Power transmission line detection method and device, processor and electronic equipment

Abstract

The invention discloses a power transmission line detection method and device, a processor and electronic equipment. The method comprises the steps that a target object image shot by first camera equipment in a camera equipment set at a first preset position is responded, a control instruction is at least sent to at least one second camera equipment next to the first camera equipment, and the first preset position is the shooting position of the first camera equipment; in response to a control instruction received by the second camera device, shooting the target object based on a communication relationship between the first preset bit and the second preset bit to obtain video data of the target object; detecting the distance between the target object and the power transmission line to obtain a detection result; and determining whether the power transmission line has potential safety hazards based on the detection result. The technical problem that the safety detection efficiency of the power transmission line is low is solved.

Description

Technical Field

[0001] The present invention relates to the field of electric power, and in particular to a detection method, device, processor and electronic equipment for a power transmission line. Background Art

[0002] At present, in the power grid, the deployment environment of transmission lines is often complex and diverse, so the direction of transmission lines is also complex. Although high-definition cameras are deployed on the tower base, each camera maintains an independent working mode and the monitoring range is relatively limited.

[0003] Moreover, in actual operation and maintenance scenarios, it is often necessary to manually retrieve the target areas monitored by multiple cameras to determine whether there are safety hazards in the transmission line, which leads to the technical problem of low efficiency in safety detection of the transmission line.

[0004] Currently, no effective solution has been proposed to the technical problem of low efficiency in safety inspection of the above-mentioned power transmission lines. Summary of the invention

[0005] Embodiments of the present invention provide a method, device, processor and electronic device for detecting a power transmission line, so as to at least solve the technical problem of low efficiency of safety detection of power transmission lines.

[0006] According to one aspect of an embodiment of the present invention, a method for detecting a power transmission line is provided, the method comprising: in response to a first camera device in a camera set capturing an image of a target object at a first preset position, sending a control instruction to at least one second camera device next to the first camera device, wherein the first preset position is a position at which the first camera device performs shooting; in response to the second camera device receiving the control instruction, based on a connectivity relationship between the first preset position and the second preset position, capturing the target object to obtain video data of the target object, wherein the second preset position is a position at which the second camera device performs shooting, the video data is used to represent a process of the target object moving at at least one second preset position, and the video data includes at least the target object and a power transmission line around the target object; detecting the distance between the target object and the transmission line to obtain a detection result; and determining whether there is a safety hazard in the transmission line based on the detection result.

[0007] Optionally, detecting the distance between the target object and the transmission line to obtain a detection result includes: determining a plurality of video frame data from the video data; and detecting the distance between the target object and the transmission line in the plurality of video frame data to obtain a plurality of detection results.

[0008] Optionally, based on the detection result, determining whether there is a safety hazard in the transmission line includes: in response to the detection result that the distance exceeds a preset distance, determining that there is a safety hazard in the transmission line; in response to the detection result that the distance is less than a preset distance, determining that there is no safety hazard in the transmission line.

[0009] Optionally, the method also includes: determining a first sequence pair of sample objects in a first preset position area, and a second sequence pair of sample objects in a second preset position area, wherein the first preset position area is an area including the first preset position, and the second preset position area is an area including the second preset position; based on the first sequence pair and the second sequence pair, determining a connectivity relationship.

[0010] Optionally, determining a connectivity relationship based on the first sequence pair and the second sequence pair includes: determining a first arrival sequence and a first departure sequence in the first sequence pair, and a second arrival sequence and a second departure sequence in the second sequence pair; determining a first correlation relationship between the first arrival sequence and the first departure sequence, and a second correlation relationship between the second arrival sequence and the second departure sequence; and determining a connectivity relationship based on the first correlation relationship and the second correlation relationship.

[0011] Optionally, determining a first arrival sequence and a first departure sequence in a first sequence pair, and a second arrival sequence and a second departure sequence in a second sequence pair, includes: determining a plurality of sample video frame data from sample video data, wherein the sample video data is used to represent a process of movement of a sample object at at least a second preset position; detecting a plurality of positions to which the sample object moves from the plurality of sample video frame data; sorting the plurality of positions in chronological order to obtain a sorting result, wherein the sorting result is used to represent a movement trajectory of the sample object; and determining a first arrival sequence and a first departure sequence, as well as a second arrival sequence and a second departure sequence based on the movement trajectory.

[0012] According to one aspect of an embodiment of the present invention, there is provided a detection device for a power transmission line, which may include: a sending unit, for sending a control instruction to at least one second camera device next to the first camera device in response to a first camera device in a camera set capturing an image of a target object at a first preset position, wherein the first preset position is a position where the first camera device performs shooting; a shooting unit, for shooting the target object based on a connectivity relationship between the first preset position and the second preset position in response to the second camera device receiving the control instruction, to obtain video data of the target object, wherein the second preset position is a position where the second camera device performs shooting, and the video data is used to represent a process of the target object moving at at least one second preset position, and the video data includes at least the target object and the power transmission line around the target object; a detection unit, for detecting the distance between the target object and the transmission line to obtain a detection result; and a determination unit, for determining whether there is a safety hazard in the transmission line based on the detection result.

