Power transmission line tree obstacle hidden danger assessment method and device, electronic equipment and storage medium

Abstract

The invention discloses a power transmission line tree obstacle hidden danger assessment method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining a power grid information model corresponding to a target power transmission line, and determining a power tower of the target power transmission line according to the power grid information model; determining geographical location information corresponding to the electric power tower and target component point location information corresponding to the electric power tower based on a power grid information model; establishing a line recombination model corresponding to the target power transmission line based on the geographical location information and the target component point location information; establishing a target three-dimensional point cloud model corresponding to the target power transmission line based on the three-dimensional point cloud data of the target power transmission line and the line recombination model; and determining a tree obstacle hidden danger node corresponding to the target power transmission line based on the target three-dimensional point cloud model, and performing hidden danger assessment on the tree obstacle hidden danger node according to the target three-dimensional point cloud model. And the tree obstacle hidden danger of the power transmission line is evaluated according to the reconstructed three-dimensional point cloud model, so that the evaluation efficiency of the tree obstacle hidden danger is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of obstacle detection for power transmission lines, and in particular to a method, device, electronic equipment and storage medium for evaluating tree obstacle hazards in power transmission lines. Background Art

[0002] When planning, designing and constructing transmission lines, the distance between power lines and the terrain below them cannot exceed the relevant safety distance standards. This is an important guarantee for verifying the safety of power line transmission.

[0003] As the design model of power engineering changes from traditional 2D to 3D, it provides a data basis for further realizing fast and accurate detection of hidden dangers in the channel of overhead transmission line engineering design stage. In order to solve the problem of data exchange between different software for power grid 3D design, the power grid company has formulated a unified power engineering 3D design data standard, namely the Grid Information Model (GIM model).

[0004] At present, a large number of related application studies based on the GIM model have been carried out, but there are few related methods and results for the detection of hidden dangers of transmission lines based on the GIM model in the line design stage. The study found that the information parsing and reassembly technology of the GIM component model of the transmission line has important technical significance by parsing the position information of key components such as towers, lines and insulators in the GIM data, and reassembling components and models according to the longitude and latitude of the tower points and the rotation and translation relationship between key components.

[0005] Further research and development found that in order to solve the hidden dangers of the GIM channel of the transmission line, the detection method is generally to detect the height of tree obstacles. However, the study found that the detection of tree flammability is a threat to the safety of the line channel. Therefore, there is a problem of incomplete detection, especially when there are both tree obstacles and other flammable obstacles (i.e. garbage or waste) under the line, which seriously threatens the safety of the line. Summary of the invention

[0006] The present invention provides a method, device, electronic device and storage medium for evaluating tree barrier hazards of power transmission lines. The method reconstructs a power grid information model and three-dimensional point cloud data, and evaluates the tree barrier hazards of power transmission lines based on the reconstructed three-dimensional point cloud model, thereby improving the evaluation efficiency of tree barrier hazards and effectively ensuring the line safety of power transmission lines.

[0007] According to one aspect of the present invention, a method for evaluating tree obstacle hazards in power transmission lines is provided, comprising:

[0008] Acquire a power grid information model corresponding to a target transmission line, and determine a power pole tower of the target transmission line according to the power grid information model;

[0009] Determine the geographical location information corresponding to the power pole and tower and the target component point information corresponding to the power pole and tower based on the power grid information model;

[0010] Establishing a line reorganization model corresponding to a target transmission line based on the geographical location information and the target component point information;

[0011] Establishing a target three-dimensional point cloud model corresponding to the target transmission line based on the three-dimensional point cloud data of the target transmission line and the line reconstruction model;

[0012] Determine a tree barrier hidden danger node corresponding to the target transmission line based on the target three-dimensional point cloud model, and perform a hidden danger assessment on the tree barrier hidden danger node according to the target three-dimensional point cloud model

[0013] According to another aspect of the present invention, a transmission line tree barrier hazard assessment device is provided, comprising:

[0014] An information acquisition module, used to acquire a power grid information model corresponding to a target transmission line, and determine a power pole tower of the target transmission line according to the power grid information model;

[0015] A model parsing module, used to determine the geographical location information corresponding to the power pole and tower, and the target component point information corresponding to the power pole and tower based on the power grid information model;

[0016] A model reorganization module, used to establish a line reorganization model corresponding to the target transmission line based on the geographical location information and the target component point information;

[0017] A model alignment module, used to establish a target three-dimensional point cloud model corresponding to the target transmission line based on the three-dimensional point cloud data of the target transmission line and the line reorganization model;

[0018] A hidden danger assessment module is used to determine the tree barrier hidden danger node corresponding to the target transmission line based on the target three-dimensional point cloud model, and perform hidden danger assessment on the tree barrier hidden danger node according to the target three-dimensional point cloud model.

[0019] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0020] at least one processor; and

[0021] a memory communicatively connected to the at least one processor; wherein,

[0022] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the method for assessing tree obstacle hazards in transmission lines described in any embodiment of the present invention.

[0023] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the method for assessing tree obstacle hazards in power transmission lines described in any embodiment of the present invention when executed.

