Power transmission line crossing point fault maintenance method and system

Abstract

The invention relates to the technical field of power restoration of power transmission lines, and discloses a power transmission line crossing point fault maintenance method and system. Multi-dimensional data of crossing points of the power transmission line are obtained through an automatic means, point cloud data are generated through preprocessing, a three-dimensional topological structure is constructed, feature vectors are extracted, then the safety risk value is calculated, the risk level is determined according to the preset interval, and finally a first-aid repair scheme is formulated and executed in a targeted mode. According to the invention, the whole process is driven by data to realize full-link intelligentization from acquisition, analysis to decision making, and a traditional manual detection mode is replaced. The method is used for solving the technical problems that in the prior art, an inspector needs to carry equipment such as a theodolite and a range finder to go to a target crossing point for on-site detection, the process highly depends on artificial experience, time and labor are wasted, and large limitation exists.

Description

Technical Field

[0001] The present invention relates to the technical field of power restoration of transmission lines, and in particular to a method and system for repairing faults at crossing points of transmission lines. Background Art

[0002] In modern power distribution networks, crossing points, as the intersection area of ​​lines of different voltage levels, have the characteristics of complex spatial structure, sensitive safety margin, and significant dynamic coupling effect. They are the weak link in the safe operation of the power grid.

[0003] However, existing maintenance and repair work at transmission line crossings primarily relies on manual inspections. However, this method requires inspectors to carry equipment such as theodolites and rangefinders to conduct on-site inspections at the target crossings. This process relies heavily on manual experience, is time-consuming and labor-intensive, and presents significant limitations. Summary of the Invention

[0004] The present invention provides a method and system for troubleshooting transmission line crossing points, which solves the technical problem that the existing technology requires inspection personnel to carry equipment such as theodolites and rangefinders to conduct on-site inspections at target crossing points. This process is highly dependent on manual experience, is time-consuming and labor-intensive, and has significant limitations.

[0005] A first aspect of the present invention provides a method for troubleshooting a transmission line crossing point fault, comprising:

[0006] Acquire multi-dimensional data of transmission line crossing points and pre-process them to generate point cloud data;

[0007] constructing a three-dimensional topological structure of the transmission line crossing point using the point cloud data, and extracting a feature vector of the three-dimensional topological structure;

[0008] Calculating a safety risk value of the transmission line crossing point based on the characteristic vector;

[0009] Determining the safety risk level corresponding to the transmission line crossing point according to the preset safety risk level interval in which the safety risk value lies;

[0010] According to the safety risk level corresponding to the transmission line crossing point, an emergency repair plan corresponding to the safety risk level is formulated, and emergency repair measures are implemented in accordance with the emergency repair plan.

[0011] Optionally, the acquiring of multidimensional data of the transmission line crossing points and preprocessing to generate point cloud data includes:

[0012] Equip drones with thermal imaging cameras, high-frequency lidar, and multispectral sensors;

[0013] Using the thermal imaging camera to capture temperature field data of the conductors, towers and vegetation corresponding to the crossing points of the transmission lines;

[0014] The high-frequency laser radar is used to collect spatial geometric point cloud data of the conductors, towers and vegetation corresponding to the crossing points of the transmission lines;

[0015] Using the multispectral sensor to collect spectral reflectance data of the conductors, towers and vegetation corresponding to the crossing points of the transmission lines;

[0016] fusing the temperature field data, the spatial geometric point cloud data, and the spectral reflectance data to generate multidimensional data;

[0017] The multi-dimensional data is pre-processed to generate point cloud data.

[0018] Optionally, preprocessing the multidimensional data to generate point cloud data includes:

[0019] Performing data preprocessing on the multidimensional data to generate updated multidimensional data;

[0020] The updated multi-dimensional data is converted into a point cloud data format to generate point cloud data.

[0021] Optionally, constructing a three-dimensional topological structure of the transmission line crossing point using the point cloud data and extracting a feature vector of the three-dimensional topological structure includes:

[0022] Using a point cloud segmentation algorithm to separate the point cloud data of the transmission line crossing point, generating a conductor point cloud, a tower point cloud, and a vegetation point cloud of the transmission line crossing point;

[0023] Using the conductor point cloud, the tower point cloud and the vegetation point cloud, construct a three-dimensional topological structure of the transmission line crossing point;

[0024] The geometric feature vector, physical feature vector and environmental feature vector of the three-dimensional topological structure are extracted.

[0025] Optionally, calculating the safety risk value of the transmission line crossing point based on the characteristic vector includes:

[0026] Based on the geometric characteristic vector, a conductor sag safety risk value, a conductor crossing angle safety risk value, and a real-time clearance distance safety risk value corresponding to the geometric safety risk are calculated;

[0027] Determining a geometric safety risk value of the transmission line crossing point according to the conductor sag safety risk value, the conductor crossing angle safety risk value, the real-time clearance distance safety risk value, and a preset conductor sag weight coefficient, a preset conductor crossing angle weight coefficient, and a preset real-time clearance distance weight coefficient;

[0028] Based on the physical characteristic vector, calculating the temperature gradient safety risk value, the hardware integrity safety risk value, and the conductor stress safety risk value corresponding to the physical safety risk;

[0029] Determine the physical safety risk value of the transmission line crossing point based on the temperature gradient safety risk value, the hardware integrity safety risk value, the conductor stress safety risk value, and a preset temperature gradient weight coefficient, a preset hardware integrity weight coefficient, and a preset conductor stress weight coefficient;

[0030] Based on the environmental characteristic vector, calculating the vegetation encroachment safety risk value, the wind speed impact safety risk value, and the rainfall safety risk value corresponding to the environmental safety risk;

[0031] The environmental safety risk value of the transmission line crossing point is determined based on the vegetation encroachment safety risk value, the wind speed impact safety risk value, the rainfall safety risk value, and the preset vegetation encroachment weight coefficient, the preset wind speed impact weight coefficient, and the preset rainfall weight coefficient.

[0032] Optionally, determining the safety risk level corresponding to the transmission line crossing point according to the preset safety risk level interval in which the safety risk value lies includes:

[0033] Determining the geometric safety risk level corresponding to the transmission line crossing point according to the preset geometric safety risk level interval in which the geometric safety risk value lies;

[0034] Determining the physical security risk level corresponding to the transmission line crossing point according to the preset physical security risk level interval in which the physical security risk value falls;

[0035] Determining the environmental safety risk level corresponding to the transmission line crossing point according to the preset environmental safety risk level interval in which the environmental safety risk value lies;

[0036] A weighted comprehensive index calculation is performed using the geometric safety risk level, the physical safety risk level, the environmental safety risk level, and a preset geometric weight coefficient, a preset physical weight coefficient, and a preset environmental weight coefficient to generate a comprehensive safety risk value corresponding to the transmission line crossing point;

[0037] Based on the preset safety risk level interval in which the comprehensive safety risk value lies, the safety risk level corresponding to the transmission line crossing point is determined.

[0038] Optionally, formulating an emergency repair plan corresponding to the safety risk level according to the safety risk level corresponding to the transmission line crossing point, and executing emergency repair measures according to the emergency repair plan, includes:

[0039] When the safety risk level corresponding to the transmission line crossing point is red, formulate a first emergency repair plan corresponding to the safety risk level;

[0040] When the safety risk level corresponding to the transmission line crossing point is orange, formulate a second emergency repair plan corresponding to the safety risk level;

[0041] When the safety risk level corresponding to the transmission line crossing point is yellow, formulate a third emergency repair plan corresponding to the safety risk level;

[0042] Perform emergency repair measures according to the first emergency repair plan, the second emergency repair plan, or the third emergency repair plan.

[0043] A second aspect of the present invention provides a transmission line crossing point fault inspection and repair system, comprising:

[0044] An acquisition module is used to acquire multi-dimensional data of transmission line crossing points and perform pre-processing to generate point cloud data;

[0045] An extraction module, configured to construct a three-dimensional topological structure of the transmission line crossing point using the point cloud data, and extract a feature vector of the three-dimensional topological structure;

[0046] A calculation module, configured to calculate a safety risk value of the transmission line crossing point based on the characteristic vector;

[0047] A safety risk module, configured to determine a safety risk level corresponding to the transmission line crossing point according to a preset safety risk level interval in which the safety risk value falls;

[0048] An execution module is used to formulate an emergency repair plan corresponding to the safety risk level according to the safety risk level corresponding to the transmission line crossing point, and to execute emergency repair measures according to the emergency repair plan.

[0049] A third aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed, implements the transmission line crossing point fault repair method as described in any one of the above items.

