Power transmission line data extraction method and device, electronic equipment and storage medium

Abstract

The application discloses a power transmission line data extraction method and device, electronic equipment and a storage medium. The method comprises the following steps: extracting power transmission line data from first data to obtain a plurality of first power transmission line point clusters; determining a first distance and a second distance of each first power transmission line point cluster, determining a second power transmission line point cluster from the first power transmission line point cluster based on the first distance and the second distance; determining a third distance and a direction angle between adjacent second power transmission line point clusters, determining second power transmission line point clusters belonging to the same power transmission line in the second power transmission line point cluster based on the third distance and the direction angle, and taking the second power transmission line point clusters belonging to the same power transmission line as third power transmission line point clusters; and updating the third power transmission line point clusters based on the third power transmission line point clusters and a target catenary model, and taking the updated third power transmission line point clusters as power transmission line data for power transmission line detection. The application optimizes the third power transmission line point clusters by using the target catenary model, and realizes fast and accurate extraction of the power transmission line data.

Description

Technical Field

[0001] This invention relates to the field of power system risk detection technology, and in particular to a method, apparatus, electronic device, and storage medium for extracting data from power transmission lines. Background Technology

[0002] As an important component of the power grid system, the safe and stable operation of transmission lines is a vital guarantee for people's lives and production. Therefore, monitoring their operating status and assessing risks have always been key tasks for power grid management. In the process of monitoring the operating status and assessing risks of transmission lines, the extraction of transmission line data is of great importance.

[0003] Currently, data extraction from power transmission lines mainly involves acquiring image data containing power transmission lines and then extracting the power transmission line data from the image data using data segmentation methods. However, this method results in multiple segmentations of densely populated areas and fewer segmentations of sparsely populated areas, leading to inaccurate data extraction. Furthermore, this method is more suitable for plains, but in complex terrains such as hills and mountains, it often suffers from inaccurate ground data segmentation, resulting in inaccurate extraction of power transmission line data. Summary of the Invention

[0004] This invention provides a method, apparatus, electronic device, and storage medium for extracting data from power transmission lines, so as to achieve rapid and accurate extraction of power transmission line data.

[0005] According to one aspect of the present invention, a method for extracting transmission line data is provided, the method comprising:

[0006] First data is acquired, and transmission line data is extracted from the first data to obtain multiple first transmission line point clusters; the first data is three-dimensional data containing transmission line data.

[0007] A first distance and a second distance are determined for each of the first power transmission line point clusters. Based on the first distance and the second distance, a second power transmission line point cluster is determined from the first power transmission line point clusters. Wherein, the first distance is the maximum length of the first power transmission line point cluster in a first direction; the first direction is the transmission direction of the power transmission line; the second distance is the maximum length of the first power transmission line point cluster in a second direction; the second direction is a direction perpendicular to the first direction.

[0008] A third distance and directional angle are determined between adjacent second power transmission line point clusters. Based on the third distance and the directional angle, second power transmission line point clusters belonging to the same power transmission line are determined, and the second power transmission line point clusters belonging to the same power transmission line are designated as third power transmission line point clusters. The directional angle is used to describe the angle between the first direction between adjacent second power transmission line point clusters.

[0009] Based on the third power line point cluster and the target catenary model, the third power line point cluster is updated, and the updated third power line point cluster is used as power line data for power line detection.

[0010] According to another aspect of the present invention, a power transmission line data extraction apparatus is provided, the apparatus comprising:

[0011] The first data processing module is used to acquire first data, extract transmission line data from the first data, and obtain multiple first transmission line point clusters; the first data is three-dimensional data containing transmission line data.

[0012] The second data processing module is used to determine a first distance and a second distance for each of the first power transmission line point clusters, and to determine a second power transmission line point cluster from the first power transmission line point clusters based on the first distance and the second distance; wherein, the first distance is the maximum length of the first power transmission line point cluster in a first direction; the first direction is the transmission direction of the power transmission line; the second distance is the maximum length of the first power transmission line point cluster in a second direction; the second direction is a direction perpendicular to the first direction;

[0013] The third data processing module is used to determine the third distance and directional angle between adjacent second power transmission line point clusters, determine the second power transmission line point clusters belonging to the same power transmission line based on the third distance and the directional angle, and take the second power transmission line point clusters belonging to the same power transmission line as the third power transmission line point clusters; the directional angle is used to describe the angle of the first direction between adjacent second power transmission line point clusters;

[0014] The fourth data processing module is used to update the third transmission line point cluster based on the third transmission line point cluster and the target catenary model, and use the updated third transmission line point cluster as transmission line data for transmission line detection.