[0013] According to another aspect of an embodiment of the present invention, a processor is provided, wherein the processor is used to run a program, wherein when the program is run by the processor, the power transmission line detection method in the embodiment of the present invention is executed.

[0014] According to another aspect of an embodiment of the present invention, there is further provided an electronic device, comprising: a memory storing an executable program; and a processor for running the program, wherein when the program is running, the power transmission line detection method in each embodiment of the present invention is executed.

[0015] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the power transmission line detection method in the present invention.

[0016] According to another aspect of the embodiments of the present invention, a computer program product is provided. The computer program product includes a computer program. When the computer program is executed by a processor, the method for detecting a power transmission line in the embodiments of the present invention is implemented.

[0017] According to another aspect of an embodiment of the present invention, a computer program product is provided, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium is used to store a computer program, and when the computer program is executed by a processor, the detection method for the transmission line in the embodiment of the present invention is implemented.

[0018] According to another aspect of the embodiments of the present invention, the embodiments of the present application further provide a computer program, and when the computer program is executed by a processor, the method for detecting a power transmission line in the above-mentioned embodiments of the present invention is implemented.

[0019] In an embodiment of the present invention, when a safety inspection is performed on a power transmission line, in response to a first camera device in a camera set capturing an image of a target object at a first preset position, a control instruction is sent to at least one second camera device next to the first camera device. In response to the second camera device receiving the control instruction sent by the first camera device, the target object is photographed based on the connectivity relationship between the first preset position and the second preset position, and video data of the target object can be obtained. The distance between the target object in the video data and the power transmission line in the video data is detected to obtain a detection result, and based on the obtained detection result, it can be determined whether there is a safety hazard in the transmission line, thereby achieving the purpose of controlling multiple camera devices to work in coordination, thereby solving the technical problem of low efficiency of the safety inspection of the transmission line, and further achieving the technical effect of improving the efficiency of the safety inspection of the transmission line. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0021] Figure 1 is a flow chart of a method for detecting a power transmission line according to an embodiment of the present invention;

[0022] FIG. 2( a ) is a flow chart of a method for determining a multi-camera collaborative tracking model based on a spatiotemporal topological relationship according to an embodiment of the present invention;

[0023] FIG2( b )-1 is a schematic diagram of a multi-camera collaborative tracking scenario based on a spatiotemporal topological relationship according to an embodiment of the present invention;

[0024] FIG2( b)-2 is a schematic diagram of a multi-camera collaborative tracking scene based on a spatiotemporal topological relationship according to an embodiment of the present invention;

[0025] Figure 3 is a schematic diagram of a detection device for a power transmission line according to an embodiment of the present invention. DETAILED DESCRIPTION

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

[0027] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0028] According to an embodiment of the present invention, a method for detecting a transmission line is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0029] Figure 1 1 is a flow chart of a method for detecting a power transmission line according to an embodiment of the present invention. The method may include the following steps:

[0030] Step S101 : in response to a first camera in a camera set capturing an image of a target object at a first preset position, sending a control instruction to at least one second camera next to the first camera.

[0031] In the technical solution provided in step S101 of the present invention, the first preset position may be a position where the first camera device performs shooting, wherein the first preset position may at least include a zoom level and a shooting direction of the first camera device.

[0032] In this embodiment, the target object image may include at least: a large vehicle image and a bird image. The first camera device may be a pan-tilt-zoom (PTZ) camera with a pan / tilt head. The control instruction may be a video stream acquisition instruction, which is only used as an example and is not specifically limited.

[0033] In this embodiment, in response to the first camera in the camera set capturing the target object image at the first preset position, a control instruction is sent to at least one second camera next to the first camera. Optionally, in this embodiment, if the first camera in the camera set captures the target object image at the first preset position with the zoom level and shooting direction included in the first preset position, a video stream acquisition instruction is sent to at least one second camera next to the first camera.

[0034] Step S102 , in response to the second camera device receiving the control instruction, based on the connection relationship between the first preset position and the second preset position, the target object is photographed to obtain video data of the target object.

[0035] In the technical solution provided in step S102 of the present invention, the second preset position may be a position where the second camera device takes pictures, wherein the second preset position may at least include a zoom level and a shooting direction of the second camera device.

[0036] In this embodiment, the connectivity relationship between the first preset position and the second preset position can be used to represent the topological relationship between the first camera device and the second camera device, and the spatiotemporal transfer relationship between the first preset position and the second preset position.

[0037] In this embodiment, the video data can be used to represent the process of the target object moving at at least one second preset position. The video data can include at least the target object and the power transmission lines around the target object, the target object can include at least: large vehicles and birds, etc., and the power transmission lines around the target object can be at least one of the following power transmission lines: a power transmission line above the target object, a power transmission line on the side of the target object, and a power transmission line below the target object, etc., which are only used as examples and are not specifically limited.

