Tower-type detection-based power transmission line reconstruction method and device, and storage medium

Abstract

The invention discloses a power transmission line reconstruction method and device based on tower-type detection, and a storage medium. The method comprises the steps: carrying out the optimization processing of a to-be-reconstructed power transmission line initial point cloud obtained based on tower-type detection, and obtaining a plurality of single power transmission line point cloud clusters; performing fitting reconstruction based on the single power transmission line point cloud cluster to obtain a single power transmission line target model; and performing error analysis and correction on the single power transmission line target model to obtain a single power transmission line target model meeting requirements. According to the method, the extracted initial point cloud of the power transmission line to be reconstructed is optimized, the quality of the point cloud is improved, interference of discrete points is avoided, a single power transmission line target model is obtained through fitting reconstruction, and error analysis is performed on the single power transmission line target model to determine an error power transmission line model; and then the error power transmission line model is corrected to obtain a single power transmission line target model meeting requirements, so that the accuracy of the finally established power transmission line model is improved.

Description

Technical Field

[0001] The present application relates to the technical field of power transmission line reconstruction, and more specifically, to a power transmission line reconstruction method, device and storage medium based on tower detection. Background Art

[0002] As the scale of the power system gradually expands, the power grid is spread across various regions. Among them, the safety of transmission lines is of vital importance as an important carrier of electric energy transportation. At present, there are four main ways to detect the safety of transmission lines: manual inspection, drone inspection, helicopter inspection and tower inspection. Among them, tower inspection is to install sensors such as lidar and cameras on the tower to detect the transmission line between the two towers and the detection of obstacles. However, due to the sparsity and irregularity of the point cloud, the point cloud becomes increasingly sparse as the shooting distance increases. In the case of tower inspection, it is difficult to obtain the complete transmission line point cloud between the two towers. Only a part of the transmission line point cloud that is closer to the radar installation distance can be obtained. It is difficult to reconstruct the complete transmission line between the two towers based on this part of the point cloud, and the effect is not ideal.

[0003] At present, the extraction and reconstruction methods of power line point clouds can be divided into power line extraction and reconstruction based on traditional methods and power line identification and detection based on deep learning. Most traditional methods can achieve good filtering of interference point clouds, but they are often sensitive to parameters. The power line identification and detection method based on deep learning is to pass the point cloud data into the network model, and then perform feature extraction and identification detection.

[0004] When faced with incomplete or missing transmission line point clouds, traditional methods often combine multiple features to design algorithms, resulting in low extraction efficiency. In the process of transmission line reconstruction, the fitting and reconstruction of incomplete transmission lines often requires multiple segmented local fitting or merging of incomplete transmission line point clouds. The process is often cumbersome and the application scenarios are relatively single. Transmission line recognition and detection methods based on deep learning still face many difficulties in practical applications. The main reason is that the spatial distribution of transmission lines is relatively slender, the number of point clouds they occupy is small, and the fusion of positive and negative samples in the data set is uneven, making it difficult to obtain sufficient point cloud features in the feature extraction process. When extracting transmission line point clouds in complex scenes, it is often difficult to simultaneously meet the requirements of accuracy and efficiency. Summary of the invention

[0005] In response to at least one defect or improvement need in the prior art, the present invention provides a transmission line reconstruction method, device and storage medium based on tower detection, which are used to solve the problems in the prior art of low extraction efficiency when the transmission line point cloud is incomplete or missing, and the spatial distribution of the transmission line is relatively slender, the number of point clouds occupied is small, the positive and negative samples are uneven when fusion occurs in the data set, and the transmission line model determined according to the acquired point cloud features is inaccurate.

[0006] To achieve the above object, according to a first aspect of the present invention, a method for reconstructing a transmission line based on tower detection is provided, comprising: The initial point cloud of the transmission line to be reconstructed obtained based on tower detection is optimized to obtain several single transmission line point cloud clusters; Fitting and reconstruction are performed based on the point cloud cluster of a single transmission line to obtain a single transmission line target model; The error analysis and correction of the single transmission line target model are carried out to obtain a single transmission line target model that meets the requirements.

[0007] In a possible implementation, the initial point cloud of the transmission line to be reconstructed obtained based on tower detection is optimized to obtain several single transmission line point cloud clusters, including: Preprocessing the initial point cloud of the transmission line to be reconstructed; Eliminate outlier point clouds from the pre-processed initial point cloud of the transmission line to be reconstructed; After removing outlier point clouds, Euclidean clustering is performed on the initial point cloud of the transmission line to be reconstructed to obtain several single transmission line point cloud clusters.

