Power distribution network line planning and designing method and system based on images shot by unmanned aerial vehicle

Abstract

The invention relates to the technical field of line planning, and particularly discloses a power distribution network line planning design method and system based on an image shot by an unmanned aerial vehicle, and the method comprises the following steps: S1, obtaining a planning region, obtaining the topographic information according to the image shot by the unmanned aerial vehicle, dividing the planning region into a plurality of region blocks, obtaining a three-dimensional coordinate corresponding to the central point of each region block; s2, selecting area blocks where starting point and end point electric poles of the power distribution network are located on the interface to obtain an initial path; on the initial path, selecting region blocks as initial region blocks according to a preset interval; s3, setting a reference radius, taking the center of the initial region block as a sphere center to obtain a reference set, and calculating a matching value PI of each region block in the reference set; and S4, selecting the region block with the highest matching value from the reference set as an optimal region block, and taking the central point of the optimal region block corresponding to each initial region block as the position of the electric pole to obtain a final path.

Description

Technical Field

[0001] The present invention relates to the technical field of line planning, and in particular to a distribution network line planning and design method and system based on images taken by unmanned aerial vehicles. Background Art

[0002] The distribution network is an important part of the power system, covering urban and rural areas, connecting thousands of households, and is the "last mile" of power supply. Its planning and construction directly affect the stability, safety and efficiency of power supply. The line planning of the distribution network involves many aspects, including load demand and power supply capacity, power transmission efficiency, reliability and stability, economy and cost.

[0003] When planning distribution network lines, it is very important to consider terrain factors, because the terrain directly affects the layout of the line, construction costs and the difficulty of future operation and maintenance; the complex terrain of mountainous areas requires that line planning must take into account the undulations of the terrain and avoid setting up lines in areas with large slopes; rural areas generally have more open terrain, but may also encounter natural obstacles such as rivers and woodlands.

[0004] In the prior art, in order to take terrain factors into consideration, when planning the distribution network lines, relevant professionals are often required to conduct on-site inspections of the terrain in the distribution area. This manual field inspection method is not only inaccurate, but also inefficient and labor-intensive. Summary of the invention

[0005] The purpose of the present invention is to provide a distribution network line planning and design method and system based on images taken by unmanned aerial vehicles to solve the above technical problems.

[0006] The purpose of the present invention can be achieved by the following technical solutions:

[0007] A method for planning and designing distribution network lines based on images taken by unmanned aerial vehicles comprises the following steps:

[0008] Step S1: obtaining a planned area, and obtaining terrain information of the planned area through a drone, and establishing a three-dimensional model of the planned area according to the terrain information; dividing an air area and a solid area in the three-dimensional model, and obtaining an interface between the air area and the solid area;

[0009] Divide the interface grid into a plurality of area blocks; and obtain the three-dimensional coordinates corresponding to the center point of each area block;

[0010] Step S2: selecting the area blocks where the starting pole and the end pole of the distribution network are located on the interface, connecting the starting pole and the end pole to obtain an initial path; on the initial path, selecting an area block at every preset interval, which is recorded as the initial area block of the pole;

[0011] Step S3: Set a reference radius, and take the center point of the initial area block as the center of the sphere to obtain a spherical area; obtain the intersection of all area blocks in the spherical area and all area blocks on the interface, which is recorded as a reference set; obtain the matching value PI of each area block in the reference set:

[0012]

[0013] Where n is the total number of blocks in the reference set, P0 is the coordinate of the center point of the initial block, and P i is the coordinate of the center point of the i-th region block in the reference set, P k is the coordinate of the center point of the current area block, P s-z is the coordinate on the z-axis of the center point of the sth area block adjacent to the initial area block, ε is the correction coefficient and ε>0;

[0014] Step S4: Select the area block with the highest matching value in the reference set, record it as the best area block, and replace the initial area block with the best area block; then use the center point of the best area block corresponding to each initial area block as the position of the pole, and obtain the final path.

[0015] As a further solution of the present invention, the process of obtaining the three-dimensional coordinates corresponding to the center point of each area block includes:

[0016] A three-dimensional coordinate system is established, with the plane formed by the x-axis and the y-axis being parallel to the horizontal plane, and the altitude being the z-axis, which is perpendicular to the horizontal plane.

[0017] As a further solution of the present invention: the process of meshing the interface includes:

[0018] The interface is divided into a rectangular grid to obtain a plurality of rectangular grids, and each rectangular block is recorded as a region block; the center point of the region block is obtained, and the coordinates of the center point in the three-dimensional coordinate system are obtained and recorded as the coordinates of the center point of the region block.