[0015] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0016] At least one processor; and

[0017] A memory communicatively connected to the at least one processor; wherein,

[0018] The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the power transmission line data extraction method according to any embodiment of the present invention.

[0019] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the power transmission line data extraction method according to any embodiment of the present invention.

[0020] The technical solution of this invention involves acquiring first data, extracting transmission line data from the first data, and obtaining multiple first transmission line point clusters. The first data is three-dimensional data containing transmission line data. Preliminary extraction of data representing transmission lines from the first data is achieved. Further, a first distance and a second distance are determined for each first transmission line point cluster. Based on the first and second distances, a second transmission line point cluster is determined from the first transmission line point clusters. The first distance is the maximum length of the first transmission line point cluster in a first direction, where the first direction is the transmission direction of the transmission line. The second distance is the maximum length of the first transmission line point cluster in a second direction, where the second direction is perpendicular to the first direction. In other words, determining the second transmission line point cluster from the first transmission line point clusters based on the analysis results of the first and second distances can be understood as achieving further extraction of data representing transmission lines through quantification, ensuring accurate extraction of transmission line data. Then, the third distance and directional angle between adjacent second transmission line point clusters are determined. Based on the third distance and directional angle, second transmission line point clusters belonging to the same transmission line are identified, and these second transmission line point clusters belonging to the same transmission line are designated as third transmission line point clusters. The directional angle describes the angle between adjacent second transmission line point clusters in the first direction. By judging the third distance and directional angle between adjacent second transmission line point clusters, data points belonging to the same transmission line are accurately identified. Finally, based on the third transmission line point cluster and the target catenary model, the third transmission line point cluster is updated, and the updated third transmission line point cluster is used as transmission line data for transmission line detection. The target catenary model can accurately reflect the location information of the transmission line, thus allowing for more accurate updating of the third transmission line point cluster, achieving rapid and accurate extraction of transmission line data. Furthermore, the data processed in this invention is three-dimensional data, which can effectively avoid interference from lighting and different terrains, adapting to different weather conditions and scenarios such as flat land, mountains, and forest areas.

[0021] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a flowchart of a method for extracting transmission line data according to an embodiment of the present invention;

[0024] Figure 2 This is a schematic diagram of the first and second directions applicable according to embodiments of the present invention;

[0025] Figure 3 This is a flowchart of another method for extracting transmission line data according to an embodiment of the present invention;

[0026] Figure 4 This is a schematic diagram of the structure of a power transmission line data extraction device according to Embodiment 3 of the present invention;

[0027] Figure 5 This is a schematic diagram of the structure of an electronic device that implements the power transmission line data extraction method of the present invention, according to an embodiment of the present invention. Detailed Implementation

[0028] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0029] It should be noted that the terms "first," "second," "third," "fourth," "fifth," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0030] Example 1

[0031] Figure 1 This is a flowchart illustrating a method for extracting power transmission line data according to an embodiment of the present invention. This embodiment is applicable to extracting power transmission line data from three-dimensional data containing power transmission line data. The method can be executed by a power transmission line data extraction device, which can be implemented in hardware and / or software. This device can be configured in any electronic device with network communication capabilities. Figure 1 As shown, the transmission line data extraction method of the present invention includes:

[0032] S110. Obtain first data, extract transmission line data from the first data, and obtain multiple first transmission line point clusters; the first data is three-dimensional data containing transmission line data.

[0033] The first data can be three-dimensional point cloud data obtained by scanning the power transmission line with a lidar; or, the first data can be three-dimensional point cloud data obtained by feature processing of images of the power transmission line captured by a camera.

[0034] Specifically, the first data is acquired and preprocessed, including but not limited to noise reduction, smoothing, and downsampling. The preprocessed first data is then further segmented to obtain multiple first transmission line point clusters. The data segmentation can be performed using clustering algorithms, including but not limited to RANSAC (Random Sample Consensus) and Euclidean distance segmentation.

[0035] In an embodiment of the present invention, optionally, power transmission line data is extracted from the first data to obtain multiple first power transmission line point clusters, including steps A1-A3:

[0036] Step A1: Sample the first data according to the preset thinning rate to obtain the second data.

[0037] The preset thinning rate can be a sampling rate configured according to the required number of samples.

[0038] Optionally, the preset thinning rate can be determined based on the target data volume and the total data volume of the first data; the target data volume can be determined based on the horizontal footprint and the preset density; the horizontal footprint is the projected area of ​​the first data on the first plane.

[0039] Here, the preset density can be understood as the initial sampling rate, i.e., the amount of data sampled per square meter; for example, the preset density could be 10 points per square meter. The first plane can be the ground plane corresponding to the transmission line, i.e., the ground corresponding to the first data point, for example, such as... Figure 2 As shown, the cylindrical area contains all the first data. Figure 2The ground in the middle is the ground corresponding to the first data, so the first data can be projected onto the first plane to determine the horizontal area occupied.