[0050] A fourth aspect of the present invention provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions, wherein when the program instructions are executed by a computer, the computer executes the transmission line crossing point fault repair method as described in any one of the above items.

[0051] It can be seen from the above technical solutions that the present invention has the following advantages:

[0052] The present invention obtains multi-dimensional data of the crossing points of transmission lines through automated means, generates point cloud data through pre-processing, constructs a three-dimensional topological structure and extracts feature vectors, and then calculates the safety risk value, determines the risk level according to the preset interval, and finally formulates and implements a targeted emergency repair plan. The entire process is data-driven to achieve full-link intelligence from collection, analysis to decision-making, replacing the traditional manual detection method. The present invention completely changes the traditional mode of manual field inspection with equipment. There is no need for inspection personnel to go to the site in person, and it gets rid of the high dependence on manual experience, which greatly reduces manpower investment and time cost. Through automated data processing and intelligent risk assessment, the problems of time-consuming and labor-intensive traditional methods and large limitations are effectively overcome, and the efficiency and accuracy of safety risk assessment of crossing points of transmission lines are significantly improved, providing more reliable protection for the safe operation of transmission lines. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0054] Figure 1 A flowchart of a method for troubleshooting a transmission line crossing point fault provided in the first embodiment of the present invention;

[0055] Figure 2 A flowchart of a method for troubleshooting a transmission line crossing point fault provided in the second embodiment of the present invention;

[0056] Figure 3 This is a structural block diagram of a transmission line crossing point fault inspection and repair system provided in the third embodiment of the present invention. DETAILED DESCRIPTION

[0057] The embodiments of the present invention provide a method and system for troubleshooting transmission line crossing points, which are used to solve the technical problem that the existing technology requires inspection personnel to carry equipment such as theodolites and rangefinders to conduct on-site inspections at target crossing points. This process is highly dependent on manual experience, is time-consuming and labor-intensive, and has significant limitations.

[0058] In order to make the purpose, features, and advantages of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0059] See also Figure 1 , Figure 1 This is a flowchart of the steps of a method for troubleshooting a transmission line crossing point fault provided in the first embodiment of the present invention.

[0060] The present invention provides a method for troubleshooting a transmission line crossing point fault, comprising the following steps:

[0061] Step 101: Acquire multidimensional data of transmission line crossing points and perform preprocessing to generate point cloud data.

[0062] In the embodiments of the present invention, transmission line crossing points refer to locations where different transmission lines intersect or cross one another, or where transmission lines intersect or cross other facilities such as railways, roads, rivers, and buildings. These locations are key areas for transmission line safety monitoring due to their complex structures and unique stresses, making them prone to potential safety hazards.

[0063] Multidimensional data refers to data collected from multiple angles and levels. For transmission line crossings, this includes three-dimensional spatial coordinate data (position information in the X, Y, and Z axes) to determine the specific location of the crossing; distance data, such as the vertical and horizontal distances between conductors and between conductors and towers, to determine whether safety distance requirements are met; angle data, such as the inclination of conductors; and image data captured by cameras, which contains visual information such as texture and color. These multidimensional data complement each other to comprehensively describe the status of the crossing.

[0064] Point cloud data refers to a dataset that represents the surface morphology of objects in three-dimensional space as a large number of discrete points. In power transmission line monitoring, each point in this point cloud data contains precise three-dimensional coordinates (X, Y, Z), and some points may also include attribute information such as color and reflectivity. These points are like the "cloud-like" particles that make up an object. By analyzing and processing these points, the three-dimensional morphology of transmission line crossings can be intuitively restored, providing accurate data support for subsequent operations such as constructing three-dimensional topological structures and extracting feature vectors.

[0065] Drones equipped with advanced equipment such as lidar and high-definition cameras fly along power transmission lines, collecting comprehensive data at crossing points. The collected data spans multiple dimensions, encompassing spatial geometry, temperature, spectral reflectance, and other information. After collection, the data undergoes preprocessing, including cleaning, noise reduction, and format conversion, to remove interference and invalid data. The data is then converted into a collection of discrete points, or point cloud data. These points contain key information, such as the 3D coordinates of the object's surface, laying the foundation for the subsequent construction of a 3D topological structure.

[0066] Step 102: construct a three-dimensional topological structure of the transmission line crossing points using point cloud data, and extract feature vectors of the three-dimensional topological structure.

[0067] In the embodiment of the present invention, a three-dimensional topological structure refers to a structural feature of an object or scene described in three-dimensional space through the connection relationship and spatial position relationship of geometric elements such as points, lines, and surfaces.

[0068] By constructing a three-dimensional topological structure, the spatial layout of the crossing points of transmission lines can be intuitively presented, such as the crossing angle between conductors, the vertical distance between conductors and crossing objects, the degree of curvature of the line direction, etc., providing a visual basis for analyzing structural stability and potential risks.

[0069] An eigenvector is a set of numerical vectors consisting of multidimensional eigenvalues ​​that quantitatively describe the key attributes of a three-dimensional topological structure. In transmission line safety assessments, these eigenvalues ​​are typically extracted from the 3D topological structure through algorithms, reflecting the structure's geometric characteristics, spatial relationships, or potential risk trends.

[0070] Using the 3D coordinates and attribute information of discrete points in point cloud data, algorithms connect these points into geometric elements such as lines, surfaces, and volumes, restoring the spatial form of transmission line crossings and forming a 3D topological structure (such as the crossing pattern of conductors and the spatial relationship between the crossing object and the line). This structure is then used to extract quantitative indicators that characterize its essential characteristics, known as eigenvectors, to provide data support for subsequent safety risk assessments.

[0071] Step 103: Calculate the safety risk value of the transmission line crossing point based on the characteristic vector.

[0072] In this embodiment of the present invention, the safety risk value is a numerical indicator derived through quantitative analysis that visually reflects the potential safety risk level faced by transmission line crossings. It integrates multiple factors, such as the geometric structural characteristics of the crossings and the impact of the spatial environment, to transform complex risk factors into a single numerical result, enabling operations and maintenance personnel to quickly identify high-risk areas.

[0073] The feature vectors extracted from the 3D topology (such as quantitative indicators like conductor spacing, crossing angle, and sag height) are input into a pre-built risk assessment model. This model, typically based on machine learning algorithms (such as random forests and neural networks) or mathematical formulas, assigns weights to the various indicators in the feature vectors, performs correlation analysis, and performs comprehensive calculations. Ultimately, it outputs a numerical value representing the safety risk level at the crossing point, known as the safety risk value.

[0074] Step 104: Determine the safety risk level corresponding to the transmission line crossing point according to the preset safety risk level interval in which the safety risk value falls.

[0075] In this embodiment of the present invention, the preset safety risk level interval refers to a manually defined numerical range used to define safety risk levels and serves as the basis for risk classification management. The division of these intervals must comprehensively consider the design specifications, operational safety requirements, and historical accident data of the transmission line to ensure that each interval corresponds to clear risk characteristics and treatment strategies.

[0076] The safety risk level, determined by the safety risk value range, is used to visually represent the safety status of transmission line crossings. It represents a high-level abstraction of complex risk factors, conveying the severity of the risk in a concise grading format (e.g., "yellow," "orange," or "red").

[0077] Based on industry standards for transmission line operation and maintenance, historical fault data, and expert experience, several safety risk level intervals are predefined (e.g., the numerical ranges corresponding to yellow, orange, and red). The calculated safety risk value is then compared with these intervals to determine its corresponding range and, therefore, the safety risk level of the crossing point. This process achieves standardized classification of risk assessment results, facilitating rapid response and tiered management by operation and maintenance personnel.

[0078] Step 105: formulate an emergency repair plan corresponding to the safety risk level according to the safety risk level corresponding to the transmission line crossing point, and implement emergency repair measures according to the emergency repair plan.

[0079] In this embodiment of the present invention, a repair plan refers to a set of pre-defined, targeted, and actionable strategies for different safety risk levels. It serves as an "action guide" for transmission line operations and maintenance. Based on historical fault data, equipment maintenance experience, and industry standards, it develops standardized solutions for various risk scenarios, ensuring efficient and standardized operations and maintenance.

[0080] Based on the identified safety risk level (e.g., yellow, orange, or red), the corresponding standardized response strategies from the pre-defined emergency repair plan library are invoked. For example, a red risk level triggers an immediate power outage, drone swarm deployment of temporary support towers, or AR-guided repairs, with a timeframe of ≤2 hours. An orange risk level triggers a load limit of 80%, drone re-inspections every 15 minutes, and pre-positioning of repair resources, with a timeframe of ≤24 hours. A yellow risk level triggers daily drone inspections, trend reporting, and cloud-based data monitoring.

