Power line design method based on three-dimensional point cloud data and related device

Abstract

The invention discloses an electric power circuit design method based on three-dimensional point cloud data and a related device, and relates to the technical field of electric power circuit design, and the method comprises the steps: adjusting the design coordinate data of a designed electric power circuit based on a preset scene environment, and further carrying out the identification, screening and recognition of the three-dimensional point cloud data of a planning region, the method comprises the following steps: obtaining a target object identification result, calculating a distance to ground and a crossing distance of a designed power line based on the target object identification result, further judging whether a dangerous point exists in a planning area, and if not, continuing to select a preset scene environment until all preset scene environments are selected. And taking the design coordinate data of the designed power line as the installation position of the designed power line in the planning area. The design efficiency of the power line can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of power line design, and particularly to a power line design method and related device based on three-dimensional point cloud data. Background Art

[0002] As an important part of the power grid, the safe operation of power lines is related to the reliable power consumption of end-users and is the focus of attention of the power department. When designing power lines, it is necessary for personnel to go to the planned area for survey, and then design the installation position of the power lines in the planned area according to the survey results. However, there may be areas in the planned area that are inaccessible to people, resulting in incomplete survey results, and thus the rationality and safety of power line design cannot be guaranteed.

[0003] To solve the above problems, existing technologies have introduced lidar sensors to collect three-dimensional point cloud data in the planned area, and design the installation position of power lines in the planned area based on the three-dimensional point cloud data. However, this method requires converting the three-dimensional point cloud data collected by the lidar sensor into a real-scene model of the planned area before processing, and the conversion time is relatively long in a complex and changeable environment, resulting in low design efficiency. Summary of the Invention

[0004] The purpose of the present application is to provide a power line design method and related device based on three-dimensional point cloud data, which can improve the design efficiency of power lines.

[0005] To achieve the above purpose, the present application provides the following solutions:

[0006] In a first aspect, the present application provides a power line design method based on three-dimensional point cloud data. The power line design method based on three-dimensional point cloud data includes:

[0007] Obtain the three-dimensional point cloud data of the planned area and the design coordinate data for designing the power line; the planned area is the area for laying the designed power line;

[0008] Select an unselected preset scenario environment, and adjust the design coordinate data based on the preset scenario environment to obtain adjusted coordinate data; the preset scenario environment includes the values of wind speed, temperature, and ice coating amount;

[0009] Based on the adjusted coordinate data, identify the three-dimensional points belonging to the designed power line in the three-dimensional point cloud data to obtain integrated point cloud data;

[0010] Delete the three-dimensional points in the integrated point cloud data whose distance from the designed power line is greater than a preset distance to obtain filtered point cloud data;

[0011] Taking the filtered point cloud data as input, use the trained point cloud data recognition model to recognize the target objects in the filtered point cloud data, and obtain the target object recognition results; the target object recognition results include the three-dimensional points belonging to each target object in the filtered point cloud data and the type of each target object, and the types of the target objects include existing power lines, buildings, roads, bridges, trees, and mountains;

[0012] Based on the target object recognition results, calculate the ground clearance distance and the crossing distance of the designed power line, and judge whether there are dangerous points in the planned area based on the ground clearance distance and the crossing distance, and obtain the first judgment result; the crossing distance is the distance from the designed power line to the object to be crossed, and the object to be crossed is the target object crossed by the designed power line;

[0013] If the first judgment result is yes, adjust the designed coordinate data based on the position of the dangerous point, restart the selection of the preset scene environment, and return to the step of "select an unselected preset scene environment";

[0014] If the first judgment result is no, judge whether all the preset scene environments have been selected, and obtain the second judgment result;

[0015] If the second judgment result is yes, use the designed coordinate data as the installation position of the designed power line in the planned area;

[0016] If the second judgment result is no, return to the step of "select an unselected preset scene environment".

[0017] Optionally, the three-dimensional point cloud data is the point cloud data obtained by collecting the planned area from above by a lidar sensor carried by a drone.

[0018] Optionally, adjusting the designed coordinate data based on the preset scene environment specifically includes:

[0019] Calculate the wind deflection distance of the designed power line based on the wind speed;

[0020] Calculate the sag of the designed power line based on the wind speed, temperature, and ice coating amount;

[0021] Adjust the designed coordinate data based on the wind deflection distance and sag of the designed power line.

[0022] Optionally, deleting the three-dimensional points in the integrated point cloud data whose distance from the designed power line is greater than the preset distance to obtain the filtered point cloud data specifically includes:

[0023] Perform centering processing and standardization processing on the integrated point cloud data to obtain preprocessed point cloud data;

[0024] Perform downsampling processing on the preprocessed point cloud data to obtain downsampled point cloud data;

[0025] Delete the three-dimensional points in the downsampled point cloud data whose distance from the designed power line is greater than the preset distance to obtain filtered point cloud data.