[0040] Specifically, determining the lateral footprint may include: projecting the first data onto a first plane to determine the projection area, constructing a second circumscribed rectangle of the projection area, dividing the second circumscribed rectangle into a grid according to a preset unit grid, using the grids falling within the projection area as target grids, and determining the area of ​​all target grids as the projection area of ​​the first data on the first plane, i.e., the lateral footprint. Here, the preset unit grid can be understood as the smallest unit grid used for dividing the grid.

[0041] Step A2: Perform cluster analysis on the second data to obtain multiple reference point clusters.

[0042] Cluster analysis can be understood as a method of grouping points with the same structure or characteristics together; for example, the DBSCAN algorithm.

[0043] Step A3: Determine the reference height of each reference point cluster, and identify the reference point cluster with a reference height greater than the preset height as the first transmission line point cluster; wherein, the reference height is the distance between the data point closest to the first plane in the reference point cluster and the first plane; the first plane is the ground plane corresponding to the transmission line.

[0044] In this embodiment of the invention, second data is obtained by sampling first data according to a preset thinning rate. This ensures that the density of the thinned point cloud is moderate, avoiding the impact of too much data on computational efficiency, while also avoiding the impact of too little data on the accuracy of power transmission line extraction. Furthermore, the second data is subjected to cluster analysis to obtain multiple reference point clusters, effectively separating point cloud data with different structures. Finally, the reference height of each reference point cluster is determined, and reference point clusters with a reference height greater than a preset height are identified as the first power transmission line point cluster, achieving an initial and accurate distinction between the power transmission line point cluster and other point clusters.

[0045] S120. Determine the first distance and the second distance of each first power transmission line point cluster, and determine the second power transmission line point cluster from the first power transmission line point cluster based on the first distance and the second distance; wherein, the first distance is the maximum length of the first power transmission line point cluster in the first direction; the first direction is the transmission direction of the power transmission line; the second distance is the maximum length of the first power transmission line point cluster in the second direction; the second direction is the direction perpendicular to the first direction.

[0046] Specifically, determining the first distance and second distance for each first transmission line point cluster may include: determining the first direction and second direction of each first transmission line point cluster by performing PCA analysis on each cluster; further determining the maximum length of the first transmission line point cluster in the first direction as the first distance; and determining the maximum length of the first transmission line point cluster in the second direction as the second distance. For example, such as... Figure 2 As shown, the first direction is the transmission direction of the power line, and the second direction is the direction perpendicular to the first direction. Figure 2 The second direction is also parallel to the ground; this is one type of the second direction.

[0047] Furthermore, since the first distance of the transmission line is much greater than the second distance, the comparison between the first and second distances can be used to further determine whether the first cluster of transmission line points belongs to the transmission line.

[0048] In this embodiment, optionally, determining a second transmission line point cluster from a first transmission line point cluster based on a first distance and a second distance includes: using the ratio of the first distance to the second distance as a target ratio; if the target ratio is greater than a preset threshold, then determining the first transmission line point cluster corresponding to the target ratio as the second transmission line point cluster. This embodiment reflects the comparison result between the first distance and the second distance in a quantitative manner, that is, using the ratio of the first distance to the second distance as the target ratio, and determining the first transmission line point cluster corresponding to the target ratio greater than the preset threshold as the second transmission line point cluster, thereby achieving further in-depth extraction of transmission line data.

[0049] S130. Determine the third distance and direction angle between adjacent second transmission line point clusters, determine the second transmission line point clusters belonging to the same transmission line based on the third distance and direction angle, and take the second transmission line point clusters belonging to the same transmission line as the third transmission line point clusters; the direction angle is used to describe the angle between the first direction between adjacent second transmission line point clusters.

[0050] Specifically, the distance between the center points of adjacent second transmission line point clusters is determined as the third distance between adjacent second transmission line point clusters, and the angle between the first direction between adjacent second transmission line point clusters is determined as the directional angle between adjacent second transmission line point clusters. When the third distance and the directional angle simultaneously meet the preset conditions, it is determined that the adjacent second transmission line point clusters belong to the same transmission line, and the adjacent second transmission line point clusters are regarded as the third transmission line point clusters.

[0051] Optionally, when the third distance and the included angle of direction simultaneously meet the preset conditions, it is determined that the adjacent second transmission line point clusters belong to the same transmission line. This can include: if the third distance is less than the second preset distance and the included angle of direction is less than the preset angle, then the second transmission line point clusters corresponding to the third distance and the included angle of direction belong to the second transmission line point clusters of the same transmission line, thereby achieving accurate determination of the second transmission line point clusters that belong to the same transmission line.