[0038] In this embodiment, in response to the first camera device in the camera device set capturing an image of the target object at the first preset position, after sending a control instruction to at least one second camera device next to the first camera device, in response to the second camera device receiving the control instruction, based on the connection relationship between the first preset position and the second preset position, the target object is photographed to obtain video data of the target object. Optionally, in this embodiment, based on sending the control instruction to at least one second camera device next to the first camera device, if the second camera device receives the control instruction sent by the first camera device, the target object is photographed according to the connection relationship between the first preset position and the second preset position with the zoom level and shooting direction included in the second preset position, and the video data of the target object can be obtained.

[0039] Step S103, detecting the distance between the target object and the power transmission line to obtain a detection result.

[0040] In the technical solution provided in the above step S103 of the present invention, the above detection result may be that the distance between the target object and the transmission line exceeds the preset distance, or may be that the distance between the target object and the transmission line is less than the preset distance, which is only used as an example here and is not specifically limited.

[0041] In this embodiment, in response to the second camera receiving the control instruction, based on the connection relationship between the first preset position and the second preset position, the target object is photographed, and after obtaining the video data of the target object, the distance between the target object and the power transmission line is detected to obtain the detection result. Optionally, on the basis of obtaining the video data of the target object, this embodiment detects the distance between the target object in the obtained video data and the power transmission line to obtain the detection result, thereby determining whether the distance between the target object and the power transmission line exceeds the preset distance.

[0042] Step S104: determine whether there is a safety hazard in the power transmission line based on the detection result.

[0043] In the technical solution provided in the above step S104 of the present invention, after the distance between the target object and the transmission line is detected and the detection result is obtained, it is determined whether there is a safety hazard in the transmission line based on the detection result. Optionally, this embodiment performs data analysis on the obtained detection result on the basis of the obtained detection result. If it is analyzed that the distance between the target object and the transmission line exceeds the preset distance, it can be determined that there is a safety hazard in the transmission line. If it is analyzed that the distance between the target object and the transmission line is less than the preset distance, it can be determined that there is no safety hazard in the transmission line.

[0044] In the above steps S101 to S104 of the present application, when a safety inspection is performed on a power transmission line, in response to the first camera device in the camera set capturing an image of a target object at a first preset position, a control instruction is sent to at least one second camera device next to the first camera device. In response to the second camera device receiving the control instruction sent by the first camera device, the target object is photographed based on the connectivity relationship between the first preset position and the second preset position, and video data of the target object can be obtained. The distance between the target object in the video data and the power transmission line in the video data is detected to obtain a detection result, and based on the obtained detection result, it can be determined whether there is a safety hazard in the power transmission line, thereby achieving the purpose of controlling multiple camera devices to work in coordination, thereby solving the technical problem of low efficiency of the safety inspection of the power transmission line, and further achieving the technical effect of improving the efficiency of the safety inspection of the power transmission line.

[0045] The above method of this embodiment is further introduced below.

[0046] As an optional implementation method, step S103 detects the distance between the target object and the transmission line to obtain a detection result, including: determining multiple video frame data from the video data; detecting the distance between the target object and the transmission line in the multiple video frame data to obtain multiple detection results.

[0047] In this embodiment, the video data may include a plurality of video frame data.

[0048] In this embodiment, in response to the second camera receiving the control instruction, based on the connection relationship between the first preset position and the second preset position, the target object is photographed to obtain the video data of the target object, and then multiple video frame data are determined from the video data. Optionally, based on the obtained video data of the target object, this embodiment extracts the obtained video data of the target object by frame to obtain multiple video frame data.

[0049] In this embodiment, after determining a plurality of video frame data from the video data, the distance between the target object in the plurality of video frame data and the power transmission line is detected to obtain a plurality of detection results. Optionally, on the basis of determining a plurality of video frame data, this embodiment locks the distance between the target object in the plurality of video frame data and the power transmission line, and performs a length detection on the locked distance to obtain a detection result, thereby determining whether the distance between the target object and the power transmission line exceeds a preset distance.

[0050] As an optional implementation method, step S104 determines whether there is a safety hazard in the transmission line based on the detection result, including: in response to the detection result that the distance exceeds the preset distance, determining that there is a safety hazard in the transmission line; in response to the detection result that the distance is less than the preset distance, determining that there is no safety hazard in the transmission line.

[0051] In this embodiment, after detecting the distance between the target object and the transmission line and obtaining the detection result, in response to the detection result that the distance exceeds the preset distance, it is determined that there is a safety hazard in the transmission line. Optionally, based on the detection result, this embodiment performs data analysis on the obtained detection result, and if the analysis shows that the detection result shows that the distance between the target object and the transmission line exceeds the preset distance, it can be determined that there is a safety hazard in the transmission line.

[0052] In this embodiment, after detecting the distance between the target object and the transmission line and obtaining the detection result, in response to the detection result that the distance is less than the preset distance, it is determined that there is no safety hazard in the transmission line. Optionally, based on the detection result, this embodiment performs data analysis on the obtained detection result, and if the analysis shows that the detection result shows that the distance between the target object and the transmission line is less than the preset distance, it can be determined that there is no safety hazard in the transmission line.