[0026] Optionally, the trained point cloud data recognition model adopts a deep learning model.

[0027] Optionally, based on the ground distance and the cross-span distance, determine whether there are dangerous points in the planned area to obtain a first judgment result, specifically including: judging whether the ground distance is less than the ground distance safety value, whether the cross-span distance is less than the cross-span distance safety value, and whether the wind deflection distance is less than the wind deflection distance safety value. If so, there are no dangerous points in the planned area, and the first judgment result is no. If not, there are dangerous points in the planned area, and the first judgment result is yes.

[0028] Optionally, after obtaining the first judgment result, the power line design method based on three-dimensional point cloud data further includes: displaying the positions of dangerous points in the filtered point cloud data.

[0029] In a second aspect, the present application provides a computer device, including: a memory, a processor, and a computer program stored on the memory and executable on the processor. The processor executes the computer program to implement the above-mentioned power line design method based on three-dimensional point cloud data.

[0030] In a third aspect, the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements the above-mentioned power line design method based on three-dimensional point cloud data.

[0031] In a fourth aspect, the present application provides a computer program product, including a computer program. When the computer program is executed by a processor, it implements the above-mentioned power line design method based on three-dimensional point cloud data.

[0032] According to the specific embodiments provided by the present application, the present application has the following technical effects:

[0033] The present application provides a power line design method and related devices based on three-dimensional point cloud data. Select an unselected preset scenario environment, adjust the design coordinate data for designing the power line based on the preset scenario environment to obtain the adjusted coordinate data. Identify the three-dimensional points belonging to the designed power line in the three-dimensional point cloud data to obtain the integrated point cloud data. Delete the three-dimensional points in the integrated point cloud data whose distance from the designed power line is greater than the preset distance to obtain the filtered point cloud data. Use the trained point cloud data recognition model to recognize the target objects in the filtered point cloud data with the filtered point cloud data as the input to obtain the target object recognition results. Calculate the ground clearance and crossing distance of the designed power line based on the target object recognition results, and determine whether there are dangerous points in the planned area based on the ground clearance and crossing distance. If there are no dangerous points, continue to select the preset scenario environment until all preset scenario environments have been selected. At this time, use the design coordinate data of the designed power line as the installation position of the designed power line in the planned area. By directly processing the three-dimensional point cloud data, the present application can complete the design of the power line without converting the three-dimensional point cloud data into a real scene model and then designing the power line, thereby improving the design efficiency of the power line. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0035] Figure 1 It is an application environment diagram of a power line design method based on three-dimensional point cloud data provided in Embodiment 1 of the present application.

[0036] Figure 2 It is a flowchart of a power line design method based on three-dimensional point cloud data provided in Embodiment 1 of the present application.

[0037] Figure 3 It is a structural diagram of a computer device provided in Embodiment 2 of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0038] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, rather than all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0039] Embodiment 1

[0040] The power line design method based on 3D point cloud data provided by the embodiments of the present application can be applied to the application environment as shown in Figure 1 . Among them, the terminal communicates with the server through the network. The data storage system can store the data that the server needs to process. The data storage system can be set separately, integrated on the server, or placed on the cloud or other servers. The terminal can send the design request to be processed to the server. After receiving the design request to be processed, for the design request to be processed, the server obtains the 3D point cloud data of the planning area and the design coordinate data of the designed power line; selects an unselected preset scenario environment, adjusts the design coordinate data based on the preset scenario environment to obtain the adjusted coordinate data; based on the adjusted coordinate data, identifies the 3D points belonging to the designed power line in the 3D point cloud data to obtain the integrated point cloud data; deletes the 3D points in the integrated point cloud data whose distance from the designed power line is greater than the preset distance to obtain the filtered point cloud data; uses the trained point cloud data recognition model to recognize the target objects in the filtered point cloud data with the filtered point cloud data as the input to obtain the target object recognition result; calculates the ground clearance and crossing distance of the designed power line based on the target object recognition result, and determines whether there are dangerous points in the planning area based on the ground clearance and crossing distance to obtain the first judgment result; if the first judgment result is yes, adjusts the design coordinate data based on the position of the dangerous point, restarts the selection of the preset scenario environment, and returns to the step of "selecting an unselected preset scenario environment"; if the first judgment result is no, determines whether all the preset scenario environments have been selected to obtain the second judgment result; if the second judgment result is yes, uses the design coordinate data as the installation position of the designed power line in the planning area; if the second judgment result is no, returns to the step of "selecting an unselected preset scenario environment". The server can feedback the design result of the installation position of the designed power line in the planning area for the design request to the terminal.

[0041] In addition, in some embodiments, the power line design method based on 3D point cloud data can also be implemented separately by the server or the terminal. For example, the terminal can directly process the design request to be processed, or the server can obtain the design request to be processed from the data storage system and process the design request to be processed.

