Insulating layer damage monitoring system and method based on point cloud slope

Abstract

The invention discloses an insulating layer damage monitoring system and method based on a point cloud slope. The method comprises the steps of reading a standard point cloud image of a to-be-monitored cable in a cable point cloud image library according to a cable model of the to-be-monitored cable; receiving an actual three-dimensional image of the to-be-monitored cable reported by the three-dimensional camera, and converting the actual three-dimensional image into an actual point cloud image; uploading the standard point cloud image and the actual point cloud image to a preset three-dimensional image coordinate system, and performing point cloud registration on the standard point cloud image and the actual point cloud image to obtain a registered point cloud image of the to-be-monitored cable; calculating a slope difference value between a standard point cloud slope and an actual point cloud slope at the same position of the registered point cloud image, and identifying whether the slope difference value is greater than a preset difference value; and when the slope difference value is greater than a preset difference value, sending out a cable insulation layer damage warning at the position. According to the technical scheme, the timeliness and the monitoring efficiency of cable insulation layer damage monitoring are improved.

Description

Technical Field

[0001] The present application belongs to the technical field of cable monitoring, and specifically relates to an insulation layer damage monitoring system and method based on point cloud slope. Background Art

[0002] Cable insulation damage refers to the breakage and damage of the cable insulation layer under the influence of chemical corrosion, temperature changes, mechanical stress and aging. These conditions will affect the operating performance of the cable and even affect the normal operation of the power system. With the development of the power industry, it is very important for the power maintenance department to monitor the damage of the cable insulation layer in a timely manner.

[0003] In the existing technology, cable inspectors are usually arranged to regularly check the insulation layer of the monitored cable to determine whether the current cable is damaged by observing the appearance of the insulation layer, or to use power measurement tools to regularly measure the insulation layer resistance value of the current cable, and determine that the insulation layer is damaged when the measured resistance value is less than the standard resistance value. However, the use of existing technology requires a lot of manpower costs, not only the monitoring steps are cumbersome, but also there are problems such as insufficient timeliness of damage monitoring and low monitoring efficiency. Summary of the invention

[0004] The purpose of the embodiment of the present application is to provide an insulation layer damage monitoring system and method based on point cloud slope, which solves the problems of insufficient timeliness and low monitoring efficiency in related technologies. By calculating the slope difference between the standard point cloud slope and the actual point cloud slope at the same position in the registered point cloud image of the cable to be monitored, a cable insulation layer damage warning is issued at that position when the slope difference is greater than a preset difference. The purpose of automatically monitoring the damage of the insulation layer of the cable to be monitored and automatically locating the damage position can be achieved, thereby improving the timeliness and efficiency of cable insulation layer damage monitoring.

[0005] In a first aspect, an embodiment of the present application provides an insulation layer damage monitoring method based on point cloud slope, the method comprising:

[0006] Reading a standard point cloud image of the cable to be monitored in the cable point cloud image library according to the cable model of the cable to be monitored;

[0007] Receiving an actual three-dimensional image of the cable to be monitored reported by a three-dimensional camera, and converting the actual three-dimensional image into an actual point cloud image;

[0008] Determine the standard point cloud coordinates of the standard point cloud image and the actual point cloud coordinates of the actual point cloud image, and perform point cloud registration on the standard point cloud image and the actual point cloud image based on the standard point cloud coordinates and the actual point cloud coordinates to obtain a registered point cloud image of the cable to be monitored;

[0009] Calculating a slope difference between a standard point cloud slope and an actual point cloud slope at the same position of the registered point cloud image, and determining whether the slope difference is greater than a preset difference;

[0010] When the slope difference is greater than the preset difference, a warning of cable insulation damage at that location is issued.

[0011] Furthermore, the calculating of the slope difference between the standard point cloud slope and the actual point cloud slope at the same position of the registered point cloud image includes:

[0012] Mapping the standard point cloud image and the actual point cloud image in the registered point cloud image to three two-dimensional planes formed by a preset three-dimensional image coordinate system respectively;

[0013] Calculating the slope of the two-dimensional standard point cloud and the slope of the two-dimensional actual point cloud at the same position of the registered point cloud image based on the two-dimensional standard point cloud coordinates and the two-dimensional actual point cloud coordinates in the two-dimensional plane;

[0014] The two-dimensional standard point cloud slope and the two-dimensional actual point cloud slope in the same two-dimensional plane are subtracted to obtain the slope difference between the two-dimensional standard point cloud slope and the two-dimensional actual point cloud slope in the two-dimensional plane, and the maximum value of the slope difference in the three two-dimensional planes is used as the slope difference between the standard point cloud slope and the actual point cloud slope at the same position of the registered point cloud image.

[0015] Furthermore, the registered point cloud image includes at least two adjacent standard point clouds and at least two adjacent actual point clouds at the same position;

[0016] Correspondingly, the calculating of the slope of the two-dimensional standard point cloud and the slope of the two-dimensional actual point cloud at the same position of the registered point cloud image based on the two-dimensional standard point cloud coordinates and the two-dimensional actual point cloud coordinates in the two-dimensional plane includes:

[0017] Calculate the two-dimensional standard point cloud slope of the registered point cloud image in the two-dimensional plane according to the two-dimensional standard point cloud coordinates of at least two adjacent standard point clouds at the same position of the registered point cloud image in the two-dimensional plane and a slope calculation formula;

[0018] The two-dimensional actual point cloud slope of the registered point cloud image in the two-dimensional plane is calculated according to the two-dimensional actual point cloud coordinates of at least two adjacent actual point clouds at the same position of the registered point cloud image in the two-dimensional plane and a slope calculation formula.

[0019] Furthermore, the registered point cloud image includes at least two standard point clouds and at least two actual point clouds at the same position;

[0020] The step of calculating the slope difference between the standard point cloud slope and the actual point cloud slope at the same position of the registered point cloud image comprises:

[0021] Calculate the standard point cloud vector at the same position of the registration point cloud image based on the three-dimensional standard coordinates of the at least two standard point clouds;

[0022] Calculate the actual point cloud vector at the same position of the registered point cloud image based on the three-dimensional actual coordinates of the at least two actual point clouds;

[0023] The vector angle between the standard point cloud vector and the actual point cloud vector is calculated, and the vector angle is used as the slope difference between the standard point cloud slope and the actual point cloud slope at the same position of the registered point cloud image.