[0053] As an optional embodiment, the method further includes: determining a first sequence pair of sample objects in a first preset position area, and a second sequence pair of sample objects in a second preset position area; and determining a connectivity relationship based on the first sequence pair and the second sequence pair.

[0054] In this embodiment, the first preset position area may be an area including the first preset position. The second preset position area may be an area including the second preset position.

[0055] In this embodiment, a first sequence pair of sample objects in the first preset position area and a second sequence pair of sample objects in the second preset position area are determined. Optionally, this embodiment determines the arrival sequence and departure sequence of sample objects in the first preset position area as the first sequence pair, and also determines the arrival sequence and departure sequence of sample objects in the second preset position area as the second sequence pair.

[0056] In this embodiment, after determining the first sequence pair of the sample object in the first preset position area and the second sequence pair of the sample object in the second preset position area, the connectivity relationship is determined based on the first sequence pair and the second sequence pair. Optionally, in this embodiment, based on determining the first sequence pair of the sample object in the first preset position area and the second sequence pair of the sample object in the second preset position area, the first arrival sequence and the first departure sequence can be separated from the first sequence pair, and the second arrival sequence and the second departure sequence can be separated from the second sequence pair, and the connectivity relationship between the first preset position and the second preset position can be determined based on the separated arrival sequence and the separated departure sequence.

[0057] As an optional implementation method, determining a connectivity relationship based on a first sequence pair and a second sequence pair includes: determining a first arrival sequence and a first departure sequence in the first sequence pair, and a second arrival sequence and a second departure sequence in the second sequence pair; determining a first correlation relationship between the first arrival sequence and the first departure sequence, and a second correlation relationship between the second arrival sequence and the second departure sequence; and determining a connectivity relationship based on the first correlation relationship and the second correlation relationship.

[0058] In this embodiment, after determining the first sequence pair of the sample object in the first preset position area and the second sequence pair of the sample object in the second preset position area, the first arrival sequence and the first departure sequence in the first sequence pair, and the second arrival sequence and the second departure sequence in the second sequence pair are determined. Optionally, in this embodiment, based on determining the first sequence pair and the second sequence pair, the first arrival sequence and the first departure sequence can be separated from the determined first sequence pair, and the second arrival sequence and the second departure sequence can be separated from the determined second sequence pair.

[0059] In this embodiment, after determining the first arrival sequence and the first departure sequence in the first sequence pair, and the second arrival sequence and the second departure sequence in the second sequence pair, a first correlation between the first arrival sequence and the first departure sequence, and a second correlation between the second arrival sequence and the second departure sequence are determined. Optionally, this embodiment calculates the correlation between the first arrival sequence and the first departure sequence on the basis of determining the first arrival sequence and the first departure sequence, and the second arrival sequence and the second departure sequence, and determines the calculated correlation as the first correlation between the first arrival sequence and the first departure sequence. In addition, the correlation between the second arrival sequence and the second departure sequence is also calculated, and the calculated correlation is determined as the second correlation between the second arrival sequence and the second departure sequence.

[0060] In this embodiment, on the basis of determining the first correlation and the second correlation, the connectivity relationship between the first preset position and the second preset position can be determined according to the determined first correlation and the second correlation.

[0061] As an optional implementation method, determining a first arrival sequence and a first departure sequence in a first sequence pair, and a second arrival sequence and a second departure sequence in a second sequence pair, includes: determining a plurality of sample video frame data from sample video data; detecting a plurality of positions to which the sample object moves from the plurality of sample video frame data; sorting the plurality of positions in chronological order to obtain a sorting result; and determining a first arrival sequence and a first departure sequence, and a second arrival sequence and a second departure sequence based on a movement trajectory.

[0062] In this embodiment, the sample video data can be used to represent the process of the sample object moving at at least one second preset position. The sorting result can be used to represent the movement trajectory of the sample object.

[0063] In this embodiment, after determining the first sequence pair of the sample object in the first preset position area and the second sequence pair of the sample object in the second preset position area, multiple sample video frame data are determined from the sample video data. Optionally, this embodiment extracts the sample video data by frame based on the determination of the first sequence pair and the second sequence pair to obtain multiple sample video frame data.

[0064] In this embodiment, after determining a plurality of sample video frame data from the sample video data, a plurality of positions to which the sample object moves are detected from the plurality of sample video frame data. Optionally, this embodiment detects the sample object in the plurality of sample video frame data on the basis of obtaining the plurality of sample video frame data, and can obtain the plurality of positions to which the sample object moves.

[0065] In this embodiment, after detecting multiple positions to which the sample object moves from multiple sample video frame data, the multiple positions are sorted in time order to obtain a sorting result. Optionally, based on obtaining the multiple positions to which the sample object moves, this embodiment sequentially sorts the multiple positions in time order to obtain a sorting result, that is, the movement trajectory of the sample object can be obtained.

