the position information, then determine the take-off point, landing point, flight area, flight altitude, flight number and other flight route data of the UAV based on the conductor position, and finally obtain the point cloud data corresponding to the position of the live conductor through the UAV;

[0069] S23. Obtain the point cloud data based on the target point cloud coordinates and the relative point cloud coordinates; that is, integrate the target point cloud coordinates and the relative point cloud coordinates to obtain the point cloud data corresponding to all charged wires; wherein, after obtaining the point cloud data, further preprocessing is performed on the collected point cloud data, such as noise filtering processing, point cloud classification, etc.

[0070] S3. Match the point cloud data with the 3D model, and verify the point cloud data according to the design parameters to obtain the verification result, including:

[0071] S31. Match the 3D model with the point cloud data based on the spatial reference point and the target point cloud coordinates; align the reference point A1 of the 3D model with the coordinate point A2 of the point cloud data to make the 3D model and the point cloud model coincide; based on the special assignment step of the 3D model in step S21, the corresponding point cloud data can be directly extracted for analysis, thus eliminating the need for complex mathematical methods and 3D reconstruction; subsequently, import the 3D model and the preprocessed point cloud data into the analysis software for digital verification;

[0072] S32. Based on the indicated attributes, sequentially traverse the charged wires in the 3D model to obtain the minimum distance of the point cloud data between the traversed target wire and its adjacent wires. Specifically:

[0073] S321. Obtain all first target point cloud data within the traversed target conductor, and obtain all second target point cloud data within the energized conductor adjacent to the target conductor;

[0074] The methods for obtaining the first target point cloud data and the second target point cloud data are as follows:

[0075] Please refer to Figure 3The data acquisition radius is obtained based on the conductor spacing, conductor phase, and conductor voltage. Specifically, the acquisition radius R is determined by 30% of the A1 and A2 values ​​for each voltage level in Table 5.1.4 of the standard "Design Specification for High Voltage Distribution Equipment DL_T 5352-2018" (as shown in Table 1), and the minimum radius is not less than 50mm. A cylinder is constructed with the target conductor as its axis, and the radius of the cylinder is the data acquisition radius. All point cloud data within the cylinder are acquired to obtain the first target point cloud data. All noise-removed point cloud data within the cylindrical range of radius R are acquired and used as the measured data for the conductor. Similarly, the target point cloud data for other conductors can be obtained.

[0076] Table 1. Minimum safe clearance (mm) for indoor electrical distribution equipment

[0077]

[0078]

[0079] S322. Connect the first target point cloud data and the second target point cloud data sequentially to obtain a set of lines; please refer to... Figure 4 If the target conductor is a phase 1A conductor, then its adjacent conductors are phase 2C conductor and phase 1B conductor. Connect the target cloud point of phase 1A conductor with the cloud points in the adjacent phase 2C conductor and phase 1B conductor to obtain the following connections: LAC11, LAC12, LAC13 and LAB11, LAB12, LAB13.

[0080] S323. Sequentially determine the spacing of each connection in the connection set to obtain the minimum spacing; that is, sequentially determine the connection: LAC11, LAC12, LAC13 to obtain the spacing between phase 1A conductor and phase 2C conductor, and according to the connection: LAB11, LAB12, LAB13, obtain the spacing between phase 1A conductor and phase 1B conductor.

[0081] S33. Obtain the verification threshold based on the indicated attribute, and determine whether the minimum spacing is greater than the verification threshold. If so, the verification passes. That is, based on the above, obtain the minimum value of the point cloud spacing between the two wires. If the minimum value exceeds the A2 value in the DL_T 5352 specification, the verification passes.

[0082] In another optional implementation, verification is performed in the following manner:

[0083] The point cloud coordinates on the target conductor are traversed sequentially. A sphere is constructed with the point cloud coordinates as the center and the A1 or A2 value in Table 5.1.4 as the radius. If no point cloud data of other phase conductors appears within the sphere, the verification is considered successful. If all point cloud coordinates on the target conductor are verified, the overall verification of the target conductor is considered successful. If one or more point cloud verifications fail for a certain conductor, an early warning is sent, indicating which point cloud verification failed for manual review.

[0084] Example 2

[0085] Please refer to Figure 5 A substation conductor live distance verification device based on laser point cloud technology includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the various steps of the substation conductor live distance verification method based on laser point cloud technology as described in Embodiment 1.

