Alarm event triggering method and device, storage medium, electronic device and computer program product

Abstract

The invention discloses an alarm event triggering method and device, a storage medium, an electronic device and a computer program product, and relates to the field of power system intelligent monitoring, and the alarm event triggering method comprises the steps: obtaining an image collection result of an image collection device for a target region, point cloud data acquired by the laser radar device for a target area is acquired, and the target area comprises a power transmission line and an environment area where the power transmission line is located; constructing a three-dimensional scene of the target area according to the image acquisition result and the point cloud data; determining the nearest clearance distance between the obstacle and the power transmission line in the three-dimensional scene under the condition that the obstacle is detected to appear in the target area; and when the nearest clearance distance is smaller than a target preset threshold value, triggering an alarm event set for the power transmission line. By adopting the technical scheme, the problem that an alarm cannot be given in time due to the lack of measurement of the spatial distance between the power transmission line and the surrounding obstacles is solved.

Description

Technical Field

[0001] The present application relates to the field of intelligent monitoring of power systems, and more specifically, to a method and device for triggering an alarm event, a storage medium, an electronic device, and a computer program product. Background Art

[0002] With the rapid development of the power industry, transmission lines are playing an increasingly important role in the power grid. However, since the construction of transmission lines is interspersed among buildings, especially in cities, they are easily disturbed by climate, plants and animals, such as touching and squeezing, which may cause line failures or even accidents, posing hidden dangers to the safe and stable operation of the power grid. Therefore, it is necessary to continuously monitor the environment around the transmission lines to ensure line safety.

[0003] At present, the security control around power transmission lines is mainly achieved by deploying high-definition cameras to achieve all-weather and all-angle monitoring of key areas. However, single video monitoring can only qualitatively analyze the on-site environment, only shoot the on-site environment and transmit images, and lacks the measurement of the spatial distance of obstacles or dangerous objects. When dangerous targets such as artificial construction, large machinery, trees, foreign objects, smoke, etc. approach the power transmission lines, it will not be able to conduct effective monitoring in time, which is easy to cause major safety accidents of the power transmission lines.

[0004] In view of the problem in the related technology that a timely warning cannot be issued due to a lack of measurement of the spatial distance between the transmission line and surrounding obstacles, no effective solution has been proposed so far.

[0005] Therefore, it is necessary to improve the related technology to overcome the above-mentioned defects in the related technology. Summary of the invention

[0006] The embodiments of the present application provide a method and device for triggering an alarm event, a storage medium, an electronic device, and a computer program product to at least solve the problem of being unable to issue an alarm in a timely manner due to a lack of measurement of the spatial distance between the transmission line and surrounding obstacles.

[0007] According to one aspect of an embodiment of the present application, a method for triggering an alarm event is provided, comprising: obtaining an image acquisition result of a target area by an image acquisition device, and obtaining point cloud data of the target area acquired by a laser radar device, wherein the target area comprises: a transmission line, and an environmental area where the transmission line is located; constructing a three-dimensional scene of the target area according to the image acquisition result and the point cloud data; when an obstacle is detected in the target area, determining the closest clearance distance between the obstacle and the transmission line in the three-dimensional scene; when the closest clearance distance is less than a preset target threshold, triggering an alarm event set for the transmission line.

[0008] In an exemplary embodiment, constructing a three-dimensional scene of the target area based on the image acquisition results and the point cloud data includes: obtaining an actual operating condition of the transmission line; adjusting the point cloud data according to the actual operating condition to obtain adjusted point cloud data; and constructing a three-dimensional scene of the target area based on the image acquisition results and the adjusted point cloud data.

[0009] In an exemplary embodiment, the point cloud data is adjusted according to the actual operating condition to obtain adjusted point cloud data, including: parsing the operating parameters of the transmission line from the actual operating condition, wherein the operating parameters include: the sag value of the transmission line; and adjusting the point cloud data according to the operating parameters so that the adjusted point cloud parameters match the sag value included in the operating parameters.

[0010] In an exemplary embodiment, determining the closest clearance distance between the obstacle and the transmission line in the three-dimensional scene includes: determining the vertical distance between the obstacle and the transmission line, the horizontal distance between the obstacle and the transmission line, and the height of the obstacle in the three-dimensional scene; and determining the closest clearance distance based on the vertical distance, the horizontal distance, and the height.

[0011] In an exemplary embodiment, a three-dimensional scene of the target area is constructed based on the image acquisition results and the point cloud data, including: determining all feature points in the image acquisition results and all feature points in the point cloud data; performing same-name processing on all feature points in the image acquisition results and all feature points in the point cloud data, and performing three-dimensional spatial calibration on all feature points in the image acquisition results and all feature points in the point cloud data after the same-name processing to obtain the three-dimensional scene of the target area.

[0012] In an exemplary embodiment, triggering an alarm event set for the transmission line includes: obtaining location information of the obstacle and the type of the obstacle; sending the location information and the type of the obstacle to a background monitoring system to instruct the background monitoring system to determine an alarm event for the obstacle.