[0066] In this embodiment, after sorting the multiple positions in time order and obtaining the sorting results, the first arrival sequence and the first departure sequence, as well as the second arrival sequence and the second departure sequence are determined based on the movement trajectory. Optionally, based on the sorting results, this embodiment separates the movement trajectory of the obtained sample objects according to the first preset position and the second preset position to obtain the first arrival sequence and the first departure sequence, as well as the second arrival sequence and the second departure sequence.

[0067] In an embodiment of the present invention, when a safety inspection is performed on a power transmission line, in response to a first camera device in a camera set capturing an image of a target object at a first preset position, a control instruction is sent to at least one second camera device next to the first camera device. In response to the second camera device receiving the control instruction sent by the first camera device, the target object is photographed based on the connectivity relationship between the first preset position and the second preset position, and video data of the target object can be obtained. The distance between the target object in the video data and the power transmission line in the video data is detected to obtain a detection result, and based on the obtained detection result, it can be determined whether there is a safety hazard in the transmission line, thereby achieving the purpose of controlling multiple camera devices to work in coordination, thereby solving the technical problem of low efficiency of the safety inspection of the transmission line, and further achieving the technical effect of improving the efficiency of the safety inspection of the transmission line.

[0068] The technical solution of the embodiment of the present invention is illustrated below in conjunction with preferred implementation modes.

[0069] At present, in the power grid, the deployment environment of transmission lines is often complex and diverse, so the direction of transmission lines is also complex. Although high-definition cameras are deployed on the tower base, each camera maintains an independent working mode and the monitoring range is relatively limited.

[0070] Moreover, in actual operation and maintenance scenarios, it is often necessary to manually retrieve the target areas monitored by multiple cameras to determine whether there are safety hazards in the transmission line, which leads to the technical problem of low efficiency in safety detection of the transmission line.

[0071] In order to solve the above technical problems, an embodiment of the present invention proposes a method for detecting a transmission line. If a first camera device in a camera device concentration captures an image of a target object at a first preset position, then when a second camera device next to the first camera device receives a control instruction, based on the connectivity between the first preset position and the second preset position, video data of the target object moving at the second preset position is captured, and the distance between the target object in the video data and the transmission line is detected. A detection result can be obtained, thereby determining whether there are safety hazards in the transmission line, thereby achieving the purpose of controlling multiple camera devices to work in coordination, thereby solving the technical problem of low efficiency of safety detection of transmission lines, and further achieving the technical effect of improving the efficiency of safety detection of transmission lines.

[0072] In this embodiment, using a multi-camera collaborative tracking model based on a spatiotemporal topological relationship, in response to a first camera device in a camera device set capturing an image of a target object at a first preset position, a control instruction can be sent to at least one second camera device next to the first camera device. In response to the second camera device receiving the control instruction sent by the first camera device, based on the connectivity relationship between the first preset position and the second preset position, the target object is photographed, and video data of the target object can be obtained. The distance between the target object in the video data and the power transmission line in the video data is detected to obtain a detection result, and based on the obtained detection result, it can be determined whether there is a safety hazard in the transmission line. For example, Figure 2(a) is a flowchart of a method for determining a multi-camera collaborative tracking model based on a spatiotemporal topological relationship according to an embodiment of the present invention. As shown in Figure 2(a), the method may include the following steps:

[0073] Step S201, initializing multiple cameras.

[0074] In the technical solution provided in the above step S201 of the present invention, a space linkage that meets the requirements is selected, and a network clock synchronization camera is selected. Preset positions and basic information are set, and calibration is performed for confirmation. The area covered by each camera is divided into a number of sub-areas according to the field of view of the preset position. Among them, the preset position mainly monitors a certain part of the scene by adjusting the focal length and angle of the camera device. The selection of the preset position parameters is based on the target that can be clearly distinguished by the naked eye. The number of preset positions can be determined based on the field of view of the preset position and the scene size. In this method, the basic unit of collaborative scheduling of camera devices can be a preset position, and different camera devices correspond to their respective preset preset positions.

[0075] After initializing multiple cameras, the process proceeds to step S202 to collect data.

[0076] In the technical solution provided in step S202 of the present invention, daily business data is collected in a real power operation and maintenance environment, wherein the daily business data may at least include: video images captured by a camera, the position and posture of the camera, and the timestamp of the shooting.

[0077] In this embodiment, collecting data may include: taking timed pictures and shooting video streams at a preset position. The captured single-frame image may be used to confirm whether there is a target object in the scene. If there is a moving target object, a video stream acquisition program is started to collect and store continuous video frames of the target object in the field of view of the preset position.

[0078] In this embodiment, the software development kit (SDK) of the camera is used to poll the preset positions in a certain order, thereby collecting video data at different preset positions.

[0079] In this embodiment, the SDK API of the camera is used to poll the preset positions in a certain order to collect video data at different preset positions, which may include the following steps:

[0080] Step S2021, presetting the polling order of the preset positions.

[0081] After the polling sequence of the preset positions is preset, the process proceeds to step S2022 to call the SDK, pass the corresponding preset position parameters to the camera, and capture the image.