[0052] In this embodiment, optionally, determining the third distance between adjacent second transmission line point clusters may include steps B1-B4:

[0053] Step B1: Designate the adjacent second transmission line point clusters as the fourth and fifth transmission line point clusters.

[0054] Step B2: Determine the third direction and reference distance of the line connecting the center point of the fourth transmission line cluster and the center point of the fifth transmission line cluster.

[0055] Specifically, the third direction is the direction of the line connecting the center point of the fourth transmission line cluster and the center point of the fifth transmission line cluster, and the reference distance is the distance between the center point of the fourth transmission line cluster and the center point of the fifth transmission line cluster.

[0056] Step B3: If the third direction is approximately parallel to the first direction, then the reference distance is the third distance between the fourth and fifth transmission line point clusters.

[0057] Specifically, the third direction is approximately parallel to the first direction, which can be understood as the angle between the third direction and the first direction being less than the first preset angle. This means that the center point of the fourth power line point cluster and the fifth power line point cluster are adjacent to each other and are more likely to belong to the same power line. Therefore, the reference distance is directly used as the third distance between the fourth power line point cluster and the fifth power line point cluster.

[0058] Step B4: If the third direction is approximately perpendicular to the first direction, then the sum of the reference distance and the first preset distance is taken as the third distance between the fourth transmission line point cluster and the fifth transmission line point cluster.

[0059] Specifically, the third direction is approximately perpendicular to the first direction. This can be understood as the angle between the third direction and the first direction being greater than the second preset angle. This indicates a high probability that the center point of the fourth transmission line cluster and the fifth transmission line cluster are vertically adjacent but do not belong to the same transmission line. Therefore, the reference distance needs to be increased by a preset multiple, or increased by adding the first preset distance to the reference distance, to ensure the accuracy of the third distance. Here, the preset multiple is greater than 1, and the second preset angle is greater than the first preset angle.

[0060] In this embodiment, adjacent second transmission line point clusters are designated as the fourth and fifth transmission line point clusters. The third direction and reference distance of the line connecting the center point of the fourth and fifth transmission line point clusters are determined. Furthermore, by judging the azimuth relationship between the third direction and the first direction, the third distance between the fourth and fifth transmission line point clusters is accurately determined. This avoids the influence of azimuth errors on the determination of the third distance, which in turn affects the determination of the second transmission line point clusters belonging to the same transmission line based on the third distance and the included angle of direction.

[0061] S140. Based on the third transmission line point cluster and the target catenary model, update the third transmission line point cluster and use the updated third transmission line point cluster as transmission line data for transmission line detection.

[0062] The target catenary model can be understood as a model that accurately simulates the suspension shape of the transmission line; that is, the target catenary model can be understood as a three-dimensional modeling structure of the transmission line.

[0063] Specifically, the third transmission line point cluster can be two-dimensional data projected onto the ground or three-dimensional data containing height information. Further, if the third transmission line point cluster is two-dimensional data projected onto the ground, the height information of each data point in the third transmission line point cluster is extracted to establish a sixth transmission line point cluster with height information. This sixth transmission line point cluster is then fitted and compared with the target catenary model, eliminating sixth transmission line point clusters that do not conform to the pattern of the target catenary model, thus obtaining an updated third transmission line point cluster. If the third transmission line point cluster is three-dimensional data containing height information, it is then fitted and compared with the target catenary model, eliminating third transmission line point clusters that do not conform to the pattern of the target catenary model, thus obtaining an updated third transmission line point cluster.

[0064] The technical solution of this invention involves acquiring first data, extracting transmission line data from the first data, and obtaining multiple first transmission line point clusters. The first data is three-dimensional data containing transmission line data. Preliminary extraction of data representing transmission lines from the first data is achieved. Further, a first distance and a second distance are determined for each first transmission line point cluster. Based on the first and second distances, a second transmission line point cluster is determined from the first transmission line point clusters. The first distance is the maximum length of the first transmission line point cluster in a first direction, where the first direction is the transmission direction of the transmission line. The second distance is the maximum length of the first transmission line point cluster in a second direction, where the second direction is perpendicular to the first direction. In other words, determining the second transmission line point cluster from the first transmission line point clusters based on the analysis results of the first and second distances can be understood as achieving further extraction of data representing transmission lines through quantification, ensuring accurate extraction of transmission line data. Then, the third distance and directional angle between adjacent second transmission line point clusters are determined. Based on the third distance and directional angle, second transmission line point clusters belonging to the same transmission line are identified, and these second transmission line point clusters belonging to the same transmission line are designated as third transmission line point clusters. The directional angle describes the angle between adjacent second transmission line point clusters in the first direction. By judging the third distance and directional angle between adjacent second transmission line point clusters, data points belonging to the same transmission line are accurately identified. Finally, based on the third transmission line point cluster and the target catenary model, the third transmission line point cluster is updated, and the updated third transmission line point cluster is used as transmission line data for transmission line detection. The target catenary model can accurately reflect the location information of the transmission line, thus allowing for more accurate updating of the third transmission line point cluster, achieving rapid and accurate extraction of transmission line data. Furthermore, the data processed in this invention is three-dimensional data, which can effectively avoid interference from lighting and different terrains, adapting to different weather conditions and scenarios such as flat land, mountains, and forest areas.