[0042] Among them, the terminal can be but is not limited to various desktop computers, laptop computers, smart phones, tablet computers, Internet of Things devices, and portable wearable devices. The Internet of Things devices can be smart speakers, smart TVs, smart air conditioners, smart in-vehicle devices, etc. The portable wearable devices can be smart watches, smart bracelets, head-mounted devices, etc. The server can be implemented by an independent server or a server cluster composed of multiple servers, and can also be a cloud server.

[0043] In an exemplary embodiment, as Figure 2 shown, a power line design method based on three-dimensional point cloud data is provided. This method is executed by a computer device, and specifically can be executed alone by a computer device such as a terminal or a server, or can be jointly executed by a terminal and a server. In the embodiments of the present application, taking this method applied to Figure 1 the server in as an example for illustration, it includes the following steps.

[0044] Step S1, obtain the three-dimensional point cloud data of the planning area and the design coordinate data of the designed power line; the planning area is the area for laying out the designed power line.

[0045] Step S2, select an unselected preset scenario environment, and adjust the design coordinate data based on the preset scenario environment to obtain adjusted coordinate data; the preset scenario environment includes the values of wind speed, temperature, and ice coating amount.

[0046] Step S3, based on the adjusted coordinate data, identify the three-dimensional points belonging to the designed power line in the three-dimensional point cloud data to obtain integrated point cloud data.

[0047] Step S4, delete the three-dimensional points in the integrated point cloud data whose distance from the designed power line is greater than the preset distance to obtain filtered point cloud data.

[0048] Step S5, use the trained point cloud data recognition model to recognize the target objects in the filtered point cloud data with the filtered point cloud data as the input to obtain target object recognition results; the target object recognition results include the three-dimensional points belonging to each target object in the filtered point cloud data and the type of each target object, and the types of the target objects include existing power lines, buildings, roads, bridges, trees, and mountains.

[0049] Step S6, calculate the ground clearance distance and the cross-span distance of the designed power line based on the target object recognition results, and determine whether there are dangerous points in the planning area based on the ground clearance distance and the cross-span distance to obtain a first judgment result; the cross-span distance is the distance from the designed power line to the spanned object, and the spanned object is the target object spanned by the designed power line.

[0050] Step S7, if the first judgment result is yes, adjust the design coordinate data based on the position of the danger point, restart the selection of a preset scenario environment, and return to the step of "select an unselected preset scenario environment".

[0051] Step S8, if the first judgment result is no, judge whether all preset scenario environments have been selected to obtain a second judgment result.

[0052] Step S9, if the second judgment result is yes, use the design coordinate data as the installation position of the designed power line in the planning area.

[0053] Step S10, if the second judgment result is no, return to the step of "select an unselected preset scenario environment".

[0054] By implementing the above steps S1 to S10, in this embodiment, directly processing the three-dimensional point cloud data can complete the design process of the power line without converting the three-dimensional point cloud data into a real scene model, significantly improving the design efficiency of the power line.

[0055] The following is a detailed introduction to the power line design method based on three-dimensional point cloud data in this embodiment:

[0056] (1) Data acquisition

[0057] Collect the three-dimensional point cloud data of the planning area through a lidar sensor carried by a drone. The three-dimensional point cloud data includes the three-dimensional coordinates of each three-dimensional point collected by the lidar sensor, and may also include the possible color and intensity information of each three-dimensional point, which is used to assist in the interpretation and verification of the three-dimensional point cloud data. Design a power line in the planning area. The power line can be an overhead transmission line or a distribution line to obtain the design coordinate data of the designed power line. The design coordinate data is the coordinate generated when designing this power line.

[0058] If the three-dimensional point cloud data is collected at different times or by different devices, further perform point cloud registration. Specifically, perform spatial registration on the three-dimensional point cloud data collected at different times or by different devices to obtain the three-dimensional point cloud data of the planning area and ensure the consistency of the three-dimensional point cloud data.

[0059] According to the structure and equipment characteristics of the power line, incorporate tower type, hanging point, foundation features, fittings, insulator strings, and conductor and ground wire features into the design coordinate data of the designed power line to consider the actual situation of the power line. When combined with the three-dimensional point cloud data later, a more accurate designed power line can be formed in the three-dimensional point cloud data, thereby improving the design accuracy of the power line.

[0060] At this time, in this embodiment, three-dimensional point cloud data of the planned area and design coordinate data of the designed power line are obtained. The planned area is the area for laying the designed power line. The three-dimensional point cloud data is the point cloud data obtained by collecting the planned area from above using a lidar sensor carried by a drone. The design coordinate data is the coordinate data extracted after making a power design for the installation position of the power line in the planned area.