[0082] After calling the SDK, the corresponding preset position parameters are passed into the camera, and after capturing the picture, step S2023 is entered to input the captured picture into the control program, which detects whether there is a target object in the picture and whether it is moving. If so, the video stream acquisition or termination instruction is output.

[0083] After the video stream acquisition or termination instruction is output, the process proceeds to step S2024, where the video stream acquisition program determines whether to call the SDK to obtain the video stream or terminate the acquisition of the video stream according to the received instruction.

[0084] Afterwards, the process proceeds to step S203 to detect the target object.

[0085] In the technical solution provided in the above step S203 of the present invention, a target detection algorithm (for example, Yolo v8 algorithm, etc.) is used to detect a moving target object (for example, a human body, a vehicle, or a bird, etc.) in an image or video.

[0086] In this embodiment, the above target detection can be used to detect target objects in the scene to form position boxes of several target objects. The position box can be composed of the upper left corner coordinates and the lower right corner coordinates of the position box in the pixel coordinate system. The target detection result is the basis for matching the target using the re-identification algorithm in the next step.

[0087] After the target object is detected, the process proceeds to step S204 to match the image of the target object.

[0088] In the technical solution provided in the above step S204 of the present invention, the pre-trained target re-identification model can be used to extract the visual features of the foreground target area, and based on the extracted visual features of the foreground target area, the most similar image under the vision of other cameras can be found for each target object to obtain a target matching pair.

[0089] In this embodiment, the purpose of using the pedestrian re-identification algorithm is to match the detection results of several target objects obtained by target detection, associate the detection results of the same target object at different positions, sort them according to the time axis, and obtain the movement trajectory of each target. According to the obtained movement trajectory, the moving direction and position of the target can be obtained. During the movement of the target object, the trajectory will pass through different preset position areas of different cameras. By counting the moving direction, moving time and moving position of the target trajectory, the spatiotemporal topological transfer relationship between different cameras can be constructed.

[0090] In this embodiment, matching the image of the target object may include the following steps:

[0091] Step S2041: input the captured image of the target object and the corresponding target detection result into a pedestrian re-identification algorithm.

[0092] After the captured image of the target object and the corresponding target detection result are input into the pedestrian re-identification algorithm, step S2042 is entered to extract the image features corresponding to the target detection results using the above algorithm, calculate the similarity of multiple target detection results based on the image features, and match the multiple target detection results with the highest similarity together to form a target trajectory set.

[0093] After matching the image of the target object, the process proceeds to step S205 to analyze the topological relationship and the spatiotemporal transfer relationship.

[0094] In the technical solution provided in the above step S205 of the present invention, based on the obtained target matching pair, the camera number (ID) of the image captured by the target object and the corresponding posture information, the spatiotemporal transfer relationship between the preset positions of different cameras can be found through a statistical method of perceiving causal relationships.

[0095] In this embodiment, based on the statistical method of perceiving causal relationships, the cause-effect relationship is constructed to find the topological structure between different preset positions. Assuming that there is connectivity between two preset positions, when a moving target appears in the field of view of one preset position and leaves (cause), and then a moving target appears in the field of view of another preset position (result), it is considered that the two preset position monitoring areas are connected. At the same time, in order to ensure that the targets that appear in different preset positions are the same, this method introduces a weighted similarity measure based on apparent features to avoid introducing noise and thus producing erroneous connectivity results.

[0096] In this embodiment, analyzing the topological relationship and the spatiotemporal transfer relationship may include the following steps:

[0097] Step S2051: establishing an arrival sequence and a departure sequence of the target object in each preset position area according to the trajectory set.

[0098] After establishing the arrival sequence and departure sequence of the target object in each preset area according to the trajectory set, the process proceeds to step S2052 to calculate the cross-correlation relationship between the departure sequence and the arrival sequence between every two nodes.

[0099] After calculating the cross-correlation relationship between the departure and arrival sequences between every two nodes, the process proceeds to step S2053, and the connectivity relationship between every two preset positions can be calibrated based on the cross-correlation statistical results.

[0100] After analyzing the topological spatiotemporal relationship, the process proceeds to step S206. Based on the topological relationship model and the spatiotemporal transfer relationship model of multiple cameras, camera linkage rules can be established, thereby achieving the purpose of multi-camera coordinated linkage of the target object.

[0101] In this embodiment, the multi-camera collaborative tracking model based on spatiotemporal topological relationship can be applied to the scene as shown in Figure 2(b)-1. Figure 2(b)-1 is a schematic diagram of a multi-camera collaborative tracking scene based on spatiotemporal topological relationship according to an embodiment of the present invention. In this figure, at a preset position, the camera captures two vehicles, where the two vehicles are a sedan and a van, respectively. This is only an example and is not specifically limited.

[0102] In this embodiment, the multi-camera collaborative tracking model based on spatiotemporal topological relationship can be applied to the scene as shown in Figure 2(b)-2. Figure 2(b)-2 is a schematic diagram of a multi-camera collaborative tracking scene based on spatiotemporal topological relationship according to an embodiment of the present invention. In this figure, at a preset position, the camera captures a sport utility vehicle (SUV) and a pedestrian. This is only an example and is not specifically limited.