[0024] The technical solution of the embodiment of the present invention is to obtain a power grid information model corresponding to the target transmission line, and determine the power poles and towers of the target transmission line according to the power grid information model; determine the geographical location information corresponding to the power poles and towers, and the target component point information corresponding to the power poles and towers based on the power grid information model; establish a line reorganization model corresponding to the target transmission line based on the geographical location information and the target component point information; establish a target three-dimensional point cloud model corresponding to the target transmission line based on the three-dimensional point cloud data of the target transmission line and the line reorganization model; determine the tree barrier hidden danger nodes corresponding to the target transmission line based on the target three-dimensional point cloud model, and perform a hidden danger assessment on the tree barrier hidden danger nodes according to the target three-dimensional point cloud model. Based on the above technical solution, by reconstructing the power grid information model and the three-dimensional point cloud data, and assessing the tree barrier hidden dangers of the transmission line according to the reconstructed three-dimensional point cloud model, the assessment efficiency of the tree barrier hidden dangers is improved, and the line safety of the transmission line is effectively guaranteed.

[0025] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0027] Figure 1 It is a flow chart of a method for evaluating tree obstacle hazards in power transmission lines provided by an embodiment of the present invention;

[0028] Figure 2 This is a flowchart of a method for evaluating tree obstacle hazards in power transmission lines provided by an embodiment of the present invention.

[0029] Figure 3It is a structural block diagram of a transmission line tree obstacle hazard assessment device provided by an embodiment of the present invention;

[0030] Figure 4 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0031] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings 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 should fall within the scope of protection of the present invention.

[0032] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. 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 necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0033] Embodiment 1

[0034] Figure 1 It is a flow chart of a method for evaluating tree barrier hazards in power transmission lines provided by an embodiment of the present invention. This embodiment can be applied to construct a three-dimensional point cloud model corresponding to the target transmission line based on the power grid information model and three-dimensional scanning data of the target transmission line, and evaluate the tree barrier hazards of the target transmission line based on the three-dimensional point cloud model. The method can be executed by a transmission line tree barrier hazard evaluation device, which can be implemented in the form of hardware and / or software, and can be configured in an electronic device, which can be a server or a terminal device. Figure 1 As shown, the method includes:

[0035] S110, acquiring a power grid information model corresponding to a target transmission line, and determining a power pole tower of the target transmission line according to the power grid information model.

[0036] The target transmission line may be understood as a transmission line that needs to be assessed for tree barrier hazards. The power grid information model may be a model for storing key information in the transmission line. The power pole tower may be a power facility in the power system used to support the transmission line.

[0037] Specifically, the power grid information model related to the target transmission line can be obtained from a pre-established power grid database, and the power poles and towers of the target transmission line can be determined based on the power grid information model. It should be noted that the power grid information model can include key component information of the transmission line, such as poles, conductors, insulators, etc., as well as other environmental information related to the operation of the power grid, such as terrain and vegetation. Then, by parsing the power grid information model corresponding to the target transmission line, the power poles and towers of the target transmission line can be determined, and relevant information of the target transmission line can be obtained.

[0038] S120. Determine geographical location information corresponding to the power pole and tower, and target component location information corresponding to the power pole and tower based on the power grid information model.

[0039] The geographic location information may be the longitude and latitude data corresponding to the power pole, that is, the coordinate information of the global coordinates corresponding to the power pole. The target component location information may be understood as the location information of important power equipment on the current power pole.

[0040] Specifically, it can be to read the power grid information model data file, and parse the power grid information model data file, obtain the file data of multiple key components and towers, and further parse the file data of the current key components and towers, and output the current key components and towers, that is, the geometric shape information, position coordinate information and attribute data of the lines, insulators and crossarms of the current power tower. Therefore, the above-mentioned target component point information is mainly the geometric shape information, position coordinate information and attribute data of the target component.

[0041] S130: establishing a line reorganization model corresponding to the target transmission line based on the geographical location information and the target component point information.

[0042] The line reorganization model can be understood as a model obtained by reconstructing the power grid information model according to the global coordinate system.

[0043] Specifically, the grid information model data can be parsed to extract the location information of key components such as lines and insulators, as well as the location information of poles and towers, and then the rotation relationship between the poles and key components can be determined based on the location information of the lines and insulators, as well as the location information of the poles and towers. Then, the grid information model can be reorganized in the global coordinate system using the longitude and latitude of the poles and the rotational and translational relationship between the key components to obtain a line reorganization model corresponding to the target transmission line.

[0044] S140: establishing a target three-dimensional point cloud model corresponding to the target transmission line based on the three-dimensional point cloud data of the target transmission line and the line reconstruction model

[0045] The three-dimensional point cloud data can be understood as point cloud data obtained by scanning the target power transmission line through a three-dimensional laser radar. The target three-dimensional point cloud model can be a model obtained by matching and fusing the three-dimensional point cloud data with the line reconstruction model.