[0008] In a possible implementation, removing outlier point clouds from the pre-processed initial point cloud of the transmission line to be reconstructed includes: Calculate the statistical characteristics of each preprocessed initial point cloud of the transmission line to be reconstructed based on preset statistical parameters; Determine outlier point clouds from the preprocessed initial point clouds of the transmission line to be reconstructed according to statistical characteristics and preset thresholds; The outlier point cloud is filtered to remove the outlier point cloud.

[0009] In a possible implementation, the initial point cloud of the transmission line to be reconstructed after removing the outlier point cloud is subjected to Euclidean clustering to obtain several single transmission line point cloud clusters, including: Determine the neighborhood points of each initial point cloud of the transmission line to be reconstructed after removing the outlier point cloud according to the spatial search structure; Clustering the neighborhood points corresponding to each initial point cloud of the transmission line to be reconstructed after removing the outlier point cloud to obtain several initial clusters; The initial clusters whose distances between any initial clusters are less than the preset distance threshold are merged pairwise to obtain several single transmission line point cloud clusters.

[0010] In a possible implementation, fitting and reconstruction is performed based on a single transmission line point cloud cluster to obtain a single transmission line target model, including: Perform projection fitting on the point cloud cluster of a single transmission line to establish an initial model of a single transmission line; Calculate the model parameters in the initial model of a single transmission line based on the point cloud coordinate data; The missing point cloud in the incomplete transmission line in the initial model of a single transmission line is completed to obtain the target model of the single transmission line.

[0011] In a possible implementation, error analysis and correction are performed on the single transmission line target model to obtain a single transmission line target model that meets the requirements, including: Perform error analysis on the target model of a single transmission line to determine the error transmission line model; The error transmission line model is corrected based on the error-free transmission line model to obtain a single transmission line target model that meets the requirements.

[0012] In a possible implementation, performing error analysis on a single transmission line target model to determine an error transmission line model includes: Calculate the ratio of the height difference between the end points and the height difference between the start points of the target models of adjacent single transmission lines in the same column in a preset order, and record it as a first ratio; Calculate the ratio of the height difference of the starting point of the single transmission line target model to the height difference of the starting point of the adjacent single transmission line target model in the same column in a preset order, and record it as a second ratio; An error analysis is performed based on the first ratio and the second ratio to determine an error transmission line model.

[0013] In a possible implementation, the error transmission line model is corrected based on the error-free transmission line model to obtain a single transmission line target model that meets the requirements, including: Record the endpoint coordinates of the error transmission line model and the endpoint coordinates of the error-free transmission line model respectively; If the endpoint coordinates of the error-free transmission line model exist within a preset threshold range in the preset direction of the endpoint coordinates of the error transmission line model, the error transmission line model is corrected using the model parameters of the error-free transmission line model to obtain a single transmission line target model that meets the requirements.

[0014] According to the second aspect of the present invention, there is also provided a transmission line reconstruction device based on tower detection, which includes at least one processing unit and at least one storage unit, wherein the storage unit stores a computer program, and when the computer program is executed by the processing unit, the processing unit executes any one of the steps of the above-mentioned transmission line reconstruction method based on tower detection.

[0015] According to the third aspect of the present invention, there is also provided a storage medium storing a computer program executable by an access authentication device, wherein when the computer program runs on the access authentication device, the access authentication device executes any one of the steps of the tower detection-based transmission line reconstruction method described above.

[0016] In general, the above technical solutions conceived by the present invention can achieve the following beneficial effects compared with the prior art: The present invention provides a transmission line reconstruction method based on tower detection. An initial point cloud of a transmission line to be reconstructed is obtained through tower detection, and then the initial point cloud of the transmission line to be reconstructed is optimized to obtain a plurality of single transmission line point cloud clusters, thereby improving the point cloud quality and avoiding interference from discrete point clouds. Fitting and reconstruction are then performed based on the plurality of single transmission line point cloud clusters to obtain a single transmission line target model, thereby realizing long-distance three-dimensional reconstruction of an incomplete transmission line model between two transmission towers. Finally, error analysis and correction are performed on the single transmission line target model to obtain a single transmission line target model that meets the requirements, and transmission line models with errors in the single transmission line target model are identified. Then, deviation correction is performed on the transmission line model with errors, thereby realizing long-distance three-dimensional reconstruction of incomplete point clouds in large scenes and improving the accuracy of transmission line model reconstruction. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 A schematic flow chart of an embodiment of a method for reconstructing a transmission line based on tower detection provided by the present invention; Figure 2 The present invention provides Figure 1 A schematic diagram of a flow chart of an embodiment of step S100; Figure 3 A schematic diagram of a point cloud of an embodiment of an initial point cloud of a transmission line to be reconstructed after preprocessing provided by the present invention; Figure 4 The present invention provides Figure 2 A flowchart of an embodiment of step S120; Figure 5 The present invention provides Figure 2 A flowchart of an embodiment of step S130; Figure 6 The present invention provides Figure 1 A schematic flow chart of an embodiment of step S200; Figure 7 A schematic diagram of a flow chart of an embodiment of performing error analysis on a single transmission line target model provided by the present invention; Figure 8 A schematic diagram of the positions of a row of transmission lines according to an embodiment of the present invention; Fig. 9 A search schematic diagram of an embodiment of the error transmission line model search range provided by the present invention; Fig.10 A schematic structural diagram of a transmission line reconstruction device based on tower detection provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0020] The terms "first", "second", "third", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0021] The present invention provides a transmission line reconstruction method, device and storage medium based on tower detection, which are respectively described below.