[0061] (2) Scene loading

[0062] According to natural influence conditions, a variety of preset scene environments are pre-designed, and the natural influence conditions are loaded according to the preset scene environments. The natural influence conditions are, for example, natural conditions such as strong wind, heavy rain, and snowfall. Considering that wind speed, temperature, and ice accretion will affect the position of the designed power line, the designed preset scene environments include the values of factors such as wind speed, temperature, and ice accretion. Different preset scene environments include different values of wind speed, temperature, and ice accretion, and the specific values can be designed according to user requirements.

[0063] According to the input meteorological conditions (i.e., the values of wind speed, temperature, and ice accretion), simulate the position of the designed power line under these meteorological conditions. Specifically, calculate the wind deflection distance of the designed power line under the wind speed, simulate the swing range of the designed power line affected by the wind force, consider the sag change of the designed power line caused by different wind speeds, temperatures, and ice accretion amounts, simulate the sag of the designed power line, so as to change the design coordinate data of the designed power line and obtain the adjusted coordinate data, thereby performing working condition simulation. Subsequently, integrate the adjusted coordinate data with the three-dimensional point cloud data and display the position of the designed power line from different angles and perspectives in the three-dimensional point cloud data.

[0064] The calculation formula for the wind deflection distance is:

[0065] L = h · tan(θ);

[0066] Where, L is the wind deflection distance, with the unit of meter (m); h is the height of the designed power line, with the unit of meter (m); θ is the wind deflection angle, with the unit of radian.

[0067] The calculation formula for the wind deflection angle is:

[0068] θ = arctan(P / T);

[0069] Where, P is the wind pressure received by the designed power line, with the unit of Newton (N); T is the tension of the designed power line, with the unit of Newton (N).

[0070] The calculation formula for the wind pressure is:

[0071] P = 0.5 · ρ · V 2 · C · A;

[0072] Among them, ρ is the air density, generally taken as 1.225 kg / m 3 ; V is the wind speed, with the unit of meters per second (m / s); C is the wind pressure coefficient, which is related to factors such as the shape and surface condition of the designed power line; A is the cross-sectional area of the designed power line, with the unit of square meters (m 2 ).

[0073] It should be noted that in actual calculations, other factors need to be considered, such as the influence of temperature changes, aging of the designed power line, etc. on the tension of the designed power line, and the influence of factors such as the sag, span, and insulator string length of the designed power line on the wind deflection distance. When necessary, the above formula can be adjusted and corrected accordingly.

[0074] The influence of wind speed on sag is as follows: 1) Wind pressure effect: The horizontal wind load causes the designed power line to have a lateral offset, resulting in an increase in the static sag (the sag on the windward side decreases, and the sag on the leeward side increases); 2) Dynamic effect: High-frequency wind vibration or low-frequency galloping will cause dynamic sag fluctuations, which may induce fatigue and strand breakage; 3) Indirect influence: Strong wind accelerates the heat dissipation of the designed power line, reduces the temperature, and may partially offset the sag change caused by the wind pressure. The influence of temperature on sag is as follows: The materials of the designed power line (such as aluminum and steel) will linearly expand with the increase in temperature, resulting in an increase in length and sag. Conversely, when the temperature decreases, the length shrinks and the sag decreases. The influence of ice coating amount on sag is as follows: 1) Weight increase: The ice coating significantly increases the weight per unit length of the designed power line (the ice density is about 0.9 g / cm 3 ), directly resulting in an increase in sag; 2) Low-temperature superposition effect: Ice coating is usually accompanied by low temperature. The self-shrinkage of the designed power line will partially offset the increase in sag caused by the ice coating, but the ice weight dominates, and the overall sag will still increase significantly; 3) Uneven ice coating: Unilateral ice coating may cause the designed power line to twist or gallop, intensifying mechanical stress and sag fluctuations. Considering the above influences, the user determines the sag of the designed power line based on the values of wind speed, temperature, and ice coating amount according to experience.

[0075] At this time, in this embodiment, an unselected preset scenario environment is selected, and the design coordinate data of the designed power line is adjusted based on the preset scenario environment to obtain the adjusted coordinate data of the designed power line. The preset scenario environment includes the values of wind speed, temperature, and ice coating amount.

[0076] Among them, adjusting the design coordinate data based on the preset scenario environment specifically includes: calculating the wind deflection distance of the designed power line based on the wind speed; calculating the sag of the designed power line based on the wind speed, temperature, and ice coating amount; and adjusting the design coordinate data based on the wind deflection distance and sag of the designed power line.

