Power Grid Line Safety Detection Method

Abstract

The present application provides a power grid line safety detection method, including: identifying target dangerous objects, transmission line objects and tower objects in a scene graph; selecting any three adjacent transmission line objects as candidate calculation units, calculating the probability of two adjacent transmission line objects in the candidate calculation unit being in the same group, and obtaining the probability pair of the same group; repeating the process of selecting candidate calculation units until all transmission line objects are selected, and determining the transmission line grouping according to all the obtained probability pairs of the same group; determining the target tower and the target transmission line grouping with an associated relationship according to the intra-group intersection of the transmission line objects in the transmission line grouping; constructing and reporting safety risk information through the positional relationship between the target tower, the target transmission line grouping and the target dangerous object. The transmission lines in the picture are grouped, and the tower corresponding to the grouping result is determined, eliminating the interference of irrelevant transmission lines, and improving the accuracy and reliability of safety detection.

Description

Technical Field

[0001] The present application relates to the field of target detection technology, and in particular to a power grid line safety detection method. The present application also relates to a power grid line safety detection device, a computing device, and a computer-readable storage medium. Background Art

[0002] In power transmission scenarios, construction machinery or other targets often appear near transmission lines, posing certain hidden dangers to the safety of transmission lines. Specifically, when construction machinery such as cranes, cement pumps, and pile drivers are operating near transmission channels, it is necessary to monitor the threats posed by open flames, engineering machinery, and other targets at the construction site to the transmission lines. The above is an important part of power safety monitoring.

[0003] In existing power safety monitoring, the analysis method often includes all the transmission lines in the monitoring map into the distance calculation. However, in reality, in addition to the transmission lines connected to the target tower, there are also transmission lines connecting other towers, such as two groups of transmission lines connected in an L shape between three towers, and transmission lines connected between other nearby or distant towers. When there are multiple groups of transmission lines in a map, the method of including all transmission lines in the distance calculation causes false alarms for targets that should not be alarmed. For example: in the method of establishing a danger zone based on the two leftmost and rightmost lines of all transmission lines, the range of the danger zone will be too large.

[0004] However, the prior art has not yet addressed how to eliminate the interference of irrelevant transmission lines. In addition, in a scenario where multiple power towers exist, the method of establishing a danger zone based on the bottom of the towers depends on the accurate selection of the towers. The prior art has not yet addressed how to screen out the towers of current concern and filter out other towers to establish a reliable danger zone. Summary of the invention

[0005] In view of this, the embodiment of the present application provides a power grid line safety detection method to solve the technical defects existing in the prior art. The embodiment of the present application also provides a power grid line safety detection device, a computing device, and a computer-readable storage medium.

[0006] According to a first aspect of an embodiment of the present application, a power grid line safety detection method is provided, comprising:

[0007] S1, based on a preset target detection algorithm, identifying target dangerous objects, transmission line objects and electric tower objects contained in the collected scene graph;

[0008] S2, selecting any three adjacent transmission line objects as candidate calculation units, and calculating the probability of any two adjacent transmission line objects in the candidate calculation units being in the same group, to obtain a same group probability pair;

[0009] S3, executing S2 until all the transmission line objects are selected, and determining the transmission line grouping according to all the obtained same-group probability pairs;

[0010] S4, determining the intra-group intersection points corresponding to the transmission line objects in the transmission line group, and matching the power tower objects according to the intra-group intersection points to determine the target power tower and the target transmission line group;

[0011] S5, constructing safety risk information according to the positional relationship between the target power tower, the target transmission line group and the target dangerous object and reporting it to a preset alarm device.

[0012] Optionally, in S2, selecting any three adjacent transmission line objects as candidate calculation units includes:

[0013] S21, determining the midpoints of all the transmission line objects;

[0014] S22, selecting any transmission line object as a candidate middle line;

[0015] S23, querying the transmission line object whose midpoint is on the left side of the candidate middle line and closest to the candidate middle line, and recording it as the left transmission line;

[0016] S24, querying the transmission line object whose midpoint is on the right side of the candidate middle line and closest to the candidate middle line, and recording it as the right transmission line;

[0017] S25. When the candidate middle line does not have the corresponding left transmission line or the right transmission line, execute step S22 until the candidate middle line and the corresponding left transmission line and right transmission line are obtained, and construct the candidate calculation unit based on the candidate middle line, the left transmission line and the right transmission line.

[0018] Optionally, in S2, calculating the probability that any two adjacent transmission line objects in the candidate calculation unit are in the same group to obtain a probability pair of the same group includes:

[0019] S26, determining the endpoint coordinates of all the transmission line objects in the candidate calculation unit;

[0020] S27, arbitrarily selecting one of the endpoint coordinates of the candidate middle line, the left transmission line, and the right transmission line, calculating the sum of distances, and taking the endpoint coordinate corresponding to the minimum sum of distances as the candidate endpoint coordinate;

[0021] S28, determining a first comprehensive distance based on the candidate endpoint coordinates of the candidate middle line and the left transmission line, and the midpoint of the candidate middle line and the left transmission line, and determining a second comprehensive distance based on the candidate endpoint coordinates of the candidate middle line and the right transmission line, and the midpoint of the candidate middle line and the right transmission line;

[0022] S29, summing the first comprehensive distance and the second comprehensive distance to obtain a third comprehensive distance, determining a first probability that the candidate middle line and the left transmission line are in the same group according to the first comprehensive distance and the third comprehensive distance, and determining a second probability that the candidate middle line and the right transmission line are in the same group according to the second comprehensive distance and the third comprehensive distance, wherein the same group probability pair includes the first same group probability and the second same group probability.

[0023] Optionally, in S3, determining the grouping of transmission lines according to all the obtained same-group probability pairs includes:

[0024] Calculate the absolute value of the difference between the first same-group probability and the second same-group probability in all the same-group probability pairs, and record it as the same-group probability difference;

[0025] When the same-group probability difference is greater than a preset first threshold, selecting two of the transmission line objects in the corresponding candidate calculation unit as initial transmission line groups, counting the number of the initial transmission line groups, and dividing the statistical result by 2 to obtain a reference value of the number of transmission line groups;

[0026] When the same group probability difference is less than a preset second threshold, selecting all the transmission line objects in the corresponding candidate calculation unit as the initial transmission line group, wherein the second threshold is less than the first threshold;

[0027] When the probability difference of the same group is between the first threshold and the second threshold, all the transmission line objects in the corresponding candidate calculation unit are taken as candidate lines to be determined;

[0028] Determine the abnormal lines in all the transmission line objects according to the same group probability difference, and update the initial transmission line grouping and the candidate lines to be determined according to the abnormal lines;

[0029] The updated initial transmission line grouping is matched with the candidate lines to be determined to obtain a transmission line grouping.

[0030] Optionally, the selecting the two transmission line objects in the corresponding candidate computing units as an initial transmission line group includes:

[0031] Comparing the first same-group probability and the second same-group probability in the candidate calculation unit corresponding to the same-group probability difference;

[0032] If the first probability of being in the same group is greater than the second probability of being in the same group, the candidate middle line and the left transmission line corresponding to the first probability of being in the same group are grouped as the initial transmission line group;

[0033] If the first probability of being in the same group is less than the second probability of being in the same group, the candidate middle line and the right transmission line corresponding to the second probability of being in the same group are grouped as the initial transmission line group.