[0081] The present invention obtains multi-dimensional data of the crossing points of transmission lines through automated means, generates point cloud data through pre-processing, constructs a three-dimensional topological structure and extracts feature vectors, and then calculates the safety risk value, determines the risk level according to the preset interval, and finally formulates and implements a targeted emergency repair plan. The entire process is data-driven to achieve full-link intelligence from collection, analysis to decision-making, replacing the traditional manual detection method. The present invention completely changes the traditional mode of manual field inspection with equipment. There is no need for inspection personnel to go to the site in person, and it gets rid of the high dependence on manual experience, which greatly reduces manpower investment and time cost. Through automated data processing and intelligent risk assessment, the problems of time-consuming and labor-intensive traditional methods and large limitations are effectively overcome, and the efficiency and accuracy of safety risk assessment of crossing points of transmission lines are significantly improved, providing more reliable protection for the safe operation of transmission lines.

[0082] See also Figure 2 , Figure 2 A flowchart of the steps of a method for troubleshooting a transmission line crossing point fault provided in the second embodiment of the present invention.

[0083] The present invention provides a method for troubleshooting a transmission line crossing point fault, comprising the following steps:

[0084] Step 201: Equip the drone with a thermal imaging camera, a high-frequency laser radar, and a multispectral sensor.

[0085] In the embodiment of the present invention, the drone refers to a multi-rotor drone cluster, including several master drones and several slave drones.

[0086] A thermal imaging camera is a device that detects infrared radiation (heat) emitted by an object and converts the thermal signal into a visual image. Its core principle is to utilize the varying intensities of infrared radiation caused by differences in an object's temperature. After receiving and processing the infrared radiation, the sensor generates an image reflecting the surface temperature distribution (typically using different colors to represent temperature, such as red for high temperatures and blue for low temperatures).

[0087] High-frequency lidar is an active remote sensing device that uses laser pulses to detect and measure distance to targets. Its operating principle is to emit a high-frequency laser beam (tens of thousands to millions of pulses per second) and measure the time difference between the laser's emission and its reflection back to the sensor. This allows the system to calculate parameters such as the target's distance, position, and speed, and then construct a three-dimensional spatial model from massive point cloud data.

[0088] A multispectral sensor is a device that can simultaneously capture radiation information from a target across multiple specific spectral bands (such as visible light, near-infrared, mid-infrared, and microwaves). It decomposes incident light into multiple narrow spectral bands, each corresponding to a specific wavelength range, thereby capturing the characteristic differences of the target across different spectra (for example, vegetation has high reflectivity in the near-infrared band, while water has high absorptivity in the visible blue band).

[0089] The main drone is equipped with a high-frequency lidar, and the auxiliary drone is equipped with a thermal imaging camera and a multispectral sensor to obtain multi-dimensional data of the crossing points of the transmission lines.

[0090] Step 202: Use a thermal imaging camera to capture temperature field data of the conductors, towers, and vegetation corresponding to the crossing points of the transmission lines.

[0091] In the embodiment of the present invention, temperature field data refers to visual data and quantitative information obtained through thermal imaging technology that reflects the temperature distribution state of the surface of the target object.

[0092] It is worth mentioning that thermal imaging cameras receive infrared radiation emitted by objects through built-in infrared sensors, and generate temperature distribution images (thermal maps) after signal processing. Different colors in the image correspond to different temperature values ​​(such as red represents high temperature areas and blue represents low temperature areas).

[0093] Thermal imaging cameras are used to conduct infrared detection of conductors, tower structures, and surrounding vegetation near the crossing points of transmission lines. By capturing the infrared energy radiated by these objects themselves, it is converted into visual temperature distribution data for analyzing the heating conditions and potential safety hazards in the area.

[0094] Step 203: Use a high-frequency laser radar to collect spatial geometric point cloud data of the conductors, towers, and vegetation corresponding to the crossing points of the transmission lines.

[0095] In the embodiment of the present invention, spatial geometric point cloud data refers to a data set composed of a large number of discrete points obtained through three-dimensional scanning technologies such as lidar. Each point contains three-dimensional spatial coordinates (X, Y, Z), reflection intensity (echo signal intensity, which can reflect the surface material of the object) and other information, which is used to accurately describe the spatial position, geometric shape, surface features and mutual relationships of the target object.

[0096] High-frequency laser range finder (LiDAR) equipment is used to scan the conductors, tower structures, and surrounding vegetation near the crossing points of transmission lines. Laser pulses are used to measure the spatial position and geometric shape of the target objects, generating a three-dimensional point cloud dataset composed of massive discrete points. This data is used to analyze the spatial structural relationships and potential safety hazards in the area (such as insufficient distance between conductors and vegetation, tilted towers, etc.).

[0097] Step 204: Use a multispectral sensor to collect spectral reflectance data of the conductors, towers, and vegetation corresponding to the crossing points of the transmission lines.

[0098] In the present embodiment, spectral reflectance data refers to the ratio (expressed as a percentage) of the reflected light energy to the incident light energy when an object is illuminated by light of different wavelengths. This data reflects the object's absorption and reflection characteristics for light of different wavelengths. Objects of different materials or conditions have unique spectral reflectance curves, acting as "spectral fingerprints" that can be used to distinguish object types or determine their condition.

[0099] Multispectral sensor equipment is used to perform spectral scanning of conductors, tower structures and surrounding vegetation near the crossing points of transmission lines to obtain information on the reflectivity of these objects under different wavelengths of light, forming a spectral data set reflecting their material properties and status. This data is used to analyze the material properties, health status or potential hidden dangers of the target objects (such as conductor oxidation, vegetation pests and diseases, etc.).

[0100] Step 205: Fusing the temperature field data, the spatial geometric point cloud data, and the spectral reflectance data to generate multi-dimensional data.

[0101] In this embodiment of the present invention, three different dimensions of detection data (thermal imaging temperature information, lidar spatial geometry information, and multispectral material / state information) are organically combined. Algorithms and technical means are used to eliminate redundancy and conflict between the data, resulting in a unified dataset containing multi-dimensional information such as spatial location, temperature characteristics, material properties, and state parameters. This multi-dimensional data provides a more comprehensive and comprehensive description of the actual conditions at transmission line crossings, providing a more accurate basis for risk assessment, hazard location, and decision-making analysis.

[0102] Step 206: Preprocess the multi-dimensional data to generate point cloud data.

[0103] In an embodiment of the present invention, the original multidimensional data is cleaned, converted and integrated to meet the requirements of subsequent processing, and then the attribute information such as temperature and spectrum is fused with the spatial geometric point cloud of the lidar to generate a three-dimensional point cloud with multidimensional attributes. Each point cloud contains not only spatial coordinates (X, Y, Z), but also carries characteristics such as temperature value and spectral reflectivity.

[0104] Furthermore, step 206 includes the following sub-steps:

[0105] S11. Preprocess the multidimensional data to generate updated multidimensional data.

[0106] In the embodiment of the present invention, updating multidimensional data refers to data obtained after cleaning, converting and integrating original multidimensional data.

[0107] Specifically, data preprocessing involves cleaning, converting, and integrating raw multidimensional data to meet subsequent processing requirements. Data preprocessing includes:

[0108] Data cleaning: remove noise points and outliers (such as jump values ​​in the temperature field and outliers in the point cloud).

[0109] Coordinate alignment (registration): Unify the data collected by different sensors into the same coordinate system (for example, based on the three-dimensional coordinate system of the lidar) to ensure consistency in spatial position.

[0110] Time synchronization: If there is a time difference in data collection, the timestamps need to be aligned (for example, in dynamic monitoring of power transmission lines, ensure that temperature, spectral data and point cloud data correspond to the same time).

[0111] Format conversion: Convert data in different formats (such as grayscale images of thermal imaging and CSV tables of spectra) into a unified format (such as the .pcd or .las formats commonly used for 3D point clouds).

[0112] Dimensionality reduction / interpolation: compress redundant data (such as point cloud thinning) or interpolate missing data (such as filling invalid values ​​in a certain band in spectral data).

[0113] S12. Convert the updated multi-dimensional data into a point cloud data format to generate point cloud data.

[0114] In an embodiment of the present invention, attribute information such as temperature and spectrum is fused with the spatial geometric point cloud of the lidar to generate a three-dimensional point cloud with multi-dimensional attributes, so that each point cloud not only contains spatial coordinates (X, Y, Z), but also carries characteristics such as temperature value and spectral reflectivity.

