Cable external damage prevention monitoring method, device, equipment and medium

Abstract

The invention relates to a cable external damage prevention monitoring method, device and equipment and a medium, and the method comprises the steps: collecting a preset position image of an environment where a monitored cable is located in a preset time period, and the preset position image comprises construction vehicle information and the trend information of the monitored cable; for each preset position image, calculating the center-of-mass coordinate of the construction vehicle according to the contour point set of the construction vehicle in the preset position image, and obtaining the center-of-mass coordinate of the construction vehicle corresponding to each preset position image; determining a motion path of the construction vehicle in a preset time period according to each center-of-mass coordinate and the moving speed of the construction vehicle; and according to the motion path and the trend information of the monitored cable, predicting whether the monitored cable has an external damage risk, and obtaining a monitoring result of the monitored cable. By adopting the method, the early warning reliability, namely the monitoring reliability, of cable external damage prevention can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cable monitoring, and in particular to a cable external damage monitoring method, device, equipment and medium. BACKGROUND

[0002] As an important infrastructure for power transmission, high-voltage cable lines are often distributed in a staggered manner with other underground pipelines, and the construction area environment is complex. Therefore, the high-voltage cable lines are easily affected by the surrounding mechanical construction activities, and improper operation or movement of the mechanical construction vehicles can cause external damage to the high-voltage cable lines, thereby causing safety accidents such as power outages and affecting the stable operation of the power system and the normal life of people.

[0003] In the related art, the monitoring of the external damage prevention of the high-voltage cable lines mainly relies on manual inspection or simple video monitoring, and whether there is a potential external damage risk is determined by manually observing the video screen.

[0004] However, such a monitoring method results in low early warning reliability of cable external damage prevention. SUMMARY

[0005] Therefore, it is necessary to provide a cable external damage monitoring method, device, equipment and medium to improve the early warning reliability of cable external damage prevention, i.e., the monitoring reliability.

[0006] In a first aspect, the present application provides a cable external damage monitoring method, which comprises:

[0007] acquiring preset position images of an environment in which a monitored cable is located within a preset time period, the preset position images including construction vehicle information and a direction information of the monitored cable;

[0008] For each preset position image, calculating a centroid coordinate of the construction vehicle according to a contour point set of the construction vehicle in the preset position image, to obtain the centroid coordinate of the construction vehicle corresponding to each preset position image;

[0009] determining a movement path of the construction vehicle within the preset time period according to the centroid coordinates and a moving speed of the construction vehicle;

[0010] predicting whether the monitored cable has an external damage risk according to the movement path and the direction information of the monitored cable, to obtain a monitoring result of the monitored cable.

[0011] In one of the embodiments, calculating the centroid coordinate of the construction vehicle according to the contour point set of the construction vehicle in the preset position image comprises:

[0012] calculating the centroid coordinate of the construction vehicle according to the coordinates of each contour point in the contour point set and a preset centroid influence factor.

[0013] In one of the embodiments, the preset centroid influence factors include a first preset centroid influence factor and a second preset centroid influence factor, and the centroid coordinates of the construction vehicle are calculated according to the coordinates of each contour point in the contour point set and the preset centroid influence factors, including:

[0014] The horizontal coordinate of the centroid of the construction vehicle is determined according to the ratio of the first weighted value and the first parameter value; the first weighted value is the weighted sum of the horizontal coordinates of each contour point in the contour point set and the first preset centroid influence factor, and the first parameter value is the product value of the number of contour points in the contour point set and the first preset centroid influence factor;

[0015] The vertical coordinate of the centroid of the construction vehicle is determined according to the ratio of the second weighted value and the second parameter value; the second weighted value is the weighted sum of the vertical coordinates of each contour point in the contour point set and the second preset centroid influence factor, and the second parameter value is the product value of the number of contour points in the contour point set and the second preset centroid influence factor.

[0016] In one of the embodiments, the motion path of the construction vehicle in the preset time period is determined according to the centroid coordinates and the moving speed of the construction vehicle, including:

[0017] The motion direction of the construction vehicle is determined according to the horizontal coordinate difference and the vertical coordinate difference of the centroid coordinates;

[0018] The motion path is determined according to the centroid coordinates, the motion direction and the moving speed.