[0103] In this embodiment, if the first camera device of the camera equipment focuses on capturing the image of the target object at the first preset position, then when the second camera device next to the first camera device receives the control instruction, based on the connectivity between the first preset position and the second preset position, it captures the video data of the target object moving at the second preset position, and detects the distance between the target object in the video data and the transmission line, and obtains the detection result, thereby determining whether there is a safety hazard in the transmission line, thereby achieving the purpose of controlling multiple camera devices to work in coordination, thereby solving the technical problem of low efficiency of safety detection of transmission lines, and further achieving the technical effect of improving the efficiency of safety detection of transmission lines.

[0104] According to an embodiment of the present invention, a detection device for a power transmission line is also provided. It should be noted that the detection device for a power transmission line can be used to execute a detection method for a power transmission line in an embodiment.

[0105] Figure 3 Schematic diagram of a detection device for a power transmission line according to an embodiment of the present invention. Figure 3 As shown, the power transmission line detection device 300 may include: a sending unit 301 , a shooting unit 302 , a detection unit 303 and a determination unit 304 .

[0106] The sending unit 301 is used to send a control instruction to at least one second camera device next to the first camera device in response to the first camera device in the camera device set capturing an image of the target object at a first preset position, wherein the first preset position is the position where the first camera device takes pictures.

[0107] The shooting unit 302 is used to shoot the target object in response to the second camera device receiving the control instruction, based on the connectivity relationship between the first preset position and the second preset position, to obtain video data of the target object, wherein the second preset position is the position where the second camera device shoots, and the video data is used to represent the process of the target object moving at at least one second preset position, and the video data at least includes the target object and the power transmission lines around the target object.

[0108] The detection unit 303 is used to detect the distance between the target object and the transmission line to obtain a detection result.

[0109] The determination unit 304 is used to determine whether there is a safety hazard in the power transmission line based on the detection result.

[0110] Optionally, the detection unit 303 may include: a first determination module, used to determine multiple video frame data from the video data; a detection module, used to detect the distance between the target object and the transmission line in the multiple video frame data to obtain multiple detection results.

[0111] Optionally, the determination unit 304 may include: a second determination module, used to determine that there is a safety hazard in the transmission line in response to the detection result that the distance exceeds a preset distance; a third determination module, used to determine that there is no safety hazard in the transmission line in response to the detection result that the distance is less than a preset distance.

[0112] Optionally, the detection device 300 for the transmission line may further include: a first determination unit, used to determine a first sequence pair of sample objects in a first preset position area, and a second sequence pair of sample objects in a second preset position area, wherein the first preset position area is an area including the first preset position, and the second preset position area is an area including the second preset position; a second determination unit, used to determine a connectivity relationship based on the first sequence pair and the second sequence pair.

[0113] Optionally, the second determination unit may include: a fourth determination module, used to determine the first arrival sequence and the first departure sequence in the first sequence pair, and the second arrival sequence and the second departure sequence in the second sequence pair; a fifth determination module, used to determine the first correlation between the first arrival sequence and the first departure sequence, and the second correlation between the second arrival sequence and the second departure sequence; and a sixth determination module, used to determine the connectivity relationship based on the first correlation and the second correlation.

[0114] Optionally, the fourth determination module may include: a first determination submodule, used to determine multiple sample video frame data from the sample video data, wherein the sample video data is used to represent the process of the sample object moving at at least one second preset position; detecting multiple positions to which the sample object moves from the multiple sample video frame data; a sorting submodule, used to sort the multiple positions in chronological order to obtain a sorting result, wherein the sorting result is used to represent the movement trajectory of the sample object; a second determination submodule, used to determine a first arrival sequence and a first departure sequence, as well as a second arrival sequence and a second departure sequence based on the movement trajectory.

[0115] In this embodiment, a sending unit is used to send a control instruction to at least one second camera device next to the first camera device in response to the first camera device capturing an image of the target object at a first preset position in the camera device set, wherein the first preset position is the position where the first camera device performs shooting; a shooting unit is used to shoot the target object based on the connectivity relationship between the first preset position and the second preset position in response to the second camera device receiving the control instruction, and obtain video data of the target object, wherein the second preset position is the position where the second camera device performs shooting, and the video data is used to represent the process of the target object moving at at least one second preset position, and the video data at least includes the target object and the power transmission line around the target object; a detection unit is used to detect the distance between the target object and the transmission line to obtain a detection result; a determination unit is used to determine whether there is a safety hazard in the transmission line based on the detection result, thereby achieving the purpose of controlling multiple camera devices to work in coordination, thereby solving the technical problem of low efficiency of safety detection of the transmission line, and further achieving the technical effect of improving the efficiency of safety detection of the transmission line.

[0116] According to an embodiment of the present invention, a processor is further provided, the processor being used to run a program, wherein when the program is run by the processor, the method for detecting a power transmission line in the embodiment is executed.