[0077] (3) Point cloud data processing and integration

[0078] Since both the 3D point cloud data of the planned area and the adjusted coordinate data of the designed power line are in 3D coordinates, and the 3D point cloud data and the adjusted coordinate data are in the same coordinate system, by inputting the adjusted coordinate data, 3D points with the same coordinates as the adjusted coordinate data can be determined in the 3D point cloud data. These 3D points are the 3D points belonging to the designed power line in the 3D point cloud data. Thus, the designed power line can be presented at the corresponding coordinate positions in the 3D point cloud data, which is equivalent to integrating the adjusted coordinate data and the 3D point cloud data in the 3D point cloud data. The adjusted coordinate data of the designed power line is contained in the 3D point cloud data. At this time, the input is: the 3D point cloud data and the adjusted coordinate data, and the output is the integrated point cloud data. This integrated point cloud data can be used for further analysis, such as dangerous point detection, etc.

[0079] At this time, in this embodiment, based on the adjusted coordinate data of the designed power line, 3D points belonging to the designed power line are marked in the 3D point cloud data to obtain the integrated point cloud data.

[0080] After importing the adjusted coordinate data of the designed power line into the 3D point cloud data to obtain the integrated point cloud data, this embodiment can also perform:

[0081] 1) Data preprocessing: Centralize and standardize (also known as scale scaling) the integrated point cloud data. Move the coordinate origin to the center of the 3D point cloud data through centralization, and limit the absolute value of the coordinates of all 3D points within 1 through standardization to obtain the preprocessed point cloud data.

[0082] 2) Downsampling of the point cloud: Downsample the preprocessed point cloud data to obtain the downsampled point cloud data, reduce the data volume, and improve the calculation efficiency.

[0083] 3) Feature extraction: Extract useful features in the downsampled point cloud data, such as the distance, angle, curvature, etc. between 3D points. These features are crucial for identifying the relationship between the designed power line and the surrounding environment.

[0084] 4) Based on the distance between 3D points, determine 3D points in the downsampled point cloud data that are at a distance greater than the preset distance from the designed power line, and delete these 3D points to screen the integrated point cloud data and obtain the screened point cloud data.

[0085] At this time, in this embodiment, 3D points in the integrated point cloud data that are at a distance greater than the preset distance from the designed power line are deleted to screen the integrated point cloud data and obtain the screened point cloud data.

[0086] Among them, deleting 3D points in the integrated point cloud data that are at a distance greater than the preset distance from the designed power line to obtain the screened point cloud data specifically includes:

[0087] 1) Centralize and standardize the integrated point cloud data to obtain the preprocessed point cloud data.

[0088] 2) Downsample the preprocessed point cloud data to obtain the downsampled point cloud data.

[0089] 3) Delete the three-dimensional points in the downsampled point cloud data whose distance from the designed power line is greater than the preset distance to obtain the filtered point cloud data.

[0090] Through the above steps, the collected three-dimensional point cloud data and the adjusted coordinate data of the designed power line can be combined into useful information for detecting dangerous points during the power line design process.

[0091] (4) Point cloud data classification

[0092] Use a machine learning classification model to separate existing power lines, buildings, roads, bridges, trees, mountains, etc. in the planned area to obtain the target object recognition result. If the target object recognition result is incorrect, the 2D section or 3D section tool can be used manually to edit the target object recognition result.

[0093] Specifically, the machine learning classification model can use a deep learning model. The deep learning model can directly process point cloud data without meshing or feature engineering. Specifically, an appropriate deep learning model can be selected according to the characteristics of the point cloud data, and the model parameters of the deep learning model can be adjusted to optimize the performance. Then, the target objects in the point cloud data are marked to obtain the marked point cloud data set. The marked point cloud data set is used to train and validate the deep learning model. Specifically, the deep learning model is trained. During the training process, cross-validation is used to evaluate the generalization ability of the deep learning model to ensure that the deep learning model can maintain stable performance on different data sets. The trained deep learning model can classify and segment new point cloud data.

[0094] The deep learning model used in this embodiment can be a deep learning model that can directly process point cloud data. It can extract the global features of the point cloud data through symmetric functions and multi-layer perceptrons, extract the local features of the point cloud data through a hierarchical point set abstraction layer, and classify and segment the point cloud data based on the global features and local features.

[0095] At this time, in this embodiment, the screened point cloud data is used as the input, and the trained point cloud data recognition model is used to recognize the target objects in the screened point cloud data, and the target object recognition result is obtained. The target object recognition result includes the three-dimensional points belonging to each target object in the screened point cloud data and the type of each target object. The types of target objects include existing power lines, buildings, roads, bridges, trees, and mountains.

[0096] Among them, the trained point cloud data recognition model adopts a machine learning classification model, specifically, a deep learning model can be used, and any existing deep learning model can be directly selected.