[0034] Optionally, determining abnormal lines in all the transmission line objects according to the same group probability difference includes:

[0035] Select one of all the transmission line objects as the line to be determined;

[0036] Searching all the candidate computing units that are not the candidate middle lines of the line to be determined, and recording them as candidate computing units to be determined;

[0037] If the first probability of the line to be determined being in the same group or the second probability of the line to be determined being in the same group with the corresponding candidate middle line in any two of the candidate calculation units to be determined is less than a preset third threshold, then the line to be determined is determined to be the abnormal line;

[0038] The step of selecting one of all the transmission line objects as the line to be determined is performed until all the transmission line objects are selected.

[0039] Optionally, the updating of the initial transmission line grouping and the candidate transmission lines to be determined according to the abnormal lines includes:

[0040] Merging the initial transmission line groups having overlapping relationships in the transmission line objects;

[0041] The abnormal lines in the initial transmission line group are eliminated, and the abnormal lines in the candidate lines to be determined are eliminated, wherein the number of abnormal lines in the candidate lines to be determined is subtracted from the reference value of the number of transmission line groups to obtain a target reference value.

[0042] Optionally, matching the updated initial transmission line group with the candidate lines to be determined to obtain a transmission line group includes:

[0043] sequentially arranging and combining the initial transmission line group and the candidate transmission lines to be determined to obtain a combination to be processed;

[0044] Calculating the similarity between the combination to be processed and the preset transmission line group feature library in sequence, and taking the combination to be processed whose similarity calculation result is higher than a preset fourth threshold as a matching combination;

[0045] Merging the matching combinations whose line overlap is higher than a preset fifth threshold value to obtain a new initial transmission line grouping;

[0046] The fifth threshold is adjusted, and the step of sequentially arranging and combining the initial transmission line grouping and the candidate lines to be determined is performed to obtain the combination to be processed, until the number of the initial transmission line groupings is less than or equal to the target reference value, thereby obtaining the transmission line groupings.

[0047] Optionally, in S4, matching the electric tower objects according to the intersection points within the group to determine the target electric tower and target transmission line grouping includes:

[0048] Draw a box plot according to the coordinates of the intersection points within the group;

[0049] Calculate the upper and lower boundaries associated with the box plot, and when the coordinates of the intersection point within the group are outside the range of the upper and lower boundaries, mark the corresponding intersection point within the group as an outlier;

[0050] Eliminate outliers among the intersection points within the group, and determine the minimum circumscribed rectangle of the remaining intersection points within the group;

[0051] Determine the intersection-and-union ratios of all the power tower objects and the minimum circumscribed rectangle, and select the power tower object whose intersection-and-union ratio calculation result is greater than a preset sixth threshold as a candidate power tower object;

[0052] When one target transmission line group corresponds to multiple candidate tower objects, the multiple candidate tower objects are screened according to the center point position of the candidate tower object, the center point position of the minimum circumscribed rectangle, and the position of the candidate tower object to obtain the target tower corresponding to the target transmission line group.

[0053] Optionally, the S5 includes:

[0054] Determine the one with the largest area among the target towers as the tower to be determined;

[0055] Determine a safety risk area according to the electric tower to be determined and the target transmission line group corresponding to the electric tower to be determined;

[0056] According to the distance between the target dangerous object and the safety risk area, safety risk information is constructed and reported to the alarm device.

[0057] According to a second aspect of an embodiment of the present application, a power grid line safety detection device is provided, comprising:

[0058] The recognition module is configured to recognize the target dangerous object, the transmission line object and the electric tower object contained in the collected scene graph based on a preset target detection algorithm;

[0059] A calculation module is configured to select any three adjacent transmission line objects as candidate calculation units, and calculate the probability of any two adjacent transmission line objects in the candidate calculation units being in the same group, to obtain a probability pair of the same group;

[0060] A first determination module is configured to call the calculation module until all the transmission line objects are selected, and determine the transmission line grouping according to all the obtained same group probability pairs;

[0061] A second determination module is configured to determine the intra-group intersection points corresponding to the transmission line objects in the transmission line group, and match the power tower objects according to the intra-group intersection points to determine the target power tower and the target transmission line group;

[0062] The alarm module is configured to construct safety risk information according to the positional relationship between the target power tower, the target transmission line group and the target dangerous object and report it to a preset alarm device.

[0063] According to a third aspect of an embodiment of the present application, a computing device is provided, including:

[0064] Memory and processor;

[0065] The memory is used to store computer executable instructions, and the processor implements the steps of the power grid line safety detection method when executing the computer executable instructions.

[0066] According to a fourth aspect of an embodiment of the present application, a computer-readable storage medium is provided, which stores computer-executable instructions, and when the instructions are executed by a processor, the steps of the power grid line safety detection method are implemented.

[0067] According to a fifth aspect of an embodiment of the present application, a chip is provided, which stores a computer program, and the computer program implements the steps of the power grid line safety detection method when executed by the chip.

[0068] The power grid line safety detection method provided in the present application, through S1, based on a preset target detection algorithm, identifies the target dangerous object, transmission line object and tower object contained in the collected scene graph; S2, selects any three adjacent transmission line objects as candidate calculation units, and calculates the probability of any two adjacent transmission line objects in the candidate calculation units being in the same group, and obtains the probability pair of the same group; S3, executes S2 until all the transmission line objects are selected, and determines the transmission line grouping according to all the obtained probability pairs of the same group; S4, determines the intra-group intersection corresponding to the transmission line object in the transmission line group, and matches the tower object according to the intra-group intersection to determine the target tower and the target transmission line group; S5, constructs safety risk information according to the positional relationship between the target tower, the target transmission line group and the target dangerous object, and reports it to the preset alarm device. It is possible to group multiple groups of transmission lines in the image, and screen out target towers and target transmission lines based on the positional relationship between each tower and each group of transmission lines, to ensure that in the monitoring task of the target threat transmission line, the interference of irrelevant transmission lines is eliminated, and in the method of establishing danger zones based on the positions of wires or towers, the positions of danger zones are more accurate and reliable, thereby improving the accuracy and reliability of safety detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of 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 creative work.

[0070] Figure 1 It is a flow chart of a power grid line safety detection method provided by an embodiment of the present application;

[0071] Figure 2 It is a schematic diagram of a transmission line object grouping process of a power grid line safety detection method provided by an embodiment of the present application;

[0072] Figure 3 It is a structural schematic diagram of a power grid line safety detection device provided by an embodiment of the present application;

[0073] Figure 4 It is a structural block diagram of a computing device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0074] Many specific details are described in the following description to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar generalizations without violating the connotation of the present application, so the present application is not limited by the specific implementation disclosed below.

[0075] The terms used in one or more embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit one or more embodiments of the present application. The singular forms of "a", "said" and "the" used in one or more embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used in one or more embodiments of the present application refers to and includes any or all possible combinations of one or more associated listed items.