[0013] According to another aspect of an embodiment of the present application, a triggering device for an alarm event is also provided, including: an acquisition module, used to acquire an image acquisition result of a target area by an image acquisition device, and to acquire point cloud data acquired by a laser radar device for the target area, wherein the target area includes: a transmission line, and an environmental area where the transmission line is located; a construction module, used to construct a three-dimensional scene of the target area according to the image acquisition result and the point cloud data; a determination module, used to determine the closest clearance distance between the obstacle and the transmission line in the three-dimensional scene when an obstacle is detected in the target area; and a triggering module, used to trigger an alarm event set for the transmission line when the closest clearance distance is less than a preset target threshold.

[0014] According to another aspect of the embodiments of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium includes a stored program, wherein the program is configured to execute the triggering method of the above-mentioned alarm event when running.

[0015] According to another aspect of the embodiments of the present application, there is further provided an electronic device, including a memory and a processor, wherein the memory stores a computer program, wherein the processor is configured to execute the triggering method of the above-mentioned alarm event through the computer program.

[0016] According to another aspect of the embodiments of the present application, a computer program product is provided, including a computer program, and the method for triggering the above-mentioned alarm event when the computer program is executed by a processor.

[0017] This application constructs a three-dimensional scene of the power transmission line and its surrounding area by combining the image acquisition results of the image acquisition device and the point cloud data collected by the laser radar equipment. When an obstacle appears in the target area, the closest clearance distance between the obstacle and the power transmission line can be accurately determined, and when the clearance distance is less than a certain value, an alarm event is triggered, which improves the accuracy and timeliness of the alarm event triggering, thereby solving the problem of being unable to issue an alarm in a timely manner due to the lack of measurement of the spatial distance between the power transmission line and the surrounding obstacles. In addition, by timely triggering the alarm information, the operation and maintenance efficiency and safety of the power transmission line are effectively improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0019] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0020] Figure 1 It is a hardware structure block diagram of a mobile terminal of a method for triggering an alarm event in an embodiment of the present application;

[0021] Figure 2 is a flowchart of a method for triggering an alarm event according to an embodiment of the present application;

[0022] Figure 3 is a schematic diagram of an optional three-dimensional reconstruction according to an embodiment of the present application;

[0023] Figure 4 is a schematic diagram of an optional overall framework of three-dimensional reconstruction according to an embodiment of the present application;

[0024] Figure 5 is a flow chart of an optional method for triggering an alarm event according to an embodiment of the present application;

[0025] Figure 6 It is a structural block diagram of a triggering device for an alarm event according to an embodiment of the present application. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0027] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application 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 interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0028] The method embodiments provided in the embodiments of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Taking running on a mobile terminal as an example, Figure 1 FIG. 1 is a hardware structure block diagram of a mobile terminal of a method for triggering an alarm event according to an embodiment of the present application. Figure 1 As shown, the mobile terminal may include one or more ( Figure 1 Only one is shown in the figure) a processor 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor (MP) or a programmable logic device (FPGA)) and a memory 104 for storing data, wherein the mobile terminal may also include a transmission device 106 and an input / output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1 The structure shown is for illustration only and does not limit the structure of the mobile terminal. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations are shown.

[0029] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the triggering method of the alarm event in the embodiment of the present application. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, to implement the above method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories may be connected to the mobile terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0030] The transmission device 106 is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 can be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0031] In order to solve the above problem, this embodiment provides a method for triggering an alarm event, including but not limited to being applied to the above mobile terminal. Figure 2 is a flowchart of a method for triggering an alarm event according to an embodiment of the present application, such as Figure 2 As shown, the process includes the following steps S202-S208:

[0032] Step S202: obtaining an image acquisition result of a target area by an image acquisition device, and obtaining point cloud data acquired by a laser radar device on the target area, wherein the target area includes: a power transmission line and an environment area where the power transmission line is located;

[0033] Optionally, a high-definition camera is deployed on a transmission line tower to ensure that it can cover the entire target area, including the transmission line itself and its surroundings. The position, focal length, angle and viewing angle of the camera remain fixed to ensure that each captured image can accurately reflect the actual situation of the target area; the camera will continue to shoot the target area to obtain an initial image acquisition result, and the image of the initial image acquisition result should be clear enough and unobstructed for subsequent image recognition and analysis. In addition, the frequency of camera image capture will be adjusted according to actual needs and environmental conditions (for example, in bad weather or high-risk periods, the frequency of camera image capture will be increased to detect potential threats in a timely manner); after obtaining the initial image acquisition result, the initial image acquisition result is processed, including but not limited to denoising, contrast enhancement, etc., to improve the image quality, thereby obtaining an image acquisition result, and the image acquisition result is stored locally or in the cloud for subsequent analysis and fusion processing.