[0065] Example 2

[0066] Figure 3 This is a flowchart of another method for extracting transmission line data provided by an embodiment of the present invention. The technical solution of this embodiment further optimizes S140 in the aforementioned embodiments based on the above embodiments. This embodiment can be combined with various optional solutions in one or more of the above embodiments. Figure 3 As shown, the method includes:

[0067] S210. Obtain first data, extract transmission line data from the first data, and obtain multiple first transmission line point clusters; the first data is three-dimensional data containing transmission line data.

[0068] S220. Determine the first distance and the second distance of each first power transmission line point cluster, and determine the second power transmission line point cluster from the first power transmission line point cluster based on the first distance and the second distance; wherein, the first distance is the maximum length of the first power transmission line point cluster in the first direction; the first direction is the transmission direction of the power transmission line; the second distance is the maximum length of the first power transmission line point cluster in the second direction; the second direction is the direction perpendicular to the first direction.

[0069] S230. Determine the third distance and direction angle between adjacent second transmission line point clusters, determine the second transmission line point clusters belonging to the same transmission line based on the third distance and direction angle, and take the second transmission line point clusters belonging to the same transmission line as the third transmission line point clusters; the direction angle is used to describe the angle between the first direction between adjacent second transmission line point clusters.

[0070] S240. Determine the fourth distance between each data point in the third transmission line point cluster and the target catenary model; remove data points in the third transmission line point cluster whose fourth distance is greater than the third preset distance, and obtain the updated third transmission line point cluster.

[0071] Specifically, the third transmission line point cluster is two-dimensional data projected onto the ground. A fourth distance is determined between each data point in the third transmission line point cluster and the target catenary model. This fourth distance effectively reflects the relationship between each data point in the third transmission line point cluster and the target catenary model, i.e., whether it conforms to the pattern of the target catenary model. If the fourth distance is greater than a third preset distance, it indicates that the corresponding data point does not conform to the pattern of the target catenary model. Therefore, data points in the third transmission line point cluster with a fourth distance greater than the third preset distance are removed, thus accurately updating the third transmission line point cluster. Further extraction is performed on third transmission line point clusters belonging to the same transmission line to ensure the accuracy of the final transmission line data. After determining the updated third transmission line point cluster, the height of each point in the updated third transmission line point cluster is correlated to obtain the three-dimensional data of the detected transmission line.

[0072] Optionally, the transmission line data extraction method further includes: fitting a target catenary model based on a third transmission line point cluster; the target catenary model can be expressed by the following formula:

[0073]

[0074] Where α is the catenary parameter, and (s0, z0) is the coordinate of the lowest point of the catenary. Both the catenary parameter and the coordinate of the lowest point of the catenary are determined by iterative optimization based on the third transmission line point cluster.

[0075] Specifically, the initial catenary model can be represented as:

[0076]

[0077] Where ɑ1 is the initial catenary parameter, and (s1, z1) is the initial coordinate of the lowest point of the catenary;

[0078] The initial catenary model is iteratively optimized using all data points in the third transmission line point cluster until convergence, thereby obtaining the catenary parameters α and the coordinates (s0, z0) of the lowest point of the catenary model, which allows for the accurate acquisition of the mathematical expression of the target catenary model.

[0079] Optionally, after obtaining the updated third transmission line point cluster, the method further includes: constructing a first circumscribed rectangle for each updated third transmission line point cluster; determining the diagonal length of the first circumscribed rectangle and the total data volume of the updated third transmission line point cluster; designating the updated third transmission line point cluster as a fourth transmission line point cluster if the diagonal length of the first circumscribed rectangle is greater than a preset length and the total data volume of the updated third transmission line point cluster is greater than a preset number; and matching the same identification information to the fourth transmission line point clusters belonging to the same transmission line, so as to detect the transmission line based on the fourth transmission line point cluster.