[0022] See also Figure 1 , Figure 1 A schematic flow chart of an embodiment of a method for reconstructing a transmission line based on tower detection provided by the present invention. In a specific embodiment of the present invention, a method for reconstructing a transmission line based on tower detection is disclosed, comprising: S100, optimizing the initial point cloud of the transmission line to be reconstructed obtained based on tower detection to obtain a plurality of single transmission line point cloud clusters; S200, performing fitting and reconstruction based on a single transmission line point cloud cluster to obtain a single transmission line target model; S300, performing error analysis and correction on the single transmission line target model to obtain a single transmission line target model that meets the requirements.

[0023] In the above embodiment, several single transmission line point cloud clusters are extracted, mainly including two modules: data collection and transmission line point cloud recognition and extraction. The present invention collects point cloud data based on the tower detection mode. In the recognition and extraction part of the transmission line point cloud, the present invention realizes the coarse extraction of the transmission line point cloud based on the multiple filtering algorithm, and effectively improves the quality of the point cloud data and avoids the interference of discrete point clouds. The detection of a single transmission line point cloud is then realized based on the Euclidean clustering algorithm.

[0024] The present invention adopts a linear and polynomial combination model to fit and reconstruct the target model of the transmission line, and solves the parameters of the relevant model. Since it is impossible to obtain a complete transmission line point cloud between two towers, the present invention completes the missing transmission line point cloud based on the fitted model, improves the quality of the transmission line point cloud, and realizes the fitting and reconstruction of the target model of the transmission line between the two towers.

[0025] The present invention analyzes the trend and overall deviation of each transmission line to determine the error transmission line model that needs secondary reconstruction. This part of the transmission line model is extracted, and the deviation is corrected with reference to the correctly fitted error-free transmission line model, thereby realizing the error analysis and correction of the transmission line target model of incomplete point cloud in a large scene.

[0026] Compared with the prior art, the present embodiment provides a transmission line reconstruction method based on tower detection, which obtains the initial point cloud of the transmission line to be reconstructed through tower detection, and then optimizes the initial point cloud of the transmission line to be reconstructed to obtain several single transmission line point cloud clusters, thereby improving the point cloud quality and avoiding interference from discrete point clouds, and then performs fitting reconstruction based on the several single transmission line point cloud clusters to obtain a single transmission line target model, thereby realizing long-distance three-dimensional reconstruction of an incomplete transmission line model between two transmission towers, and finally performing error analysis and correction on the single transmission line target model to obtain a single transmission line target model that meets the requirements, identifying the transmission line model with errors in the single transmission line target model, and then performing deviation correction on the transmission line model with errors, thereby realizing long-distance three-dimensional reconstruction of incomplete point clouds in large scenes and improving the accuracy of transmission line model reconstruction.

[0027] See also Figure 2 , Figure 2 The present invention provides Figure 1 FIG. 1 is a flow chart of an embodiment of step S100 in FIG. 1 . In some embodiments of the present invention, the initial point cloud of the transmission line to be reconstructed obtained based on tower detection is optimized to obtain a plurality of single transmission line point cloud clusters, including: S110, preprocessing the initial point cloud of the transmission line to be reconstructed; S120, removing outlier point clouds from the pre-processed initial point cloud of the transmission line to be reconstructed; S130, performing Euclidean clustering on the initial point cloud of the transmission line to be reconstructed after removing the outlier point cloud to obtain a plurality of single transmission line point cloud clusters.