[0076] It should be understood that, although the terms first, second, etc. may be used to describe various information in one or more embodiments of the present application, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of one or more embodiments of the present application, the first may also be referred to as the second, and similarly, the second may also be referred to as the first.

[0077] In the present application, a power grid line safety detection method is provided. The present application also relates to a power grid line safety detection device, a computing device, and a computer-readable storage medium, which are described in detail one by one in the following embodiments.

[0078] Figure 1 A flowchart of a power grid line safety detection method provided according to an embodiment of the present application is shown, which specifically includes the following steps:

[0079] S1, based on a preset target detection algorithm, identifying target dangerous objects, transmission line objects and electric tower objects contained in the collected scene graph;

[0080] S2, selecting any three adjacent transmission line objects as candidate calculation units, and calculating the probability of any two adjacent transmission line objects in the candidate calculation units being in the same group, to obtain a same group probability pair;

[0081] S3, executing S2 until all the transmission line objects are selected, and determining the transmission line grouping according to all the obtained same-group probability pairs;

[0082] S4, determining the intra-group intersection points corresponding to the transmission line objects in the transmission line group, and matching the power tower objects according to the intra-group intersection points to determine the target power tower and the target transmission line group;

[0083] S5, constructing safety risk information according to the positional relationship between the target power tower, the target transmission line group and the target dangerous object and reporting it to a preset alarm device.

[0084] Among them, the choice of target detection algorithm is not unique, such as R-CNN, YOLO, SSD algorithm, etc. The specific target detection algorithm type is determined by the actual usage scenario and is not limited in this embodiment; the target dangerous object is engineering machinery, such as tower cranes, forklifts, bulldozers, excavators, dump trucks, cranes, cement pump trucks, ship cranes, pile drivers and long-arm excavators, or open flames, drones and other dangerous objects that pose a threat to the safety of power grid lines. The specific target dangerous object type is determined by the actual usage scenario and is not limited in this embodiment; the two transmission line objects are the same group, indicating that the two transmission line objects are located on the same tower object; the alarm equipment is composed of one or more of warning lights, speakers, displays and other devices. The specific composition is determined by the actual usage scenario and is not limited in this embodiment.

[0085] Based on this, target detection is performed on the collected scene graph through a preset target detection algorithm to determine all target hazardous objects, transmission line objects and tower objects contained in the scene graph; any three adjacent transmission line objects are selected as the minimum calculation unit, namely the candidate calculation unit, and the probability that two adjacent transmission line objects in each candidate calculation unit are associated with the same tower is calculated, namely the same group probability. Since there are three transmission line objects in the candidate calculation unit, there are two groups of adjacent transmission line objects in one candidate calculation unit. The same group probabilities corresponding to these two groups of adjacent transmission line objects constitute a same group probability pair.

[0086] After all the transmission line objects are selected, that is, the probability pairs corresponding to all the candidate calculation units are calculated, the transmission line grouping is determined according to all the obtained probability pairs in the same group; for any transmission line grouping, the intersection points of the transmission line objects contained therein are determined, that is, the intersection points within the group, and the corresponding tower objects are matched according to the intersection points within the group. If the match is successful, the corresponding target tower and target transmission line grouping can be obtained.

[0087] Finally, based on the positional relationship between the target power tower, the target transmission line group, and the target hazardous object, determine whether there is a threat to the safety of the power grid line and the threat level, and construct a scene graph containing the physical location, threat level, location information of target hazardous objects with safety risks, location information of transmission line objects with safety risks, etc., where the threat level may include high risk, medium risk, low risk, and no risk, etc. The specific threat level setting is determined by the actual usage scenario and is not limited in this embodiment. In addition, the threat level is also associated with the type of target hazardous object. For example, dangerous objects with development potential such as open flames will have their levels additionally upgraded in the threat level determination.

[0088] Furthermore, in step S2, the process of selecting any three adjacent transmission line objects as candidate calculation units is specifically implemented as follows in this embodiment:

[0089] S21, determine the midpoints of all the transmission line objects; S22, select any one transmission line object as a candidate middle line; S23, query the transmission line object whose midpoint is on the left side of the candidate middle line and is closest to the candidate middle line, and record it as the left transmission line; S24, query the transmission line object whose midpoint is on the right side of the candidate middle line and is closest to the candidate middle line, and record it as the right transmission line; S25, when the candidate middle line does not have the corresponding left transmission line or the right transmission line, execute step S22 until the candidate middle line and the corresponding left transmission line and right transmission line are obtained, and construct the candidate calculation unit according to the candidate middle line, the left transmission line and the right transmission line.

[0090] Among them, Figure 2 As shown in the schematic diagram of the transmission line object grouping process of a power grid line safety detection method provided, after obtaining all transmission lines, that is, identifying the transmission line objects in the scene graph, the minimum computing unit, that is, the candidate computing unit, is determined, wherein the minimum computing unit is: the middle line B and the two nearest lines, line A and line C.

[0091] Based on this, for the determination process of any candidate calculation unit, first determine the midpoint of all transmission line objects, and then select any transmission line as the candidate middle line, that is, Figure 2 For any candidate middle line, determine the two transmission line objects with the shortest vertical distance to the midpoint of the candidate middle line, and then determine whether the midpoints of the two transmission line objects are located on the left and right sides of the candidate middle line respectively. If so, the transmission line object located on the left side of the candidate middle line is the left transmission line, and the transmission line object located on the right side of the candidate middle line is the right transmission line. The left transmission line and the right transmission line are Figure 2 In the figure, the two side lines closest to the middle line B are line A on the left and line B on the right.

[0092] It should be noted that for the middle line, left transmission line and right transmission line in the same candidate computing unit, the left and right directions in their positional relationship should use the middle line as the observation perspective. In actual physical scenes, the left transmission line, the middle line and the right transmission line may be arranged from top to bottom, or from the upper left to the lower right, or from the upper left to the upper right, etc. The specific arrangement method is determined by the actual usage scenario and is not limited in this embodiment.

[0093] If the midpoints of the two transmission line objects are not located on the left and right sides of the candidate middle line, then determine the one whose midpoint is closest to the candidate middle line, and then search for the transmission line object closest to the candidate middle line in the other direction of the candidate middle line, and use the transmission line object corresponding to the query result and the transmission line object closest to the candidate middle line as the left transmission line and right transmission line corresponding to the candidate middle line. It should be noted that if no transmission line object is found in the other direction of the candidate middle line, the current candidate middle line is skipped and the next candidate middle line is determined.