[0034] Optionally, a high-precision lidar device is used to perform a three-dimensional scan of the target area using an unmanned aerial vehicle (UAV), wherein the flight path of the UAV needs to be planned in advance to ensure coverage of the entire target area, including the power transmission lines and their surroundings; the lidar device will scan the preset path to collect point cloud data in the target area to obtain preliminary point cloud data, wherein the density of the preliminary point cloud data is greater than or equal to a preset value (e.g., 200 points / square meter), and the output format is a lidar data exchange format (LASer) to ensure the accuracy of three-dimensional reconstruction; the preliminary point cloud data is preprocessed, including but not limited to filtering, denoising, coordinate transformation, etc., to obtain point cloud data, and the point cloud data is stored for easy fusion and analysis with image data.

[0035] Optionally, a data management platform is established, which supports real-time transmission and long-term storage of data and is used to integrate and manage image data and point cloud data to ensure data consistency and integrity.

[0036] It should be noted that image acquisition and point cloud data acquisition need to be time synchronized to ensure that data at the same time point can correspond to the same environmental state.

[0037] It should be noted that through the above steps, this application can obtain high-quality images and point cloud data, which provides a solid foundation for subsequent working condition simulation, three-dimensional scene construction, measurement calculation and push confirmation. This fusion of multi-source data can not only provide visual monitoring, but also perform accurate distance measurement, thereby realizing comprehensive monitoring and intelligent analysis of transmission lines and their surrounding environment.

[0038] Step S204: constructing a three-dimensional scene of the target area according to the image acquisition result and the point cloud data;

[0039] It should be noted that if Figure 3 As shown, the constructed three-dimensional scene should be able to clearly display the three-dimensional structure of the transmission line and its surrounding environment, including the precise location and shape of obstacles and dangerous objects. The three-dimensional construction of the target area through step S204 provides a solid foundation for subsequent distance measurement, hazard assessment and intelligent early warning. The construction of this three-dimensional scene can not only provide intuitive visual information, but also perform accurate spatial distance measurement, filling the deficiency of the existing technology that can only perform two-dimensional image monitoring, and improving the intelligent level of transmission line channel monitoring.

[0040] Step S206: when an obstacle is detected in the target area, determining the shortest clearance distance between the obstacle and the power transmission line in the three-dimensional scene;

[0041] Optionally, detecting whether an obstacle appears in the target area can be achieved by the following steps: using a target convolutional neural network to identify the shape and size of all objects in the target area; when the shape and / or size of the identified target object reaches a preset shape and / or preset size, the target object is confirmed as an obstacle and marked as an obstacle mark; when the image acquisition device and / or lidar equipment detects an object with an obstacle mark in the target area, it is confirmed that an obstacle appears in the target area, wherein the target convolutional neural network is a model obtained by training a general convolutional neural network.

[0042] Optionally, when the image acquisition device and / or the laser radar device detects the presence of an object with an obstacle mark in the target area, the minimum clearance distance between the obstacle and the transmission line will be determined promptly and accurately.

[0043] Step S208: When the nearest clearance distance is less than a target preset threshold, trigger an alarm event set for the power transmission line.

[0044] It should be noted that when the nearest clearance distance between the obstacle and the transmission line is less than the target preset threshold, it means that the obstacle is about to have an impact on the transmission line (for example, mechanical contact, arc discharge caused by too small a distance, thermal expansion of metal conductors caused by thermal effects, etc.). At this time, the alarm event set for the transmission line will be triggered, and the message will be processed in seconds and pushed in real time, so as to promptly and effectively remind the staff and / or automatic maintenance equipment to inspect the target area to ensure the normal operation of the power system and the safety of the surrounding environment.

[0045] The above steps construct a three-dimensional scene of the power transmission line and its surrounding area by combining the image acquisition results of the image acquisition device and the point cloud data collected by the laser radar equipment. When an obstacle appears in the target area, the closest clearance distance between the obstacle and the power transmission line can be accurately determined, and when the clearance distance is less than a certain value, an alarm event is triggered, which improves the accuracy and timeliness of the alarm event triggering, thereby solving the problem of being unable to issue an alarm in a timely manner due to the lack of measurement of the spatial distance between the power transmission line and the surrounding obstacles. In addition, by timely triggering the alarm information, the operation and maintenance efficiency and safety of the power transmission line are effectively improved.

[0046] In an exemplary embodiment, constructing the three-dimensional scene of the target area according to the image acquisition result and the point cloud data can be achieved by the following steps S11-S13:

[0047] Step S11: obtaining the actual operating state of the transmission line;

[0048] It should be noted that, in an actual environment, the transmission lines in the target area and / or the environmental area where the transmission lines are located are inevitably affected by operating conditions such as wind speed, wind direction, ambient temperature, icing, etc. The shape of the transmission lines and / or the environmental area where the transmission lines are located will inevitably change. For example, the transmission lines may become loose due to wind force and produce sag. Therefore, in order to more accurately construct the three-dimensional scene of the target area, it is necessary to obtain the actual operating conditions of the transmission lines.

[0049] Step S12: adjusting the point cloud data according to the actual working condition to obtain adjusted point cloud data;

[0050] Step S13: constructing a three-dimensional scene of the target area according to the image acquisition result and the adjusted point cloud data.