[0028] In the above embodiment, in the data collection part, the data used in the present invention comes from actual on-site shooting. Sensors such as lidar are installed on the transmission tower. The shooting direction is along the extension direction of the transmission line. The radar installation angle is based on the overall trend of the transmission line. The angle can be adjusted within a small range to ensure that the transmission lines are within the shooting range, thereby realizing the installation of the equipment and data collection.

[0029] See also Figure 3 , Figure 3 The schematic diagram of the point cloud of an embodiment of the initial point cloud of the transmission line to be reconstructed after preprocessing provided by the present invention. In the transmission line point cloud recognition and extraction part, the present invention first performs elevation filtering in the three directions of XYZ on the original point cloud to achieve rough extraction of the transmission line point cloud. The implementation steps are as follows: first, specify a dimension and the value range under the dimension, then traverse each point in the point cloud, determine whether the value of the point in the specified dimension is within the value range, delete the points whose values ​​are not within the value range, and finally, the traversal ends, and the remaining points constitute the initial point cloud of the transmission line to be reconstructed after preprocessing.

[0030] After the elevation filtering, the present invention removes outlier point clouds based on statistical filtering to reduce noise interference. Because outlier point clouds are sparsely distributed and have unclear distribution characteristics, they often interfere with useful data analysis.

[0031] Then, the present invention extracts the point cloud cluster of a single transmission line through Euclidean clustering. The similarity of points is determined by calculating the Euclidean distance between points in the point cloud, and then similar points are clustered together to form clusters. The goal of Euclidean clustering is to divide the point cloud data into several clusters so that the points in each cluster are as similar as possible, while the points between different clusters are as dissimilar as possible.

[0032] See also Figure 4 , Figure 4 The present invention provides Figure 2 In some embodiments of the present invention, removing outlier point clouds from the pre-processed initial point cloud of the transmission line to be reconstructed includes: S121, calculating the statistical characteristics of each preprocessed initial point cloud of the transmission line to be reconstructed based on preset statistical parameters; S122, determining an outlier point cloud from the preprocessed initial point cloud of the transmission line to be reconstructed according to statistical characteristics and a preset threshold; S123, filtering the outlier point cloud to remove the outlier point cloud.

[0033] In the above embodiment, the neighborhood range and the threshold of statistical features are first set: as a preferred embodiment, the neighborhood size for calculating statistical parameters in the present invention is set to 40 query points, and the threshold of statistical features is set to 8 times the standard deviation. First, use KDtree to search the preprocessed initial point cloud of the transmission line to be reconstructed. P i 40 nearby neighbors P j , calculate the distance from 40 neighboring points to the point cloud d , and then calculate the mean of the distance μ and standard deviation σ , that is, to calculate the statistical characteristics. The calculation formula is as follows.

[0034] (1); (2); (3); in, , , and , , Point Cloud P i and 40 nearby neighbors P j The three-dimensional coordinates of .

[0035] Based on the above formulas (1)-(3), the statistical characteristics of each point cloud are calculated. For each point in the point cloud, statistical parameters such as mean and standard deviation are calculated based on the points in its neighborhood. These statistical parameters measure the degree of deviation between the point and its neighborhood.

[0036] Perform outlier point cloud judgment and determine whether each point is an outlier based on the calculated statistical features. Usually, if the feature value of a point exceeds the set threshold, it will be marked as an outlier.

[0037] The outlier point cloud is filtered to remove all outlier point clouds.

[0038] See also Figure 5 , Figure 5 The present invention provides Figure 2 FIG. 1 is a flow chart of an embodiment of step S130. In some embodiments of the present invention, the initial point cloud of the transmission line to be reconstructed after removing the outlier point cloud is subjected to Euclidean clustering to obtain a plurality of single transmission line point cloud clusters, including: S131, determining the neighborhood points of each initial point cloud of the transmission line to be reconstructed after removing the outlier point cloud according to the spatial search structure; S132, clustering the neighborhood points corresponding to each initial point cloud of the transmission line to be reconstructed after removing the outlier point cloud to obtain a plurality of initial clusters; S133. Merge any initial clusters whose distances are less than a preset distance threshold into pairs to obtain a number of single transmission line point cloud clusters.

[0039] In the above embodiment, the clustering parameters are determined: first, the parameters for Euclidean clustering need to be determined. In the present invention, the minimum and maximum number of point clouds for clustering are 100 and 30,000 respectively, and the preset distance threshold is 1.

[0040] Constructing a spatial search structure: In order to effectively search for neighborhood points in a point cloud, the present invention constructs a spatial search structure KDtree to accelerate the search process of neighborhood points.