[0094] Furthermore, in step S2, the same group probability of any two adjacent transmission line objects in the candidate calculation unit being in the same group is calculated to obtain the same group probability pair. In this embodiment, the specific implementation method is as follows:

[0095] S26, determine the endpoint coordinates of all the transmission line objects in the candidate calculation unit; S27, arbitrarily select one of the endpoint coordinates of the candidate middle line, the left transmission line and the right transmission line, calculate the sum of distances, and use the endpoint coordinates corresponding to the minimum sum of distances as the candidate endpoint coordinates; S28, determine the first comprehensive distance based on the candidate endpoint coordinates corresponding to the candidate middle line and the left transmission line, and the midpoint corresponding to the candidate middle line and the left transmission line, and determine the second comprehensive distance based on the candidate endpoint coordinates corresponding to the candidate middle line and the right transmission line, and the midpoint corresponding to the candidate middle line and the right transmission line; S29, sum the first comprehensive distance and the second comprehensive distance to obtain a third comprehensive distance, determine the first same-group probability corresponding to the candidate middle line and the left transmission line based on the first comprehensive distance and the third comprehensive distance, and determine the second same-group probability corresponding to the candidate middle line and the right transmission line based on the second comprehensive distance and the third comprehensive distance, wherein the same-group probability pair includes the first same-group probability and the second same-group probability.

[0096] Specifically, for any candidate calculation unit, determine all the endpoint coordinates of the transmission line objects contained therein, select one endpoint coordinate from each of the three transmission line objects, determine the minimum value of the sum of the distances between the three endpoint coordinates in all the selected results, and mark the three endpoint coordinates corresponding to the minimum value as candidate endpoint coordinates, that is, P Aend , P Bend and P Cend ,in, P Aend Corresponding to the candidate endpoint coordinates selected from the left transmission line A, P BendCorresponding to the candidate endpoint coordinates selected from the candidate middle line B, P Cend The corresponding candidate endpoint coordinates are selected from the right transmission line C. The formula for calculating the sum of the distances between the three endpoint coordinates is as follows:

[0097] ,

[0098] Among them, min(·) is the symbol for finding the minimum value, sum (·) is the summation symbol, L (·) is the distance sign, n is 1 or 2, n A The first n endpoints, n B The first n endpoints, n C The first n endpoints, for n A The corresponding endpoint coordinates, for n B The corresponding endpoint coordinates, for n C The corresponding endpoint coordinates.

[0099] After determining the candidate endpoint coordinates, the formula for calculating the first comprehensive distance is as follows:

[0100] ,

[0101] in, K AB is the first comprehensive distance, P Acenter is the midpoint of the left transmission line, P Bcenter is the midpoint of the candidate middle line, α and β is the weighting coefficient, H (·)and G (·) is the distance calculation function, and then the formula for calculating the second comprehensive distance is as follows:

[0102] ,

[0103] in, K BC is the second comprehensive distance, P Ccenter is the midpoint of the right transmission line, about the first group probability PAB The formula is as follows:

[0104] ,

[0105] About the probability of the second group P BC The formula is as follows:

[0106] ,

[0107] Furthermore, in step S3, the process of determining the grouping of transmission lines according to all the obtained probability pairs of the same group is specifically implemented as follows in this embodiment:

[0108] Calculate the absolute value of the difference between the first same-group probability and the second same-group probability in all the same-group probability pairs, and record it as the same-group probability difference; when the same-group probability difference is greater than a preset first threshold, select two of the transmission line objects in the corresponding candidate calculation unit as the initial transmission line grouping, count the number of the initial transmission line groupings, and divide the statistical result by 2 to obtain a reference value for the number of transmission line groupings; when the same-group probability difference is less than a preset second threshold, select all of the transmission line objects in the corresponding candidate calculation unit as the initial transmission line grouping, wherein the second threshold is less than the first threshold; when the same-group probability difference is between the first threshold and the second threshold, select all of the transmission line objects in the corresponding candidate calculation unit as candidate lines to be determined; determine the abnormal lines among all of the transmission line objects according to the same-group probability difference, and update the initial transmission line grouping and the candidate lines to be determined according to the abnormal lines; match the updated initial transmission line grouping with the candidate lines to be determined to obtain a transmission line grouping.

[0109] Furthermore, the process of selecting two transmission line objects in the corresponding candidate calculation unit as the initial transmission line grouping is specifically implemented as follows in this embodiment:

[0110] Compare the first same-group probability and the second same-group probability in the candidate calculation units corresponding to the same-group probability difference; if the first same-group probability is greater than the second same-group probability, the candidate middle line corresponding to the first same-group probability and the left transmission line are grouped as the initial transmission line group; if the first same-group probability is less than the second same-group probability, the candidate middle line corresponding to the second same-group probability and the right transmission line are grouped as the initial transmission line group.

[0111] Among them, Figure 2As shown in the schematic diagram of the transmission line object grouping process of a power grid line safety detection method provided, the probability difference that line B and line A, line B and line C belong to the same group, that is, the probability difference of the same group, the threshold T1 is the first threshold, and the threshold T2 is the second threshold.

[0112] Based on this, Figure 2 As shown, for any candidate calculation unit, if the corresponding probability difference is greater than the threshold value T1, it means that the middle line may be the dividing line, and the two lines with a high probability of belonging to the same group are retained as a subgroup, that is, when the probability difference of the same group is greater than the first threshold, the two transmission line objects in the candidate calculation unit are selected as the initial transmission line grouping, wherein the subgroup is the initial transmission line grouping, and one of the two selected transmission line objects is a candidate middle line, and the other is a transmission line object with a higher probability of being in the same group as the candidate middle line.

[0113] like Figure 2 As shown, if the corresponding probability difference is less than the threshold value T2, then it means that the three lines belong to the same subgroup, that is, when the probability difference of the same group is less than the second threshold value, all the transmission line objects in the corresponding candidate calculation unit are selected as the initial transmission line grouping;

[0114] Since the first threshold is greater than the second threshold, Figure 2 As shown, if the corresponding probability difference ∈ (T2, T1), the transmission lines in the minimum calculation unit are regarded as three independent pending lines, where the pending lines are candidate pending lines. That is to say, when the probability difference of the same group is between the first threshold and the second threshold, all the transmission line objects in the corresponding candidate calculation unit are regarded as candidate pending lines.

[0115] In addition, if Figure 2 As shown, it is also necessary to screen abnormal lines and process the lines to be determined based on the selection results, that is, to determine the abnormal lines in all transmission line objects based on the probability difference in the same group, and to update the initial transmission line grouping and candidate lines to be determined based on the abnormal lines.

[0116] Furthermore, according to the probability difference of the same group, the process of determining the abnormal lines in all the transmission line objects is specifically implemented as follows in this embodiment:

[0117] Select one of all the transmission line objects as the line to be judged; query all the candidate calculation units of the line to be judged that are not the candidate middle lines, and record them as candidate calculation units to be judged; if the first probability of being in the same group or the second probability of being in the same group between the line to be judged and the corresponding candidate middle line in any two of the candidate calculation units to be judged is less than a preset third threshold, then determine that the line to be judged is the abnormal line; execute the step of selecting one of all the transmission line objects as the line to be judged until all the transmission line objects are selected.

[0118] Among them, the abnormal line represents the transmission line object identified in the scene graph, which does not correspond to the transmission line in the actual construction scene, such as the suspension line connected to the hook on the crane in the construction scene, and the single inclined wire from the top of the pole to the ground in the foreground. The specific abnormal line type is not unique, and the actual abnormal line type is determined by the actual usage scenario, which is not limited in this embodiment.