[0024] Furthermore, before issuing a warning of cable insulation damage at the location, the method further includes:

[0025] Identify the number of candidate damaged point clouds whose slope difference is greater than a preset difference within a preset range, wherein the candidate damaged point clouds are actual point clouds;

[0026] Identify whether the number of the candidate damaged point clouds reaches a preset number of damaged point clouds;

[0027] When the number of the candidate damaged point clouds reaches the preset number of damaged point clouds, the position information of the preset range is filled in the cable insulation damage warning.

[0028] Furthermore, after identifying whether the number of the candidate damaged point clouds reaches a preset number of damaged point clouds, the method further includes:

[0029] When the number of the candidate damaged point clouds does not reach the preset number of damaged point clouds, the coordinates of the candidate damaged point clouds are corrected based on the actual point cloud coordinates other than the candidate damaged point clouds within the preset range.

[0030] Furthermore, when the slope difference is greater than the preset difference, issuing a warning of cable insulation damage at the location includes:

[0031] In the case where the slope difference is greater than a preset difference, drawing a slope difference variation curve of the slope difference at each preset position of the registration point cloud image;

[0032] Determining the insulation damage shape of the cable to be monitored according to the slope difference change curve, and identifying the maximum slope difference in the insulation damage shape;

[0033] The damage grade of the insulation layer damage shape is determined based on the association between the maximum slope difference and the preset slope difference and the damage grade, and a cable insulation layer damage warning for the location is generated and issued based on the insulation layer damage shape and the damage grade.

[0034] In a second aspect, an embodiment of the present application provides an insulation layer damage monitoring system based on point cloud slope, the system comprising:

[0035] A standard point cloud image reading module is used to read the standard point cloud image of the cable to be monitored in the cable point cloud image library according to the cable model of the cable to be monitored;

[0036] An actual point cloud image conversion module is used to receive an actual three-dimensional image of the cable to be monitored reported by a three-dimensional camera, and convert the actual three-dimensional image into an actual point cloud image;

[0037] A point cloud image registration module, used for determining the standard point cloud coordinates of the standard point cloud image and the actual point cloud coordinates of the actual point cloud image, and performing point cloud registration on the standard point cloud image and the actual point cloud image based on the standard point cloud coordinates and the actual point cloud coordinates to obtain a registered point cloud image of the cable to be monitored;

[0038] A slope difference calculation module, used to calculate the slope difference between the standard point cloud slope and the actual point cloud slope at the same position of the registered point cloud image, and identify whether the slope difference is greater than a preset difference;

[0039] The damage warning module is used to issue a warning of cable insulation damage at the location when the slope difference is greater than the preset difference.

[0040] In a third aspect, an embodiment of the present application provides an electronic device, which includes a processor, a memory, and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction, when executed by the processor, implements the steps of the method described in the first aspect.

[0041] In a fourth aspect, an embodiment of the present application provides a readable storage medium, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the steps of the method described in the first aspect are implemented.

[0042] In the fifth aspect, an embodiment of the present application also provides a computer program product, which includes a computer program stored in a computer-readable storage medium, and at least one processor of the device reads and executes the computer program from the computer-readable storage medium, so that the device performs the method described in the first aspect.

[0043] In an embodiment of the present application, a standard point cloud image of the cable to be monitored in a cable point cloud image library is read according to the cable model of the cable to be monitored; an actual three-dimensional image of the cable to be monitored reported by a three-dimensional camera is received, and the actual three-dimensional image is converted into an actual point cloud image; the standard point cloud coordinates of the standard point cloud image and the actual point cloud coordinates of the actual point cloud image are determined, and point cloud registration of the standard point cloud image and the actual point cloud image is performed based on the standard point cloud coordinates and the actual point cloud coordinates to obtain a registered point cloud image of the cable to be monitored; the slope difference between the standard point cloud slope and the actual point cloud slope at the same position of the registered point cloud image is calculated, and it is determined whether the slope difference is greater than a preset difference; when the slope difference is greater than the preset difference, a cable insulation layer damage warning is issued at that position. The above-mentioned insulation layer damage monitoring method based on point cloud slope has solved the problems of insufficient timeliness and low monitoring efficiency existing in related technologies. By calculating the slope difference between the standard point cloud slope and the actual point cloud slope at the same position in the registered point cloud image of the cable to be monitored, a cable insulation layer damage warning is issued at that position when the slope difference is greater than the preset difference. The purpose of automatically monitoring the damage of the insulation layer of the cable to be monitored and automatically locating the damage position can be achieved, thereby improving the timeliness and efficiency of cable insulation layer damage monitoring. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 is a flow chart of an insulation layer damage monitoring method based on point cloud slope provided in an embodiment of the present application;

[0045] Figure 2 is a flow chart of calculating the slope difference provided in an embodiment of the present application;

[0046] Figure 3 is a flow chart of a cable insulation damage warning provided by an embodiment of the present application;

[0047] Figure 4 It is a structural block diagram of an insulation layer damage monitoring system based on point cloud slope provided in an embodiment of the present application;

[0048] Figure 5 It is a structural block diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical scheme and advantages of the present application clearer, the specific embodiments of the present application are further described in detail below in conjunction with the accompanying drawings. It is understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for the convenience of description, only the part related to the present application but not all the contents are shown in the accompanying drawings. Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flow charts. Although the flow chart describes each operation (or step) as a sequential process, many of the operations therein can be implemented in parallel, concurrently or simultaneously. In addition, the order of each operation can be rearranged. The process can be terminated when its operation is completed, but it can also have additional steps not included in the accompanying drawings. The process can correspond to a method, a function, a procedure, a subroutine, a subprogram, etc.

[0050] The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application belong to the scope of protection of this application.

[0051] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0052] First of all, the usage scenario of this solution can be the scenario of monitoring the damage of the cable insulation layer, especially the scenario of insulation damage identification and damage alarm for cables installed in the air. By calculating the slope difference between the standard point cloud slope and the actual point cloud slope at the same position in the registered point cloud image of the cable to be monitored, a cable insulation damage warning is issued at that position when the slope difference is greater than the preset difference. The purpose of automatically monitoring the damage of the cable insulation layer to be monitored and automatically locating the damage position can be achieved, thereby improving the timeliness and efficiency of cable insulation damage monitoring. Based on the above usage scenarios, it can be understood that the executor of this solution can be an electronic device, such as smart terminals such as mobile phones and computers.