[0041] Iterate through each point in the point cloud: For each point in the point cloud, find its neighboring points within a given distance threshold. This can be efficiently implemented using a spatial search structure.

[0042] Clustering: For each point cloud, the point clouds in its neighborhood are grouped into a temporary cluster (also known as an initial cluster). This temporary cluster is then further processed, such as determining whether the size of the cluster meets the set minimum and maximum sizes.

[0043] Merge clusters: If the distance between two temporary clusters is less than a set threshold, they are merged into a larger cluster.

[0044] Repeat the above steps: For point clouds that are not assigned to clusters, repeat the above steps until all point clouds are assigned to clusters.

[0045] See also Figure 6 , Figure 6 The present invention provides Figure 1 FIG. 1 is a flow chart of an embodiment of step S200 in FIG. 1 . In some embodiments of the present invention, fitting and reconstruction are performed based on a single transmission line point cloud cluster to obtain a single transmission line target model, including: S210, performing projection fitting on the point cloud cluster of a single transmission line to establish an initial model of the single transmission line; S220, calculating model parameters in the initial model of a single transmission line according to the point cloud coordinate data; S230, completing the missing point cloud in the incomplete transmission line in the initial model of the single transmission line to obtain a single transmission line target model.

[0046] In the above embodiment, after obtaining several single transmission line point cloud clusters, the present invention performs a separate transmission line model fitting reconstruction for each transmission line. Transmission lines usually have certain curve characteristics, but also have certain straight line characteristics as a whole. Therefore, the present invention selects an equation combining a straight line and a polynomial to fit the transmission line, and the fitting equations are shown in formulas (4) and (5): (4); (5); Among them, x, y and z represent the horizontal coordinate, vertical coordinate and vertical coordinate respectively, a, b, c, , k are model parameters.

[0047] In the process of equation fitting, the present invention first projects all point cloud data onto XY plane, in XY The plane is fitted with a straight line equation, as shown in formula (4). After obtaining the straight line parameters, the coordinate system is revolved around Z Axis rotation, the new coordinate system X The direction is rotated to the direction of the fitted straight line, and the origin of the new coordinate system is translated to the starting point of the fitted straight line. The polynomial is fitted in the new coordinate system, and the fitted curve is the transmission line.

[0048] In the parameter solution part, the present invention uses the least square method to solve the model parameters a, b, c, Specifically, the point cloud data is converted into a matrix form, and a matrix X containing x coordinates and a matrix Y containing y coordinates are first constructed. The parameter matrix A is obtained by solving the linear equation, as shown in equation (6). Where A=[ , ]T, the parameter solution of the straight line equation is realized.

[0049] (6); After obtaining the fitting model parameters, since the actual transmission line point cloud is incomplete, the present invention obtains the distance between the two towers according to the actual scene as the distance to be fitted of the transmission line. Due to the incomplete point cloud, the present invention starts equidistant sampling from the end point of the incomplete transmission line according to the model parameters, obtains the X-coordinate of the sampling point, and obtains the Y-axis and Z-axis coordinates, thereby completing the missing point cloud and realizing long-distance reconstruction of the transmission line.

[0050] In some embodiments of the present invention, error analysis and correction are performed on a single transmission line target model to obtain a single transmission line target model that meets the requirements, including: Perform error analysis on the target model of a single transmission line to determine the error transmission line model; The error transmission line model is corrected based on the error-free transmission line model to obtain a single transmission line target model that meets the requirements.

[0051] In the above embodiment, considering that there is no correlation between the single transmission line target models initially fitted, the trend of the single transmission line is inconsistent, and even the same-side transmission lines cross. The reason for this phenomenon is mainly that in the tower detection mode, the acquired transmission line point cloud data is often less than 20m, and the length of some transmission line point clouds is even less than 10m, while the distance between two towers is often more than 150m. As a result, the ratio of the reference transmission line distance to the complete transmission line distance is very small, thereby introducing a certain error. Based on this, the present invention further performs error analysis and correction on the single transmission line target model.

[0052] There are two main types of errors in the target model of a single transmission line: transmission line runaway and transmission line crossing. Transmission line runaway refers to the phenomenon that a transmission line deviates from its original position or state under certain abnormal circumstances, and transmission line crossing refers to the phenomenon that two or more transmission lines intersect or overlap in space.

[0053] After completing the error analysis of the single transmission line target model and the error transmission line model, the present invention further corrects the error transmission line model, that is, the correction process of the error transmission line model parameters. The present invention replaces the model parameters of the error transmission line model with the model parameters of the error-free transmission line model, thereby realizing the correction of the transmission line model.