[0115] Specifically, based on the point cloud coordinates of the lidar, the corresponding temperature value and spectral reflectivity are matched for each spatial point.

[0116] For example, the coordinates of a point cloud (X1, Y1, Z1) correspond to the temperature value T0 at the same location in the thermal image, and the reflectivity value R1 of the multispectral sensor at that location (such as the reflectivity of the red, green, blue, and near-infrared bands).

[0117] The fused multidimensional data is stored in point cloud format and stored in the point cloud database.

[0118] The generated multidimensional point cloud can be visualized using professional software (such as CloudCoMP25011454are and LiDAR360). Each point can be rendered in color based on temperature or spectral properties (e.g., the higher the temperature, the redder the color), facilitating analysis of transmission line crossing points:

[0119] Spatial structure: conductor sag, tower inclination, distance between vegetation and lines (based on point cloud geometry).

[0120] Thermal anomalies: overheating of conductor joints and heating of insulators (based on temperature field data).

[0121] Vegetation type / health status: Spectral reflectance is used to determine vegetation type and the presence of pests and diseases (e.g., a decrease in chlorophyll content leads to a change in near-infrared reflectance).

[0122] Step 207: construct a three-dimensional topological structure of the transmission line crossing points using the point cloud data, and extract a feature vector of the three-dimensional topological structure.

[0123] In an embodiment of the present invention, discrete point cloud data is converted into a three-dimensional topological structure with physical significance and further refined into computable feature vectors, providing core data support for the intelligent and digital operation and maintenance of transmission lines.

[0124] Furthermore, step 207 includes the following sub-steps:

[0125] S21. Use a point cloud segmentation algorithm to separate the point cloud data of the transmission line crossing points, and generate conductor point clouds, tower point clouds, and vegetation point clouds of the transmission line crossing points.

[0126] In an embodiment of the present invention, a point cloud segmentation algorithm refers to an automated classification technology based on point cloud data, which divides mixed point cloud data into different categories (such as conductors, poles, and vegetation) by analyzing the spatial geometric features, attribute differences, or contextual relationships of the point cloud.

[0127] The conductor point cloud refers to the set of points belonging to the transmission line conductors extracted by the point cloud segmentation algorithm, which represents the spatial position and shape of the conductors.

[0128] A tower point cloud refers to a set of points belonging to a transmission tower (including foundation, tower body, crossarms, insulators, etc.) extracted by a point cloud segmentation algorithm, which represents the spatial structure and physical properties of the tower.

[0129] Vegetation point cloud refers to the set of points extracted by the point cloud segmentation algorithm that belong to vegetation (trees, shrubs, weeds, etc.) in the intersection point area, which represents the spatial distribution and growth status of vegetation.

[0130] The point cloud segmentation algorithm is used to separate the point clouds of conductors, towers and vegetation in the point cloud data, and then the point clouds corresponding to the conductor elements, tower elements and vegetation elements corresponding to the crossing points of the transmission lines are obtained.

[0131] S22. Use conductor point cloud, tower point cloud and vegetation point cloud to construct the three-dimensional topological structure of the transmission line crossing points.

[0132] In the embodiment of the present invention, the improved DBSCAN clustering algorithm is used to separate the point clouds of different objects such as conductors, towers, and vegetation; the conductors in the point cloud data are extracted, and RANSAC linear fitting is performed to extract the conductor space equation expressed as , (where, The value (a, b, c) is represented as a reference point on the conductor (the fitted conductor suspension point or the detection starting point). The direction vector (a, b, c) represents the conductor's orientation (horizontal azimuth and elevation angle). The physical meaning demonstrated by the formula is represented as a straight line in three-dimensional space. The shortest distance between the extracted conductors is calculated. If the distance is less than the set threshold, it is determined to be a transmission line crossing point.

[0133] The three-dimensional topology of the locations of the transmission line crossing points is performed, and the point clouds corresponding to the conductor elements, tower elements and vegetation elements are used to draw the three-dimensional topological structure of the transmission line crossing points.

[0134] S23. Extract the geometric feature vector, physical feature vector and environmental feature vector of the three-dimensional topological structure.

[0135] In the embodiment of the present invention, the geometric feature vector refers to a quantitative parameter that describes the spatial form, size, and position relationship in the three-dimensional topological structure of the crossing point of the transmission line.

[0136] The physical characteristic vector refers to the quantitative parameters that reflect the physical properties and operating status of each component at the crossing point of the transmission line.

[0137] Environmental characteristic vector refers to the quantitative parameters that describe the external environmental conditions and surrounding ecology at the crossing point of the transmission line.

[0138] In the 3D model analysis of transmission line crossing points, characteristic parameters of different dimensions such as geometry, physics, and environment are extracted from the constructed 3D topological structure for subsequent tasks such as status assessment, risk warning, or fault diagnosis.

[0139] Geometric characteristic vectors, including conductor sag, conductor crossing angle, and real-time clearance distance. The calculation formula for conductor sag S is expressed as:

[0140]

[0141] Where W is the conductor load, which represents the load per unit length of the conductor per unit cross-sectional area; L is the span, which represents the distance between the two suspension points of the conductor; T is the horizontal tension of the conductor, q w It is expressed as wind pressure load; v is expressed as wind speed.

[0142] The calculation formula of the wire crossing angle is expressed as:

[0143]

[0144] Where, and They are respectively expressed as the direction vectors of the mutually intersecting wires, which are determined by the wire axis direction of the point cloud fitting.

[0145] The calculation formula of real-time clearance distance is expressed as:

[0146]

[0147] Where, Expressed as the clearance distance required by the design specifications; Expressed as the real-time sag change of the i-th conductor; Expressed as terrain elevation difference.

[0148] The physical feature vectors include temperature gradient, hardware integrity score, and wire stress.

[0149] Environmental characteristic vectors include NDVI index, wind speed influence coefficient and vegetation encroachment risk index.

[0150] Step 208: Calculate the safety risk value of the transmission line crossing point based on the characteristic vector.

[0151] In an embodiment of the present invention, the extracted feature vectors (geometric, physical, and environmental features) of the three-dimensional topological structure are used to quantitatively evaluate the safety risks of the crossing points of the transmission lines through a specific mathematical model or algorithm, and ultimately a numerical safety risk value is obtained.

[0152] Furthermore, step 208 includes the following sub-steps:

[0153] S31. Based on the geometric characteristic vector, calculate the conductor sag safety risk value, conductor crossing angle safety risk value and real-time clearance distance safety risk value corresponding to the geometric safety risk.

[0154] In the embodiment of the present invention, the conductor sag safety risk value refers to a value reflecting the safety risk caused by abnormal conductor sag (too large or too small). For example, excessive sag may cause the distance between the conductor and the ground or other objects to be less than a safety threshold, causing electric shock or short circuit; excessive sag may cause excessive conductor tension, increasing the risk of wire breakage.

[0155] The conductor crossing angle safety risk value reflects whether the angle between two crossing conductors meets insulation design requirements. An angle that is too small (e.g., close to parallel) can lead to concentrated electric field distribution and increase the probability of discharge. An angle that is too large (close to perpendicular) can cause wind vibration to cause conductors to swing and collide.

[0156] The real-time clearance distance safety risk value reflects whether the real-time spatial distance between a conductor and other objects (such as another line, a tower, or vegetation) at a crossing point is less than the safe clearance distance. Insufficient clearance distance is one of the most common geometric risks on transmission lines and can directly lead to discharge accidents.

[0157] Using the geometric feature vectors extracted from the three-dimensional topological structure (such as conductor sag length, conductor crossing angle, spatial distance and other parameters), a detailed assessment of the geometric safety risks of the crossing points of transmission lines is carried out, and the risk values ​​of three specific dimensions are calculated respectively: conductor sag safety risk value, conductor crossing angle safety risk value and real-time clearance distance safety risk value.

[0158] It is worth mentioning that the calculation formula of the conductor sag safety risk value is expressed as:

[0159]

[0160] Where, Expressed as real-time sag value; Expressed as the maximum allowable sag value in design.

[0161] The calculation formula of the safety risk value of the conductor crossing angle is expressed as:

[0162]

[0163] Where, Expressed as real-time intersection angle; Indicates the allowed intersection angle according to the design specifications.

[0164] The real-time clearance distance safety risk value can be obtained according to the calculation formula of the real-time clearance distance, so as to further determine the level range of the real-time clearance distance safety risk value.