[0053] In the following, in combination with the accompanying drawings, a system and method for monitoring insulation layer damage based on point cloud slope provided in an embodiment of the present application are described in detail through specific embodiments and their application scenarios.

[0054] Figure 1 : is a flow chart of an insulation layer damage monitoring method based on point cloud slope provided in an embodiment of the present application. Figure 1 As shown, the specific steps include:

[0055] S101, reading a standard point cloud image of the cable to be monitored in a cable point cloud image library according to the cable model of the cable to be monitored.

[0056] The cable to be monitored may be a cable in operation whose insulation damage is to be monitored or whose insulation damage position is to be located. The cable model may be a number used to indicate the cable category, cable insulation layer and cable conductor data. For example: the oil-filled cable model consists of the product series code and the codes of the various parts of the cable structure. The power cable model is represented by a combination of letters and numbers, where letters represent the series, conductor, insulation, sheath, characteristics and derived codes of the cable product, and numbers represent the cable outer sheath code. The cable point cloud image library may be an image library for storing pre-built standard point cloud images of various models of cables. The standard point cloud image may be a three-dimensional point cloud image of the cable when no fault occurs in the cable.

[0057] In one embodiment, a point cloud image having the same cable model as the cable to be monitored may be searched from the cable point cloud image library, and the searched point cloud image may be used as a standard point cloud image of the cable to be monitored.

[0058] S102, receiving an actual three-dimensional image of the cable to be monitored reported by a three-dimensional camera, and converting the actual three-dimensional image into an actual point cloud image.

[0059] The three-dimensional camera may be a camera device that can directly obtain a three-dimensional image of the cable to be monitored, such as a binocular camera. The three-dimensional camera may be set on the cable to be monitored, or may be set near the cable to be monitored. As long as the three-dimensional image of the cable to be monitored can be obtained in real time, no specific limitation is made here. The actual three-dimensional image of the cable to be monitored may be an image of the cable to be monitored in actual operation. The actual point cloud image may be a three-dimensional point cloud image obtained by performing point cloud extraction on the actual three-dimensional image.

[0060] In one embodiment, an actual three-dimensional image of the cable to be monitored reported in real time by a three-dimensional camera can be received, point cloud extraction can be performed on the actual three-dimensional image using an image segmentation algorithm and an approximate fitting method, and the surface point cloud extracted after image segmentation can be superimposed to obtain an actual point cloud image of the cable to be monitored.

[0061] S103, determining the standard point cloud coordinates of the standard point cloud image and the actual point cloud coordinates of the actual point cloud image, and performing point cloud registration on the standard point cloud image and the actual point cloud image based on the standard point cloud coordinates and the actual point cloud coordinates to obtain a registered point cloud image of the cable to be monitored.

[0062] The standard point cloud coordinates may be the coordinates of the standard point cloud image in a preset three-dimensional image coordinate system. The actual point cloud coordinates may be the coordinates of the actual point cloud image in a preset three-dimensional image coordinate system. The preset three-dimensional image coordinate system may be a coordinate system pre-set to represent the three-dimensional features of the cable to be monitored and the spatial positions of each point cloud. The registered point cloud image may be a three-dimensional point cloud image obtained by matching and coinciding the standard point cloud image of the cable to be monitored with the standard point cloud representing the same position of the cable to be monitored in the actual point cloud image and the actual point cloud.

[0063] In one embodiment, the standard point cloud coordinates and the actual point cloud coordinates of the standard point cloud image and the actual point cloud image in a preset three-dimensional image coordinate system can be read respectively, and the standard point cloud coordinates and the actual point cloud coordinates of the standard point cloud image and the actual point cloud image can also be directly read based on the pre-stored point cloud coordinates. The standard contour coordinates of the standard point cloud image are determined according to the standard point cloud coordinates, and the actual contour coordinates of the actual point cloud image are determined according to the actual point cloud coordinates. The actual point cloud image is registered with the standard point cloud image by moving the actual contour coordinates to the position of the standard contour coordinates to obtain a registered point cloud image of the cable to be monitored.

[0064] S104, calculating the slope difference between the standard point cloud slope and the actual point cloud slope at the same position of the registered point cloud image, and determining whether the slope difference is greater than a preset difference.

[0065] The standard point cloud slope may be the slope of each point cloud in the standard point cloud image. The actual point cloud slope may be the slope of each point cloud in the actual point cloud image. The slope difference may be the actual difference between the standard point cloud slope and the actual point cloud slope at the same position of the registered point cloud image at the current moment. The preset difference may be the maximum difference between the standard point cloud slope and the actual point cloud slope at the same position of the registered point cloud image when no fault occurs in the cable to be monitored.

[0066] In one embodiment, the slope of the standard point cloud and the slope of the actual point cloud at the same position of the registration point cloud image can be calculated by respectively calculating the derivative of the standard point cloud and the derivative of the actual point cloud, and the slope difference is obtained by subtracting the slope of the standard point cloud and the slope of the actual point cloud at the same position. The size relationship between the slope difference and the preset difference is compared, and it is determined whether the slope difference is greater than the preset difference according to the size relationship.

[0067] In one embodiment, optionally, the registration point cloud image includes at least two standard point clouds and at least two actual point clouds at the same position;

[0068] Calculate the slope difference between the standard point cloud slope and the actual point cloud slope at the same position of the registered point cloud image, including:

[0069] Calculate the standard point cloud vector at the same position of the registration point cloud image based on the three-dimensional standard coordinates of at least two standard point clouds;

[0070] Calculate the actual point cloud vector at the same position of the registered point cloud image based on the three-dimensional actual coordinates of at least two actual point clouds;

[0071] The vector angle between the standard point cloud vector and the actual point cloud vector is calculated, and the vector angle is used as the slope difference between the standard point cloud slope and the actual point cloud slope at the same position of the registration point cloud image.

[0072] The standard point cloud vector may be a coordinate vector between three-dimensional standard coordinates of at least two standard point clouds. The actual point cloud vector may be a coordinate vector between three-dimensional actual coordinates of at least two actual point clouds. The standard point cloud vector and the actual point cloud vector are two point cloud vectors with the same starting position and the same end position on the registration point cloud image. The vector angle may be the angle between the standard point cloud vector and the actual point cloud vector.