[0019] In one of the embodiments, the motion direction of the construction vehicle is determined according to the horizontal coordinate difference and the vertical coordinate difference of the centroid coordinates, including:

[0020] The initial direction of the construction vehicle is determined according to the motion direction parameter of the construction vehicle; the motion direction parameter is the inverse tangent value of the ratio of the horizontal coordinate difference and the vertical coordinate difference;

[0021] The initial direction is corrected by using the preset motion direction influence coefficient, and the corrected initial direction is determined as the motion direction.

[0022] In one of the embodiments, the motion path is determined according to the centroid coordinates, the motion direction and the moving speed, including:

[0023] The horizontal coordinate of the construction vehicle moving in the preset time period is determined according to the sum value of the horizontal coordinate value of each centroid coordinate, the third parameter and the first path influence factor; the third parameter is the product value of the moving speed, the sine value of the motion direction and the preset time period;

[0024] determine the longitudinal coordinate of the construction vehicle moving in the preset time period according to the sum of the longitudinal coordinate value of each centroid coordinate, the fourth parameter and the second path influence factor; the fourth parameter is the product value of the moving speed, the cosine value of the moving direction and the preset time period;

[0025] determine the motion path according to the transverse coordinate and the longitudinal coordinate of the construction vehicle moving in the preset time period.

[0026] In one of the embodiments, according to the motion path and the running information of the monitored cable, it is predicted whether the monitored cable has an external damage risk, and the monitoring result of the monitored cable is obtained, including:

[0027] determine the initial distance between the construction vehicle and the monitored cable according to the motion path and the running information of the monitored cable;

[0028] determine the distance between the construction vehicle and the monitored cable according to the initial distance and the distance correction factor;

[0029] in the case where the distance is not greater than the preset distance threshold, it is determined that the monitoring result is that the monitored cable has an external damage risk.

[0030] In a second aspect, the present application also provides a cable external damage prevention monitoring device, which comprises:

[0031] a cable environment information acquisition module, configured to collect preset position images of an environment in which a monitored cable is located in a preset time period, the preset position images including construction vehicle information and running information of the monitored cable;

[0032] a vehicle centroid coordinate determination module, configured to, for each preset position image, calculate a centroid coordinate of a construction vehicle according to a contour point set of the construction vehicle in the preset position image, and obtain the centroid coordinate of the construction vehicle corresponding to each preset position image;

[0033] a vehicle motion path prediction module, configured to determine a motion path of the construction vehicle in the preset time period according to each centroid coordinate and a moving speed of the construction vehicle;

[0034] a cable external damage prevention warning module, configured to predict whether the monitored cable has an external damage risk according to the motion path and the running information of the monitored cable, and obtain a monitoring result of the monitored cable.

[0035] In a third aspect, the present application also provides a computer device, which comprises a memory and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program:

[0036] collect preset position images of an environment in which a monitored cable is located in a preset time period, the preset position images including construction vehicle information and running information of the monitored cable;

[0037] For each preset position image, the centroid coordinates of the construction vehicle are calculated according to the contour point set of the construction vehicle in the preset position image, to obtain the centroid coordinates of the construction vehicle corresponding to each preset position image;

[0038] According to the centroid coordinates and the moving speed of the construction vehicle, the motion path of the construction vehicle in the preset time period is determined;

[0039] According to the motion path and the running direction information of the monitored cable, it is predicted whether the monitored cable has an external damage risk, to obtain the monitoring result of the monitored cable.

[0040] In a fourth aspect, the present application also provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the following steps:

[0041] The preset position images of the environment in which the monitored cable is located in a preset time period are collected, and the preset position images include construction vehicle information and running direction information of the monitored cable;

[0042] For each preset position image, the centroid coordinates of the construction vehicle are calculated according to the contour point set of the construction vehicle in the preset position image, to obtain the centroid coordinates of the construction vehicle corresponding to each preset position image;

[0043] According to the centroid coordinates and the moving speed of the construction vehicle, the motion path of the construction vehicle in the preset time period is determined;

[0044] According to the motion path and the running direction information of the monitored cable, it is predicted whether the monitored cable has an external damage risk, to obtain the monitoring result of the monitored cable.