[0046] Specifically, at least three easily identifiable feature points of basic reference objects are selected in the line reconstruction model, including the pole tower base point and at least two pole tower vertices, and the corresponding feature points of the basic reference objects are identified in the terrain three-dimensional point cloud model. For example, three easily identifiable feature points of basic reference objects are selected, including the pole tower base point and at least two pole tower vertices. For example, the pole tower base points A (x1, y1, z1) and B (x2, y2, z2) are two pole tower vertices, and C (x3, y3, z3) is the pole tower base point. Then, based on the basic reference objects, the line reconstruction model is matched and fused with the terrain three-dimensional point cloud model.

[0047] Exemplarily, the edge corner position features of the feature points of the basic reference objects in the line reconstruction model and the terrain three-dimensional point cloud model are identified, and then the feature points of the edge corner position features are extracted using the SIFT feature detection algorithm (such as SIFT, SURF, etc.), and the feature descriptors are used for matching. When it is determined that the feature points of the basic reference objects are aligned and consistent feature points between the line reconstruction model and the terrain three-dimensional point cloud model, it is determined that the line reconstruction model and the terrain three-dimensional point cloud model are successfully matched, and the fused target model is output. It should be noted that the fused target model is a model that fuses the semantic information of the line reconstruction model (containing various tags or poles understood as identifiers or poles with specific pole attribute semantics) with the geometric information of the three-dimensional terrain point cloud model. In addition, in addition to the basic points, features such as the top of the pole tower and the direction of the wire can also be selected. Use the SIFT feature detection algorithm to find consistent feature points between the line reconstruction model and the point cloud model. When the feature points of the basic reference object are determined to be aligned feature points between the line reconstruction model and the terrain 3D point cloud model, the registration is completed. After the registration is completed, the semantic information of the line reconstruction model (containing various tags or towers understood as identifiers or specific tower attribute semantics) is fused with the geometric information of the terrain point cloud. In essence, feature detection algorithms (such as SIFT, SURF, etc.) are used to extract feature points and feature descriptors are used for matching.

[0048] S150, determining a tree barrier hidden danger node corresponding to the target transmission line based on the target three-dimensional point cloud model, and performing a hidden danger assessment on the tree barrier hidden danger node according to the target three-dimensional point cloud model.

[0049] The tree barrier potential hazard node may be a location where a tree barrier potential hazard exists in the target transmission line.

[0050] Specifically, it can be to obtain three-dimensional point cloud data of the target transmission line area. These data may be collected by a laser radar system (such as L1 laser radar) carried by a drone, and the three-dimensional point cloud data is pre-processed, including denoising and filtering, to improve the accuracy and reliability of the data. Then, based on height classification, manual annotation, deep learning models (such as PointCNN), the point cloud data is automatically classified into different categories such as ground, towers, wires, vegetation, etc. In the classified point cloud data, the vegetation point cloud that is too close to the transmission line is identified by the algorithm. These point clouds are regarded as tree barrier hidden danger nodes. For each tree barrier hidden danger node, the precise distance between it and the nearest transmission line is calculated. According to the standards such as the "Operation Regulations for Overhead Transmission Lines" (DL / T741-2010), it is judged whether the distance meets the safety requirements. Then, based on the distance measurement results, a risk assessment is performed on each tree barrier hidden danger node. According to the assessment results, the tree barrier hidden danger nodes are divided into different risk levels, such as high risk, medium risk, low risk, etc.

[0051] On the basis of the above technical solution, the method of determining the tree barrier hidden danger node corresponding to the target transmission line based on the target three-dimensional point cloud model includes: determining a bounding box corresponding to the target transmission line based on the target three-dimensional point cloud model, and determining the transmission line enclosing space according to a preset safety distance and the bounding box; performing point cloud recognition based on the transmission line enclosing space to determine an obstacle point set corresponding to the target transmission line; and determining the tree barrier hidden danger node corresponding to the target transmission line based on the obstacle point set.

[0052] The bounding box can be understood as a closed space that completely encompasses the target transmission line. The preset safety distance can be a preset safety distance threshold, which is determined based on the safety standards and specifications of the power industry. The transmission line enclosing space can be understood as the space obtained by expanding the bounding box according to the preset safety distance. The obstacle point set is a set of point clouds of obstacles obtained after identification based on three-dimensional point cloud data.

[0053] Specifically, by setting a safety distance threshold D between the first target obstacle and the line, and in the fused target model, identifying the line point cloud nodes on each line in the target model, constructing a bounding box, and expanding the bounding box according to the preset safety distance, determining the transmission line enclosing space, and then performing semantic information recognition and point cloud recognition of the first target obstacle and the second target obstacle in the transmission line enclosing space, finding the obstacle point set P containing both the first target obstacle and the second target obstacle in the same position area, and then performing cluster analysis on the obstacle point set P, identifying independent first target obstacles and second target obstacles in the same position area, and calculating the shortest distance between each first target obstacle and the line, if the shortest distance of the current line point cloud node is less than the preset safety distance, it is marked as a potential danger node containing both the first target obstacle and the second target obstacle.

[0054] On the basis of the above technical solution, the determining of the tree obstacle hidden danger node corresponding to the target transmission line based on the obstacle point set includes: dividing the target transmission line into regions to determine each obstacle detection region, and clustering analysis of the obstacle point set based on the obstacle detection region to determine whether there is a target obstacle in each obstacle detection region; if the target obstacle exists in the current obstacle detection region, determining the shortest distance between the target obstacle and the transmission line according to the target three-dimensional point cloud model, and when the shortest distance is less than the standard safety distance, using the current obstacle detection region as the tree obstacle hidden danger node.