[0073] In one embodiment, the same position of the registered point cloud image includes at least two standard point clouds and at least two actual point clouds. The standard point cloud vector at the same position of the registered point cloud image can be calculated by calculating the coordinate difference of the two three-dimensional standard coordinates with the farthest distance in at least two standard point clouds, and the actual point cloud vector at the same position of the registered point cloud image can be calculated by calculating the coordinate difference of the two three-dimensional actual coordinates with the farthest distance in at least two actual point clouds. The vector angle between the standard point cloud vector and the actual point cloud vector is calculated according to the standard point cloud vector, the actual point cloud vector and the vector angle calculation formula. Since the standard point cloud vector and the actual point cloud vector are two point cloud vectors with the same starting position and the same end position on the registered point cloud image, the vector angle reflects the deviation of the standard point cloud slope between at least two standard point clouds and the actual point cloud slope between at least two actual point clouds. The vector angle can be used as the slope difference between the standard point cloud slope and the actual point cloud slope at the same position of the registered point cloud image.

[0074] S105: When the slope difference is greater than a preset difference, a cable insulation damage warning is issued at the location.

[0075] In one embodiment, if the slope interpolation value is greater than a preset difference, it indicates that there is a problem that the actual shape of the cable insulation layer deviates from the standard shape, and a cable insulation layer damage warning is issued to the cable maintenance terminal based on the position information of the position. Before issuing the insulation layer damage warning, all positions on the registered point cloud image can be traversed according to the random non-repetitive principle to perform damage inspection on all positions of the monitored cable.

[0076] In one embodiment, optionally, when the slope difference is greater than a preset difference, issuing a warning of cable insulation damage at the location includes:

[0077] When the slope difference is greater than the preset difference, a slope difference variation curve of the slope difference at each preset position of the registration point cloud image is drawn;

[0078] Determine the insulation damage shape of the cable to be monitored according to the slope difference change curve, and identify the maximum slope difference in the insulation damage shape;

[0079] The damage grade of the insulation layer damage shape is determined based on the correlation between the maximum slope difference and the preset slope difference and the damage grade, and a cable insulation layer damage warning for the location is generated and issued based on the insulation layer damage shape and the damage grade.

[0080] The preset positions may be multiple positions pre-set on the registered point cloud image for monitoring the damage of the insulation layer. There are at least two preset positions distributed on the entire registered point cloud image. The slope difference change curve may be a curve used to represent the slope difference changes with each preset position of the registered point cloud image. The association between the preset slope difference and the damage level may be the damage level corresponding to the difference range of each preset slope difference. The damage level may be data used to represent the degree of damage corresponding to the damage shape.

[0081] In one embodiment, multiple insulation layer damage monitoring positions can be set in advance on the registration point cloud image. When the slope difference is greater than the preset difference, a slope difference change curve of the slope difference in the registration point cloud image with the preset position is drawn according to the slope difference at each preset position. The standard point cloud image can be regarded as a point cloud image of the cable to be monitored placed horizontally, and the slope difference is the slope of the actual point cloud image. The larger the slope difference, the greater the deviation of the actual shape of the insulation layer of the cable to be monitored from the standard shape. The actual shape of the insulation layer of the cable to be monitored at this position can be determined according to the slope difference, that is, the slope difference change curve can be reversed to obtain the actual shape of the insulation layer of the cable to be monitored. Since the slope difference is obtained by subtracting the slope of the standard point cloud from the slope of the actual point cloud, the shape of the convex or concave of the cable to be monitored can be represented by the positive or negative of the slope difference. The insulation layer damage shape of the cable to be monitored is determined according to the slope difference change curve, and the maximum slope difference in the insulation layer damage shape is identified according to the highest point of the slope difference change curve. Identify the preset slope difference range where the maximum slope difference is located, determine the damage level corresponding to the maximum slope difference according to the correlation between the preset slope difference and the damage level, and use the damage level as the damage level of the insulation layer damage shape. Write the insulation layer damage shape and damage level into the damage content field of the damage warning to generate and issue a cable insulation damage warning at this location.

[0082] This scheme determines the insulation damage shape of the cable to be monitored by drawing a slope difference change curve at each preset position of the registered point cloud image, and determines the damage grade of the insulation damage shape based on the maximum slope difference. Based on the insulation damage shape and the damage grade, a cable insulation damage warning for the position is generated and issued, which can further refine the warning content of the cable insulation damage warning, which is beneficial to the subsequent maintenance of the monitored cable by cable maintenance personnel.

[0083] The technical solution provided in the embodiment of the present application reads the standard point cloud image of the cable to be monitored in the cable point cloud image library according to the cable model of the cable to be monitored; receives the actual three-dimensional image of the cable to be monitored reported by the three-dimensional camera, and converts the actual three-dimensional image into an actual point cloud image; determines the standard point cloud coordinates of the standard point cloud image and the actual point cloud coordinates of the actual point cloud image, and performs point cloud registration on the standard point cloud image and the actual point cloud image based on the standard point cloud coordinates and the actual point cloud coordinates to obtain a registered point cloud image of the cable to be monitored; calculates the slope difference between the standard point cloud slope and the actual point cloud slope at the same position of the registered point cloud image, and determines whether the slope difference is greater than a preset difference; when the slope difference is greater than the preset difference, issues a warning of cable insulation damage at that position. The above-mentioned insulation layer damage monitoring method based on point cloud slope has solved the problems of insufficient timeliness and low monitoring efficiency existing in related technologies. By calculating the slope difference between the standard point cloud slope and the actual point cloud slope at the same position in the registered point cloud image of the cable to be monitored, a cable insulation layer damage warning is issued at that position when the slope difference is greater than the preset difference. The purpose of automatically monitoring the damage of the insulation layer of the cable to be monitored and automatically locating the damage position can be achieved, thereby improving the timeliness and efficiency of cable insulation layer damage monitoring.

[0084] Figure 2 : is a flow chart of calculating the slope difference provided in the embodiment of the present application. Figure 2 As shown, the specific steps include:

[0085] S201, mapping the standard point cloud image and the actual point cloud image in the registered point cloud image to three two-dimensional planes formed by a preset three-dimensional image coordinate system respectively.

[0086] The two-dimensional plane may be a plane formed by combining two of the three coordinate axes of a preset three-dimensional coordinate system.

[0087] In one embodiment, the coordinates of the coordinate axes in the preset three-dimensional coordinate system except for the two-dimensional plane can be set to 0 to map the standard point cloud image and the actual point cloud image in the registered point cloud image to the three two-dimensional planes constituted by the preset three-dimensional image coordinate system respectively.