[0097] (5) Judgment of dangerous points

[0098] In this embodiment, according to the pre-designed preset scenario environment and in combination with various regulations and specifications, such as the "Design Code for 110kV - 750kV Overhead Transmission Lines", or according to custom settings, the values of the safety distances of different voltage levels to the ground, cross-span, and wind deflection distance are input, that is, the ground distance safety value, cross-span distance safety value, and wind deflection distance safety value are determined according to various regulations and specifications or user requirements, so as to complete the design of the power line safety distance.

[0099] The ground distance safety value and the cross-span distance safety value are determined according to the "Design Code for 110kV - 750kV Overhead Transmission Lines", specifically including: the minimum distance between the conductor and the ground: set by voltage level, 110kV ≥ 7m, 220kV ≥ 7.5m, 500kV ≥ 14m; the minimum clearance distance between the conductor and the hillside, cliff, and rock: set by voltage level, 110kV ≥ 5m, 220kV ≥ 5.5m, 500kV ≥ 8.5m; the minimum vertical distance between the conductor and the building: set by voltage level, 110kV ≥ 5m, 220kV ≥ 6m, 500kV ≥ 9m; the minimum clearance distance between the conductor and the building: set by voltage level, 110kV ≥ 4m, 220kV ≥ 5m, 500kV ≥ 8.5m; the minimum vertical distance between the conductor and the tree (considering the natural growth height): set by voltage level, 110kV ≥ 4.0m, 220kV ≥ 4.5m, 500kV ≥ 7m; the minimum clearance distance between the conductor and the tree: set by voltage level, 110kV ≥ 3.5m, 220kV ≥ 4m, 500kV ≥ 7m; the minimum vertical distance between the conductor and the power line: set by voltage level, 110kV ≥ 3.0m, 220kV ≥ 4.0m, 500kV ≥ 6.0m.

[0100] Through a preset intelligent recognition mechanism, in the filtered point cloud data, it is judged whether the ground clearance distance, crossing distance and wind deflection distance of the designed power line meet the requirements to ensure that there are no safety hazards in the designed power line. Specifically, the ground clearance distance, crossing distance, wind deflection distance, etc. are calculated quickly. The ground clearance distance is the vertical distance from the designed power line to the ground (including the ground, road, bridge and mountain). The crossing distance is the distance from the designed power line to the object being crossed. The object being crossed is the target object crossed by the designed power line, and the object being crossed is specifically the existing power line, building, tree and mountain. At this time, the crossing distance is the vertical distance from the designed power line to the existing power line, the vertical distance and clearance distance from the designed power line to the building, the vertical distance and clearance distance from the designed power line to the tree, and the clearance distance from the designed power line to the mountain. The wind deflection distance is calculated based on the wind deflection distance calculation formula. In the case of known coordinates, the above various distances can be conveniently calculated. Then, the calculated various distances (i.e., the ground clearance distance, crossing distance and wind deflection distance) are compared with the set safety distances (i.e., the ground clearance distance safety value, crossing distance safety value and wind deflection distance safety value) to judge whether there are safety hazards. Specifically, the ground clearance distance is compared with the comparison distance safety value. The comparison distance safety value is the minimum distance from the conductor to the ground. The crossing distance is compared with the crossing distance safety value. When the crossing distances are the vertical distance from the designed power line to the existing power line, the vertical distance from the designed power line to the building, the clearance distance from the designed power line to the building, the vertical distance from the designed power line to the tree, the clearance distance from the designed power line to the tree, and the clearance distance from the designed power line to the mountain, the crossing distance safety values are respectively the minimum vertical distance from the conductor to the power line, the minimum vertical distance from the conductor to the building, the minimum clearance distance from the conductor to the building, the minimum vertical distance from the conductor to the tree, the minimum clearance distance from the conductor to the tree, and the minimum clearance distance from the conductor to the hillside, cliff and rock. The wind deflection distance is compared with the wind deflection distance safety value, and the wind deflection distance safety value can be set according to user needs to complete data verification. If it is detected that the calculated various distances do not meet the safety requirements compared with the set safety distances, that is, the calculated various distances are greater than the set safety distances, an alarm is triggered and pushed, and a visual alarm graph is generated. The alarm graph includes: the dangerous points that do not meet the safety distance are displayed in a specific color, and the currently calculated various distances, safety distances, and the differences between the calculated various distances and the safety distances can also be displayed, so as to complete the detection and alarm analysis of the dangerous points. It should be noted that the three-dimensional points that do not meet the safety distance are the dangerous points, so that the ground clearance dangerous points, crossing dangerous points and wind deflection dangerous points can be detected.

[0101] At this time, in this embodiment, the ground clearance and the crossing clearance of the designed power line are calculated based on the target object recognition result, and whether there are dangerous points in the planned area is judged based on the ground clearance and the crossing clearance, and a first judgment result is obtained. The crossing clearance is the distance from the designed power line to the crossed object, and the crossed object is the target object crossed by the designed power line.