[0055] The obstacle detection area may be at least one area obtained by dividing the transmission line into sections according to a preset line segmentation rule.

[0056] Specifically, according to the direction, length and possible hidden danger distribution characteristics of the target transmission line, it is divided into multiple obstacle detection areas, and each obstacle detection area should have clear boundaries and ranges to facilitate subsequent clustering analysis and hidden danger assessment. Further, for each obstacle detection area, a clustering algorithm (such as K-means, DBSCAN, etc.) is used to cluster the obstacle point set. For each obstacle cluster, it is determined whether it is a target obstacle. The target obstacle needs to include a first target obstacle and a second target obstacle. The first target obstacle is a tree obstacle, and the second target obstacle is a flammable obstacle, which can be flammable objects such as garbage. Furthermore, for the obstacle cluster determined as the target obstacle, the target three-dimensional point cloud model is used to calculate the shortest distance between it and the transmission line, and the calculated shortest distance is compared with the preset standard safety distance. The standard safety distance is usually determined based on the safety standards and specifications of the power industry. If the shortest distance is less than the standard safety distance, it is considered that the obstacle detection area has a tree obstacle hidden danger. For the obstacle detection area with a tree obstacle hidden danger, it is marked as a tree obstacle hidden danger node.

[0057] On the basis of the above technical solution, the hazard assessment of the tree barrier hazard node is performed according to the target three-dimensional point cloud model, including: determining the maximum burning height of the tree corresponding to the hazard node based on the target three-dimensional point cloud model; determining the hazard type of the tree barrier hazard node based on the maximum burning height of the tree and the shortest distance between the target obstacle and the transmission line.

[0058] Among them, the maximum burning height of trees can be understood as the maximum flame height that trees can theoretically reach during the burning process.

[0059] Specifically, the obstacle point set in the hidden danger node is identified, and the obstacles are classified, and the tree point cloud subset is extracted. The DBSCAN clustering algorithm is applied to the tree point cloud subset T to identify independent tree point clouds, and then each tree point cloud is projected to obtain a two-dimensional point set S. The α-shape algorithm is applied to the obtained two-dimensional point set to calculate the convex hull of the two-dimensional point set S to obtain the crown contour, and then the area A of the crown contour is calculated; it should be noted that the calculation formula of the crown contour area A is: A = 0.5*Σ(xi*yi+1-xi+1*yi), if from 1ton, (xn+1,yn+1) = (x1,y1); further obtain the tree height H, and calculate the tree volume V; the estimation formula of the tree volume V is: V = π*D / 2) 2*H*F; D is the crown diameter, H is the tree height, and F is the tree shape factor, ranging from 0.4 to 0.6. Obtain the shortest distance between the first target obstacle and the line in the location area corresponding to the current hidden danger node, and obtain the tree volume of the first target obstacle; according to the tree height H, the tree volume V and the combustion coefficient of the tree type obtained through semantic information, the maximum burning height Hmax of the tree corresponding to the current hidden danger node is calculated and output as the result value of the maximum burning height Hmax of the tree; make a judgment based on the maximum burning height Hmax of the tree and the shortest distance; if the maximum burning height Hmax of the tree at the current hidden danger node exceeds or is equal to the shortest distance, it is judged that the area where the first target obstacle at the current hidden danger node is located is a serious threat area; if the maximum burning height Hmax of the tree at the current hidden danger node is less than the shortest distance, further judge that if the maximum burning height Hmax of the tree at the current hidden danger node minus the shortest distance is greater than the first standard height difference B1, then the area where the first target obstacle is located is determined to be a secondary threat area, and if the maximum burning height Hmax of the tree at the current hidden danger node minus the shortest distance is greater than the second standard height difference B2, then the area where the first target obstacle is located is a potential threat area; the value of the second standard height difference B2 is greater than the value of the first standard height difference B1. Using 3D point cloud data, the volume of trees can be estimated. This usually involves segmentation, identification and volume calculation of tree point cloud data. Combining the tree height H and tree volume V, as well as other reference parameters (such as the combustion coefficient K corresponding to the tree species), the maximum height that the tree may reach when burning can be inferred. Tree species: Different types of trees have different combustion characteristics, usually represented by a combustion coefficient (K). 1. Tree height H: The height of the tree (meters). 2. Tree volume V; The volume of the tree (cubic meters), usually calculated as: Where d is the trunk diameter (meters), F is the tree shape factor; 3. Combustion coefficient K: the energy released by burning each cubic meter of wood (dry joules / cubic meter). 4. Heat capacity C p :Specific heat capacity of air (about 1005J / ( kg\cdotpK ) ). 5. Air density ρ: The density of air (about 1.225kg / m 3 ). 6. Gravitational acceleration g: Gravitational acceleration on the surface of the earth (about 9.81m / s 2 ). Calculate the total energy Q released by combustion: Q = V × K; estimate the resulting temperature change ΔT; assuming that all energy is converted into heated air, the temperature change can be calculated as: Where m is the mass of air per unit volume: m = V air ×ρV air It can be taken as the volume of air at a certain height above the tree. Calculate the maximum height H max ; Based on the rise of thermals, using the principle of energy conservation: Combined with the previous calculations, we can get the final H max The final formula combines the above steps and finally gets: Therefore, based on the above technical solution, the maximum burning height Hmax of the tree that may be reached when the tree burns can be obtained. And the threat level is evaluated based on the maximum burning height Hmax of the tree. Severe threat area: If the calculated burning height exceeds the shortest distance between the hidden danger node and the tree, it indicates that the burning of the tree may directly threaten the safety of the line, and the area is judged as a serious threat area. Secondary threat area: If the difference between the maximum burning height Hmax of the tree and the shortest distance is greater than the first standard height difference B1, or there are other factors (such as wind direction, fire spread speed, etc.) that may increase the risk, the area is judged as a secondary threat area. Potential threat area: If the difference between the maximum burning height Hmax of the tree and the shortest distance is greater than the second standard height difference B2, and there are no other significant risk factors, the area is judged as a potential threat area. According to the evaluation results, corresponding risk management measures are formulated when performing transmission line maintenance, such as pruning trees, strengthening monitoring, and formulating emergency plans.