[0088] S202, calculating the slope of the two-dimensional standard point cloud and the slope of the two-dimensional actual point cloud at the same position of the registration point cloud image based on the two-dimensional standard point cloud coordinates and the two-dimensional actual point cloud coordinates in the two-dimensional plane.

[0089] The 2D standard point cloud coordinates may be the coordinates of each point cloud in the 2D plane coordinate system after the standard point cloud image is mapped to the 2D plane. The 2D actual point cloud coordinates may be the coordinates of each point cloud in the 2D plane coordinate system after the actual point cloud image is mapped to the 2D plane. The 2D standard point cloud slope may be the slope of each point cloud in the standard point cloud image in the 2D plane. The 2D actual point cloud slope may be the slope of each point cloud in the actual point cloud image in the 2D plane.

[0090] In one embodiment, the standard point cloud and the actual point cloud around the preset position in the standard point cloud image and the actual point cloud image can be obtained respectively, and the standard curve and the actual curve passing through the preset position and the standard point cloud and the actual point cloud around it can be drawn, and the curve expression of the standard curve and the curve expression of the actual curve can be calculated based on the two-dimensional standard point cloud coordinates and the two-dimensional actual point cloud coordinates in the two-dimensional plane. The curve expression of the standard curve and the curve expression of the actual curve are derived at the same position of the registration point cloud image to obtain the two-dimensional standard point cloud slope and the two-dimensional actual point cloud slope at the same position.

[0091] In one embodiment, optionally, the registered point cloud image includes at least two adjacent standard point clouds and at least two adjacent actual point clouds at the same position;

[0092] Accordingly, the slope of the two-dimensional standard point cloud and the slope of the two-dimensional actual point cloud at the same position of the registration point cloud image are calculated based on the two-dimensional standard point cloud coordinates and the two-dimensional actual point cloud coordinates in the two-dimensional plane, including:

[0093] Calculate the slope of the two-dimensional standard point cloud of the registered point cloud image in the two-dimensional plane according to the two-dimensional standard point cloud coordinates of at least two adjacent standard point clouds at the same position of the registered point cloud image in the two-dimensional plane and the slope calculation formula;

[0094] The two-dimensional actual point cloud slope of the registered point cloud image in the two-dimensional plane is calculated according to the two-dimensional actual point cloud coordinates of at least two adjacent actual point clouds at the same position of the registered point cloud image in the two-dimensional plane and a slope calculation formula.

[0095] The slope calculation formula is: k can be the slope of the standard point cloud or the slope of the actual point cloud, Δy can be the coordinate change value of the standard point cloud or the actual point cloud on the y-axis, Δx can be the coordinate change value of the standard point cloud or the actual point cloud on the x-axis, and x and y can represent any two coordinate axes in the preset three-dimensional image coordinate system.

[0096] In one embodiment, since the position on the registration point cloud image can be a smaller range, the registration point cloud image can include at least two adjacent standard point clouds and at least two adjacent actual point clouds at the same position. The standard coordinate change value of the two-dimensional standard point cloud coordinates in each coordinate axis is calculated based on the two-dimensional standard point cloud coordinates of at least two adjacent standard point clouds at the same position of the registration point cloud image in the two-dimensional plane, and the two-dimensional standard point cloud slope of the registration point cloud image in the two-dimensional plane is calculated based on the standard coordinate change value and the slope calculation formula. The actual coordinate change value of the two-dimensional actual point cloud coordinates in each coordinate axis is calculated based on the two-dimensional actual point cloud coordinates of at least two adjacent actual point clouds at the same position of the registration point cloud image in the two-dimensional plane, and the two-dimensional actual point cloud slope of the registration point cloud image in the two-dimensional plane is calculated based on the actual coordinate change value and the slope calculation formula.

[0097] This solution calculates the slope of the two-dimensional standard point cloud by aligning the standard cloud coordinates of at least two adjacent two-dimensional points at the same position in the point cloud image and the slope calculation formula, and calculates the slope of the two-dimensional actual point cloud by aligning the actual cloud coordinates of at least two adjacent two-dimensional points at the same position in the point cloud image and the slope calculation formula. This can simplify the steps of calculating the point cloud slope and improve the calculation efficiency of the point cloud slope.

[0098] S203, subtract the slope of the two-dimensional standard point cloud and the slope of the two-dimensional actual point cloud in the same two-dimensional plane to obtain the slope difference between the slope of the two-dimensional standard point cloud and the slope of the two-dimensional actual point cloud in the two-dimensional plane, and take the maximum value of the slope difference in the three two-dimensional planes as the slope difference between the standard point cloud slope and the actual point cloud slope at the same position of the registered point cloud image.

[0099] In one embodiment, the slope difference between the two-dimensional standard point cloud slope and the two-dimensional actual point cloud slope at the same position in the same two-dimensional plane can be obtained by subtracting the slope difference between the two-dimensional standard point cloud slope and the two-dimensional actual point cloud slope at the position in the two-dimensional plane, and the slope difference at the same preset position in three two-dimensional planes can be traversed. The maximum value of the slope difference in the three two-dimensional planes is used as the slope difference between the standard point cloud slope and the actual point cloud slope at the same position of the registration point cloud image.

[0100] The technical solution provided in the embodiment of the present application, by mapping the standard point cloud image and the actual point cloud image in the registered point cloud image to two-dimensional planes respectively, calculates the slope difference of the point cloud slope at the same position of the registered point cloud image in the same two-dimensional plane, and takes the maximum value of the slope difference in the three two-dimensional planes as the slope difference between the standard point cloud slope and the actual point cloud slope at the same position of the registered point cloud image, thereby achieving the purpose of calculating the slope difference of the point cloud slope in the same plane and improving the accuracy of the slope difference calculation.

[0101] Figure 3Flow chart of cable insulation damage warning provided by the embodiment of the present application. Figure 3 As shown, the specific steps include:

[0102] S301, identifying the number of candidate damaged point clouds whose slope difference within a preset range is greater than a preset difference, and the candidate damaged point clouds are actual point clouds.

[0103] The preset range may be a preset area on the insulation layer of the cable to be monitored. The preset range may include one or more preset positions, and may include at least two standard point clouds and at least two actual point clouds on the registered point cloud image. The candidate damaged point cloud may be an actual point cloud whose slope difference at the same position of the registered point cloud image is greater than the preset difference.