[0051] Alternatively, if Figure 3As shown, by combining the adjusted point cloud data and image data, the objects in the image are matched with the three-dimensional coordinates in the point cloud through feature matching, coordinate transformation and other methods, forming a scene model that integrates visual information and three-dimensional spatial information. Through three-dimensional scene construction, the three-dimensional structure of the transmission line and its surrounding environment can be clearly displayed in a virtual environment, including the specific location and shape of obstacles.

[0052] It should be noted that through the above steps S11-S13, the actual working conditions such as wind speed, wind direction, ambient temperature, and icing are taken into consideration, and a three-dimensional scene that is more in line with the actual situation can be constructed, which improves the adaptability and accuracy of the monitoring system under various environmental conditions, and realizes accurate monitoring of dynamic changes in the line, and can timely discover potential risks caused by environmental changes.

[0053] In an exemplary embodiment, adjusting the point cloud data according to the actual working condition to obtain the adjusted point cloud data can be achieved by the following steps S21-S22:

[0054] Step S21: parsing the operating parameters of the power transmission line from the actual operating state, wherein the operating parameters include: the sag value of the power transmission line;

[0055] Optionally, based on real-time wind speed and wind direction data, the sag change of the transmission line under the action of wind is predicted, and the sag value of the transmission line is calculated.

[0056] Optionally, changes in ambient temperature may affect thermal expansion and contraction of metal conductors, resulting in changes in line slack, and therefore, the sag value of the transmission line caused by thermal expansion and contraction is calculated based on real-time temperature data.

[0057] Optionally, ice coating will increase the weight of the line, thereby changing the shape of the line. Therefore, the sag value of the transmission line caused by ice coating is calculated based on the real-time thickness and distribution data of ice coating.

[0058] Step S22: adjusting the point cloud data according to the operating condition parameters so that the adjusted point cloud parameters match the sag values ​​included in the operating condition parameters.

[0059] Optionally, the points of the transmission line part in the point cloud data are adjusted according to the calculated operating parameters (such as sag value), that is, the point cloud data is aligned with the transmission line model under actual operating conditions to ensure that the line part in the point cloud data is consistent with the geometric shape of the actual line. In addition, the alignment process also includes operations such as coordinate system conversion, rotation and translation to eliminate errors caused by changes in sensor installation position, viewing angle and environment.

[0060] Optionally, based on the adjusted point cloud data, the three-dimensional scene of the target area is updated to ensure that the line shape in the three-dimensional scene can reflect the latest actual working conditions.

[0061] It should be noted that through the above steps, the system's adaptability to environmental changes is enhanced, and the closest clearance distance between the transmission line and surrounding obstacles can be calculated more accurately, thereby significantly improving the accuracy of the intelligent early warning system, reducing false alarms and missed alarms, and ensuring the safe operation of the power system. In addition, the adjusted point cloud data and three-dimensional scenes provide more accurate data support for the power company's maintenance decisions. For example, when it is expected that the line sag may increase under extreme weather conditions, the power company can take safety measures in advance based on the adjusted three-dimensional scenes to prevent line failures or external force damage.

[0062] In an exemplary embodiment, determining the closest clearance distance between the obstacle and the power transmission line in the three-dimensional scene may be achieved by following the steps S31-S32:

[0063] Step S31: determining in the three-dimensional scene the vertical distance between the obstacle and the transmission line, the horizontal distance between the obstacle and the transmission line, and the height of the obstacle;

[0064] Optionally, by setting a preset distance threshold, the points in the point cloud are clustered according to the proximity relationship in three-dimensional space (two points are considered adjacent if the distance between them is less than a preset distance threshold), and finally a plurality of independent point cloud clusters are formed, wherein each cluster represents an obstacle or an output circuit, thereby obtaining point cloud clusters of the obstacle and the transmission line.

[0065] Optionally, one or more slicing planes are determined (the selection of slicing planes depends on the position and direction of the object to be identified, as well as the characteristics of the point cloud data. For example, when detecting obstacles near a transmission line, slicing can be performed in a direction perpendicular to the ground (i.e., the Z-axis direction) to analyze the distribution of points at different heights), and the slicing planes are used to segment the point cloud data of the three-dimensional scene. Using the slicing function in the point cloud processing library, the three-dimensional point cloud data is segmented into multiple two-dimensional slices, wherein each slice contains point cloud data at a specific height and can be regarded as a collection of points at a specific height. Each slice is analyzed independently to identify and segment the point clouds of obstacles and transmission lines, and then the point cloud clusters on the two-dimensional slices are recombined into point cloud clusters in three-dimensional space (the point cloud clusters on each slice are stacked in the vertical direction to restore their relative positions in three-dimensional space), thereby obtaining point cloud clusters of the obstacles and the transmission lines.