[0102] Among them, judging whether there are dangerous points in the planned area based on the ground clearance and the crossing clearance, and obtaining a first judgment result specifically includes: judging whether the ground clearance is less than the ground clearance safety value, whether the crossing clearance is less than the crossing clearance safety value, and whether the wind deflection distance is less than the wind deflection distance safety value. If so, there are no dangerous points in the planned area, and the first judgment result is no; if not, there are dangerous points in the planned area, and the first judgment result is yes.

[0103] If the first judgment result is yes, the design coordinate data of the designed power line is adjusted based on the position of the dangerous point. Specifically, it can be adjusted manually. The adjustment principle is to make the designed power line away from the dangerous point, and select a preset scene environment again. That is, the selected preset scene environment at this time is the first preset scene environment, and return to the step of "select an unselected preset scene environment"; if the first judgment result is no, judge whether all the preset scene environments have been selected, and obtain a second judgment result; if the second judgment result is yes, use the design coordinate data of the designed power line as the installation position of the designed power line in the planned area; if the second judgment result is no, return to the step of "select an unselected preset scene environment".

[0104] After obtaining the first judgment result, the power line design method based on 3D point cloud data in this embodiment further includes: displaying the position of the dangerous point in the filtered point cloud data.

[0105] This embodiment completes the rapid early warning of the impact of the surrounding environment on the power line by integrating point cloud data processing technology, intelligent algorithms and intelligent pre-judgment feedback mechanisms. It mainly provides a method for processing point cloud data and quickly verifying whether the power line is affected by the surrounding environment. This method processes the point cloud data through a unique algorithm and can be widely used in the calculation of the safety distance of various overhead transmission and distribution lines. It can complete the design of the power line while ensuring the safety of the power line, bringing substantial technological progress to the power field. At the same time, this method has good versatility and scalability and can be widely used in different types of power industries and other industries.

[0106] The research and development background of the point cloud data processing and rapid verification method in this embodiment stems from a profound understanding of the limitations of traditional technologies, a keen insight into market demands and technological trends, and a clear setting of research and development motivations and goals. The limitations of traditional technologies refer to the fact that traditional technologies convert the collected point cloud data into a real scene model for design, resulting in reduced design efficiency in complex and changing working environments and a relatively long conversion process. Market demands and technological trends refer to the fact that intelligence is an important direction for the development of modern science and technology, and pre-judgment and early warning are inevitable choices to conform to this trend. Research and development motivations and goals refer to the fact that by introducing advanced algorithms and intelligent pre-judgment strategies, rapid early warning of potential safety hazards in power lines can be achieved, ensuring the stable operation of power lines in complex environments.

[0107] This embodiment has the following advantages:

[0108] (1) Improve work efficiency: Through direct early warning of point cloud data, the multi-platform conversion time such as point cloud data modeling is reduced, thereby maintaining the optimal work efficiency. Experimental data shows that after adopting this method, the work efficiency has been improved by about 50%.

[0109] (2) Rapid early warning: Through high-precision lidar and advanced data processing technologies, rapid early warning of abnormal situations can be carried out in point cloud data, effectively preventing the occurrence of potential safety hazards. Experimental data shows that the failure rate is reduced by 90%.

[0110] (3) Wide applicability: This method can easily adapt to different types of scenario requirements and can be used not only in the power industry but also in other industries.

[0111] In summary, the point cloud data processing and rapid verification method in this embodiment performs excellently in terms of improving work efficiency, rapid early warning, and applicability, bringing substantial technological progress to the electrical field.

[0112] This application also provides an application scenario that applies the above-mentioned power line design method based on three-dimensional point cloud data. Specifically, the power line design method based on three-dimensional point cloud data provided in this embodiment can be applied in the power line layout scenario. The power line layout scenario includes a design link and an installation link. The design link is used to determine the installation position of the power line in the planned area, and the installation link is used to lay the power line in the planned area based on the installation position of the power line in the planned area. The power line design method based on three-dimensional point cloud data provided in this embodiment belongs to the design link.

[0113] Embodiment 2

[0114] In an exemplary embodiment, a computer device is provided. The computer device can be a server or a terminal, and its internal structure diagram can be as Figure 3As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O), and a communication interface. Among them, the processor, the memory, and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with external terminals through a network connection. When the computer program is executed by the processor, it implements a power line design method based on three-dimensional point cloud data.

[0115] Those skilled in the art can understand that Figure 3 the structure shown in is only a block diagram of some structures related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0116] In an exemplary embodiment, a computer device is provided, including a memory and a processor. A computer program is stored in the memory. When the processor executes the computer program, it implements the power line design method based on three-dimensional point cloud data in Embodiment 1.

[0117] Embodiment 3

[0118] In an exemplary embodiment, a computer-readable storage medium is provided, storing a computer program. When the computer program is executed by the processor, it implements the power line design method based on three-dimensional point cloud data in Embodiment 1.