[0054] See also Figure 7 , Figure 7 A schematic flow chart of an embodiment of performing error analysis on a single transmission line target model provided by the present invention. In some embodiments of the present invention, performing error analysis on a single transmission line target model to determine an error transmission line model includes: S701, calculating the ratio of the height difference between the end points and the height difference between the start points of the target models of adjacent single transmission lines in the same column in a preset order, and recording it as a first ratio; S702, calculating the ratio of the height difference of the starting point of the single transmission line target model to the height difference of the starting point of the adjacent single transmission line target model in the same column in a preset order, and recording it as a second ratio; S703. Perform error analysis based on the first ratio and the second ratio to determine an error transmission line model.

[0055] In the above embodiment, the error transmission line model that needs to be corrected is first determined. The present invention preliminarily divides the deviation of the transmission line into two categories: transmission line runaway (upward or downward) and transmission line intersection. Then the transmission lines are divided into columns, and the transmission lines in the same column are calculated from low to high in the z-axis direction (that is, the preset order) The ratio of the end point height difference to the starting point height difference between the target models of adjacent single transmission lines is recorded as the first ratioR , the calculation formula is shown in (7).

[0056] See also Figure 8 , Figure 8 A schematic diagram of the position of an embodiment of the same row of transmission lines provided by the present invention, for transmission line runaway: (K1 is the first ratio threshold set), that is, the first ratio R If it exceeds K1, it means that there is a runaway curve in the two adjacent curves. Then, based on formula (8), the ratio of the height difference of the starting point of the single transmission line target model to the height difference of the starting point of the adjacent single transmission line target model in the same column is calculated, which is recorded as the second ratio D , so as to determine the specific transmission line that is flying away. When , it means that the upper transmission line is a runaway curve. , it indicates that the transmission line below is a runaway curve.

[0057] Transmission lines intersect: When It means that there are two transmission lines intersecting. Then, the specific transmission line that needs to be corrected is determined based on formula (8). This indicates that the upper transmission line needs further correction. Indicates that the transmission line below needs further correction.

[0058] (7); (8); in, They represent the end point height and the starting point height of the upper transmission line in the same column of adjacent transmission lines, They respectively represent the end point height and the starting point height of the transmission line located below in the same column of adjacent transmission lines.

[0059] See also Fig. 9 , Fig. 9 A search schematic diagram of an embodiment of the search range of the error transmission line model provided by the present invention. In some embodiments of the present invention, the error transmission line model is corrected based on the error-free transmission line model to obtain a single transmission line target model that meets the requirements, including: Record the endpoint coordinates of the error transmission line model and the endpoint coordinates of the error-free transmission line model respectively; If the endpoint coordinates of the error-free transmission line model exist within a preset threshold range in the preset direction of the endpoint coordinates of the error transmission line model, the error transmission line model is corrected using the model parameters of the error-free transmission line model to obtain a single transmission line target model that meets the requirements.

[0060] In the above embodiment, firstly, the endpoint coordinates of the error transmission line model and the endpoint coordinates of the error-free transmission line model are recorded respectively, and then two threshold search ranges are set in the Y and Z directions of the endpoints of the error transmission line model. If there is an endpoint of the error-free transmission line model within the threshold range, the model parameters of the error transmission line model are replaced by the model parameters of the error transmission line model. If there are multiple endpoints of the error-free transmission line model, the model parameters of the error-free transmission line model with the closest endpoint are selected. The above process is repeated until all error transmission line models have completed parameter update.

[0061] The error-free transmission line model obtained after the error transmission line model is corrected is used to regenerate the transmission line endpoints, and the incomplete transmission line point cloud is completed to build a new transmission line target model, and a single transmission line target model that meets the requirements is obtained. Based on this, the long-distance fitting reconstruction of the incomplete transmission line is realized, and the overall running time meets the actual needs of the project.

[0062] See also Fig.10 , Fig.10 A schematic diagram of the structure of a power line reconstruction device based on tower detection provided by an embodiment of the present invention. Based on the above-mentioned power line reconstruction method based on tower detection, the present invention also provides a power line reconstruction device based on tower detection. The power line reconstruction device based on tower detection can be a computing device such as a mobile terminal, a desktop computer, a notebook, a palm computer, and a server. The power line reconstruction device based on tower detection 1000 includes a processor 1010, a memory 1020, and a display 1030. Fig.10 Only some components of the synchronous tracking flying welding equipment for real-time measurement of battery height are shown, but it should be understood that it is not required to implement all the components shown, and more or fewer components may be implemented instead.