[0060] The technical solution of the embodiment of the present invention is to obtain a power grid information model corresponding to the target transmission line, and determine the power poles and towers of the target transmission line according to the power grid information model; determine the geographical location information corresponding to the power poles and towers, and the target component point information corresponding to the power poles and towers based on the power grid information model; establish a line reorganization model corresponding to the target transmission line based on the geographical location information and the target component point information; establish a target three-dimensional point cloud model corresponding to the target transmission line based on the three-dimensional point cloud data of the target transmission line and the line reorganization model; determine the tree barrier hidden danger nodes corresponding to the target transmission line based on the target three-dimensional point cloud model, and perform a hidden danger assessment on the tree barrier hidden danger nodes according to the target three-dimensional point cloud model. Based on the above technical solution, by reconstructing the power grid information model and the three-dimensional point cloud data, and assessing the tree barrier hidden dangers of the transmission line according to the reconstructed three-dimensional point cloud model, the assessment efficiency of the tree barrier hidden dangers is improved, and the line safety of the transmission line is effectively guaranteed.

[0061] Embodiment 2

[0062] Figure 2 This is a flowchart of a method for evaluating tree obstacle hazards in power transmission lines provided by an embodiment of the present invention. Based on the above embodiment, this embodiment further refines the technical solution of establishing a line reorganization model corresponding to the target transmission line based on the geographic location information and the target component point information. The specific implementation method can refer to the technical solution of this embodiment. Among them, the technical terms that are the same or corresponding to the above embodiment are not repeated here. Figure 2 As shown, the method includes:

[0063] S210: For each of the power towers, a local coordinate system is established according to the geographical location information of the tower, and a rotation matrix between the target component and the power tower is determined based on the local coordinate system and the target component location information.

[0064] The local coordinate system may be a coordinate system corresponding to the power pole established according to the geographical location of the power pole. The rotation matrix may be understood as a matrix used to represent the positional relationship between the pole assembly and the power pole.

[0065] Specifically, a local coordinate system is established based on the extracted point information of the tower, and the spatial position relationship of each key component relative to the tower is further calculated, and then the rotation matrix and translation vector are applied to transform the key components and the tower into the global coordinate system. Finally, the transformed key components are combined with the tower to form a complete line model.

[0066] On the basis of the above technical solution, the local coordinate system is established according to the geographical location information of the pole tower, including: taking the geographical location information of the pole tower as the coordinate origin of the local coordinate system, and according to the coordinate origin, taking the main axis direction of the power pole tower as the positive direction of the height axis of the local coordinate system; taking the north direction of the power pole tower based on the horizontal ground as the positive direction of the transverse axis, and determining the longitudinal axis according to the height axis and the transverse axis by the right-hand rule; establishing the local coordinate system based on the coordinate origin, the height axis, the transverse axis and the longitudinal axis.

[0067] Specifically, the position latitude and longitude parameter information of the bottom center point of a tower in the global coordinate system is obtained, and the latitude and longitude parameter information includes (GJ, GW, GG); GJ represents longitude, GW represents latitude, and GG represents height, and then the bottom center point of the tower is determined to be selected as the origin (0,0,0) of the new local coordinate system; in the new local coordinate system, the main axis direction of the tower is defined as the positive direction of the Z axis, the north direction based on the horizontal ground is selected as the positive direction of the X axis, and the right-hand rule is used to determine the Y axis direction to ensure that XYZ constitutes a right-hand coordinate system as the local coordinate system.

[0068] On the basis of the above technical solution, the method of determining the rotation matrix between the target component and the power pole tower based on the local coordinate system and the target component point information includes: determining the coordinate offset between the target component and the coordinate origin of the local coordinate system based on the target point information; determining the rotation angle value of the target component based on the coordinate offset, and determining the rotation matrix between the target component and the power pole tower according to the rotation angle value.