[0165] S32. Determine the geometric safety risk value of the transmission line crossing point based on the conductor sag safety risk value, the conductor crossing angle safety risk value, the real-time clearance distance safety risk value, and the preset conductor sag weight coefficient, the preset conductor crossing angle weight coefficient, and the preset real-time clearance distance weight coefficient.

[0166] In the embodiment of the present invention, the preset conductor sag weight coefficient refers to a measure of the contribution ratio of the conductor sag safety risk value to the overall geometric safety risk.

[0167] The preset wire crossing angle weight coefficient refers to the proportion of the wire crossing angle safety risk value that contributes to the overall geometric safety risk.

[0168] The preset real-time clearance distance weight coefficient refers to the proportion of the real-time clearance distance safety risk value that contributes to the overall geometric safety risk.

[0169] According to the geometric characteristics corresponding to three different sub-features (conductor sag, conductor crossing angle and real-time clearance distance), weights are allocated according to the three different sub-features to form weight coefficients corresponding to different sub-features. The specific preset conductor sag weight coefficient, preset conductor crossing angle weight coefficient and preset real-time clearance distance weight coefficient can be set with reference to the industry standards, historical fault data and expert experience of transmission line operation and maintenance, and are not limited here.

[0170] It is worth mentioning that the safety levels are divided into red, orange and yellow. The safety level scores are:

[0171]

[0172] Geometric safety risk value:

[0173] Where, Expressed as the weight coefficient of each sub-feature j; Expressed as the security level score of each sub-feature j.

[0174] S33. Based on the physical characteristic vector, calculate the temperature gradient safety risk value, hardware integrity safety risk value, and conductor stress safety risk value corresponding to the physical safety risk.

[0175] In this embodiment of the present invention, the temperature gradient safety risk value reflects the safety risk caused by uneven surface temperature distribution of the conductor or hardware. Excessive temperature gradients (e.g., temperatures at the joint significantly higher than those on the conductor itself) may indicate abnormal contact resistance, which can easily lead to localized overheating or even melting.

[0176] The hardware integrity safety risk value reflects the structural integrity risk of transmission line hardware (such as wire clamps, anti-vibration hammers, and insulators). Damage or aging of hardware can lead to serious accidents such as conductor loss and insulation failure.

[0177] The conductor stress safety risk value reflects the risk of the conductor's internal mechanical stress exceeding the allowable range. Long-term excessive stress can lead to conductor fatigue breakage, hardware damage, or tower tilt.

[0178] By utilizing the physical characteristic vectors in the three-dimensional topological structure of the transmission line (such as temperature gradient, hardware integrity, conductor stress, etc.), a detailed assessment of the physical safety risks of the transmission line is conducted, and risk values ​​in three specific dimensions are calculated: temperature gradient safety risk value, hardware integrity safety risk value, and conductor stress safety risk value.

[0179] Specifically, the calculation formula of the temperature gradient safety risk value is expressed as:

[0180]

[0181] Where, It is expressed as the surface temperature of the conductor, which is calculated by fusion of thermal infrared image and point cloud; Indicated as ambient temperature.

[0182] The calculation formula for the hardware integrity safety risk value is expressed as:

[0183]

[0184] Where, 、 and It is expressed as the eigenvalue of the point cloud covariance matrix, reflecting the local curvature characteristics.

[0185] The calculation formula of conductor stress safety risk value is expressed as:

[0186]

[0187] Where T0 is the temperature value, which specifically represents the change in conductor stress caused by thermal expansion and contraction; A is the cross-sectional area of ​​the conductor; M is the bending moment, which is calculated based on windage and ice load. Expressed as cross-sectional volume.

[0188] S34. Determine the physical safety risk value of the transmission line crossing point based on the temperature gradient safety risk value, the hardware integrity safety risk value, the conductor stress safety risk value, and the preset temperature gradient weight coefficient, the preset hardware integrity weight coefficient, and the preset conductor stress weight coefficient.

[0189] In the embodiment of the present invention, the preset temperature gradient weight coefficient refers to the relative importance of the "temperature gradient safety risk value" in the comprehensive assessment of physical safety risks.

[0190] The preset hardware integrity weight coefficient refers to a pre-set proportional coefficient used to measure the impact of the hardware integrity safety risk value on the overall physical safety risk.

[0191] The preset conductor stress weight coefficient refers to a pre-set proportional coefficient used to measure the impact of the conductor stress safety risk value on the overall physical safety risk.

[0192] According to the physical characteristics corresponding to three different sub-features (temperature gradient, hardware integrity and conductor stress), weights are allocated according to the three different sub-features to form weight coefficients corresponding to different sub-features. The specific preset temperature gradient weight coefficient, preset hardware integrity weight coefficient and preset conductor stress weight coefficient can be set with reference to the industry standards, historical fault data and expert experience of transmission line operation and maintenance, and are not limited here.

[0193] The three subdivided physical safety risk values ​​(temperature gradient, hardware integrity, and conductor stress) of the transmission line crossing point are combined with their respective preset weight coefficients, and the comprehensive physical safety risk value of the crossing point is calculated through weighted summation.

[0194] It is worth mentioning that the safety levels are divided into red, orange and yellow. The safety level scores are:

[0195]

[0196] Physical security risk value:

[0197] Where, Expressed as the weight coefficient of each sub-feature j; Expressed as the security level score of each sub-feature j.

[0198] S35. Based on the environmental characteristic vector, calculate the vegetation encroachment safety risk value, wind speed impact safety risk value, and rainfall safety risk value corresponding to the environmental safety risk.

[0199] In an embodiment of the present invention, the vegetation encroachment safety risk value refers to a quantitative value of the risk level of vegetation (such as trees and vines) around transmission lines growing close to or touching equipment such as conductors and towers, causing short circuits, discharges, or mechanical damage.

[0200] The wind speed impact safety risk value refers to the quantitative value of the risk of damage to transmission line equipment (such as conductors and towers) due to overload or vibration under the action of strong winds.

[0201] The rainfall safety risk value refers to the quantitative value of the safety threat level posed by rainfall (especially heavy rain and continuous rainfall) to transmission lines, including direct or indirect impacts.

[0202] By utilizing the environmental characteristic vectors in the three-dimensional topological structure of the transmission line (such as vegetation encroachment, wind speed impact, rainfall, etc.), a detailed assessment of the environmental safety risks of the transmission line is conducted, and risk values ​​in three specific dimensions are calculated: vegetation encroachment safety risk value, wind speed impact safety risk value, and rainfall safety risk value.

[0203] Specifically, the calculation formula of the NDVI index is expressed as:

[0204]

[0205] Where NIR represents the reflectivity of the near-infrared band; Red represents the reflectivity of the infrared band.

[0206] The calculation formula of vegetation encroachment safety risk value is expressed as:

[0207]

[0208] Where d is the minimum distance between vegetation and conductors.

[0209] The calculation formula of the safety risk value affected by wind speed is expressed as:

[0210]

[0211] Where v represents the wind speed; It is expressed as reference wind speed, usually taken as 10m / s.

[0212] Obtain / calculate rainfall safety risk values ​​using historical data or real-time environmental data.

[0213] S36. Determine the environmental safety risk value of the transmission line crossing point based on the vegetation encroachment safety risk value, the wind speed impact safety risk value, the rainfall safety risk value, and the preset vegetation encroachment weight coefficient, the preset wind speed impact weight coefficient, and the preset rainfall weight coefficient.

[0214] In the embodiment of the present invention, the preset vegetation encroachment weight coefficient refers to the relative importance ratio of the vegetation encroachment safety risk value in the overall environmental safety risk.

[0215] The preset wind speed impact weight coefficient refers to the relative importance of the wind speed impact safety risk value in the overall environmental safety risk.

[0216] The preset rainfall weight coefficient refers to the relative importance of the rainfall safety risk value in the overall environmental safety risk.

[0217] According to the physical characteristics corresponding to three different sub-features (vegetation encroachment, wind speed impact and rainfall), weights are allocated according to the three different sub-features to form weight coefficients corresponding to different sub-features. The specific preset vegetation encroachment weight coefficient, preset wind speed impact weight coefficient and preset rainfall weight coefficient can be set with reference to the industry standards of transmission line operation and maintenance, historical fault data and expert experience, and are not limited here.

[0218] The three subdivided environmental safety risk values ​​(vegetation encroachment, wind speed impact, and rainfall) of the transmission line crossing point are combined with their respective preset weight coefficients, and the comprehensive environmental safety risk value of the crossing point is calculated through weighted summation.