[0063] In some embodiments, the memory 1020 may be an internal storage unit of the power line reconstruction device 1000 based on tower detection, such as a hard disk or memory of the power line reconstruction device 1000 based on tower detection. In other embodiments, the memory 1020 may also be an external storage device of the power line reconstruction device 1000 based on tower detection, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the power line reconstruction device 1000 based on tower detection. Further, the memory 1020 may also include both an internal storage unit and an external storage device of the power line reconstruction device 1000 based on tower detection. The memory 1020 is used to store application software and various data installed in the power line reconstruction device 1000 based on tower detection, such as program codes for installing the power line reconstruction device 1000 based on tower detection. The memory 1020 may also be used to temporarily store data that has been output or is to be output. In one embodiment, a tower detection-based transmission line reconstruction program 1040 is stored in the memory 1020, and the tower detection-based transmission line reconstruction program 1040 can be executed by the processor 1010, thereby realizing the tower detection-based transmission line reconstruction method of each embodiment of the present application.

[0064] In some embodiments, the processor 1010 may be a central processing unit (CPU), a microprocessor or other data processing chip, used to run program codes or process data stored in the memory 1020, such as executing a transmission line reconstruction method based on tower detection.

[0065] In some embodiments, the display 1030 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, etc. The display 1030 is used to display information on the tower detection-based power line reconstruction device 1000 and to display a visual user interface. The components 1010-1030 of the tower detection-based power line reconstruction device 1000 communicate with each other via a system bus.

[0066] In one embodiment, when the processor 1010 executes the tower detection-based power line restoration program 1040 in the memory 1020 , the steps in the tower detection-based power line restoration method described above are implemented.

[0067] This embodiment further provides a computer-readable storage medium, on which a transmission line reconstruction program based on tower detection is stored. When the transmission line reconstruction program based on tower detection is executed by a processor, the following steps are implemented: The initial point cloud of the transmission line to be reconstructed obtained based on tower detection is optimized to obtain several single transmission line point cloud clusters; Fitting and reconstruction are performed based on the point cloud cluster of a single transmission line to obtain a single transmission line target model; The error analysis and correction of the single transmission line target model are carried out to obtain a single transmission line target model that meets the requirements.

[0068] In summary, the present invention provides a transmission line reconstruction method based on tower detection, which obtains the initial point cloud of the transmission line to be reconstructed through tower detection, and then optimizes the initial point cloud of the transmission line to be reconstructed to obtain a number of single transmission line point cloud clusters, thereby improving the point cloud quality and avoiding interference from discrete point clouds, and then performs fitting reconstruction based on the several single transmission line point cloud clusters to obtain a single transmission line target model, thereby realizing long-distance three-dimensional reconstruction of an incomplete transmission line model between two transmission towers, and finally performing error analysis and correction on the single transmission line target model to obtain a single transmission line target model that meets the requirements, identifying the transmission line model with errors in the single transmission line target model, and then performing deviation correction on the transmission line model with errors, thereby realizing long-distance three-dimensional reconstruction of incomplete point clouds in large scenes and improving the accuracy of transmission line model reconstruction.

[0069] The present application also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the steps of the above method are implemented. The computer-readable storage medium may include, but is not limited to, any type of disk, including a floppy disk, an optical disk, a DVD, a CD-ROM, a micro drive, and a magneto-optical disk, a ROM, a RAM, an EPROM, an EEPROM, a DRAM, a VRAM, a flash memory device, a magnetic card or an optical card, a nanosystem (including a molecular memory IC), or any type of medium or device suitable for storing instructions and / or data.

[0070] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0071] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0072] In the several embodiments provided in the present application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of the units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some service interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0073] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0074] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0075] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a memory, including a number of instructions to enable a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned memory includes: U disk, read-only memory (ROM), random access memory (RAM), mobile hard disk, disk or optical disk and other media that can store program codes.

[0076] A person skilled in the art may understand that all or part of the steps in the various methods of the above embodiments may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable memory, which may include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0077] The above is only an exemplary embodiment of the present disclosure, and the scope of the present disclosure cannot be limited thereto. That is, any equivalent changes and modifications made according to the teachings of the present disclosure are still within the scope of the present disclosure. After considering the specification and practicing the disclosure here, those skilled in the art will easily think of the implementation scheme of the present disclosure. This application is intended to cover any modification, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary technical means in the technical field not recorded in the present disclosure. The description and examples are regarded as exemplary only, and the scope and spirit of the present disclosure are defined by the claims.