[0069] Specifically, call each current key component, calculate the offset (Δx, Δy, Δz) of the key component relative to the origin of the tower; calculate the rotation angle (θx, θy, θz) of the key component itself, θx, θy, θz represent the rotation around the X, Y, and Z axes respectively, and further apply the rotation matrix and translation vector to transform the key component and the tower into the global coordinate system: obtain the preset rotation matrix R: R = Rz(θz)*Ry(θy)*Rx(θx); apply the transformation to each point P of the key component, and output the transformed coordinates as: P' = R*P+T; where T is the translation vector, including the position of the tower in the global coordinate system and the offset of the current key component relative to the tower.

[0070] S220, combining each power pole tower with the target component based on the rotation matrix and translation vector, and determining a pole tower reorganization model corresponding to each power pole tower;

[0071] Specifically, combining the converted key components with poles and towers to form a complete line model includes: creating a new data structure to represent the entire line model, and traversing all the converted key components and poles, adding the key components and poles to the line model, maintaining their converted positions and directions, and forming a complete line model by establishing connection relationships between key components and between poles and towers (such as the connection points between lines and insulators).

[0072] For example, by determining that the semantic information of the current tower is a tower body of two-horizontal and three-wire type, then determining the upper and lower two crossarms of the current tower, six insulators (three on each crossarm) and three lines on each crossarm, and connecting the crossarms to the current tower, the insulators to the crossarms, and the lines to the insulators, a complete two-horizontal and three-wire line model is finally output. It should be noted that the two-horizontal and three-wire line model includes all key components and towers, and each key component is located at its correct global coordinate position.

[0073] For example, assume that the position of the bottom center point of the current power tower in the global coordinate system is (116.3, 39.9, 100) (longitude, latitude, altitude). This embodiment can define this point as the origin of the local coordinate system (0, 0, 0). Calculate the spatial position relationship of each of the key components relative to the tower, and for each component, record its offset relative to the origin of the tower (Δx, Δy, Δz). Record the component's own rotation angle (θx, θy, θz), which represents the rotation around the X, Y, and Z axes respectively. Assume that a cross arm of the current power tower is offset by (0,2,20) meters relative to the origin of the tower and rotated 30 degrees around the Z axis. The position relationship of this cross arm is recorded as: offset: (0,2,20); rotation angle: (0,0,30°); construct the rotation matrix R, combining the rotation of the three axes: R=Rz(θz)*Ry(θy)*Rx(θx); apply the transformation to each point P of the key component: P'=R*P+T; where T is the translation vector, including the position of the tower in the global coordinate system and the relative offset of the key component. For the cross arm of this embodiment, the rotation matrix R is: R = [cos30°, -sin30°, 0; sin30°, cos30°, 0; 0, 0, 1]; the translation vector T = (116.3, 39.9, 100) + (0, 2, 20) = (116.3, 41.9, 120); Assuming there is a point P (1, 0, 0) on the cross arm, the coordinates after conversion are: P' = R * P + T = (116.3 + 0.866, 41.9 + 0.5, 120);

[0074] S230: Determine a line reorganization model corresponding to the target transmission line based on the tower reorganization models corresponding to the power towers.

[0075] Specifically, the converted key components are combined with the towers to form a complete line model, and a new data structure is created to represent the entire line model. All converted key components are traversed. Each key component and tower is added to the line model, maintaining its converted position and direction. The connection relationship between the key components and the towers is established, such as the connection point between the line and the insulator. Assume that this embodiment has the following key components and towers: the main body of the tower; 2 crossarms (upper and lower); 6 insulators (3 for each crossarm); 3 lines. This embodiment adds these components to the line model according to their positions in the global coordinate system. Then, this embodiment establishes a connection relationship, such as: the crossarm is connected to the main body of the tower, the insulator is connected to the crossarm, and the line is connected to the insulator; finally, this embodiment obtains a complete line model, which contains all components, and each key component is located at its correct global coordinate position. Through this process, this embodiment realizes the conversion from the local coordinate system to the global coordinate system and constructs a complete line model. This model lays the foundation for subsequent analysis and processing.

[0076] The technical solution of the embodiment of the present invention can accurately extract the position information of key components such as lines and insulators, as well as the position information of poles and towers by parsing GIM data. This provides accurate geographic and spatial data for subsequent model construction. By using the longitude and latitude of the poles and towers and the rotation and translation relationship between the key components, the reassembly of the GIM model in the global coordinate system is realized, ensuring the geographic consistency and scalability of the model, that is, the model reconstruction in the global coordinate system is realized, and the three-dimensional point cloud data obtained by airborne laser radar scanning is matched and fused with the GIM model to construct a more accurate and detailed terrain three-dimensional point cloud model, which provides rich spatial information for subsequent hidden danger detection. Based on the fused three-dimensional point cloud model, the first target obstacle (tree obstacle) and the second target obstacle (combustible pile obstacle) under the line can be batch detected for hidden dangers, which improves the efficiency and accuracy of detection. Based on the above technical solution, through accurate data extraction, model reconstruction, hidden danger detection and evaluation, the operation and maintenance efficiency and safety of power lines are improved, especially the evaluation and processing of the impact of combustion caused by dangerous flammables and tree obstacles on line safety is improved.