[0066] Optionally, by determining the point cloud clusters of the obstacle and the transmission line in the three-dimensional scene, the two points of the two point cloud clusters that are closest to each other in the three-dimensional scene are obtained, wherein each point in the point cloud cluster records the three-dimensional coordinate information in the three-dimensional scene, thereby obtaining the spatial coordinate information of the obstacle in the three-dimensional scene and the spatial coordinate information of the transmission line in the three-dimensional scene, thereby obtaining the vertical distance between the obstacle and the transmission line in the three-dimensional scene, the vertical distance and the height of the obstacle.

[0067] It should be noted that point cloud clusters are used to identify and separate different obstacles or transmission lines from a large amount of disordered point cloud data. In the point cloud data, each point records the spatial coordinate information in a three-dimensional scene, and the point cloud cluster is to cluster these points into different groups according to certain rules or features. Each point cloud cluster represents an independent object or structural part in the three-dimensional space.

[0068] Step S32: Determine the minimum clearance distance according to the vertical distance, the horizontal distance and the height.

[0069] Optionally, in a three-dimensional scene, a spatial distance calculation formula is used to calculate the clearance distance between the obstacle and the transmission line based on the vertical distance, the horizontal distance and the height. Since the clearance distance is determined based on the two closest point clouds between two point cloud clusters (the point cloud cluster of the obstacle and the point cloud cluster of the transmission line), the clearance distance is the closest clearance distance.

[0070] In an exemplary embodiment, constructing the three-dimensional scene of the target area according to the image acquisition result and the point cloud data can be achieved by the following steps S41-S42:

[0071] Step S41: determining all feature points in the image acquisition result and all feature points in the point cloud data;

[0072] Optionally, an edge detection algorithm, a corner point detection algorithm, and an interest point detection algorithm are used to determine all feature points in the image acquisition result. The edge detection algorithm, the corner point detection algorithm, and the interest point detection algorithm can detect key local features in the image.

[0073] Optionally, feature points are identified based on geometric properties of the point cloud data, such as curvature, neighborhood, normal vector, etc., such as extracting corner points, cusps, plane points, etc. in the point cloud.

[0074] Optionally, the feature points are determined by analyzing the distribution density of the points in the point cloud data, such as taking the areas where the point density in the point cloud data changes significantly as the feature points.

[0075] Step S42: Perform same-name processing on all feature points in the image acquisition result and all feature points in the point cloud data, and perform three-dimensional spatial calibration on all feature points in the image acquisition result and all feature points in the point cloud data after the same-name processing to obtain a three-dimensional scene of the target area.

[0076] Optionally, refer to Figure 5 , selecting feature points with the same name from all feature points in the image acquisition result and all feature points in the point cloud data, performing three-dimensional space calibration, and after the calibration, verifying the three-dimensional scene, and when the error degree between the verified image measurement data and the point cloud measurement data is less than a preset error degree, determining the three-dimensional scene as the three-dimensional scene of the target area.

[0077] It should be noted that through feature point extraction, same-name processing and three-dimensional space calibration, high-precision alignment of images and point cloud data in three-dimensional space can be achieved, and high-precision three-dimensional scene construction of transmission lines and their surroundings can be realized, which provides a solid foundation for real-time monitoring, obstacle detection and distance measurement, and significantly improves the efficiency and accuracy of power system safety monitoring.

[0078] In an exemplary embodiment, triggering the alarm event set for the power transmission line may be achieved by following the steps S51-S52:

[0079] Step S51: Acquire the location information of the obstacle and the type of the obstacle;

[0080] Optionally, after completing the three-dimensional scene construction and obstacle point cloud cluster recognition, the system can accurately obtain the position information of the obstacle in the three-dimensional space, including the center point coordinates of the obstacle, range boundaries, and relative position to the transmission line.

[0081] Optionally, image recognition technology or point cloud feature analysis algorithms (such as deep learning-based classifiers) are used to determine the type of obstacles, such as trees, large machinery, foreign objects, buildings, etc. By training the neural network model, it can extract the characteristics of specific obstacles from the image and point cloud data, thereby automatically identifying the type of obstacles.

[0082] Step S52: Send the location information and the type of the obstacle to a background monitoring system to instruct the background monitoring system to determine an alarm event for the obstacle.

[0083] Optionally, the location information and type of the obstacle are integrated into a structured data format and sent to a background monitoring system via a wired network and / or a wireless network, wherein the data transmission may be in a real-time streaming manner to ensure that the monitoring system can receive the latest information in a timely manner.

[0084] Optionally, after receiving the obstacle information, the background monitoring system automatically determines whether an alarm event needs to be generated according to preset rules and thresholds. For example, if the minimum clearance distance between the obstacle and the transmission line is lower than the safety threshold, the monitoring system will immediately generate an alarm and send the alarm information to relevant personnel via SMS, email or system notification.

[0085] It should be noted that by sending the real-time location information and type of obstacles to the background monitoring system, the background monitoring system can detect potential threats in a timely manner and issue early warnings quickly, thereby effectively preventing the occurrence of transmission line safety accidents.