[0045] In a fifth aspect, the present application also provides a computer program product, which includes a computer program, and the computer program is executed by a processor to implement the following steps:

[0046] The preset position images of the environment in which the monitored cable is located in a preset time period are collected, and the preset position images include construction vehicle information and running direction information of the monitored cable;

[0047] For each preset position image, the centroid coordinates of the construction vehicle are calculated according to the contour point set of the construction vehicle in the preset position image, to obtain the centroid coordinates of the construction vehicle corresponding to each preset position image;

[0048] According to the centroid coordinates and the moving speed of the construction vehicle, the motion path of the construction vehicle in the preset time period is determined;

[0049] According to the motion path and the running direction information of the monitored cable, it is predicted whether the monitored cable has an external damage risk, to obtain the monitoring result of the monitored cable.

[0050] The cable external damage prevention monitoring method, device, equipment and medium provided by the above can first collect preset position images of the environment in which the monitored cable is located within a preset time period, so that information about the environment around the monitored cable can be comprehensively and continuously obtained; then, for each preset position image, the centroid coordinates of the construction vehicle are calculated according to the contour point set of the construction vehicle in the preset position image, so that the centroid coordinates of the construction vehicle corresponding to each preset position image can be obtained, the position of the construction vehicle in the image can be quickly determined, and by calculating the centroid coordinates of the construction vehicle in different preset position images, the position change of the construction vehicle at different times can be clearly understood, which provides key data for subsequent determination of the motion path; then, according to the centroid coordinates and the moving speed of the construction vehicle, the motion path of the construction vehicle within the preset time period is determined, so that it can be quickly judged whether the construction vehicle is approaching the monitored cable and whether the motion trend of the construction vehicle will threaten the cable; finally, according to the motion path and the direction information of the monitored cable, it is predicted whether the monitored cable has an external damage risk, that is, potential dangers can be discovered in advance, measures can be taken in time, and the cable can be prevented from being damaged, so that the safe operation of the cable is ensured, that is, the cable external damage prevention monitoring method provided by the present application can improve the early warning reliability of cable external damage prevention, that is, the monitoring reliability. BRIEF DESCRIPTION OF DRAWINGS

[0051] Figure 1 An application environment diagram of the cable external damage prevention monitoring method provided by some embodiments of the present application is shown;

[0052] Figure 2 A flowchart of the cable external damage prevention monitoring method provided by some embodiments of the present application is shown;

[0053] Figure 3 A flowchart of determining the coordinates of the centroid of the construction vehicle provided by some embodiments of the present application is shown;

[0054] Figure 4 A flowchart of determining the motion path of the construction vehicle provided by some embodiments of the present application is shown;

[0055] Figure 5 A flowchart of determining the motion direction of the construction vehicle provided by some embodiments of the present application is shown;

[0056] Figure 6 A flowchart of determining the motion path of the construction vehicle provided by some other embodiments of the present application is shown;

[0057] Figure 7 A flowchart of determining the monitoring result provided by some embodiments of the present application is shown;

[0058] Figure 8 A structural block diagram of the cable external damage prevention monitoring device provided by some embodiments of the present application is shown;

[0059] Figure 9 An internal structure diagram of a computer device provided for some embodiments of the present application is shown. DETAILED DESCRIPTION

[0060] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0061] The cable external damage monitoring method provided by the embodiments of the present application can be applied in an application environment as shown in Figure 1 . The terminal 102 can be, but is not limited to, various personal computers, notebook computers, smart phones and tablet computers and other computer devices. The terminal 102 can be connected with the cable environment monitoring system 104 in a wired / wireless manner to obtain relevant data collected by the cable environment monitoring system 104. The cable environment monitoring system 104 includes power transmission video devices, speed measurement radars and various environmental sensors, etc. The power transmission video devices are used to collect preset position images of the environment where the monitored cable is located. The speed measurement radars are used to monitor the moving speed of the construction vehicle. The environmental sensors are used to monitor the wind speed of the environment where the construction vehicle is located, the friction coefficient of the road where the construction vehicle is located, etc. The terminal 102 can also execute the cable external damage monitoring method of the present application to realize effective and reliable external damage monitoring of the cable.

[0062] In one embodiment, as shown in Figure 2 , the method is applied to a computer device in Figure 1 . In this embodiment, the method includes the following steps:

[0063] Step 202, collect preset position images of the environment where the monitored cable is located within a preset time period.