[0219] It is worth mentioning that the safety levels are divided into red, orange and yellow. The safety level scores are:

[0220]

[0221] Physical security risk value:

[0222] Where, Expressed as the weight coefficient of each sub-feature j; Expressed as the security level score of each sub-feature j.

[0223] Step 209: Determine the safety risk level corresponding to the transmission line crossing point according to the preset safety risk level interval in which the safety risk value is located.

[0224] In an embodiment of the present invention, a quantitative safety risk value (such as a geometric safety risk value, a physical safety risk value, an environmental safety risk value or a comprehensive risk value) calculated through geometric features, physical features, environmental features, etc. is compared with a pre-set risk level interval, thereby converting the abstract risk value into an intuitive risk level (such as yellow, orange, red), which facilitates operation and maintenance personnel to quickly judge the severity of the risk and formulate a response strategy.

[0225] Furthermore, step 209 includes the following sub-steps:

[0226] S41. Determine the geometric safety risk level corresponding to the transmission line crossing point according to the preset geometric safety risk level interval in which the geometric safety risk value lies.

[0227] In the embodiment of the present invention, the preset geometric safety risk level interval refers to a level range that is artificially defined in advance and corresponds to the geometric safety risk value, and is used to discretize the continuous risk value into different safety status levels.

[0228] The geometric safety risk level refers to a qualitative description of the geometric structural safety of transmission line crossing points by matching risk values ​​with preset intervals. It is used to intuitively reflect the severity of the risk and the operation and maintenance priority.

[0229] The calculated geometric safety risk value is matched with the pre-set risk level range to determine the safety risk level of the intersection point at the spatial geometric structure level, which is used to evaluate safety hazards caused by substandard geometric parameters (such as discharge, collision, mechanical wear, etc.).

[0230] The risk levels of conductor sag safety risk values ​​are divided into:

[0231] .

[0232] The risk levels of the conductor crossing angle safety risk values ​​are divided into:

[0233]

[0234] The risk levels of real-time clearance distance safety risk values ​​are divided into:

[0235]

[0236] The geometric safety risk level determined by the geometric safety risk value based on the safety risk value of conductor sag, conductor crossing angle and real-time clearance distance is expressed as:

[0237]

[0238] According to the preset geometric safety risk level range in which the calculated geometric safety risk value lies, the geometric safety risk level corresponding to the transmission line crossing point is determined to be red, orange or yellow.

[0239] S42. Determine the physical safety risk level corresponding to the transmission line crossing point according to the preset physical safety risk level interval in which the physical safety risk value lies.

[0240] In the embodiment of the present invention, the preset physical security risk level interval refers to a level range that is artificially defined in advance and corresponds to the physical security risk value, and is used to discretize the continuous risk value into different security status levels.

[0241] The physical safety risk level refers to a qualitative description of the physical structural safety of the transmission line crossing point by matching the physical safety risk value with the preset interval, reflecting the severity of risks in equipment materials, mechanical properties, etc. and the urgency of operation and maintenance.

[0242] By quantifying the physical characteristic parameters of the transmission line crossing points (such as the degree of hardware wear, conductor stress, temperature field distribution, etc.), the physical safety risk value is calculated, and then compared with the pre-set risk level range to determine the safety risk level of the crossing point in terms of physical structure stability and material performance. This is used to identify potential fault hazards caused by abnormal physical parameters (such as broken wires, broken hardware, overheating and fire, etc.).

[0243] The risk levels of temperature gradient safety risk values ​​are divided into:

[0244]

[0245] The risk levels of hardware integrity safety risk values ​​are divided into:

[0246]

[0247] The risk levels of conductor stress safety risk values ​​are divided into:

[0248]

[0249] The physical safety risk level determined by the physical safety risk value of the comprehensive temperature gradient safety risk value, hardware integrity safety risk value and conductor stress safety risk value is expressed as:

[0250]

[0251] According to the preset physical safety risk level range in which the calculated physical safety risk value lies, the physical safety risk level corresponding to the transmission line crossing point is determined to be red, orange or yellow.

[0252] S43. Determine the environmental safety risk level corresponding to the transmission line crossing point according to the preset environmental safety risk level range in which the environmental safety risk value lies.

[0253] In this embodiment of the present invention, the preset environmental safety risk level intervals refer to numerical ranges predefined within the transmission line safety assessment system to measure environmental safety risk values. These intervals are typically set based on historical data, industry standards, or expert experience, and are used to discretize continuous risk values ​​into different risk levels.

[0254] The environmental safety risk level is a risk label assigned to transmission line crossings based on the preset range within which the environmental safety risk value falls. It comprehensively reflects the impact of environmental factors (such as vegetation encroachment, wind speed, and rainfall) on transmission line safety.

[0255] The calculated environmental safety risk values ​​are classified into different levels using pre-set risk level interval standards, thereby clarifying the degree of safety risk at the crossing points of transmission lines under the influence of environmental factors.

[0256] The risk level of conductor sag safety risk value is divided into

[0257] The risk levels of vegetation encroachment safety risk values ​​are divided into:

[0258]

[0259] The risk levels of wind speed affecting safety risk values ​​are divided into:

[0260]

[0261] The risk levels of rainfall safety risk values ​​are divided into:

[0262]

[0263] The environmental safety risk level determined by the environmental safety risk value of comprehensive vegetation encroachment safety risk value, wind speed impact safety risk value and rainfall safety risk value is expressed as:

[0264]

[0265] According to the preset environmental safety risk level range in which the calculated environmental safety risk value lies, the environmental safety risk level corresponding to the transmission line crossing point is determined to be red, orange or yellow.

[0266] S44. Use the geometric safety risk level, physical safety risk level, environmental safety risk level, and preset geometric weight coefficients, preset physical weight coefficients, and preset environmental weight coefficients to calculate a weighted comprehensive index to generate a comprehensive safety risk value corresponding to the transmission line crossing point.

[0267] In the embodiments of the present invention, the preset geometric weight coefficient refers to a pre-set proportional coefficient in the comprehensive risk assessment model that is used to measure the impact of the geometric safety risk level on the comprehensive safety risk. The geometric factor is generally related to the spatial structure and layout of the transmission line.

[0268] The preset physical weight factor is a pre-set proportional coefficient that measures the impact of the physical security risk level on the overall security risk. Physical factors are typically related to the material, performance, and operating status of line equipment.

[0269] The preset environmental weighting factor is a pre-set proportional coefficient that measures the impact of the environmental safety risk level on the overall safety risk. Environmental factors include natural factors (such as meteorology and geology) and man-made factors (such as vegetation growth and surrounding construction).

[0270] The Comprehensive Safety Risk Value (CSR) is a quantitative indicator derived through weighted comprehensive calculation that comprehensively reflects the overall safety risk of transmission line crossings. It is a weighted average of three risk levels: geometric, physical, and environmental, and is used to visually demonstrate the overall risk level of a transmission line.

[0271] Calculate geometric weight coefficients, physical weight coefficients and environmental weight coefficients based on historical data and / or environmental factors.

[0272] In a specific embodiment, the geometric weight coefficient is 0.6, the physical weight coefficient is 0.3, and the environmental weight coefficient is 0.1. To ensure data reliability, the sum of the three weight coefficients does not exceed 1. This is based on the core structural safety indicators, key equipment health factors, and external risk auxiliary parameters. The dynamic adjustment of the weight coefficients includes environmental condition triggering adjustment and historical accident correlation adjustment at the transmission line crossing point. The environmental condition triggering adjustment is expressed as:

[0273]

[0274] The historical accident correlation adjustment of the transmission line crossing point is expressed as follows: if the proportion of faults caused by a certain type of feature in the historical accidents at the intersection is greater than 50%, its weight is increased by 0.15.

[0275] In the calculation of the comprehensive safety risk value, the risk value of each feature is normalized so that each index belongs to the same operating plane, which is expressed as:

[0276]

[0277] Where, represents the normalized characteristic risk value, represents the characteristic risk value to be normalized, Indicates the maximum value among the normalized values. Indicates the minimum value among normalized numerical values.

[0278] Normalize each feature score to [0,1].

[0279] According to the geometric weight coefficient, physical weight coefficient and environmental weight coefficient obtained above, the weighted comprehensive safety risk value is calculated and expressed as:

[0280]

[0281] Where, Expressed as the weight coefficient of each feature J; It is expressed as the normalized value of each feature's J score; Expressed as the emergency coefficient, the basis of the emergency coefficient is expressed as:

[0282]

[0283] The risk levels of the three dimensions of geometry, physics and environment are weighted and summed according to a pre-set weight ratio to obtain a quantitative value that comprehensively reflects the overall safety risk of the transmission line crossing point, which is used to comprehensively evaluate the safety status of the line.