[0119] Based on this, for any transmission line object, if the probability of it being in the same group as the candidate middle lines in the two candidate calculation units that are not candidate middle lines is less than the third threshold, then the transmission line object is identified as an abnormal line. It should be noted that the value setting of the third threshold is determined by the actual usage scenario and is not limited in this embodiment.

[0120] Furthermore, the process of updating the initial transmission line grouping and candidate transmission lines to be determined according to the abnormal lines is specifically implemented as follows in this embodiment:

[0121] Merge the initial transmission line groups with overlapping relationships in the transmission line objects; remove the abnormal lines in the initial transmission line groups, and remove the abnormal lines in the candidate lines to be determined, wherein the reference value of the number of transmission line groups minus the number of abnormal lines in the candidate lines to be determined obtains a target reference value.

[0122] Among them, Figure 2 As shown in the schematic diagram of the transmission line object grouping process of a power grid line safety detection method provided, abnormal lines are eliminated from all pending lines, and lines in subgroups are eliminated, that is, abnormal lines in all initial transmission line groups are eliminated, and abnormal lines in all candidate pending lines are eliminated.

[0123] And, if Figure 2 As shown, the subsets with overlapping lines are merged, that is, the transmission line objects with overlapping relationships are queried in all the initial transmission line groups, and the two initial transmission line groups with overlapping transmission line objects are merged. The initial transmission line groups obtained after the merger are again involved in the query and merging of transmission line objects with overlapping relationships until there are no transmission line objects with overlapping relationships.

[0124] In addition, for the initial transmission line groupings determined based on the probability difference of the same group and the first threshold, it is necessary to count their number and divide the counted number by 2 as a reference value for the number of transmission line groupings. Each time an abnormal line is removed, the reference value for the number of transmission line groupings is reduced by 1 until all abnormal lines are removed. The reference value for the number of transmission line groupings at this time is recorded as the target reference value.

[0125] Furthermore, the updated initial transmission line group is matched with the candidate lines to be determined to obtain the transmission line group. In this embodiment, the specific implementation is as follows:

[0126] The initial transmission line group and the candidate lines to be determined are sequentially arranged and combined to obtain a combination to be processed; the similarity between the combination to be processed and a preset transmission line group feature library is sequentially calculated, and the combination to be processed whose similarity calculation result is higher than a preset fourth threshold is used as a matching combination; the matching combinations whose line overlap is higher than a preset fifth threshold are merged to obtain a new initial transmission line group; the fifth threshold is adjusted, and the steps of sequentially arranging and combining the initial transmission line group and the candidate lines to be determined to obtain a combination to be processed are performed until the number of the initial transmission line groups is less than or equal to the target reference value to obtain the transmission line group.

[0127] Specifically, Figure 2 As shown in the schematic diagram of the transmission line object grouping process of a power grid line safety detection method provided, the merged subgroups and the pending lines after removing the abnormal lines are arranged and combined. Through the feature extraction model, the feature similarity of the arrangement and combination results and the input line group feature library is calculated, and the combinations with high overlap are merged to obtain the final output line grouping.

[0128] Among them, all the initial transmission line groups and candidate lines to be determined are arranged and combined to obtain a combination to be processed. For any combination to be processed, its similarity with the transmission line group contained in the transmission line group feature library is calculated. If the similarity calculation result is greater than the fourth threshold, the combination to be processed is used as a matching combination. The process of calculating the similarity of the combination to be processed is achieved by extracting combination features through a pre-trained feature extraction model, and then calculating the similarity between the combination features and the features of the transmission line group contained in the transmission line group feature library.

[0129] For all the matching combinations obtained, determine the line overlap between the transmission line objects contained therein, merge the matching combinations with line overlap higher than the fifth threshold, and obtain a new initial transmission line grouping. When the number of initial transmission line groups is greater than the target reference value, increase the fifth threshold with a preset step size, and execute the step of arranging and combining the initial transmission line grouping with the candidate lines again, and merge them in an iterative manner until the number of initial transmission line groups obtained by merging is less than or equal to the target reference value. The initial transmission line grouping at this time is recorded as the transmission line grouping.

[0130] Furthermore, in step S4, the process of matching the tower objects according to the intersection points in the group to determine the target tower and the target transmission line group is specifically implemented as follows in this embodiment:

[0131] Draw a box plot according to the coordinates of the intersection points within the group; calculate the upper and lower boundaries associated with the box plot, and when the coordinates of the intersection points within the group are outside the range of the upper and lower boundaries, mark the corresponding intersection points within the group as outliers; eliminate the outliers among the intersection points within the group, and determine the minimum circumscribed rectangle of the remaining intersection points within the group; determine the intersection-and-union ratio of all the tower objects and the minimum circumscribed rectangle, and select the tower object whose intersection-and-union ratio calculation result is greater than a preset sixth threshold as a candidate tower object; when one target transmission line group corresponds to multiple candidate tower objects, screen the multiple candidate tower objects according to the center point position of the candidate tower object, the center point position of the minimum circumscribed rectangle, and the position of the candidate tower object to obtain the target tower corresponding to the target transmission line group.

[0132] Specifically, for any transmission line group obtained, the intersection points of the transmission line objects contained therein are calculated, recorded as the intra-group intersection points, the distribution of the intra-group intersection points is analyzed, and the outliers are removed. Specifically, for any intra-group intersection point (x, y), the corresponding box plot is drawn, the first quartile Q1 and the third quartile Q3 of the box plot are calculated, and the interquartile range IQR is calculated based on Q1 and Q3, where IQR=Q3-Q1. The formula for calculating the upper bound Lower bound in the upper and lower bounds is as follows:

[0133] ,

[0134] The formula for calculating the lower bound of the upper and lower bounds is as follows:

[0135] Upper bound = Q3 + 1.5 × IQR,

[0136] The intersection points in the group whose values ​​of x and y exceed the upper and lower boundaries are marked as outliers and removed. After removing all outliers, for the remaining intersection points in the group, their minimum enclosing rectangles are determined, and the intersection-and-union ratio between each tower target and the minimum enclosing rectangle is calculated. The tower objects whose intersection-and-union ratio calculation results are greater than the sixth threshold are recorded as candidate tower objects. The value of the sixth threshold is not unique, and the specific value is determined by the actual usage scenario, which is not limited in this embodiment.

[0137] When all transmission line groups are determined as candidate tower objects, all candidate tower objects are obtained. If any transmission line group corresponds to more than one candidate tower object, the candidate tower objects corresponding to the transmission line group are screened. During the screening process, the matching value Q between the transmission line group and the corresponding candidate tower object is calculated in turn. The calculation formula of the matching value Q is as follows:

[0138] Q = W1*D center+W2*Tower Area ,

[0139] Among them, W1 and W2 are weight coefficients, D center The center point position of the candidate tower object is the distance between the center point position of the minimum circumscribed rectangle of the group intersection of the transmission line grouping and excluding outliers; In actual usage scenarios, the center point position of the candidate tower object is determined by intercepting the upper half of the candidate tower object and taking the geometric center of the intercepted result as the center point position; Tower Area is the area of ​​the candidate tower object.