[0019] As a further solution of the present invention: the setting range of the preset interval is [40m, 70m].

[0020] As a further solution of the present invention: the process of obtaining the matching value of each area block in the reference set includes:

[0021] Obtain each area block in the reference set, and determine whether the area block is an area block where an electric pole can be built; if it is an area block where an electric pole can be built, obtain a matching value of the area block; if it is an area block where an electric pole cannot be built, exclude the area block from the reference set.

[0022] As a further solution of the present invention: when there are two area blocks with the same matching values ​​in the reference set, the relative distances of the two area blocks from the initial area block are obtained. Compare the relative distances between the two area blocks and select the area block with the larger relative distance as the best area block.

[0023] As a further solution of the present invention: the process of setting the reference radius includes:

[0024] Let the reference radius be R, and obtain the coordinates of the last best area block, denoted as P k-1 , then the reference radius satisfies the constraint

[0025] As a further solution of the present invention: a distribution network line planning and design system based on images taken by drones, comprising:

[0026] Acquisition and processing module: obtain the planned area, and obtain the terrain information of the planned area through the drone, and establish a three-dimensional model of the planned area according to the terrain information; divide the air area and the solid area in the three-dimensional model, and obtain the interface between the air area and the solid area;

[0027] Divide the interface grid into a plurality of area blocks; and obtain the three-dimensional coordinates corresponding to the center point of each area block;

[0028] Initial path determination module: select the area blocks where the starting pole and the end pole of the distribution network are located on the interface, connect the starting pole and the end pole to obtain an initial path; on the initial path, select an area block at every preset interval, which is recorded as the initial area block of the pole;

[0029] Initial path correction module: set the reference radius, and take the center point of the initial area block as the center of the sphere to obtain a spherical area; obtain the intersection of all area blocks in the spherical area and all area blocks on the interface, recorded as a reference set; obtain the matching value PI of each area block in the reference set:

[0030]

[0031] Where n is the total number of blocks in the reference set, P0 is the coordinate of the center point of the initial block, and P i is the coordinate of the center point of the i-th region block in the reference set, P k is the coordinate of the center point of the current area block, P s-z is the coordinate on the z-axis of the center point of the sth area block adjacent to the initial area block, ε is the correction coefficient and ε>0;

[0032] The area block with the highest matching value is selected from the reference set and recorded as the best area block, and the initial area block is replaced by the best area block; the center point of the best area block corresponding to each initial area block is used as the position of the pole, and the final path is obtained.

[0033] Beneficial effects of the present invention:

[0034] In the prior art, in order to take terrain factors into consideration, when planning the distribution network lines, relevant professionals are often required to conduct on-site inspections of the terrain in the distribution area; this manual field inspection method is not only inaccurate, but also inefficient and labor-intensive; compared with the prior art, the present invention uses high-definition images taken by drones to quickly and accurately obtain terrain and object information, greatly reducing the time and labor required for traditional manual surveys; the three-dimensional model can more realistically reflect the actual terrain and landforms, making the design of the distribution network more accurate and avoiding design errors caused by terrain factors; since manual field surveys are reduced, labor costs and possible human errors are also reduced accordingly, which helps to reduce the overall cost of the project in the long run; the quality and efficiency of distribution network planning and design are improved, while costs and risks are reduced, and the sustainability and reliability of the project are enhanced; by calculating the matching value of the regional block, the drone image information can be effectively used in the planning and design of the distribution network lines, improving the accuracy and scientificity of the path selection. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The present invention will be further described below in conjunction with the accompanying drawings.

[0036] Figure 1 It is a structural schematic diagram of a distribution network line planning and design method and system based on images taken by unmanned aerial vehicles in the present invention. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] See also Figure 1 As shown, the present invention is a distribution network line planning and design method based on images taken by drones, comprising the following steps:

[0039] Step S1: obtaining a planned area, and obtaining terrain information of the planned area through a drone, and establishing a three-dimensional model of the planned area according to the terrain information; dividing an air area and a solid area in the three-dimensional model, and obtaining an interface between the air area and the solid area;

[0040] Divide the interface grid into a plurality of area blocks; and obtain the three-dimensional coordinates corresponding to the center point of each area block;

[0041] It should be noted that the terrain information is obtained based on the images captured by the drone, and the process includes:

[0042] Obtain the shooting range of the shooting terminal in the drone, divide the planning area into several sub-areas according to the shooting range, number each sub-area, record the position of each sub-area, and associate the number with the position; obtain the shooting images of each sub-area in sequence through the drone, and splice the shooting images of each sub-area according to the number of the sub-area and its corresponding position to obtain the shooting image of the planning area;