[0086] Obviously, the above-described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. In order to better understand the above method, the above process is described below in conjunction with the embodiments, but it is not intended to limit the technical solutions of the embodiments of the present invention. Figure 3 The overall flow chart of a method for triggering an alarm event in an embodiment of the application is shown, specifically:

[0087] The present application provides a line channel visualization monitoring system based on multi-source fusion, which mainly adopts the combination of intelligent monitoring images of transmission lines and laser radar point clouds, studies the ranging method based on fixed monocular cameras, realizes the real-time measurement of the distance between transmission lines and surrounding objects, dangerous sources, and trees, and through the mapping of two-dimensional images and three-dimensional point clouds, can accurately and quickly measure the effective distance between transmission lines and nearby targets all day and all weather, fills the gap that image sensors cannot measure distance in space, provides technical support for real-time safety monitoring of power systems, and promotes the advancement of power line inspection technology.

[0088] The present application provides a line channel visualization monitoring system based on multi-source fusion, which mainly includes image and point cloud data collection, working condition simulation, three-dimensional scene construction, measurement calculation, and push confirmation, among which: in image and point cloud data collection, image data collection mainly uses the camera deployed on the pole tower to shoot the channel scene. The monitoring equipment must be fixed, the camera is fixed focus or the focal length is fixed, and the camera angle and viewing angle are fixed to ensure that the image must be clear and unobstructed, and objects in the photo can be easily identified, clear and unobstructed. Point cloud collection uses a drone equipped with a laser radar device to perform three-dimensional scanning and restoration of the line channel in the camera shooting area, and outputs channel point cloud data in las format with no less than 200 points / square meter, no less than 200 points / square meter, for three-dimensional scene construction.

[0089] The working condition simulation is mainly aimed at the situation that the sag value of the conductor changes greatly under the influence of high temperature, icing, strong wind and other environments, and the line channel point cloud cannot be collected in real time. When the on-site environment is very different from the on-site point cloud collection environment, the working condition parameters (wind speed, wind direction, temperature, icing and other working condition data) are used to make the sag close to the current actual working condition. This ensures the accuracy of the matching between the three-dimensional laser point cloud data and the collected two-dimensional image.

[0090] The three-dimensional scene construction will collect the three-dimensional laser point cloud data and the collected two-dimensional image to select the feature points with the same name, and perform three-dimensional space calibration. After calibration, the three-dimensional scene will be verified to calculate the error degree between the image measurement data and the point cloud measurement data.

[0091] The measurement and calculation are mainly based on the construction of a three-dimensional scene after three-dimensional scene calibration and industrial control simulation. After the line channel visualization system obtains photos with dangerous object marks, it automatically calculates the clearance distance (ds), vertical distance (dh), horizontal distance (dl), and height (h) of the dangerous object to the nearest point of the wire based on the position and size of the dangerous object mark.

[0092] Push confirmation is mainly achieved by setting a safety threshold and detecting the minimum clearance distance between objects in the channel and the wires in real time on site. Once the safety threshold is exceeded, the message can be processed in seconds and pushed in real time.

[0093] 1. A line channel visualization monitoring system based on multi-source fusion;

[0094] like Figure 4 As shown in the figure, in the image and point cloud data collection, the image data collection mainly uses the camera deployed on the tower to shoot the channel scene, and the point cloud collection uses the laser radar equipment equipped by the drone to perform three-dimensional scanning and restoration of the line channel in the camera shooting area. The three-dimensional scene construction selects the same-name feature points of the collected three-dimensional laser point cloud data and the collected two-dimensional image for three-dimensional space calibration. The working condition simulation mainly makes the sag close to the current actual working condition through the working condition parameters (speed, wind direction, temperature, ice cover and other working condition data). The measurement calculation is mainly based on the three-dimensional scene calibration and industrial control simulation to build a three-dimensional scene. After the line channel visualization system obtains the photos with dangerous object marks, it automatically calculates the clearance distance (ds), vertical distance (dh), horizontal distance (dl), and height (h) of the dangerous object to the nearest point of the wire according to the position and size of the dangerous object mark. Push confirmation is mainly through setting the safety threshold, real-time detection of the minimum clearance distance between the object in the channel and the wire on site, once the safety threshold is exceeded, the message is processed in seconds and pushed in real time.

[0095] 2. Research and application of a line channel visualization monitoring system based on multi-source fusion;

[0096] like Figure 5As shown, it mainly includes the following steps:

[0097] 1. Collect channel images and point cloud data through cameras and drones;

[0098] 2. Use point cloud data to simulate working conditions according to the on-site environment to ensure the consistency between point cloud and reality;

[0099] 3. Calibrate the channel image and 3D point cloud with the same name points to construct a 3D scene;

[0100] 4. After the line channel visualization system obtains the photos with dangerous object marks, it automatically calculates the clearance distance from the dangerous object to the nearest point of the conductor;

[0101] 5. Once defects are found, messages can be processed in seconds and pushed in real time through the message queue.