[0104] In one embodiment, the number of candidate damaged point clouds with slope differences greater than the preset difference within the preset range can be identified based on the size of the slope difference at each position of the registered point cloud image within the preset range and the preset difference.

[0105] S302: Identify whether the number of candidate damaged point clouds reaches a preset number of damaged point clouds.

[0106] The preset number of damaged point clouds may be a preset number of damaged point clouds within the same preset range when the insulation layer of the monitored cable is not damaged.

[0107] In one embodiment, whether the number of candidate damaged point clouds reaches a preset number of damaged point clouds may be determined based on whether the number of candidate damaged point clouds is greater than or equal to a preset number of damaged point clouds.

[0108] In one embodiment, optionally, after identifying whether the number of candidate damaged point clouds reaches a preset number of damaged point clouds, the method further includes:

[0109] When the number of candidate damaged point clouds does not reach the preset number of damaged point clouds, the coordinates of the candidate damaged point clouds are corrected based on the actual point cloud coordinates other than the candidate damaged point clouds within the preset range.

[0110] In one embodiment, if the number of candidate damaged point clouds does not reach the preset number of damaged point clouds, it means that there is no continuous insulation layer damaged shape in the current range. At this time, the slope difference of the candidate damaged point clouds in the range is greater than the preset difference, which may be caused by errors in coordinate measurement or slope calculation. Therefore, the coordinates of the candidate damaged point clouds can be corrected based on the actual point cloud coordinates other than the candidate damaged point clouds in the preset range. For example, the actual point cloud coordinates of the candidate damaged point cloud coordinates are modified to the coordinate average of the actual point cloud coordinates other than the candidate damaged point clouds in the preset range.

[0111] This solution can avoid the problem of erroneous calculation of actual point cloud coordinates due to error factors such as measurement or calculation, and improve the accuracy of each actual point cloud coordinate on the actual point cloud image, by correcting the candidate damaged point cloud coordinates based on the actual point cloud coordinates other than the candidate damaged point clouds within a preset range when the number of candidate damaged point clouds does not reach the preset number of damaged point clouds.

[0112] S303: When the number of candidate damaged point clouds reaches a preset number of damaged point clouds, fill in the location information of the preset range into the cable insulation damage warning.

[0113] The position information of the preset range may be the position of the preset range on the cable to be detected.

[0114] In one embodiment, if the number of candidate damaged point clouds reaches a preset number of damaged point clouds, it means that the current candidate damaged point clouds can form a continuous insulation layer damaged shape within a preset range. At this time, the position information of the preset range on the insulation layer of the cable to be monitored is filled in the cable insulation layer damage warning.

[0115] The technical solution provided in the embodiment of the present application can improve the accuracy of judging whether the cable insulation layer is damaged and the accuracy of the damage warning by identifying whether the number of candidate damaged point clouds whose slope difference within a preset range is greater than a preset difference has reached a preset number of damaged point clouds. When the number of candidate damaged point clouds reaches the preset number of damaged point clouds, the position information of the preset range is filled into the cable insulation layer damage warning, thereby achieving the purpose of locating the cable insulation layer fault.

[0116] Figure 4 is a structural block diagram of an insulation layer damage monitoring system based on point cloud slope provided in an embodiment of the present application. Figure 4 As shown, specifically including the following:

[0117] The standard point cloud image reading module 401 is used to read the standard point cloud image of the cable to be monitored in the cable point cloud image library according to the cable model of the cable to be monitored;

[0118] The actual point cloud image conversion module 402 is used to receive the actual three-dimensional image of the cable to be monitored reported by the three-dimensional camera, and convert the actual three-dimensional image into an actual point cloud image;

[0119] The point cloud image registration module 403 is used to determine the standard point cloud coordinates of the standard point cloud image and the actual point cloud coordinates of the actual point cloud image, and perform point cloud registration on the standard point cloud image and the actual point cloud image based on the standard point cloud coordinates and the actual point cloud coordinates to obtain a registered point cloud image of the cable to be monitored;

[0120] The slope difference calculation module 404 is used to calculate the slope difference between the standard point cloud slope and the actual point cloud slope at the same position of the registration point cloud image, and identify whether the slope difference is greater than a preset difference;

[0121] The damage warning module 405 is used to issue a warning of damage to the cable insulation layer at the location when the slope difference is greater than a preset difference.

[0122] Furthermore, the slope difference calculation module 404 is specifically used for:

[0123] Mapping the standard point cloud image and the actual point cloud image in the registration point cloud image to three two-dimensional planes formed by a preset three-dimensional image coordinate system respectively;

[0124] Calculate the slope of the two-dimensional standard point cloud and the slope of the two-dimensional actual point cloud at the same position of the registration point cloud image based on the two-dimensional standard point cloud coordinates and the two-dimensional actual point cloud coordinates in the two-dimensional plane;

[0125] The slope difference between the two-dimensional standard point cloud slope and the two-dimensional actual point cloud slope in the same two-dimensional plane is obtained by subtracting the slope of the two-dimensional standard point cloud slope and the slope of the two-dimensional actual point cloud in the two-dimensional plane, and the maximum value of the slope difference in the three two-dimensional planes is taken as the slope difference between the standard point cloud slope and the actual point cloud slope at the same position of the registered point cloud image.

[0126] Further, the registration point cloud image includes at least two adjacent standard point clouds and at least two adjacent actual point clouds at the same position;

[0127] Accordingly, the slope difference calculation module 404 is specifically used for:

[0128] Calculate the slope of the two-dimensional standard point cloud of the registered point cloud image in the two-dimensional plane according to the two-dimensional standard point cloud coordinates of at least two adjacent standard point clouds at the same position of the registered point cloud image in the two-dimensional plane and the slope calculation formula;

[0129] The two-dimensional actual point cloud slope of the registered point cloud image in the two-dimensional plane is calculated according to the two-dimensional actual point cloud coordinates of at least two adjacent actual point clouds at the same position of the registered point cloud image in the two-dimensional plane and a slope calculation formula.

[0130] Further, the registration point cloud image includes at least two standard point clouds and at least two actual point clouds at the same position;

[0131] The slope difference calculation module 404 is specifically used for:

[0132] Calculate the standard point cloud vector at the same position of the registration point cloud image based on the three-dimensional standard coordinates of at least two standard point clouds;

[0133] Calculate the actual point cloud vector at the same position of the registered point cloud image based on the three-dimensional actual coordinates of at least two actual point clouds;

[0134] The vector angle between the standard point cloud vector and the actual point cloud vector is calculated, and the vector angle is used as the slope difference between the standard point cloud slope and the actual point cloud slope at the same position of the registration point cloud image.