[0080] The identification information can accurately reflect the unique identifier of the transmission line, such as color or number, facilitating visualization and subsequent analysis. The preset length and quantity can be set according to actual needs; for example, the preset length could be 50 meters, and the preset quantity could be 100.

[0081] The technical solution of this embodiment further filters whether the updated third power transmission line point cluster belongs to power transmission line data by using the diagonal length of the first circumscribed rectangle and the total data volume of the updated third power transmission line point cluster, effectively removing noise and non-power transmission line structures.

[0082] The technical solution of this invention involves acquiring first data, extracting transmission line data from the first data, and obtaining multiple first transmission line point clusters. The first data is three-dimensional data containing transmission line data. Further, a first distance and a second distance are determined for each first transmission line point cluster. Based on the first and second distances, a second transmission line point cluster is determined from the first transmission line point clusters. The first distance is the maximum length of the first transmission line point cluster in a first direction; the first direction is the transmission direction of the transmission line. The second distance is the maximum length of the first transmission line point cluster in a second direction; the second direction is a direction perpendicular to the first direction. Then, a third distance and directional angle are determined between adjacent second transmission line point clusters. Based on the third distance and directional angle, second transmission line point clusters belonging to the same transmission line are determined, and these second transmission line point clusters belonging to the same transmission line are designated as third transmission line point clusters. The directional angle describes the angle between adjacent second transmission line point clusters in the first direction. Finally, the fourth distance between each data point in the third transmission line point cluster and the target catenary model is determined. Data points in the third transmission line point cluster whose fourth distance is greater than a third preset distance are removed, resulting in an updated third transmission line point cluster. By quantifying the positional information of each data point in the third transmission line point cluster relative to the target catenary model, rapid and accurate extraction of transmission line data is achieved. Furthermore, the data processed in this invention is three-dimensional data, which effectively avoids interference from lighting and different terrains, and is adaptable to various weather conditions and scenarios such as flat land, mountains, and forests.

[0083] Example 3

[0084] Figure 4 This is a schematic diagram of a power transmission line data extraction device provided in Embodiment 3 of the present invention. This embodiment is applicable to the extraction of power transmission line data from three-dimensional data containing power transmission line data. The power transmission line data extraction device can be implemented in hardware and / or software, and can be configured in any electronic device with network communication capabilities. Figure 4 As shown, the power transmission line data extraction device includes:

[0085] The first data processing module 310 is used to acquire first data, extract transmission line data from the first data, and obtain multiple first transmission line point clusters; the first data is three-dimensional data containing transmission line data.

[0086] The second data processing module 320 is used to determine a first distance and a second distance for each of the first power transmission line point clusters, and to determine a second power transmission line point cluster from the first power transmission line point clusters based on the first distance and the second distance; wherein, the first distance is the maximum length of the first power transmission line point cluster in a first direction; the first direction is the transmission direction of the power transmission line; the second distance is the maximum length of the first power transmission line point cluster in a second direction; the second direction is a direction perpendicular to the first direction;

[0087] The third data processing module 330 is used to determine the third distance and direction angle between adjacent second power transmission line point clusters, determine the second power transmission line point clusters belonging to the same power transmission line based on the third distance and the direction angle, and take the second power transmission line point clusters belonging to the same power transmission line as the third power transmission line point clusters; the direction angle is used to describe the angle of the first direction between adjacent second power transmission line point clusters;

[0088] The fourth data processing module 340 is used to update the third transmission line point cluster based on the third transmission line point cluster and the target catenary model, and use the updated third transmission line point cluster as transmission line data for transmission line detection.

[0089] Based on the above embodiments, optionally, the first data processing module is configured to: sample the first data according to a preset thinning rate to obtain second data; perform cluster analysis on the second data to obtain multiple reference point clusters; determine the reference height of each reference point cluster, and determine the reference point clusters with reference heights greater than a preset height as the first transmission line point cluster; wherein, the reference height is the distance between the data point closest to the first plane in the reference point cluster and the first plane; the first plane is the ground plane corresponding to the transmission line.

[0090] Based on the above embodiments, optionally, the preset thinning rate is determined according to the target data volume and the total data volume of the first data; the target data volume is determined according to the horizontal footprint and the preset density; the horizontal footprint is the projected area of ​​the first data on the first plane.

[0091] Based on the above embodiments, optionally, the second data processing module includes a first data processing unit, which is used to: take the ratio of the first distance to the second distance as a target ratio; if the target ratio is greater than a preset threshold, then determine the first power transmission line cluster corresponding to the target ratio as the second power transmission line cluster.