[0140] Based on this, the transmission line group and the candidate tower objects with matching relationship are determined and recorded as the target transmission line group and the target tower.

[0141] Furthermore, in step S5, according to the positional relationship between the target power tower, the target transmission line group and the target dangerous object, the process of constructing the safety risk information and reporting it to the preset alarm device is specifically implemented as follows in this embodiment:

[0142] Determine the one with the largest area among the target towers as the tower to be judged; determine the safety risk area based on the tower to be judged and the target transmission line group corresponding to the tower to be judged; and construct safety risk information based on the distance between the target dangerous object and the safety risk area and report it to the alarm device.

[0143] Among them, for all target towers, the one with the largest area is selected as the tower to be judged, and the safety risk area is constructed according to the target transmission line grouping corresponding to the tower to be judged. The threat level is determined according to the distance between the target dangerous object and the safety risk area, and the safety risk information is constructed according to the judgment result and reported to the alarm device.

[0144] Corresponding to the above method embodiment, the present application also provides an embodiment of a power grid line safety detection device, Figure 3 FIG. 1 is a schematic diagram showing the structure of a power grid line safety detection device provided by an embodiment of the present application. Figure 3 As shown, the device comprises:

[0145] The identification module 302 is configured to identify the target dangerous object, the transmission line object and the electric tower object contained in the collected scene graph based on a preset target detection algorithm;

[0146] The calculation module 304 is configured to select any three adjacent transmission line objects as candidate calculation units, and calculate the probability of any two adjacent transmission line objects in the candidate calculation units being in the same group, to obtain a probability pair of the same group;

[0147] A first determination module 306 is configured to call the calculation module 304 until all the transmission line objects are selected, and determine the transmission line grouping according to all the obtained same group probability pairs;

[0148] The second determination module 308 is configured to determine the intra-group intersection points corresponding to the transmission line objects in the transmission line group, and match the tower objects according to the intra-group intersection points to determine the target tower and the target transmission line group;

[0149] The alarm module 310 is configured to construct safety risk information according to the positional relationship between the target power tower, the target transmission line group and the target dangerous object and report it to a preset alarm device.

[0150] In an optional embodiment, the calculation module 304 is further configured to:

[0151] Determine the midpoints of all the transmission line objects; select any one transmission line object as a candidate middle line; query the transmission line object whose midpoint is on the left side of the candidate middle line and is closest to the candidate middle line, and record it as the left transmission line; query the transmission line object whose midpoint is on the right side of the candidate middle line and is closest to the candidate middle line, and record it as the right transmission line; when the candidate middle line does not have the corresponding left transmission line or the right transmission line, call the calculation module 304 until the candidate middle line and the corresponding left transmission line and right transmission line are obtained, and construct the candidate calculation unit according to the candidate middle line, the left transmission line and the right transmission line.

[0152] In an optional embodiment, the calculation module 304 is further configured to:

[0153] Determine the endpoint coordinates of all the transmission line objects in the candidate calculation unit; arbitrarily select one of the endpoint coordinates of the candidate middle line, the left transmission line and the right transmission line, calculate the distance sum, and use the endpoint coordinates corresponding to the minimum distance sum as the candidate endpoint coordinates; determine the first comprehensive distance according to the candidate endpoint coordinates corresponding to the candidate middle line and the left transmission line, and the midpoint corresponding to the candidate middle line and the left transmission line, and determine the second comprehensive distance according to the candidate endpoint coordinates corresponding to the candidate middle line and the right transmission line, and the midpoint corresponding to the candidate middle line and the right transmission line; sum the first comprehensive distance and the second comprehensive distance to obtain a third comprehensive distance, determine the first same-group probability corresponding to the candidate middle line and the left transmission line according to the first comprehensive distance and the third comprehensive distance, and determine the second same-group probability corresponding to the candidate middle line and the right transmission line according to the second comprehensive distance and the third comprehensive distance, wherein the same-group probability pair includes the first same-group probability and the second same-group probability.

[0154] In an optional embodiment, the first determining module 306 is further configured to:

[0155] Calculate the absolute value of the difference between the first same-group probability and the second same-group probability in all the same-group probability pairs, and record it as the same-group probability difference; when the same-group probability difference is greater than a preset first threshold, select two of the transmission line objects in the corresponding candidate calculation unit as the initial transmission line grouping, count the number of the initial transmission line groupings, and divide the statistical result by 2 to obtain a reference value for the number of transmission line groupings; when the same-group probability difference is less than a preset second threshold, select all of the transmission line objects in the corresponding candidate calculation unit as the initial transmission line grouping, wherein the second threshold is less than the first threshold; when the same-group probability difference is between the first threshold and the second threshold, select all of the transmission line objects in the corresponding candidate calculation unit as candidate lines to be determined; determine the abnormal lines among all of the transmission line objects according to the same-group probability difference, and update the initial transmission line grouping and the candidate lines to be determined according to the abnormal lines; match the updated initial transmission line grouping with the candidate lines to be determined to obtain a transmission line grouping.

[0156] In an optional embodiment, the first determining module 306 is further configured to:

[0157] Compare the first same-group probability and the second same-group probability in the candidate calculation units corresponding to the same-group probability difference; if the first same-group probability is greater than the second same-group probability, the candidate middle line corresponding to the first same-group probability and the left transmission line are grouped as the initial transmission line group; if the first same-group probability is less than the second same-group probability, the candidate middle line corresponding to the second same-group probability and the right transmission line are grouped as the initial transmission line group.

[0158] In an optional embodiment, the first determining module 306 is further configured to:

[0159] Select one of all the transmission line objects as the line to be judged; query all the candidate calculation units of the line to be judged that are not the candidate middle lines, and record them as candidate calculation units to be judged; if the first probability of being in the same group or the second probability of being in the same group between the line to be judged and the corresponding candidate middle line in any two of the candidate calculation units to be judged is less than a preset third threshold, then determine that the line to be judged is the abnormal line; execute the step of selecting one of all the transmission line objects as the line to be judged until all the transmission line objects are selected.

[0160] In an optional embodiment, the first determining module 306 is further configured to:

[0161] Merge the initial transmission line groups with overlapping relationships in the transmission line objects; remove the abnormal lines in the initial transmission line groups, and remove the abnormal lines in the candidate lines to be determined, wherein the reference value of the number of transmission line groups minus the number of abnormal lines in the candidate lines to be determined obtains a target reference value.

[0162] In an optional embodiment, the first determining module 306 is further configured to:

[0163] The initial transmission line group and the candidate lines to be determined are sequentially arranged and combined to obtain a combination to be processed; the similarity between the combination to be processed and a preset transmission line group feature library is sequentially calculated, and the combination to be processed whose similarity calculation result is higher than a preset fourth threshold is used as a matching combination; the matching combinations whose line overlap is higher than a preset fifth threshold are merged to obtain a new initial transmission line group; the fifth threshold is adjusted, and the steps of sequentially arranging and combining the initial transmission line group and the candidate lines to be determined to obtain a combination to be processed are performed until the number of the initial transmission line groups is less than or equal to the target reference value to obtain the transmission line group.