[0135] Furthermore, the system also includes:

[0136] A candidate damaged point cloud recognition module is used to identify the number of candidate damaged point clouds whose slope difference is greater than a preset difference within a preset range, and the candidate damaged point clouds are actual point clouds;

[0137] A point cloud quantity recognition module is used to recognize whether the number of candidate damaged point clouds reaches a preset number of damaged point clouds;

[0138] The position information filling module is used to fill the position information of a preset range into the cable insulation damage warning when the number of candidate damaged point clouds reaches a preset number of damaged point clouds.

[0139] Furthermore, the system also includes:

[0140] The point cloud coordinate correction module is used to correct the coordinates of the candidate damaged point clouds based on the actual point cloud coordinates other than the candidate damaged point clouds within a preset range when the number of candidate damaged point clouds does not reach a preset number of damaged point clouds.

[0141] Furthermore, the damage warning module 405 is specifically used for:

[0142] When the slope difference is greater than the preset difference, a slope difference variation curve of the slope difference at each preset position of the registration point cloud image is drawn;

[0143] Determine the insulation damage shape of the cable to be monitored according to the slope difference change curve, and identify the maximum slope difference in the insulation damage shape;

[0144] The damage grade of the insulation layer damage shape is determined based on the correlation between the maximum slope difference and the preset slope difference and the damage grade, and a cable insulation layer damage warning for the location is generated and issued based on the insulation layer damage shape and the damage grade.

[0145] The technical solution provided in the embodiment of the present application includes a standard point cloud image reading module, which is used to read the standard point cloud image of the cable to be monitored in the cable point cloud image library according to the cable model of the cable to be monitored; an actual point cloud image conversion module, which is used to receive the actual three-dimensional image of the cable to be monitored reported by the three-dimensional camera, and convert the actual three-dimensional image into an actual point cloud image; a point cloud image registration module, which is used to determine the standard point cloud coordinates of the standard point cloud image and the actual point cloud coordinates of the actual point cloud image, and perform point cloud registration on the standard point cloud image and the actual point cloud image based on the standard point cloud coordinates and the actual point cloud coordinates to obtain a registered point cloud image of the cable to be monitored; a slope difference calculation module, which is used to calculate the slope difference between the standard point cloud slope and the actual point cloud slope at the same position of the registered point cloud image, and identify whether the slope difference is greater than a preset difference; and a damage warning module, which is used to issue a cable insulation layer damage warning at that position when the slope difference is greater than the preset difference. The above-mentioned insulation layer damage monitoring system based on point cloud slope solves the problems of insufficient timeliness of damage monitoring and low monitoring efficiency in related technologies. By calculating the slope difference between the standard point cloud slope and the actual point cloud slope at the same position in the registered point cloud image of the cable to be monitored, a cable insulation layer damage warning is issued at that position when the slope difference is greater than the preset difference. The purpose of automatically monitoring the damage of the insulation layer of the cable to be monitored and automatically locating the damage position can be achieved, thereby improving the timeliness and efficiency of cable insulation layer damage monitoring.

[0146] In the embodiment of the present application, an insulation layer damage monitoring system based on point cloud slope can be configured in a device, or it can be configured in a component, integrated circuit, or chip in a terminal. The device can be a mobile electronic device or a non-mobile electronic device. Exemplarily, the mobile electronic device can be a mobile phone, a tablet computer, a laptop computer, a PDA, an in-vehicle electronic device, a wearable device, an ultra-mobile personal computer (UMPC), a netbook or a personal digital assistant (PDA), etc., and the non-mobile electronic device can be a server, a network attached storage (NAS), a personal computer (PC), a television (TV), a teller machine or a self-service machine, etc., which is not specifically limited in the embodiment of the present application.

[0147] In the embodiment of the present application, an insulation layer damage monitoring system based on point cloud slope can be an operating system. The operating system can be an Android operating system, an iOS operating system, or other possible operating systems, which are not specifically limited in the embodiment of the present application.

[0148] An insulation layer damage monitoring system based on point cloud slope provided in an embodiment of the present application can implement each process implemented in the above-mentioned method embodiments. To avoid repetition, they will not be described here.

[0149] like Figure 5 As shown, an embodiment of the present application also provides an electronic device 500, including a processor 501, a memory 502, and a program or instruction stored in the memory 502 and executable on the processor 501. When the program or instruction is executed by the processor 501, each process of the above-mentioned insulation layer damage monitoring method based on point cloud slope is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0150] It should be noted that the electronic devices in the embodiments of the present application include the mobile electronic devices and non-mobile electronic devices mentioned above.

[0151] An embodiment of the present application also provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, each process of the above-mentioned insulation layer damage monitoring method based on point cloud slope is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0152] The processor is a processor in the electronic device described in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0153] The present application embodiment further provides a program product, which includes a program code. When the program product is run on a computer device, the program code is used to enable the computer device to execute the steps of the method according to various exemplary embodiments of the present application described above in this specification. For example, the computer device can execute an insulation layer damage monitoring method based on point cloud slope recorded in the present application embodiment. The program product can be implemented in any combination of one or more readable media.

[0154] It should be noted that, in this article, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise one..." do not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0155] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods 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 computer software product, which is stored in a storage medium (such as ROM / RAM, a disk, or an optical disk), and includes a number of instructions for a terminal (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0156] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

[0157] The above are only preferred embodiments of the present application and the technical principles used. The present application is not limited to the specific embodiments described herein, and various obvious changes, readjustments and substitutions that can be made by those skilled in the art will not deviate from the scope of protection of the present application. Therefore, although the present application is described in more detail through the above embodiments, the present application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the claims.