[0078] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0079] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for reconstructing a transmission line based on tower detection, characterized in that: include: The initial point cloud of the transmission line to be reconstructed obtained based on tower detection is optimized to obtain several single transmission line point cloud clusters; Performing fitting and reconstruction based on the single transmission line point cloud cluster to obtain a single transmission line target model; Error analysis and correction are performed on the single transmission line target model to obtain a single transmission line target model that meets the requirements.

2. The method for power transmission line reconstruction based on tower detection according to claim 1, characterized in that: The optimization process of the initial point cloud of the transmission line to be reconstructed obtained based on the tower detection is performed to obtain a plurality of single transmission line point cloud clusters, including: Preprocessing the initial point cloud of the transmission line to be reconstructed; Eliminate outlier point clouds from the pre-processed initial point cloud of the transmission line to be reconstructed; After removing outlier point clouds, Euclidean clustering is performed on the initial point cloud of the transmission line to be reconstructed to obtain several single transmission line point cloud clusters.

3. The method for power transmission line reconstruction based on tower detection according to claim 2, characterized in that: The method of removing outlier point clouds from the pre-processed initial point cloud of the transmission line to be reconstructed comprises: Calculate the statistical characteristics of each preprocessed initial point cloud of the transmission line to be reconstructed based on preset statistical parameters; Determine the outlier point cloud from the preprocessed initial point cloud of the transmission line to be reconstructed according to the statistical characteristics and the preset threshold; The outlier point cloud is filtered to remove the outlier point cloud.

4. The method for power transmission line reconstruction based on tower detection according to claim 2, characterized in that: The Euclidean clustering is performed on the initial point cloud of the transmission line to be reconstructed after removing the outlier point cloud to obtain a number of single transmission line point cloud clusters, including: Determine the neighborhood points of each initial point cloud of the transmission line to be reconstructed after removing the outlier point cloud according to the spatial search structure; Clustering the neighborhood points corresponding to each initial point cloud of the transmission line to be reconstructed after removing the outlier point cloud to obtain several initial clusters; Initial clusters whose distances between any of the initial clusters are less than a preset distance threshold are merged in pairs to obtain a number of single transmission line point cloud clusters.

5. The method for power transmission line reconstruction based on tower detection according to claim 1, characterized in that: The fitting and reconstruction based on the single transmission line point cloud cluster to obtain a single transmission line target model includes: Performing projection fitting on the point cloud cluster of the single transmission line to establish an initial model of the single transmission line; Calculating model parameters in the initial model of the single transmission line according to the point cloud coordinate data; The missing point cloud in the incomplete transmission line in the initial model of the single transmission line is completed to obtain the target model of the single transmission line.

6. The method for power transmission line reconstruction based on tower detection according to claim 1, characterized in that: The error analysis and correction of the single transmission line target model to obtain a single transmission line target model that meets the requirements includes: Performing error analysis on the single transmission line target model to determine an error transmission line model; The error transmission line model is corrected based on the error-free transmission line model to obtain a single transmission line target model that meets the requirements.

7. The method for power transmission line reconstruction based on tower detection according to claim 6, characterized in that: The step of performing error analysis on the single transmission line target model to determine the error transmission line model comprises: Calculate the ratio of the height difference between the end points and the height difference between the start points of the adjacent single transmission line target models in the same column in a preset order, and record it as a first ratio; Calculating the ratio of the height difference of the starting point of the single transmission line target model to the height difference of the starting point of the single transmission line target model adjacent to the single transmission line target model in the same column in the preset order, and recording it as a second ratio; An error transmission line model is determined by performing an error analysis based on the first ratio and the second ratio.

8. The method for power transmission line reconstruction based on tower detection according to claim 6, characterized in that: The method of correcting the error transmission line model based on the error-free transmission line model to obtain a single transmission line target model that meets the requirements includes: Respectively recording the endpoint coordinates of the error transmission line model and the endpoint coordinates of the error-free transmission line model; If the endpoint coordinates of the error-free transmission line model exist within a preset threshold range in a preset direction of the endpoint coordinates of the error transmission line model, the error transmission line model is corrected using the model parameters of the error-free transmission line model to obtain a single transmission line target model that meets the requirements.

9. A transmission line reconstruction device based on tower detection, characterized in that: It comprises at least one processing unit and at least one storage unit, wherein the storage unit stores a computer program, and when the computer program is executed by the processing unit, the processing unit executes the steps of the transmission line reconstruction method based on tower detection according to any one of claims 1 to 8.

10. A storage medium, characterized in that: It stores a computer program executable by an access authentication device. When the computer program runs on the access authentication device, the access authentication device executes the steps of the tower detection-based transmission line reconstruction method according to any one of claims 1 to 8.

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