[0117] According to an embodiment of the present invention, there is further provided an electronic device, comprising: a memory storing an executable program; and a processor for running the program, wherein the method for detecting a power transmission line in the embodiment is executed when the program is running.

[0118] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the power transmission line detection method in the embodiment.

[0119] According to an embodiment of the present invention, a computer program product is further provided. The computer program product includes a computer program. When the computer program is executed by a processor, the method for detecting a power transmission line in the embodiment is implemented.

[0120] According to an embodiment of the present invention, a computer program product is also provided, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium is used to store a computer program, and when the computer program is executed by a processor, the detection method of the transmission line in the embodiment is implemented.

[0121] According to an embodiment of the present invention, a computer program is further provided. When the computer program is executed by a processor, the method for detecting a power transmission line in the embodiment is implemented.

[0122] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0123] In the above embodiments of the present invention, 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.

[0124] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0125] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed over multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0126] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0127] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the relevant technology or the whole or part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, referred to as Read-Only Memory), random access memory (RAM, referred to as Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0128] The above are only preferred embodiments of the present invention. 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 invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for detecting a power transmission line, characterized in that: include: In response to a first camera device in a camera device set capturing an image of a target object at a first preset position, sending a control instruction to at least one second camera device next to the first camera device, wherein the first preset position is a position where the first camera device performs shooting; In response to the second camera receiving the control instruction, based on the connection relationship between the first preset position and the second preset position, the target object is photographed to obtain video data of the target object, wherein the second preset position is a position where the second camera takes pictures, and the video data is used to represent the process of the target object moving at at least one of the second preset positions, and the video data at least includes the target object and the power transmission lines around the target object; Detecting the distance between the target object and the power transmission line to obtain a detection result; Based on the detection result, determine whether there is a safety hazard in the power transmission line.

2. The method according to claim 1, characterized in that Detecting the distance between the target object and the transmission line to obtain a detection result includes: Determine a plurality of video frame data from the video data; The distance between the target object and the power transmission line in the plurality of video frame data is detected to obtain a plurality of detection results.

3. The method according to claim 1, characterized in that Based on the detection result, determining whether the transmission line has a potential safety hazard includes: In response to the detection result that the distance exceeds a preset distance, determining that there is a safety hazard in the power transmission line; In response to the detection result that the distance is less than the preset distance, it is determined that there is no safety hazard in the power transmission line.

4. The method according to claim 1, characterized in that The method further comprises: Determine a first sequence pair of sample objects in a first preset position area, and a second sequence pair of the sample objects in a second preset position area, wherein the first preset position area is an area including the first preset position, and the second preset position area is an area including the second preset position; The connectivity relationship is determined based on the first sequence pair and the second sequence pair.

5. The method according to claim 4, characterized in that Determining the connectivity relationship based on the first sequence pair and the second sequence pair includes: determining a first arrival sequence and a first departure sequence in the first sequence pair, and a second arrival sequence and a second departure sequence in the second sequence pair; determining a first correlation between the first arrival sequence and the first departure sequence, and a second correlation between the second arrival sequence and the second departure sequence; The connectivity relationship is determined based on the first correlation relationship and the second correlation relationship.

6. The method according to claim 5, characterized in that Determining a first arrival sequence and a first departure sequence in the first sequence pair, and a second arrival sequence and a second departure sequence in the second sequence pair, comprising: Determine a plurality of sample video frame data from the sample video data, wherein the sample video data is used to represent a process in which the sample object moves at at least one of the second preset positions; Detecting a plurality of positions to which the sample object moves from a plurality of the sample video frame data; Sorting the plurality of positions in chronological order to obtain a sorting result, wherein the sorting result is used to represent the movement trajectory of the sample object; Based on the movement trajectory, the first arrival sequence and the first departure sequence, and the second arrival sequence and the second departure sequence are determined.

7. A detection device for a power transmission line, characterized in that: include: A sending unit, configured to send a control instruction to at least one second camera device next to the first camera device in response to a first camera device in the camera device set capturing an image of a target object at a first preset position, wherein the first preset position is a position where the first camera device captures the image; a shooting unit, configured to shoot the target object in response to the second camera device receiving the control instruction, based on the connection relationship between the first preset position and the second preset position, to obtain video data of the target object, wherein the second preset position is a position where the second camera device shoots, and the video data is used to represent a process of the target object moving at at least one of the second preset positions, and the video data at least includes the target object and a power transmission line around the target object; A detection unit, used to detect the distance between the target object and the transmission line to obtain a detection result; A determination unit is used to determine whether there is a safety hazard in the power transmission line based on the detection result.

8. A processor, characterized in that: The processor is used to run a program, wherein the program, when run by the processor, executes the power transmission line detection method according to any one of claims 1 to 6.

9. An electronic device, characterized in that: include: A memory storing an executable program; A processor is used to run the program, wherein the program, when running, executes the method for detecting a power transmission line according to any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored executable program, wherein when the executable program is executed, the device where the storage medium is located is controlled to execute the power transmission line detection method according to any one of claims 1 to 6.

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