[0284] S45. Determine the safety risk level corresponding to the transmission line crossing point based on the preset safety risk level range in which the comprehensive safety risk value is located.

[0285] In the embodiment of the present invention, the preset security risk level interval refers to a numerical range that is artificially pre-determined in the security risk assessment system and is used to measure the risk level to which a specific risk value belongs.

[0286] The comprehensive safety risk value is compared with the pre-set risk level range (such as the numerical range corresponding to red, orange, and yellow) to ultimately determine the overall safety risk level of the transmission line crossing point (such as "red risk").

[0287] Specifically, the safety risk level determined by the comprehensive safety risk value of the geometric safety risk value, the physical safety risk value, and the environmental safety risk value is expressed as:

[0288]

[0289] According to the preset safety risk level range of the calculated comprehensive safety risk value, the safety risk level corresponding to the transmission line crossing point is determined to be red, orange or yellow.

[0290] Step 210: formulate an emergency repair plan corresponding to the safety risk level according to the safety risk level corresponding to the transmission line crossing point, and implement emergency repair measures according to the emergency repair plan.

[0291] In this embodiment of the present invention, based on the determined safety risk level (e.g., yellow, orange, or red), a corresponding standardized response strategy from a pre-defined emergency repair solution library is invoked. For example, a red risk level triggers an immediate power outage, the deployment of a temporary support tower by a swarm of drones, or AR-guided repairs, with a timeframe of ≤2 hours. An orange risk level triggers a load limit of 80%, drone inspections every 15 minutes, and the pre-positioning of repair resources, with a timeframe of ≤24 hours. A yellow risk level triggers daily drone inspections, trend reporting, and cloud-based data monitoring.

[0292] Furthermore, step 210 includes the following sub-steps:

[0293] S51. When the safety risk level corresponding to the crossing point of the transmission line is red, formulate the first emergency repair plan corresponding to the safety risk level.

[0294] In an embodiment of the present invention, when the safety risk level corresponding to the transmission line crossing point is a red risk level, a first emergency repair plan corresponding to the safety risk level is formulated, wherein the first emergency repair plan is immediate power outage / drone cluster deployment of temporary support towers / AR navigation emergency repair, and the execution time is ≤2 hours.

[0295] S52. When the safety risk level corresponding to the crossing point of the transmission line is orange, formulate a second emergency repair plan corresponding to the safety risk level.

[0296] In an embodiment of the present invention, when the safety risk level corresponding to the transmission line crossing point is the orange risk level, a second emergency repair plan corresponding to the safety risk level is formulated, wherein the second emergency repair plan is to limit the load to 80% / re-inspect by drone every 15 minutes / pre-position emergency repair resources, and the execution time is ≤24 hours.

[0297] S53. When the safety risk level corresponding to the crossing point of the transmission line is yellow, formulate a third emergency repair plan corresponding to the safety risk level.

[0298] In an embodiment of the present invention, when the safety risk level corresponding to the transmission line crossing point is the yellow risk level, a third emergency repair plan corresponding to the safety risk level is formulated, wherein the third emergency repair plan is daily drone inspection / generation of trend reports / cloud data monitoring.

[0299] S54. Execute emergency repair measures according to the first emergency repair plan, the second emergency repair plan, or the third emergency repair plan.

[0300] In an embodiment of the present invention, emergency repair measures of the first emergency repair plan, the second emergency repair plan, or the third emergency repair plan are executed according to the safety risk level corresponding to the transmission line crossing point.

[0301] See also Figure 3 , Figure 3 This is a structural block diagram of a transmission line crossing point fault inspection and repair system provided in the third embodiment of the present invention.

[0302] The present invention provides a transmission line crossing point fault inspection and repair system, comprising:

[0303] An acquisition module 301 is used to acquire multi-dimensional data of transmission line crossing points and perform pre-processing to generate point cloud data;

[0304] An extraction module 302 is configured to construct a three-dimensional topological structure of the crossing points of the transmission lines using the point cloud data, and extract a feature vector of the three-dimensional topological structure;

[0305] A calculation module 303 is used to calculate the safety risk value of the transmission line crossing point based on the characteristic vector;

[0306] A safety risk module 304 is configured to determine a safety risk level corresponding to a transmission line crossing point according to a preset safety risk level interval in which the safety risk value falls;

[0307] The execution module 305 is used to formulate an emergency repair plan corresponding to the safety risk level according to the safety risk level corresponding to the transmission line crossing point, and execute emergency repair measures according to the emergency repair plan.

[0308] Furthermore, the acquisition module 301 includes:

[0309] Carrying submodules for carrying thermal imaging cameras, high-frequency lidar and multispectral sensors on UAVs;

[0310] The shooting submodule is used to use a thermal imaging camera to shoot the temperature field data of the conductors, towers and vegetation corresponding to the crossing points of the transmission lines;

[0311] The first acquisition submodule is used to use high-frequency laser radar to collect spatial geometric point cloud data of conductors, towers and vegetation corresponding to the crossing points of transmission lines;

[0312] The second acquisition submodule is used to use a multispectral sensor to collect spectral reflectance data of the conductors, towers and vegetation corresponding to the crossing points of the transmission lines;

[0313] The fusion submodule is used to fuse temperature field data, spatial geometric point cloud data and spectral reflectance data to generate multidimensional data;

[0314] The preprocessing submodule is used to preprocess multidimensional data and generate point cloud data.

[0315] Furthermore, the preprocessing submodule includes:

[0316] The data preprocessing submodule is used to preprocess the multidimensional data and generate updated multidimensional data;

[0317] The conversion submodule is used to convert the updated multi-dimensional data into point cloud data format to generate point cloud data.

[0318] Furthermore, the extraction module 302 includes:

[0319] The separation submodule is used to separate the point cloud data of the transmission line crossing points using a point cloud segmentation algorithm to generate the conductor point cloud, tower point cloud and vegetation point cloud of the transmission line crossing points;

[0320] A construction submodule is used to construct a three-dimensional topological structure of the crossing points of the transmission lines using the conductor point cloud, tower point cloud and vegetation point cloud;

[0321] The extraction submodule is used to extract the geometric feature vectors, physical feature vectors and environmental feature vectors of the three-dimensional topological structure.

[0322] Furthermore, the calculation module 303 includes:

[0323] The first calculation submodule is used to calculate the conductor sag safety risk value, the conductor crossing angle safety risk value and the real-time clearance distance safety risk value corresponding to the geometric safety risk based on the geometric characteristic vector;

[0324] A geometric safety risk value submodule is used to determine the geometric safety risk value of the transmission line crossing point based on the conductor sag safety risk value, the conductor crossing angle safety risk value, the real-time clearance distance safety risk value, and the preset conductor sag weight coefficient, the preset conductor crossing angle weight coefficient, and the preset real-time clearance distance weight coefficient;

[0325] The second calculation submodule is used to calculate the temperature gradient safety risk value, the hardware integrity safety risk value and the conductor stress safety risk value corresponding to the physical safety risk based on the physical characteristic vector;

[0326] The physical safety risk value submodule is used to determine the physical safety risk value of the transmission line crossing point based on the temperature gradient safety risk value, the hardware integrity safety risk value, the conductor stress safety risk value, and the preset temperature gradient weight coefficient, the preset hardware integrity weight coefficient, and the preset conductor stress weight coefficient;

[0327] The third calculation submodule is used to calculate the vegetation encroachment safety risk value, the wind speed impact safety risk value and the rainfall safety risk value corresponding to the environmental safety risk based on the environmental feature vector;

[0328] The environmental safety risk value submodule is used to determine the environmental safety risk value of the transmission line crossing point based on the vegetation encroachment safety risk value, the wind speed impact safety risk value, the rainfall safety risk value, and the preset vegetation encroachment weight coefficient, the preset wind speed impact weight coefficient, and the preset rainfall weight coefficient.

[0329] Furthermore, the security risk module 304 includes:

[0330] A geometric safety risk level submodule is used to determine the geometric safety risk level corresponding to the transmission line crossing point according to the preset geometric safety risk level interval in which the geometric safety risk value is located;

[0331] A physical security risk level submodule is used to determine the physical security risk level corresponding to the transmission line crossing point according to the preset physical security risk level interval in which the physical security risk value falls;

[0332] An environmental safety risk level submodule is used to determine the environmental safety risk level corresponding to the transmission line crossing point according to the preset environmental safety risk level interval in which the environmental safety risk value falls;

[0333] A weighted submodule is used to calculate a weighted comprehensive index using the geometric safety risk level, the physical safety risk level, the environmental safety risk level, and a preset geometric weight coefficient, a preset physical weight coefficient, and a preset environmental weight coefficient to generate a comprehensive safety risk value corresponding to a transmission line crossing point;

[0334] The safety risk level submodule is used to determine the safety risk level corresponding to the transmission line crossing point based on the preset safety risk level interval in which the comprehensive safety risk value is located.