[0077] Embodiment 3

[0078] Figure 3 This is a structural block diagram of a transmission line tree barrier hazard assessment device provided by an embodiment of the present invention. Figure 3 As shown, the device includes: an information acquisition module 310, a model analysis module 320, a model reorganization module 330, a model alignment module 340 and a hidden danger assessment module 350.

[0079] The information acquisition module 310 is used to acquire a power grid information model corresponding to a target transmission line, and determine a power pole tower of the target transmission line according to the power grid information model;

[0080] A model parsing module 320, configured to determine, based on the power grid information model, geographical location information corresponding to the power pole and tower, and target component location information corresponding to the power pole and tower;

[0081] A model reorganization module 330, configured to establish a line reorganization model corresponding to a target transmission line based on the geographic location information and the target component point information;

[0082] A model alignment module 340 is used to establish a target three-dimensional point cloud model corresponding to the target transmission line based on the three-dimensional point cloud data of the target transmission line and the line reorganization model;

[0083] The hidden danger assessment module 350 is used to determine the tree obstacle hidden danger node corresponding to the target transmission line based on the target three-dimensional point cloud model, and perform hidden danger assessment on the tree obstacle hidden danger node according to the target three-dimensional point cloud model.

[0084] On the basis of the above technical solution, the model reconstruction module is used to establish a local coordinate system for each power tower according to the geographical location information of the tower, and determine the rotation matrix between the target component and the power tower based on the local coordinate system and the target component point information; based on the rotation matrix and the translation vector, the power towers are combined with the target component to determine the tower reconstruction model corresponding to each power tower; based on the tower reconstruction model corresponding to each power tower, a line reconstruction model corresponding to the target transmission line is determined.

[0085] On the basis of the above technical solution, the model reconstruction module is used to use the geographical location information of the pole tower as the coordinate origin of the local coordinate system, and based on the coordinate origin, use the main axis direction of the power pole tower as the positive direction of the height axis of the local coordinate system; use the north direction of the power pole tower based on the horizontal ground as the positive direction of the transverse axis, and determine the longitudinal axis according to the height axis and the transverse axis using the right-hand rule; establish the local coordinate system based on the coordinate origin, the height axis, the transverse axis and the longitudinal axis.

[0086] On the basis of the above technical solution, the model reconstruction module is used to determine the coordinate offset between the target component and the coordinate origin of the local coordinate system based on the target point information; determine the rotation angle value of the target component based on the coordinate offset, and determine the rotation matrix between the target component and the power pole tower according to the rotation angle value.

[0087] On the basis of the above technical solution, the hidden danger assessment module is used to determine the bounding box corresponding to the target transmission line based on the target three-dimensional point cloud model, and determine the transmission line enclosing space according to the preset safety distance and the bounding box; perform point cloud recognition based on the transmission line enclosing space to determine the obstacle point set corresponding to the target transmission line; determine the tree obstacle hidden danger node corresponding to the target transmission line based on the obstacle point set.

[0088] On the basis of the above technical solution, the hidden danger assessment module is used to divide the target transmission line into regions to determine each obstacle detection area, and perform cluster analysis on the obstacle point set based on the obstacle detection area to determine whether there is a target obstacle in each obstacle detection area; if the target obstacle exists in the current obstacle detection area, the shortest distance between the target obstacle and the transmission line is determined according to the target three-dimensional point cloud model. When the shortest distance is less than the standard safety distance, the current obstacle detection area is used as the tree obstacle hidden danger node.

[0089] Based on the above technical solution, the hidden danger assessment module is used to determine the maximum burning height of the tree corresponding to the hidden danger node based on the target three-dimensional point cloud model; and determine the hidden danger type of the tree obstacle hidden danger node based on the maximum burning height of the tree and the shortest distance between the target obstacle and the transmission line.

[0090] The technical solution of the embodiment of the present invention is to obtain a power grid information model corresponding to the target transmission line, and determine the power poles and towers of the target transmission line according to the power grid information model; determine the geographical location information corresponding to the power poles and towers, and the target component point information corresponding to the power poles and towers based on the power grid information model; establish a line reorganization model corresponding to the target transmission line based on the geographical location information and the target component point information; establish a target three-dimensional point cloud model corresponding to the target transmission line based on the three-dimensional point cloud data of the target transmission line and the line reorganization model; determine the tree barrier hidden danger nodes corresponding to the target transmission line based on the target three-dimensional point cloud model, and perform a hidden danger assessment on the tree barrier hidden danger nodes according to the target three-dimensional point cloud model. Based on the above technical solution, by reconstructing the power grid information model and the three-dimensional point cloud data, and assessing the tree barrier hidden dangers of the transmission line according to the reconstructed three-dimensional point cloud model, the assessment efficiency of the tree barrier hidden dangers is improved, and the line safety of the transmission line is effectively guaranteed.

[0091] The power transmission line tree barrier hazard assessment device provided in the embodiment of the present invention can execute the power transmission line tree barrier hazard assessment method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0092] Embodiment 4

[0093] Figure 4A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0094] like Figure 4 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0095] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0096] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a method for assessing tree barrier hazards in power transmission lines.