[0086] In summary, the substation conductor energization distance verification method and device based on laser point cloud technology provided by this invention establishes a three-dimensional model based on the design parameters and location information of the line to be verified, and generates a point cloud model by collecting point cloud data corresponding to the line to be verified based on the location information. Then, by matching the three-dimensional model with the point cloud model, the energized conductors are automatically identified using the design parameters in the three-dimensional model. The distance between energized conductors is determined by combining the point cloud data of the energized conductors, thus obtaining the actual distance between them. This effectively avoids the problem of determining the minimum distance between non-parallel conductors, resulting in a more objective and accurate acceptance conclusion. Furthermore, the acceptance process utilizes UAVs and LiDAR to collect point cloud data, which is then automatically analyzed by a computer, eliminating the need for repeated manual measurements and improving acceptance efficiency.

[0087] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent modifications made based on the content of the present invention specification and drawings, or direct or indirect applications in related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A method for verifying the energized distance of substation conductors based on laser point cloud technology, characterized in that, Including the following steps: A three-dimensional model is established based on the design parameters and location information of the line to be verified. Collect point cloud data corresponding to the line to be verified based on the location information; The point cloud data and the 3D model are matched, and the point cloud data is verified according to the design parameters to obtain the verification result; The process of establishing a three-dimensional model based on the design parameters and location information of the line to be verified includes: Obtain the latitude and longitude dataset of the route to be verified; A three-dimensional model of the line to be verified is constructed based on the latitude and longitude dataset, and marking attributes are set for the live conductors according to the design parameters. The marking attributes include conductor spacing, conductor phase, and conductor voltage. The marking attributes are input on each of the live conductors. The live conductors adopt independent linear graphic designs. The latitude and longitude data of the conductors corresponding to the live conductors are extracted from the latitude and longitude dataset, and the corresponding three-dimensional model of the conductors is constructed based on the conductor latitude and longitude data and the independent linear graphic designs. The step of verifying the point cloud data according to the design parameters and obtaining the verification result includes: Based on the indicated attributes, the charged wires in the three-dimensional model are traversed sequentially to obtain the minimum distance of the point cloud data between the traversed target wire and its adjacent wires. The verification threshold is obtained based on the indicated attribute, and it is determined whether the minimum spacing is greater than the verification threshold. If so, the verification passes. The step of obtaining the minimum distance between the point cloud data of the traversed target traverse and its adjacent traverses includes: Acquire all first target point cloud data within the traversed target conductor, and acquire all second target point cloud data within the energized conductor adjacent to the target conductor; The first target point cloud data and the second target point cloud data are sequentially connected to obtain a set of lines; The minimum spacing is obtained by sequentially determining the spacing of each connection in the set of connections.

2. The method for verifying the energized distance of substation conductors based on laser point cloud technology according to claim 1, characterized in that, The step of obtaining all first target point cloud data within the traversed target guideline includes: Obtain the data collection radius; A cylinder is constructed with the target conductor as its axis and the data acquisition radius as its radius. All point cloud data within the cylinder are acquired to obtain the first target point cloud data.

3. The method for verifying the energized distance of substation conductors based on laser point cloud technology according to claim 2, characterized in that, The data acquisition radius includes: The data acquisition radius is obtained based on the conductor spacing, conductor phase, and conductor voltage.

4. The method for verifying the energized distance of substation conductors based on laser point cloud technology according to claim 1, characterized in that, The step of collecting point cloud data corresponding to the line to be verified based on the location information includes: Select any coordinate point in the three-dimensional model as a spatial reference point; Collect the target point cloud coordinates corresponding to the spatial reference point, and obtain the relative point cloud coordinates corresponding to the target point cloud coordinates based on the target point cloud coordinates; The point cloud data is obtained based on the target point cloud coordinates and the relative point cloud coordinates.

5. The method for verifying the energized distance of substation conductors based on laser point cloud technology according to claim 4, characterized in that, The matching of the point cloud data and the 3D model includes: The 3D model is matched with the point cloud data based on the spatial reference point and the target point cloud coordinates.

6. The method for verifying the energized distance of substation conductors based on laser point cloud technology according to claim 1, characterized in that, The step of collecting point cloud data corresponding to the line to be verified based on the location information includes: The position of the conductor corresponding to the live conductor is determined based on the location information; The flight path of the UAV is determined based on the position of the guide wire, and the point cloud data corresponding to the position of the guide wire is obtained through the UAV.

7. A substation conductor live-line distance verification device based on laser point cloud technology, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements each step of the substation conductor energization distance verification method based on laser point cloud technology as described in any one of claims 1-6.

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