[0335] Furthermore, the execution module 305 includes:

[0336] The first formulation submodule is used to formulate a first emergency repair plan corresponding to the safety risk level when the safety risk level corresponding to the transmission line crossing point is red;

[0337] The second formulation submodule is used to formulate a second emergency repair plan corresponding to the safety risk level when the safety risk level corresponding to the transmission line crossing point is orange level;

[0338] The third formulation submodule is used to formulate a third emergency repair plan corresponding to the safety risk level when the safety risk level corresponding to the transmission line crossing point is yellow;

[0339] The execution submodule is used to execute emergency repair measures according to the first emergency repair plan, the second emergency repair plan, or the third emergency repair plan.

[0340] A fourth embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed, the method for troubleshooting a transmission line crossing point fault according to any embodiment of the present invention is implemented.

[0341] Embodiment 5 of the present invention provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer executes the transmission line crossing point fault repair method as described in any embodiment of the present invention.

[0342] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0343] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0344] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0345] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0346] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes various media that can store program code, such as a USB flash drive, a mobile hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0347] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that the technical solutions described in the above embodiments can still be modified, or some of the technical features thereof can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for troubleshooting a transmission line crossing point fault, characterized in that: include: Acquire multi-dimensional data of transmission line crossing points and pre-process them to generate point cloud data; constructing a three-dimensional topological structure of the transmission line crossing point using the point cloud data, and extracting a feature vector of the three-dimensional topological structure; Calculating a safety risk value of the transmission line crossing point based on the characteristic vector; Determining the safety risk level corresponding to the transmission line crossing point according to the preset safety risk level interval in which the safety risk value lies; According to the safety risk level corresponding to the transmission line crossing point, an emergency repair plan corresponding to the safety risk level is formulated, and emergency repair measures are implemented in accordance with the emergency repair plan.

2. The method for troubleshooting a transmission line crossing point according to claim 1, characterized in that: The method of obtaining multi-dimensional data of the transmission line crossing points and performing pre-processing to generate point cloud data includes: Equip drones with thermal imaging cameras, high-frequency lidar, and multispectral sensors; Using the thermal imaging camera to capture temperature field data of the conductors, towers and vegetation corresponding to the crossing points of the transmission lines; The high-frequency laser radar is used to collect spatial geometric point cloud data of the conductors, towers and vegetation corresponding to the crossing points of the transmission lines; Using the multispectral sensor to collect spectral reflectance data of the conductors, towers and vegetation corresponding to the crossing points of the transmission lines; fusing the temperature field data, the spatial geometric point cloud data, and the spectral reflectance data to generate multidimensional data; The multi-dimensional data is pre-processed to generate point cloud data.

3. The method for troubleshooting a transmission line crossing point according to claim 2, characterized in that: The preprocessing of the multidimensional data to generate point cloud data includes: Performing data preprocessing on the multidimensional data to generate updated multidimensional data; The updated multi-dimensional data is converted into a point cloud data format to generate point cloud data.

4. The method for troubleshooting a transmission line crossing point fault according to claim 1, characterized in that: The step of constructing a three-dimensional topological structure of the transmission line crossing point using the point cloud data and extracting a feature vector of the three-dimensional topological structure includes: Using a point cloud segmentation algorithm to separate the point cloud data of the transmission line crossing point, generating a conductor point cloud, a tower point cloud, and a vegetation point cloud of the transmission line crossing point; Using the conductor point cloud, the tower point cloud and the vegetation point cloud, construct a three-dimensional topological structure of the transmission line crossing point; The geometric feature vector, physical feature vector and environmental feature vector of the three-dimensional topological structure are extracted.

5. The method for troubleshooting a transmission line crossing point according to claim 4, characterized in that: Calculating the safety risk value of the transmission line crossing point based on the characteristic vector includes: Based on the geometric characteristic vector, a conductor sag safety risk value, a conductor crossing angle safety risk value, and a real-time clearance distance safety risk value corresponding to the geometric safety risk are calculated; Determining a geometric safety risk value of the transmission line crossing point according to the conductor sag safety risk value, the conductor crossing angle safety risk value, the real-time clearance distance safety risk value, and a preset conductor sag weight coefficient, a preset conductor crossing angle weight coefficient, and a preset real-time clearance distance weight coefficient; Based on the physical characteristic vector, calculating the temperature gradient safety risk value, the hardware integrity safety risk value, and the conductor stress safety risk value corresponding to the physical safety risk; Determine the physical safety risk value of the transmission line crossing point based on the temperature gradient safety risk value, the hardware integrity safety risk value, the conductor stress safety risk value, and a preset temperature gradient weight coefficient, a preset hardware integrity weight coefficient, and a preset conductor stress weight coefficient; Based on the environmental characteristic vector, calculating the vegetation encroachment safety risk value, the wind speed impact safety risk value, and the rainfall safety risk value corresponding to the environmental safety risk; The environmental safety risk value of the transmission line crossing point is determined based on the vegetation encroachment safety risk value, the wind speed impact safety risk value, the rainfall safety risk value, and the preset vegetation encroachment weight coefficient, the preset wind speed impact weight coefficient, and the preset rainfall weight coefficient.

6. The method for troubleshooting a transmission line crossing point fault according to claim 5, characterized in that: The determining, according to the preset safety risk level interval in which the safety risk value lies, the safety risk level corresponding to the transmission line crossing point includes: Determining the geometric safety risk level corresponding to the transmission line crossing point according to the preset geometric safety risk level interval in which the geometric safety risk value lies; Determining the physical security risk level corresponding to the transmission line crossing point according to the preset physical security risk level interval in which the physical security risk value falls; Determining the environmental safety risk level corresponding to the transmission line crossing point according to the preset environmental safety risk level interval in which the environmental safety risk value lies; A weighted comprehensive index calculation is performed using the geometric safety risk level, the physical safety risk level, the environmental safety risk level, and a preset geometric weight coefficient, a preset physical weight coefficient, and a preset environmental weight coefficient to generate a comprehensive safety risk value corresponding to the transmission line crossing point; Based on the preset safety risk level interval in which the comprehensive safety risk value lies, the safety risk level corresponding to the transmission line crossing point is determined.

7. The method for troubleshooting a transmission line crossing point fault according to claim 1, characterized in that: Formulating an emergency repair plan corresponding to the safety risk level according to the safety risk level corresponding to the transmission line crossing point, and executing emergency repair measures according to the emergency repair plan, includes: When the safety risk level corresponding to the transmission line crossing point is red, formulate a first emergency repair plan corresponding to the safety risk level; When the safety risk level corresponding to the transmission line crossing point is orange, formulate a second emergency repair plan corresponding to the safety risk level; When the safety risk level corresponding to the transmission line crossing point is yellow, formulate a third emergency repair plan corresponding to the safety risk level; Perform emergency repair measures according to the first emergency repair plan, the second emergency repair plan, or the third emergency repair plan.

8. A transmission line crossing point fault inspection and repair system, characterized in that: include: An acquisition module is used to acquire multi-dimensional data of transmission line crossing points and perform pre-processing to generate point cloud data; An extraction module, configured to construct a three-dimensional topological structure of the transmission line crossing point using the point cloud data, and extract a feature vector of the three-dimensional topological structure; A calculation module, configured to calculate a safety risk value of the transmission line crossing point based on the characteristic vector; A safety risk module, configured to determine a safety risk level corresponding to the transmission line crossing point according to a preset safety risk level interval in which the safety risk value falls; An execution module is used to formulate an emergency repair plan corresponding to the safety risk level according to the safety risk level corresponding to the transmission line crossing point, and to execute emergency repair measures according to the emergency repair plan.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed, the method for troubleshooting a transmission line crossing point fault according to any one of claims 1 to 7 is implemented.

10. A computer program product, characterized in that The computer program product includes a computer program stored on a non-transitory computer-readable storage medium, wherein the computer program includes program instructions, wherein when the program instructions are executed by a computer, the computer is caused to execute the transmission line crossing point fault repair method according to any one of claims 1 to 7.

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