[0097] In some embodiments, the power transmission line tree barrier hazard assessment method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the power transmission line tree barrier hazard assessment method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the power transmission line tree barrier hazard assessment method in any other appropriate manner (e.g., by means of firmware).

[0098] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0099] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0100] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0101] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0102] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0103] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0104] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0105] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for assessing tree obstacle hazards in power transmission lines, characterized in that: include: Acquire a power grid information model corresponding to a target transmission line, and determine a power pole tower of the target transmission line according to the power grid information model; Determine the geographical location information corresponding to the power pole and tower and the target component point information corresponding to the power pole and tower based on the power grid information model; Establishing a line reorganization model corresponding to a target transmission line based on the geographical location information and the target component point information; Establishing a target three-dimensional point cloud model corresponding to the target transmission line based on the three-dimensional point cloud data of the target transmission line and the line reconstruction model; A tree barrier hidden danger node corresponding to the target transmission line is determined based on the target three-dimensional point cloud model, and a hidden danger assessment is performed on the tree barrier hidden danger node according to the target three-dimensional point cloud model.

2. The method according to claim 1, characterized in that The establishing of a line reorganization model corresponding to the target transmission line based on the tower geographical location information and the target component point information includes: For each of the power towers, a local coordinate system is established according to the geographical location information of the tower, and a rotation matrix between the target component and the power tower is determined based on the local coordinate system and the target component point information; Based on the rotation matrix and translation vector, each power pole tower is combined with the target component to determine a pole tower reorganization model corresponding to each power pole tower; A line reorganization model corresponding to the target transmission line is determined based on the tower reorganization models corresponding to the power towers.

3. The method according to claim 2, characterized in that The establishing of a local coordinate system according to the geographical location information of the tower comprises: Taking the geographical location information of the pole tower as the coordinate origin of the local coordinate system, and taking the main axis direction of the power pole tower as the positive direction of the height axis of the local coordinate system according to the coordinate origin; The north direction of the power tower based on the horizontal ground is taken as the positive direction of the transverse axis, and the longitudinal axis is determined according to the height axis and the transverse axis by the right-hand rule; The local coordinate system is established based on the coordinate origin, the height axis, the transverse axis and the longitudinal axis.

4. The method according to claim 2, characterized in that: The step of determining a rotation matrix between a target component and the power tower based on the local coordinate system and the target component position information includes: Determine a coordinate offset between the target component and a coordinate origin of a local coordinate system based on the target point information; A rotation angle value of the target component is determined based on the coordinate offset, and a rotation matrix between the target component and the power pole tower is determined according to the rotation angle value.

5. The method according to claim 1, characterized in that The determining, based on the target three-dimensional point cloud model, a tree obstacle potential node corresponding to the target transmission line comprises: Determine a bounding box corresponding to the target transmission line based on the target three-dimensional point cloud model, and determine a transmission line enclosed space according to a preset safety distance and the bounding box; Performing point cloud recognition based on the space surrounded by the transmission line to determine an obstacle point set corresponding to the target transmission line; A tree obstacle potential node corresponding to the target transmission line is determined based on the obstacle point set.

6. The method according to claim 5, characterized in that The determining, based on the obstacle point set, a tree obstacle potential node corresponding to the target transmission line comprises: Divide the target power transmission line into regions to determine various obstacle detection regions, and perform cluster analysis on the obstacle point set based on the obstacle detection regions to determine whether there is a target obstacle in each obstacle detection region; If the target obstacle exists in the current obstacle detection area, the shortest distance between the target obstacle and the transmission line is determined according to the target three-dimensional point cloud model. When the shortest distance is less than the standard safety distance, the current obstacle detection area is used as the tree obstacle hidden danger node.

7. The method according to claim 1, characterized in that The step of performing a hidden danger assessment on the tree obstacle hidden danger node according to the target three-dimensional point cloud model includes: Determine the maximum burning height of the tree corresponding to the hidden danger node based on the target three-dimensional point cloud model; The hidden danger type of the tree obstacle hidden danger node is determined based on the maximum burning height of the tree and the shortest distance between the target obstacle and the transmission line.

8. A transmission line tree obstacle hazard assessment device, characterized in that: include: An information acquisition module, used to acquire a power grid information model corresponding to a target transmission line, and determine a power pole tower of the target transmission line according to the power grid information model; A model parsing module, used to determine the geographical location information corresponding to the power pole and tower, and the target component point information corresponding to the power pole and tower based on the power grid information model; A model reorganization module, used to establish a line reorganization model corresponding to the target transmission line based on the geographical location information and the target component point information; A model alignment module, used to establish a target three-dimensional point cloud model corresponding to the target transmission line based on the three-dimensional point cloud data of the target transmission line and the line reorganization model; A hidden danger assessment module is used to determine the tree barrier hidden danger node corresponding to the target transmission line based on the target three-dimensional point cloud model, and perform hidden danger assessment on the tree barrier hidden danger node according to the target three-dimensional point cloud model.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the power transmission line tree obstacle hazard assessment method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the power transmission line tree obstacle hazard assessment method according to any one of claims 1 to 7 when executed.

Images