[0164] In an optional embodiment, the second determining module 308 is further configured to:

[0165] Draw a box plot according to the coordinates of the intersection points within the group; calculate the upper and lower boundaries associated with the box plot, and when the coordinates of the intersection points within the group are outside the range of the upper and lower boundaries, mark the corresponding intersection points within the group as outliers; eliminate the outliers among the intersection points within the group, and determine the minimum circumscribed rectangle of the remaining intersection points within the group; determine the intersection-and-union ratio of all the tower objects and the minimum circumscribed rectangle, and select the tower object whose intersection-and-union ratio calculation result is greater than a preset sixth threshold as a candidate tower object; when one target transmission line group corresponds to multiple candidate tower objects, screen the multiple candidate tower objects according to the center point position of the candidate tower object, the center point position of the minimum circumscribed rectangle, and the position of the candidate tower object to obtain the target tower corresponding to the target transmission line group.

[0166] In an optional embodiment, the alarm module 310 is further configured to:

[0167] Determine the one with the largest area among the target towers as the tower to be judged; determine the safety risk area based on the tower to be judged and the target transmission line group corresponding to the tower to be judged; and construct safety risk information based on the distance between the target dangerous object and the safety risk area and report it to the alarm device.

[0168] The power grid line safety detection device provided in the present application, through S1, based on a preset target detection algorithm, identifies the target dangerous object, transmission line object and tower object contained in the collected scene graph; S2, selects any three adjacent transmission line objects as candidate calculation units, and calculates the probability of any two adjacent transmission line objects in the candidate calculation units being in the same group, and obtains the probability pair of the same group; S3, executes S2 until all the transmission line objects are selected, and determines the transmission line grouping according to all the obtained probability pairs of the same group; S4, determines the intra-group intersection corresponding to the transmission line object in the transmission line group, and matches the tower object according to the intra-group intersection to determine the target tower and the target transmission line group; S5, constructs safety risk information according to the positional relationship between the target tower, the target transmission line group and the target dangerous object, and reports it to the preset alarm device. It is possible to group multiple groups of transmission lines in the image, and screen out target towers and target transmission lines based on the positional relationship between each tower and each group of transmission lines, to ensure that in the monitoring task of the target threat transmission line, the interference of irrelevant transmission lines is eliminated, and in the method of establishing danger zones based on the positions of wires or towers, the positions of danger zones are more accurate and reliable, thereby improving the accuracy and reliability of safety detection.

[0169] The above is a schematic scheme of a power grid line safety detection device of this embodiment. It should be noted that the technical scheme of the power grid line safety detection device and the technical scheme of the above-mentioned power grid line safety detection method belong to the same concept. For the details not described in detail in the technical scheme of the power grid line safety detection device, please refer to the description of the technical scheme of the above-mentioned power grid line safety detection method. In addition, each component in the device embodiment should be understood as a functional module that must be established to implement each step of the program flow or each step of the method, and each functional module is not an actual functional division or separation definition. The device claim defined by such a group of functional modules should be understood as a functional module architecture that mainly implements the solution through a computer program recorded in the specification, and should not be understood as a physical device that mainly implements the solution through hardware.

[0170] Figure 4 The block diagram of a computing device 400 according to an embodiment of the present application is shown. The components of the computing device 400 include but are not limited to a memory 410 and a processor 420. The processor 420 is connected to the memory 410 via a bus 430, and the database 450 is used to store data.

[0171] The computing device 400 also includes an access device 440 that enables the computing device 400 to communicate via one or more networks 460. Examples of these networks include a public switched telephone network (PSTN), a local area network (LAN), a wide area network (WAN), a personal area network (PAN), or a combination of communication networks such as the Internet. The access device 440 may include one or more of any type of network interface (e.g., a network interface card (NIC)) that is wired or wireless, such as an IEEE 802.11 wireless local area network (WLAN) wireless interface, a World Wide Interoperability for Microwave Access (Wi-MAX) interface, an Ethernet interface, a universal serial bus (USB) interface, a cellular network interface, a Bluetooth interface, a near field communication (NFC) interface, and the like.

[0172] In one embodiment of the present application, the above components of the computing device 400 and Figure 4 Other components not shown in the figure may also be connected to each other, for example, via a bus. It should be understood that Figure 4 The computing device structure block diagram shown is only for the purpose of illustration, and is not intended to limit the scope of the present application. Those skilled in the art may add or replace other components as needed.

[0173] Computing device 400 may be any type of stationary or mobile computing device, including a mobile computer or mobile computing device (e.g., a tablet computer, a personal digital assistant, a laptop computer, a notebook computer, a netbook, etc.), a mobile phone (e.g., a smart phone), a wearable computing device (e.g., a smart watch, smart glasses, etc.), or other types of mobile devices, or a stationary computing device such as a desktop computer or PC. Computing device 400 may also be a mobile or stationary server.

[0174] The processor 420 is used to execute computer executable instructions of each step of the power grid line safety detection method.

[0175] The above is a schematic scheme of a computing device of this embodiment. It should be noted that the technical scheme of the computing device and the technical scheme of the above-mentioned power grid line safety detection method belong to the same concept, and the details not described in detail in the technical scheme of the computing device can be referred to the description of the technical scheme of the above-mentioned power grid line safety detection method.

[0176] An embodiment of the present application further provides a computer-readable storage medium storing computer instructions, which are used to implement the steps of the power grid line safety detection method when executed by a processor.

[0177] The above is a schematic scheme of a computer-readable storage medium of this embodiment. It should be noted that the technical scheme of the storage medium and the technical scheme of the above-mentioned power grid line safety detection method belong to the same concept, and the details not described in detail in the technical scheme of the storage medium can be referred to the description of the technical scheme of the above-mentioned power grid line safety detection method.

[0178] An embodiment of the present application further provides a chip storing a computer program, which implements the steps of the power grid line safety detection method when executed by the chip.

[0179] The above describes specific embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0180] The computer instructions include computer program codes, which may be in source code form, object code form, executable files or some intermediate forms, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer-readable medium may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0181] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity of description, 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 action sequence, because according to the present application, certain steps can be performed in other sequences 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.

[0182] 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.

[0183] The preferred embodiments of the present application disclosed above are only used to help explain the present application. The optional embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of the present application. The present application selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present application, so that those skilled in the art can understand and use the present application well. The present application is only limited by the claims and their full scope and equivalents.