Claims

1. A method for monitoring insulation layer damage based on point cloud slope, characterized in that: The method comprises: Reading a standard point cloud image of the cable to be monitored in the cable point cloud image library according to the cable model of the cable to be monitored; Receiving an actual three-dimensional image of the cable to be monitored reported by a three-dimensional camera, and converting the actual three-dimensional image into an actual point cloud image; Determine the standard point cloud coordinates of the standard point cloud image and the actual point cloud coordinates of the actual point cloud image, and perform point cloud registration on the standard point cloud image and the actual point cloud image based on the standard point cloud coordinates and the actual point cloud coordinates to obtain a registered point cloud image of the cable to be monitored; Calculating a slope difference between a standard point cloud slope and an actual point cloud slope at the same position of the registered point cloud image, and determining whether the slope difference is greater than a preset difference; When the slope difference is greater than the preset difference, a warning of cable insulation damage at that location is issued.

2. The insulation layer damage monitoring method based on point cloud slope according to claim 1 is characterized in that: The step of calculating the slope difference between the standard point cloud slope and the actual point cloud slope at the same position of the registered point cloud image comprises: Mapping the standard point cloud image and the actual point cloud image in the registered point cloud image to three two-dimensional planes formed by a preset three-dimensional image coordinate system respectively; Calculating the slope of the two-dimensional standard point cloud and the slope of the two-dimensional actual point cloud at the same position of the registered point cloud image based on the two-dimensional standard point cloud coordinates and the two-dimensional actual point cloud coordinates in the two-dimensional plane; The two-dimensional standard point cloud slope and the two-dimensional actual point cloud slope in the same two-dimensional plane are subtracted to obtain the slope difference between the two-dimensional standard point cloud slope and the two-dimensional actual point cloud slope in the two-dimensional plane, and the maximum value of the slope difference in the three two-dimensional planes is used as the slope difference between the standard point cloud slope and the actual point cloud slope at the same position of the registered point cloud image.

3. The insulation layer damage monitoring method based on point cloud slope according to claim 2 is characterized in that: The registered point cloud image includes at least two adjacent standard point clouds and at least two adjacent actual point clouds at the same position; Correspondingly, the calculating of the slope of the two-dimensional standard point cloud and the slope of the two-dimensional actual point cloud at the same position of the registered point cloud image based on the two-dimensional standard point cloud coordinates and the two-dimensional actual point cloud coordinates in the two-dimensional plane includes: Calculate the two-dimensional standard point cloud slope of the registered point cloud image in the two-dimensional plane according to the two-dimensional standard point cloud coordinates of at least two adjacent standard point clouds at the same position of the registered point cloud image in the two-dimensional plane and a slope calculation formula; The two-dimensional actual point cloud slope of the registered point cloud image in the two-dimensional plane is calculated according to the two-dimensional actual point cloud coordinates of at least two adjacent actual point clouds at the same position of the registered point cloud image in the two-dimensional plane and a slope calculation formula.

4. The insulation layer damage monitoring method based on point cloud slope according to claim 1 is characterized in that: The registered point cloud image includes at least two standard point clouds and at least two actual point clouds at the same position; The step of calculating the slope difference between the standard point cloud slope and the actual point cloud slope at the same position of the registered point cloud image comprises: Calculate the standard point cloud vector at the same position of the registration point cloud image based on the three-dimensional standard coordinates of the at least two standard point clouds; Calculate the actual point cloud vector at the same position of the registered point cloud image based on the three-dimensional actual coordinates of the at least two actual point clouds; The vector angle between the standard point cloud vector and the actual point cloud vector is calculated, and the vector angle is used as the slope difference between the standard point cloud slope and the actual point cloud slope at the same position of the registered point cloud image.

5. The insulation layer damage monitoring method based on point cloud slope according to claim 1 is characterized in that: Before issuing a warning of cable insulation damage at the location, the method further includes: Identify the number of candidate damaged point clouds whose slope difference is greater than a preset difference within a preset range, wherein the candidate damaged point clouds are actual point clouds; Identify whether the number of the candidate damaged point clouds reaches a preset number of damaged point clouds; When the number of the candidate damaged point clouds reaches the preset number of damaged point clouds, the position information of the preset range is filled in the cable insulation damage warning.

6. The insulation layer damage monitoring method based on point cloud slope according to claim 5 is characterized in that: After identifying whether the number of the candidate damaged point clouds reaches a preset number of damaged point clouds, the method further includes: When the number of the candidate damaged point clouds does not reach the preset number of damaged point clouds, the coordinates of the candidate damaged point clouds are corrected based on the actual point cloud coordinates other than the candidate damaged point clouds within the preset range.

7. The insulation layer damage monitoring method based on point cloud slope according to claim 1 is characterized in that: When the slope difference is greater than the preset difference, issuing a warning of cable insulation damage at the location includes: In the case where the slope difference is greater than a preset difference, drawing a slope difference variation curve of the slope difference at each preset position of the registration point cloud image; Determining the insulation damage shape of the cable to be monitored according to the slope difference change curve, and identifying the maximum slope difference in the insulation damage shape; The damage grade of the insulation layer damage shape is determined based on the association between the maximum slope difference and the preset slope difference and the damage grade, and a cable insulation layer damage warning for the location is generated and issued based on the insulation layer damage shape and the damage grade.

8. An insulation layer damage monitoring system based on point cloud slope, characterized in that: The device comprises: A standard point cloud image reading module is used to read the standard point cloud image of the cable to be monitored in the cable point cloud image library according to the cable model of the cable to be monitored; An actual point cloud image conversion module is used to receive an actual three-dimensional image of the cable to be monitored reported by a three-dimensional camera, and convert the actual three-dimensional image into an actual point cloud image; A point cloud image registration module, used for determining the standard point cloud coordinates of the standard point cloud image and the actual point cloud coordinates of the actual point cloud image, and performing point cloud registration on the standard point cloud image and the actual point cloud image based on the standard point cloud coordinates and the actual point cloud coordinates to obtain a registered point cloud image of the cable to be monitored; A slope difference calculation module, used to calculate the slope difference between the standard point cloud slope and the actual point cloud slope at the same position of the registered point cloud image, and identify whether the slope difference is greater than a preset difference; The damage warning module is used to issue a warning of cable insulation damage at the location when the slope difference is greater than the preset difference.

9. An electronic device, characterized in that: It includes a processor, a memory, and a program or instruction stored in the memory and executable on the processor. When the program or instruction is executed by the processor, the steps of an insulation layer damage monitoring method based on point cloud slope as described in any one of claims 1 to 7 are implemented.

10. A readable storage medium, characterized in that: The readable storage medium stores a program or instruction, and when the program or instruction is executed by the processor, the steps of the insulation layer damage monitoring method based on point cloud slope as described in any one of claims 1 to 7 are implemented.

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