[0092] Based on the above embodiments, optionally, the second data processing module includes a second data processing unit, which is used to: designate adjacent second transmission line point clusters as a fourth transmission line point cluster and a fifth transmission line point cluster; determine a third direction and a reference distance for the line connecting the center point of the fourth transmission line point cluster and the center point of the fifth transmission line point cluster; if the third direction is approximately parallel to the first direction, then the reference distance is a third distance between the fourth transmission line point cluster and the fifth transmission line point cluster; if the third direction is approximately perpendicular to the first direction, then the sum of the reference distance and the first preset distance is taken as the third distance between the fourth transmission line point cluster and the fifth transmission line point cluster.

[0093] Based on the above embodiments, optionally, the third data processing module is used to: if the third distance is less than the second preset distance and the directional angle is less than the preset angle, then the second power line point cluster corresponding to the third distance and the directional angle belongs to the second power line point cluster of the same power line.

[0094] Optionally, based on the above embodiments, the transmission line data extraction device further includes a target catenary model determination module, which is used to: fit the target catenary model based on the third transmission line point cluster; correspondingly, the target catenary model is expressed by the following formula:

[0095]

[0096] Where α is the catenary parameter, and (s0, z0) is the coordinate of the lowest point of the catenary. The catenary parameter and the coordinate of the lowest point of the catenary are determined by iterative optimization based on the third transmission line point cluster.

[0097] Based on the above embodiments, optionally, the fourth data processing module is used to: determine the fourth distance between each data point in the third transmission line point cluster and the target catenary model; remove data points in the third transmission line point cluster whose fourth distance is greater than a third preset distance, and obtain an updated third transmission line point cluster.

[0098] Optionally, based on the above embodiments, the fourth data processing module further includes a data optimization unit, which is used to: construct a first circumscribed rectangle for each updated third transmission line point cluster; determine the diagonal length of the first circumscribed rectangle and the total data volume of the updated third transmission line point cluster; designate the updated third transmission line point cluster as a fourth transmission line point cluster if the diagonal length of the first circumscribed rectangle is greater than a preset length and the total data volume of the updated third transmission line point cluster is greater than a preset number; and match the same identification information for fourth transmission line point clusters belonging to the same transmission line, so as to detect the transmission line based on the fourth transmission line point cluster.

[0099] The power transmission line data extraction device provided in this embodiment of the invention can execute the power transmission line data extraction method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method.

[0100] Example 4

[0101] According to embodiments of this disclosure, this disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0102] Figure 5 A schematic diagram of an electronic device that can be used to implement the power line data extraction method of embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0103] like Figure 5 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0104] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0105] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the power transmission line data extraction method.

[0106] In some embodiments, the power transmission line data extraction method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the power transmission line data extraction method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the power transmission line data extraction method by any other suitable means (e.g., by means of firmware).

[0107] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), system-on-a-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transferring data and instructions to the storage system, the at least one input device, and the at least one output device.

[0108] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0109] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0110] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0111] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0112] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0113] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and no limitation is imposed herein.

[0114] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for extracting data from power transmission lines, characterized in that, The method includes: First data is acquired, and transmission line data is extracted from the first data to obtain multiple first transmission line point clusters; the first data is three-dimensional data containing transmission line data. A first distance and a second distance are determined for each of the first power transmission line point clusters. Based on the first distance and the second distance, a second power transmission line point cluster is determined from the first power transmission line point clusters. Wherein, the first distance is the maximum length of the first power transmission line point cluster in a first direction; the first direction is the transmission direction of the power transmission line; the second distance is the maximum length of the first power transmission line point cluster in a second direction; the second direction is a direction perpendicular to the first direction. A third distance and directional angle are determined between adjacent second power transmission line point clusters. Based on the third distance and the directional angle, second power transmission line point clusters belonging to the same power transmission line are determined, and the second power transmission line point clusters belonging to the same power transmission line are designated as third power transmission line point clusters. The directional angle is used to describe the angle between the first direction between adjacent second power transmission line point clusters. Based on the third power transmission line point cluster and the target catenary model, the third power transmission line point cluster is updated, and the updated third power transmission line point cluster is used as power transmission line data for power transmission line detection. Determining the third distance between adjacent second transmission line point clusters includes: The adjacent second transmission line point clusters are designated as the fourth and fifth transmission line point clusters; Determine the third direction and reference distance of the line connecting the center point of the fourth power transmission line cluster and the center point of the fifth power transmission line cluster; If the third direction is approximately parallel to the first direction, then the reference distance is the third distance between the fourth power transmission line cluster and the fifth power transmission line cluster. If the third direction is approximately perpendicular to the first direction, then the sum of the reference distance and the first preset distance is taken as the third distance between the fourth power line point cluster and the fifth power line point cluster.