Claims

1. A power grid line safety detection method, characterized in that: include: S1, based on a preset target detection algorithm, identifying target dangerous objects, transmission line objects and electric tower objects contained in the collected scene graph; S2, selecting any three adjacent transmission line objects as candidate calculation units, and calculating the probability of any two adjacent transmission line objects in the candidate calculation units being in the same group, to obtain a probability pair of the same group; S3, execute S2 until all the transmission line objects are selected, and determine the transmission line grouping according to all the obtained same-group probability pairs. Specifically, the same-group probability pairs include a first same-group probability and a second same-group probability. Calculate the absolute value of the difference between the first same-group probability and the second same-group probability in all the same-group probability pairs, and record it as the same-group probability difference. When the same-group probability difference is greater than a preset first threshold, select the two transmission line objects in the corresponding candidate calculation unit as the initial transmission line grouping, count the number of the initial transmission line grouping, and divide the statistical result by 2 to obtain a reference value for the number of transmission line groups. When the same-group probability difference is less than the preset second threshold, select all the transmission line objects in the corresponding candidate calculation unit as the The initial transmission line grouping, wherein the second threshold is less than the first threshold, when the same-group probability difference is between the first threshold and the second threshold, all the transmission line objects in the corresponding candidate calculation unit are used as candidate pending lines, and according to the same-group probability difference, the abnormal lines among all the transmission line objects are determined, and the initial transmission line grouping and the candidate pending lines are updated according to the abnormal lines, and the updated initial transmission line grouping and the candidate pending lines are matched to obtain the transmission line grouping, wherein the probability that two adjacent transmission line objects in the candidate calculation unit are associated with the same tower is the same-group probability, and the two groups of adjacent transmission line objects in the candidate calculation unit, and the corresponding same-group probabilities respectively constitute the same-group probability pair; S4, determining the intra-group intersection points corresponding to the transmission line objects in the transmission line group, and matching the power tower objects according to the intra-group intersection points to determine the target power tower and the target transmission line group; S5, constructing safety risk information according to the positional relationship between the target power tower, the target transmission line group and the target dangerous object and reporting it to a preset alarm device.

2. The method according to claim 1, characterized in that: In S2, the step of selecting any three adjacent transmission line objects as candidate calculation units includes: S21, determining the midpoints of all the transmission line objects; S22, selecting any transmission line object as a candidate middle line; S23, querying the transmission line object whose midpoint is on the left side of the candidate middle line and closest to the candidate middle line, and recording it as the left transmission line; S24, querying the transmission line object whose midpoint is on the right side of the candidate middle line and closest to the candidate middle line, and recording it as the right transmission line; S25. When the candidate middle line does not have the corresponding left transmission line or the right transmission line, execute step S22 until the candidate middle line and the corresponding left transmission line and right transmission line are obtained, and construct the candidate calculation unit based on the candidate middle line, the left transmission line and the right transmission line.

3. The method according to claim 2, characterized in that In S2, the calculating of the probability of any two adjacent transmission line objects in the candidate calculation unit being in the same group to obtain a probability pair of the same group includes: S26, determining the endpoint coordinates of all the transmission line objects in the candidate calculation unit; S27, arbitrarily selecting one of the endpoint coordinates of the candidate middle line, the left transmission line, and the right transmission line, calculating the sum of distances, and taking the endpoint coordinate corresponding to the minimum sum of distances as the candidate endpoint coordinate; S28, determining a first comprehensive distance based on the candidate endpoint coordinates of the candidate middle line and the left transmission line, and the midpoint of the candidate middle line and the left transmission line, and determining a second comprehensive distance based on the candidate endpoint coordinates of the candidate middle line and the right transmission line, and the midpoint of the candidate middle line and the right transmission line; S29, summing the first comprehensive distance and the second comprehensive distance to obtain a third comprehensive distance, determining a first probability that the candidate middle line and the left transmission line are in the same group according to the first comprehensive distance and the third comprehensive distance, and determining a second probability that the candidate middle line and the right transmission line are in the same group according to the second comprehensive distance and the third comprehensive distance, wherein the same group probability pair includes the first same group probability and the second same group probability.

4. The method according to claim 2, characterized in that: The selecting the two transmission line objects in the corresponding candidate computing units as the initial transmission line grouping comprises: Comparing the first same-group probability and the second same-group probability in the candidate calculation unit corresponding to the same-group probability difference; If the first probability of being in the same group is greater than the second probability of being in the same group, the candidate middle line and the left transmission line corresponding to the first probability of being in the same group are grouped as the initial transmission line group; If the first probability of being in the same group is less than the second probability of being in the same group, the candidate middle line and the right transmission line corresponding to the second probability of being in the same group are grouped as the initial transmission line group.

5. The method according to claim 2, characterized in that: The step of determining abnormal lines in all the transmission line objects according to the same group probability difference comprises: Select one of all the transmission line objects as the line to be determined; Searching all the candidate computing units that are not the candidate middle lines of the line to be determined, and recording them as candidate computing units to be determined; If the first probability of the line to be determined being in the same group or the second probability of the line to be determined being in the same group with the corresponding candidate middle line in any two of the candidate calculation units to be determined is less than a preset third threshold, then the line to be determined is determined to be the abnormal line; The step of selecting one of all the transmission line objects as the line to be determined is performed until all the transmission line objects are selected.

6. The method according to claim 1, characterized in that The updating of the initial transmission line grouping and the candidate transmission lines to be determined according to the abnormal lines comprises: Merging the initial transmission line groups having overlapping relationships in the transmission line objects; The abnormal lines in the initial transmission line group are eliminated, and the abnormal lines in the candidate lines to be determined are eliminated, wherein the number of abnormal lines in the candidate lines to be determined is subtracted from the reference value of the number of transmission line groups to obtain a target reference value.

7. The method according to claim 6, characterized in that The step of matching the updated initial transmission line group with the candidate lines to be determined to obtain a transmission line group comprises: sequentially arranging and combining the initial transmission line group and the candidate transmission lines to be determined to obtain a combination to be processed; Calculating the similarity between the combination to be processed and the preset transmission line group feature library in sequence, and taking the combination to be processed whose similarity calculation result is higher than a preset fourth threshold as a matching combination; Merging the matching combinations whose line overlap is higher than a preset fifth threshold value to obtain a new initial transmission line grouping; The fifth threshold is adjusted, and the step of sequentially arranging and combining the initial transmission line grouping and the candidate lines to be determined is performed to obtain the combination to be processed, until the number of the initial transmission line groupings is less than or equal to the target reference value, thereby obtaining the transmission line groupings.

8. The method according to claim 1, characterized in that In S4, matching the electric tower objects according to the intersection points within the group to determine the target electric tower and the target transmission line group includes: Draw a box plot according to the coordinates of the intersection points within the group; Calculate the upper and lower boundaries associated with the box plot, and when the coordinates of the intersection point within the group are outside the range of the upper and lower boundaries, mark the corresponding intersection point within the group as an outlier; Eliminate outliers among the intersection points within the group, and determine the minimum circumscribed rectangle of the remaining intersection points within the group; Determine the intersection-and-union ratios of all the power tower objects and the minimum circumscribed rectangle, and select the power tower object whose intersection-and-union ratio calculation result is greater than a preset sixth threshold as a candidate power tower object; When one target transmission line group corresponds to multiple candidate tower objects, the multiple candidate tower objects are screened according to the center point position of the candidate tower object, the center point position of the minimum circumscribed rectangle, and the position of the candidate tower object to obtain the target tower corresponding to the target transmission line group.

9. The method according to claim 1, characterized in that: The S5 comprises: Determine the one with the largest area among the target towers as the tower to be determined; Determine a safety risk area according to the electric tower to be determined and the target transmission line group corresponding to the electric tower to be determined; According to the distance between the target dangerous object and the safety risk area, safety risk information is constructed and reported to the alarm device.

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