[0043] The process of obtaining the three-dimensional coordinates corresponding to the center point of each area block includes:

[0044] Establish a three-dimensional coordinate system, with the plane formed by the x-axis and the y-axis parallel to the horizontal plane, and the altitude as the z-axis, perpendicular to the horizontal plane;

[0045] It should be noted that, on the three-dimensional model, the center point of a region block is randomly selected as the origin of the three-dimensional coordinate system, and the unit length of each coordinate axis in the three-dimensional coordinate system is set according to the side length of the region block; here, the unit length of the three-dimensional coordinate system is set = the side length of the region block;

[0046] The process of meshing the interface includes:

[0047] Divide the interface into a rectangular grid to obtain a plurality of rectangular grids, and record each rectangular block as a region block; obtain the center point of the region block, obtain the coordinates of the center point in the three-dimensional coordinate system, and record them as the coordinates of the center point of the region block;

[0048] It is worth noting that the distance between the line edge of the pole conductor and the permanent building should not be less than the following values ​​under the maximum wind deviation: 1 kV to 10 kV: 1.5m for bare conductor, 0.75m for insulated conductor (no doors, windows or solid walls in adjacent buildings); below 1 kV: 1m for bare conductor, 0.2m for insulated conductor (no doors, windows or solid walls in adjacent buildings); the safety distance threshold L between the pole and the building is set to L=1.5m; and the floor area is generally determined according to the specifications and dimensions of the cabinet; for example, if a cabinet is 600mm wide and 1200mm deep, then its floor area is 0.72 square meters; in the process of dividing the planning area, the setting range of the side length of the rectangular grid in the rectangular grid is set to [1.5m, 2m];

[0049] Step S2: selecting the area blocks where the starting pole and the end pole of the distribution network are located on the interface, connecting the starting pole and the end pole to obtain an initial path; on the initial path, selecting an area block at every preset interval, which is recorded as the initial area block of the pole;

[0050] It can be understood that the starting pole is the power input end of the distribution network in the planning area, and the end pole is the power output end of the distribution network in the planning area; the positions of the starting pole and the end pole can be manually selected by relevant personnel, or the matching values ​​of each area block can be calculated at the edges of the input end and the output end of the planning area for selection;

[0051] The setting range of the preset interval is [40m, 70m];

[0052] It can be understood that the pole spacing standard refers to the minimum distance between poles in the power transmission and distribution line to ensure the safety and reliability of power transmission; the pole spacing standard is usually formulated based on the voltage level, line length, topography and other factors of the power transmission and distribution line. In general low-voltage power lines, the pole spacing standard is usually about 50 meters; therefore, the setting range of the preset interval is [40m, 70m];

[0053] Step S3: Set a reference radius, and take the center point of the initial area block as the center of the sphere to obtain a spherical area; obtain the intersection of all area blocks in the spherical area and all area blocks on the interface, which is recorded as a reference set; obtain the matching value PI of each area block in the reference set:

[0054]

[0055] Where n is the total number of blocks in the reference set, P0 is the coordinate of the center point of the initial block, and P i is the coordinate of the center point of the i-th region block in the reference set, P k is the coordinate of the center point of the current area block, P s-z is the coordinate on the z-axis of the center point of the sth area block adjacent to the initial area block, ε is the correction coefficient and ε>0;

[0056] It should be noted that It represents the ratio of the average distance between the initial region block and the center points of all other region blocks in the reference set to the distance between the center point of the initial region block and the center point of the current region block; represents the sum of the distances between the center point of the initial region block and the center points of all other region blocks in the reference set; n|P0-P k | represents the distance between the center point of the initial block and the center point of the current block multiplied by the total number of blocks in the reference range, where n is used to calculate the average value; It is used to measure the relative distance difference between the current area block and the initial area block and other area blocks. If this ratio is smaller, it means that the current area block is closer to the initial area block. Since the initial area block is the area block closest to the previous pole, the closer the distance between the current area block and the initial area block is, the closer the distance to the previous pole is, and the shorter the line length between the two is.