[0119] Embodiment 4

[0120] In an exemplary embodiment, a computer program product is provided, including a computer program. When the computer program is executed by the processor, it implements the power line design method based on three-dimensional point cloud data in Embodiment 1.

[0121] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in the present application are all information and data authorized by the user or fully authorized by all parties, and the collection, use, and processing of relevant data need to comply with relevant regulations.

[0122] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0123] Specific examples are used in this article to elaborate on the principles and implementation manners of the present application. The description of the above embodiments is only used to help understand the method and its core idea of the present application; at the same time, for those of ordinary skill in the art, according to the idea of the present application, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to the present application.

Claims

1. A power line design method based on three-dimensional point cloud data, characterized in that, The power line design method based on 3D point cloud data includes: Obtaining 3D point cloud data of a planning area and design coordinate data for designing a power line; the planning area is an area for laying out the designed power line; Selecting an unselected preset scenario environment, and adjusting the design coordinate data based on the preset scenario environment to obtain adjusted coordinate data; the preset scenario environment includes the values of wind speed, temperature, and ice accretion; Based on the adjusted coordinate data, identifying 3D points belonging to the designed power line in the 3D point cloud data to obtain integrated point cloud data; Deleting 3D points in the integrated point cloud data whose distance from the designed power line is greater than a preset distance to obtain filtered point cloud data; Using the filtered point cloud data as input, and using a trained point cloud data recognition model to recognize target objects in the filtered point cloud data to obtain target object recognition results; the target object recognition results include 3D points belonging to each target object in the filtered point cloud data and the type of each target object, and the types of target objects include existing power lines, buildings, roads, bridges, trees, and mountains; Calculating the ground clearance and crossing distance of the designed power line based on the target object recognition results, and judging whether there are dangerous points in the planning area based on the ground clearance and the crossing distance to obtain a first judgment result; the crossing distance is the distance from the designed power line to the crossed object, and the crossed object is the target object crossed by the designed power line; If the first judgment result is yes, then adjust the design coordinate data based on the position of the dangerous point, restart the selection of the preset scenario environment, and return to the step of "selecting an unselected preset scenario environment"; If the first judgment result is no, then judge whether all the preset scenario environments have been selected to obtain a second judgment result; If the second judgment result is yes, then use the design coordinate data as the installation position of the designed power line in the planning area; If the second judgment result is no, then return to the step of "selecting an unselected preset scenario environment".

2. The method for designing a power line based on three-dimensional point cloud data according to claim 1, wherein The 3D point cloud data is the point cloud data obtained by collecting the planning area from above by a lidar sensor carried by a drone.

3. The power line design method based on three-dimensional point cloud data according to claim 1, wherein, Adjusting the design coordinate data based on the preset scenario environment specifically includes: Calculating the wind deflection distance of the designed power line based on the wind speed; Calculating the sag of the designed power line based on the wind speed, temperature, and ice accretion; Adjusting the design coordinate data based on the wind deflection distance and sag of the designed power line.

4. The power line design method based on three-dimensional point cloud data according to claim 1, characterized in that Deleting 3D points in the integrated point cloud data whose distance from the designed power line is greater than a preset distance to obtain filtered point cloud data, specifically including: Performing centering processing and standardization processing on the integrated point cloud data to obtain preprocessed point cloud data; Performing downsampling processing on the preprocessed point cloud data to obtain downsampled point cloud data; Deleting 3D points in the downsampled point cloud data whose distance from the designed power line is greater than a preset distance to obtain filtered point cloud data.

5. The method for designing a power line based on three-dimensional point cloud data according to claim 1, wherein The trained point cloud data recognition model adopts a deep learning model.

6. The method for designing a power line based on three-dimensional point cloud data according to claim 3, characterized in that, Based on the ground distance and the cross-span distance, it is determined whether there are dangerous points in the planned area to obtain a first judgment result, which specifically includes: judging whether the ground distance is less than the ground distance safety value, whether the cross-span distance is less than the cross-span distance safety value, and whether the wind deflection distance is less than the wind deflection distance safety value. If so, there are no dangerous points in the planned area, and the first judgment result is negative. If not, there are dangerous points in the planned area, and the first judgment result is positive.

7. The power line design method based on three-dimensional point cloud data according to claim 1, characterized in that After obtaining the first judgment result, the power line design method based on three-dimensional point cloud data further includes: displaying the positions of the dangerous points in the filtered point cloud data.

8. A computer device, comprising: A memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor executes the computer program to implement the power line design method based on three-dimensional point cloud data according to any one of claims 1-7.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the power line design method based on three-dimensional point cloud data according to any one of claims 1-7.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the power line design method based on three-dimensional point cloud data according to any one of claims 1-7.

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