[0102] It should be noted that this application also has the following advantages:

[0103] (1) The three-dimensional scene is constructed once and used for a long time. In the transmission line channel, if there is no relocation of the line tower and no major changes in the ground environment of the channel, the three-dimensional scene can be used for a long time, which effectively reflects the data value of the laser point cloud;

[0104] (2) Accurate and efficient measurement and calculation of position and positioning. The three-dimensional scene is constructed based on the laser point cloud, which can achieve centimeter-level accuracy. The software uses high-speed algorithms and combines high-precision three-dimensional point clouds to achieve fast calculation, accurate positioning, and efficient distance measurement;

[0105] (3) Automatic matching and intelligent calculation and classification enable accurate push notification, greatly reducing manual work and lowering the false alarm rate. The software uses the monitoring point number as a matching identifier to quickly and automatically match the monitoring data with the three-dimensional scene. The software intelligently calculates the level of dangerous objects according to the type of dangerous objects, combined with the location of dangerous objects, clearance distance and other information, and pushes messages in a targeted manner according to the level, achieving accurate push notifications, greatly reducing manual work, effectively reducing the false alarm rate, and improving the quality and efficiency of the work of preventing external damage to the transmission line.

[0106] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods of each embodiment of the present application.

[0107] In the present embodiment, a triggering device for an alarm event is also provided, and the device is used to implement the above-mentioned embodiment and preferred implementation mode, and the descriptions that have been made are not repeated. As used below, the term "module" can implement a combination of software and / or hardware of a predetermined function. Although the equipment described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware is also possible and conceived.

[0108] Figure 6 : is a structural block diagram of a triggering device for an alarm event according to an embodiment of the present application, the device comprising:

[0109] The acquisition module 602 is used to acquire the image acquisition result of the target area by the image acquisition device, and to acquire the point cloud data acquired by the laser radar device on the target area, wherein the target area includes: the power transmission line, and the environment area where the power transmission line is located;

[0110] A construction module 604 is used to construct a three-dimensional scene of the target area according to the image acquisition result and the point cloud data;

[0111] A determination module 606, configured to determine, in the three-dimensional scene, a minimum clearance distance between the obstacle and the power transmission line when an obstacle is detected in the target area;

[0112] The trigger module 608 is used to trigger an alarm event set for the transmission line when the nearest clearance distance is less than a target preset threshold.

[0113] The above device constructs a three-dimensional scene of the power transmission line and its surrounding area by combining the image acquisition results of the image acquisition device and the point cloud data collected by the laser radar equipment. When an obstacle appears in the target area, the closest clearance distance between the obstacle and the power transmission line can be accurately determined, and when the clearance distance is less than a certain value, an alarm event is triggered, thereby improving the accuracy and timeliness of the alarm event triggering, thereby solving the problem of being unable to issue an alarm in a timely manner due to the lack of measurement of the spatial distance between the power transmission line and the surrounding obstacles. In addition, by timely triggering the alarm information, the operation and maintenance efficiency and safety of the power transmission line are effectively improved.

[0114] In an exemplary embodiment, the above-mentioned construction module 604 is also used to obtain the actual operating condition of the transmission line; adjust the point cloud data according to the actual operating condition to obtain adjusted point cloud data; and construct a three-dimensional scene of the target area according to the image acquisition results and the adjusted point cloud data.

[0115] In an exemplary embodiment, the construction module 604 is also used to parse the operating parameters of the transmission line from the actual operating state, wherein the operating parameters include: the sag value of the transmission line; and adjust the point cloud data according to the operating parameters so that the adjusted point cloud parameters match the sag value included in the operating parameters.

[0116] In an exemplary embodiment, the above-mentioned determination module 606 is also used to determine the vertical distance between the obstacle and the transmission line, the horizontal distance between the obstacle and the transmission line, and the height of the obstacle in the three-dimensional scene; and determine the nearest clearance distance based on the vertical distance, the horizontal distance and the height.

[0117] In an exemplary embodiment, the above-mentioned construction module 604 is also used to determine all feature points in the image acquisition results and all feature points in the point cloud data; perform same-name processing on all feature points in the image acquisition results and all feature points in the point cloud data, and perform three-dimensional spatial calibration on all feature points in the image acquisition results and all feature points in the point cloud data after the same-name processing to obtain a three-dimensional scene of the target area.

[0118] In an exemplary embodiment, the trigger module 608 is also used to obtain the location information of the obstacle and the type of the obstacle; and send the location information and the type of the obstacle to the background monitoring system to instruct the background monitoring system to determine an alarm event for the obstacle.

[0119] An embodiment of the present application further provides a computer-readable storage medium, in which a computer program is stored, wherein the computer program is configured to execute the steps of any of the above method embodiments when running.

[0120] Optionally, in this embodiment, the storage medium may be configured to store a computer program for performing the following steps:

[0121] S1, obtaining an image acquisition result of a target area by an image acquisition device, and obtaining point cloud data acquired by a laser radar device on the target area, wherein the target area includes: a power transmission line, and an environment area where the power transmission line is located;

[0122] S2, constructing a three-dimensional scene of the target area according to the image acquisition result and the point cloud data;

[0123] S3, when an obstacle is detected in the target area, determining the closest clearance distance between the obstacle and the power transmission line in the three-dimensional scene;

[0124] S4: When the nearest clearance distance is less than a target preset threshold, trigger an alarm event set for the transmission line.