[0057] It represents the average value of the square of the height difference between the initial region block and the current region block on the z-axis, and is used to measure the height difference between the current region block and its neighboring region blocks. The lower this value is, the smaller the height difference between the current region block and its neighboring region blocks is. 1-z , P 1-z , ..., P 8-z} represents 8 area blocks adjacent to the current area block, and the 8 area blocks are the area blocks above, below, left, right, upper left, upper right, lower left and lower right of the current area block respectively;

[0058] The correction coefficient ε is obtained through experiments and is used to adjust the size of the matching value so that the calculation result is more in line with actual needs and situations;

[0059] The process of obtaining the matching value of each area block in the reference set includes:

[0060] Obtain each area block in the reference set, and determine whether the area block is an area block where an electric pole can be built; if it is an area block where an electric pole can be built, obtain a matching value of the area block; if it is an area block where an electric pole cannot be built, exclude the area block from the reference set;

[0061] It is understandable that when electric poles are erected, they need to be at a safe distance from residents, and electric poles cannot be erected in areas where landscapes such as rivers and trees are located; the process of determining whether an area block is an area block where electric poles can be erected includes: obtaining, based on the photographic images of the planned area acquired by the drone, whether there are buildings and landscapes in the area block through image recognition technology, the buildings include high-rise buildings and bridges, and the landscapes include rivers, trees, and farmland; recording the area blocks with buildings and landscapes as special area blocks;

[0062] The process of acquiring the special area block according to the photographed image of the planned area includes:

[0063] Acquire sample images of landscapes and buildings, divide the sample images into different categories, perform feature extraction on the sample images of each category, obtain image features corresponding to each category, and establish a feature library;

[0064] Divide the captured image into a grid to obtain a plurality of image blocks, wherein the size of the image blocks is consistent with the regional blocks; identify each image block to obtain an image feature of the image block, which is recorded as an image block feature; obtain, based on the feature library, a category corresponding to an image feature having the highest similarity to the image block feature, which is recorded as the category of the image block, that is, the category of the regional block corresponding to the image block;

[0065] It can be understood that the size of the image block is made consistent with the size of the region block in order to facilitate the distinction of the categories of the region blocks;

[0066] The process of setting the reference radius includes:

[0067] Let the reference radius be R, and obtain the coordinates of the last best area block, denoted as P k-1 , then the reference radius satisfies the constraint

[0068] It is understandable that according to the preset distance, the maximum distance between two poles cannot exceed 70m. The maximum distance between the current pole and the previous pole in the reference set must not exceed 70m;

[0069] Step S4: Select the area block with the highest matching value in the reference set, record it as the best area block, and replace the initial area block with the best area block; then take the center point of the best area block corresponding to each initial area block as the position of the pole, and obtain the final path;

[0070] When there are two area blocks with the same matching values ​​in the reference set, the relative distances of the two area blocks to the initial area block are obtained. Compare the relative distances between the two area blocks and select the area block with the larger relative distance as the best area block.

[0071] A distribution network line planning and design system based on images taken by drones, comprising:

[0072] Acquisition and processing module: obtain the planned area, and obtain the terrain information of the planned area through the drone, and establish a three-dimensional model of the planned area according to the terrain information; divide the air area and the solid area in the three-dimensional model, and obtain the interface between the air area and the solid area;

[0073] Divide the interface grid into a plurality of area blocks; and obtain the three-dimensional coordinates corresponding to the center point of each area block;

[0074] Initial path determination module: select the area blocks where the starting pole and the end pole of the distribution network are located on the interface, connect the starting pole and the end pole to obtain an initial path; on the initial path, select an area block at every preset interval, which is recorded as the initial area block of the pole;

[0075] Initial path correction module: set the reference radius, and take the center point of the initial area block as the center of the sphere to obtain a spherical area; obtain the intersection of all area blocks in the spherical area and all area blocks on the interface, recorded as a reference set; obtain the matching value PI of each area block in the reference set:

[0076]

[0077] Where n is the total number of blocks in the reference set, P0 is the coordinate of the center point of the initial block, and P i is the coordinate of the center point of the i-th region block in the reference set, P k is the coordinate of the center point of the current area block, P s-z is the coordinate on the z-axis of the center point of the sth area block adjacent to the initial area block, ε is the correction coefficient and ε>0;

[0078] The area block with the highest matching value is selected from the reference set and recorded as the best area block, and the initial area block is replaced by the best area block; the center point of the best area block corresponding to each initial area block is used as the position of the pole, and the final path is obtained.