2. The method according to claim 1, characterized in that, From the first data, transmission line data is extracted to obtain multiple first transmission line point clusters, including: The first data is sampled according to a preset thinning rate to obtain the second data; The second data was subjected to cluster analysis to obtain multiple reference point clusters; Determine the reference height of each of the reference point clusters, and identify the reference point clusters whose reference height is greater than a preset height as the first transmission line point cluster; wherein, the reference height is the distance between the data point in the reference point cluster that is closest to the first plane and the first plane; the first plane is the ground plane corresponding to the transmission line.

3. The method according to claim 2, characterized in that, The preset thinning rate is determined based on the target data volume and the total data volume of the first data; the target data volume is determined based on the horizontal footprint and the preset density; the horizontal footprint is the projected area of ​​the first data on the first plane.

4. The method according to claim 1, characterized in that, Determining a second transmission line point cluster from the first transmission line point cluster based on the first distance and the second distance includes: The ratio of the first distance to the second distance is taken as the target ratio; If the target ratio is greater than a preset threshold, then the first power transmission line cluster corresponding to the target ratio is determined as the second power transmission line cluster.

5. The method according to claim 1, characterized in that, Determining the second power transmission line point cluster belonging to the same power transmission line within the second power transmission line point cluster based on the third distance and the included direction angle includes: If the third distance is less than the second preset distance and the directional angle is less than the preset angle, then the second power line point cluster corresponding to the third distance and the directional angle belongs to the second power line point cluster of the same power line.

6. The method according to claim 1, characterized in that, The method further includes: The target catenary model is fitted based on the third power line point cluster; Accordingly, the target catenary model is represented by the following formula: ； Where α is the catenary parameter, and (s0, z0) is the coordinate of the lowest point of the catenary. The catenary parameter and the coordinate of the lowest point of the catenary are determined by iterative optimization based on the third transmission line point cluster.

7. The method according to claim 6, characterized in that, Based on the third transmission line point cluster and the target catenary model, the third transmission line point cluster is updated, including: Determine the fourth distance between each data point in the third transmission line point cluster and the target catenary model; Remove the data points in the third transmission line point cluster whose fourth distance is greater than the third preset distance, and obtain the updated third transmission line point cluster.

8. The method according to claim 7, characterized in that, After obtaining the updated third transmission line point cluster, the method further includes: Construct the first bounding rectangle for each updated cluster of third transmission line points; Determine the diagonal length of the first circumscribed rectangle, and determine the total data volume of the updated third transmission line point cluster; If the diagonal length of the first circumscribed rectangle is greater than a preset length, and the total data volume of the updated third transmission line point cluster is greater than a preset number, the corresponding updated third transmission line point cluster is designated as the fourth transmission line point cluster. Match the same identification information to the fourth transmission line point cluster belonging to the same transmission line, so as to detect the transmission line based on the fourth transmission line point cluster.

9. A data extraction device for power transmission lines, characterized in that, The device includes: The first data processing module is used to acquire first data, extract transmission line data from the first data, and obtain multiple first transmission line point clusters; the first data is three-dimensional data containing transmission line data. The second data processing module is used to determine a first distance and a second distance for each of the first power transmission line point clusters, and to determine a second power transmission line point cluster from the first power transmission line point clusters based on the first distance and the second distance; wherein, the first distance is the maximum length of the first power transmission line point cluster in a first direction; the first direction is the transmission direction of the power transmission line; the second distance is the maximum length of the first power transmission line point cluster in a second direction; the second direction is a direction perpendicular to the first direction; The third data processing module is used to determine the third distance and directional angle between adjacent second power transmission line point clusters, determine the second power transmission line point clusters belonging to the same power transmission line based on the third distance and the directional angle, and take the second power transmission line point clusters belonging to the same power transmission line as the third power transmission line point clusters; the directional angle is used to describe the angle of the first direction between adjacent second power transmission line point clusters; The fourth data processing module is used to update the third transmission line point cluster based on the third transmission line point cluster and the target catenary model, and use the updated third transmission line point cluster as transmission line data for transmission line detection. The third data processing module is configured to: designate adjacent second power line point clusters as a fourth power line point cluster and a fifth power line point cluster; determine a third direction and a reference distance for the line connecting the center point of the fourth power line point cluster and the center point of the fifth power line point cluster; if the third direction is approximately parallel to the first direction, then the reference distance is the third distance between the fourth power line point cluster and the fifth power line point cluster; if the third direction is approximately perpendicular to the first direction, then the sum of the reference distance and the first preset distance is taken as the third distance between the fourth power line point cluster and the fifth power line point cluster.

10. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the power transmission line data extraction method according to any one of claims 1-8.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the power transmission line data extraction method according to any one of claims 1-8.

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