[0125] In an exemplary embodiment, the computer-readable storage medium may include, but is not limited to, various media that can store computer programs, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk.

[0126] For specific examples in this embodiment, reference may be made to the examples described in the above embodiments and exemplary implementation modes, and this embodiment will not be described in detail herein.

[0127] An embodiment of the present application further provides a computer program product, including a computer program, and when the computer program is executed by a processor, the steps in any one of the above method embodiments are performed.

[0128] An embodiment of the present application further provides an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0129] Optionally, in this embodiment, the processor may be configured to perform the following steps through a computer program:

[0130] S1, obtaining an image acquisition result of a target area by an image acquisition device, and obtaining point cloud data acquired by a laser radar device on the target area, wherein the target area includes: a power transmission line, and an environment area where the power transmission line is located;

[0131] S2, constructing a three-dimensional scene of the target area according to the image acquisition result and the point cloud data;

[0132] S3, when an obstacle is detected in the target area, determining the closest clearance distance between the obstacle and the power transmission line in the three-dimensional scene;

[0133] S4: When the nearest clearance distance is less than a target preset threshold, trigger an alarm event set for the transmission line.

[0134] In an exemplary embodiment, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0135] For specific examples in this embodiment, reference may be made to the examples described in the above embodiments and exemplary implementation modes, and this embodiment will not be described in detail herein.

[0136] Obviously, those skilled in the art should understand that the above modules or steps of the present application can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order from that herein, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present application is not limited to any specific combination of hardware and software.

[0137] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for triggering an alarm event, characterized in that: include: Acquire the image acquisition result of the target area by the image acquisition device, and acquire the point cloud data acquired by the laser radar device on the target area, wherein the target area includes: a power transmission line and an environmental area where the power transmission line is located; Constructing a three-dimensional scene of the target area according to the image acquisition result and the point cloud data; In the case where an obstacle is detected in the target area, determining the closest clearance distance between the obstacle and the power transmission line in the three-dimensional scene; When the nearest clearance distance is less than a target preset threshold, an alarm event set for the power transmission line is triggered.

2. The method according to claim 1, characterized in that Constructing a three-dimensional scene of the target area according to the image acquisition result and the point cloud data includes: Obtaining the actual operating status of the transmission line; Adjusting the point cloud data according to the actual working condition to obtain adjusted point cloud data; A three-dimensional scene of the target area is constructed according to the image acquisition result and the adjusted point cloud data.

3. The method according to claim 2, characterized in that The point cloud data is adjusted according to the actual working condition to obtain adjusted point cloud data, including: Analyzing the operating parameters of the transmission line from the actual operating state, wherein the operating parameters include: the sag value of the transmission line; The point cloud data is adjusted according to the operating condition parameters so that the adjusted point cloud parameters match the sag values ​​included in the operating condition parameters.

4. The method according to claim 1, characterized in that: Determining the shortest clearance distance between the obstacle and the power transmission line in the three-dimensional scene includes: Determining in the three-dimensional scene the vertical distance between the obstacle and the transmission line, the horizontal distance between the obstacle and the transmission line, and the height of the obstacle; The minimum clearance distance is determined according to the vertical distance, the horizontal distance and the height.

5. The method according to claim 1, characterized in that Constructing a three-dimensional scene of the target area according to the image acquisition result and the point cloud data includes: Determine all feature points in the image acquisition result and all feature points in the point cloud data; Perform same-name processing on all feature points in the image acquisition result and all feature points in the point cloud data, perform three-dimensional spatial calibration on all feature points in the image acquisition result and all feature points in the point cloud data after the same-name processing, and obtain a three-dimensional scene of the target area.

6. The method according to claim 1, characterized in that Triggering an alarm event set for the transmission line, including: Obtaining the location information of the obstacle and the type of the obstacle; The location information and the type of the obstacle are sent to a background monitoring system to instruct the background monitoring system to determine an alarm event for the obstacle.

7. A triggering device for an alarm event, characterized in that: include: An acquisition module is used to acquire image acquisition results of a target area by an image acquisition device, and to acquire point cloud data acquired by a laser radar device on the target area, wherein the target area includes: a power transmission line and an environmental area where the power transmission line is located; A construction module, used to construct a three-dimensional scene of the target area according to the image acquisition result and the point cloud data; A determination module, configured to determine, in the three-dimensional scene, the shortest clearance distance between the obstacle and the power transmission line when an obstacle is detected in the target area; A trigger module is used to trigger an alarm event set for the transmission line when the nearest clearance distance is less than a target preset threshold.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein the program executes the method according to any one of claims 1 to 6 when executed.

9. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to execute the method according to any one of claims 1 to 6 through the computer program.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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