[0079] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A distribution network line planning and design method based on images taken by unmanned aerial vehicles, characterized in that: The following steps are involved: Step S1: Acquire a planned area, and acquire terrain information of the planned area through a drone, and establish a three-dimensional model of the planned area according to the terrain information; Dividing an air region and a solid region in the three-dimensional model, and obtaining an interface between the air region and the solid region; Divide the interface grid into a plurality of area blocks, and obtain the three-dimensional coordinates corresponding to the center point of each area block; Step S2: selecting the area block where the starting pole and the end pole of the distribution network are located on the interface, connecting the starting pole and the end pole to obtain an initial path; On the initial path, a region block is selected at every preset interval and recorded as the initial region block of the pole; Step S3: Set a reference radius, and take the center point of the initial area block as the center of the sphere to obtain a spherical area; obtain the intersection of all area blocks in the spherical area and all area blocks on the interface, which is recorded as a reference set; obtain the matching value PI of each area block in the reference set: Where n is the total number of blocks in the reference set, P0 is the coordinate of the center point of the initial block, and P i is the coordinate of the center point of the i-th region block in the reference set, P k is the coordinate of the center point of the current area block, P s-z is the coordinate on the z-axis of the center point of the sth area block adjacent to the initial area block, ε is the correction coefficient and ε>0; Step S4: Select the area block with the highest matching value in the reference set, record it as the best area block, and replace the initial area block with the best area block; then use the center point of the best area block corresponding to each initial area block as the position of the pole, and obtain the final path.

2. A distribution network line planning and design method based on drone-photographed images according to claim 1, characterized in that: In step S1, the process of obtaining the three-dimensional coordinates corresponding to the center point of each area block includes: A three-dimensional coordinate system is established, with the plane formed by the x-axis and the y-axis being parallel to the horizontal plane, and the altitude being the z-axis, which is perpendicular to the horizontal plane.

3. A distribution network line planning and design method based on drone-photographed images according to claim 2, characterized in that: In step S1, the process of meshing the interface includes: The interface is divided into a rectangular grid to obtain a plurality of rectangular grids, and each rectangular block is recorded as a region block; the center point of the region block is obtained, and the coordinates of the center point in the three-dimensional coordinate system are obtained and recorded as the coordinates of the center point of the region block.

4. A distribution network line planning and design method based on drone-photographed images according to claim 1, characterized in that: In step S2, the setting range of the preset interval is [40m, 70m].

5. The method for planning and designing a distribution network line based on images taken by unmanned aerial vehicles according to claim 1, characterized in that: In step S3, the process of obtaining the matching value of each area block in the reference set includes: Obtain each area block in the reference set, and determine whether the area block is an area block where an electric pole can be built; if it is an area block where an electric pole can be built, obtain a matching value of the area block; if it is an area block where an electric pole cannot be built, exclude the area block from the reference set.

6. The method for planning and designing a distribution network line based on images taken by unmanned aerial vehicles according to claim 1, characterized in that: In step S3, the process of setting the reference radius includes: Let the reference radius be R, and obtain the coordinates of the last best area block, denoted as P k-1 , then the reference radius satisfies the constraint 7. The method for planning and designing a distribution network line based on images taken by unmanned aerial vehicles according to claim 1, characterized in that: In step S4, when there are two area blocks with the same matching value in the reference set, the relative distances of the two area blocks to the initial area block are obtained. Compare the relative distances between the two area blocks and select the area block with the larger relative distance as the best area block.

8. A distribution network line planning and design system based on drone-photographed images, characterized in that: include: Acquisition and processing module: obtain the planned area and the terrain information of the planned area through the drone, and establish a three-dimensional model of the planned area according to the terrain information; Dividing an air region and a solid region in the three-dimensional model, and obtaining an interface between the air region and the solid region; Divide the interface grid into a plurality of area blocks; and obtain the three-dimensional coordinates corresponding to the center point of each area block; An initial path determination module: selecting the area block where the starting pole and the end pole of the distribution network are located on the interface, connecting the starting pole and the end pole to obtain an initial path; On the initial path, a region block is selected at every preset interval and recorded as the initial region block of the pole; Initial path correction module: set the reference radius, and take the center point of the initial area block as the center of the sphere to obtain a spherical area; obtain the intersection of all area blocks in the spherical area and all area blocks on the interface, recorded as a reference set; obtain the matching value PI of each area block in the reference set: Where n is the total number of blocks in the reference set, P0 is the coordinate of the center point of the initial block, and P i is the coordinate of the center point of the i-th region block in the reference set, P k is the coordinate of the center point of the current area block, P s-z is the coordinate on the z-axis of the center point of the sth area block adjacent to the initial area block, ε is the correction coefficient and ε>0; The area block with the highest matching value is selected from the reference set and recorded as the best area block, and the initial area block is replaced by the best area block; the center point of the best area block corresponding to each initial area block is used as the position of the pole, and the final path is obtained.

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