[0064] The preset time period is a time range set in advance, which is used to limit the time span of image collection. The monitored cable refers to the cable line that needs to be focused on and protected in the cable external damage monitoring system. These cables are usually part of important infrastructure such as power transmission and communication, and once damaged externally, may cause power interruption, communication failure and other serious consequences. For example, the monitored cable can be a high-voltage power transmission cable in the city, an underground communication cable, etc.

[0065] The preset position image is an image of the environment where the monitored cable is located collected by the power transmission video device at a preset position and angle. The preset position image can be an image sequence set, i.e., a set of multiple collected images of the environment where the monitored cable is located at continuous time points within a preset time period. In actual monitoring, a video monitoring device is usually used to collect images through a pre-set monitoring position (i.e., a preset position). The preset position image includes construction vehicle information and the direction information of the monitored cable. The construction vehicle information refers to various feature information of the construction vehicle in the preset position image, mainly including the contour, position, size, posture, etc. of the construction vehicle. These information can be extracted from the preset position image through image processing and analysis technology. For example, the contour point set of the construction vehicle can be obtained through edge detection, contour extraction and other algorithms. The direction information of the monitored cable describes the distribution and extension direction of the monitored cable in space. It can be obtained through geographic information system (GIS) data, cable laying drawings or image processing technology.

[0066] Specifically, the power transmission video device is arranged at a suitable position around the cable line, and periodically collects preset position image pieces according to the set program. The range of these preset position images is carefully planned, not only including the area where the construction vehicle may move, but also completely covering the direction area of the cable line. The preset position image records the position information of each point in the form of pixel coordinates I(x, y), which provides intuitive and detailed basic data for subsequent accurate analysis of the cable line and the vehicle.

[0067] It can be understood that by collecting the preset position images within a preset time period, the information of the environment around the monitored cable can be comprehensively and continuously obtained. The construction vehicle information and the direction information of the monitored cable contained in these images are the basic data for subsequent analysis of whether the construction vehicle has an external damage risk to the cable.

[0068] In step 204, for each preset position image, the centroid coordinates of the construction vehicle are calculated according to the contour point set of the construction vehicle in the preset position image, to obtain the centroid coordinates of the construction vehicle corresponding to each preset position image.

[0069] The contour point set refers to a coordinate set of all pixel points on the contour of the construction vehicle in the preset position image. In image processing, the contour of the construction vehicle can be found by edge detection and contour extraction algorithms. These contours are composed of a series of continuous pixel points. Collecting the coordinates of these pixel points forms the contour point set. For example, assuming that 100 pixel points on the contour of the construction vehicle are obtained through image processing, and their coordinates are (x1, y1), (x2, y2), …, (x100, y100), then the set {(x1, y1), (x2, y2), …, (x100, y100)} composed of these coordinates is the contour point set of the construction vehicle, which is the basic data for calculating the centroid coordinates of the construction vehicle. The centroid coordinates of the construction vehicle are the coordinates used to describe the mass center position of the construction vehicle in the image.

[0070] Optionally, the centroid coordinates of the construction vehicle are the weighted average of all point coordinates in the contour point set of the construction vehicle.

[0071] It can be understood that calculating the centroid coordinates of the construction vehicle can represent the position of the construction vehicle in the image with a concise coordinate. Compared with using a large amount of contour point information, the centroid coordinates are more convenient for processing and analysis. By calculating the centroid coordinates of the construction vehicle in different preset position images, the position change of the construction vehicle at different times can be clearly understood, which provides key data for subsequent determination of the motion path.

[0072] In step 206, the motion path of the construction vehicle in the preset time period is determined according to the centroid coordinates and the moving speed of the construction vehicle.

[0073] The moving speed of the construction vehicle can be obtained by a radar speed measurement device installed near the monitored cable or a speed sensor installed on the construction vehicle. The motion path is the moving track of the construction vehicle in the preset time period.

[0074] It can be understood that the motion path of the construction vehicle in the preset time period can be accurately depicted by combining the centroid coordinates and the moving speed of the construction vehicle. The motion path can intuitively show the activity range and direction of the construction vehicle, helping the monitoring personnel to judge whether the construction vehicle is approaching the monitored cable and whether the motion trend of the construction vehicle will threaten the cable.

[0075] In step 208, it is predicted whether the monitored cable has an external damage risk according to the motion path and the direction information of the monitored cable, and a monitoring result of the monitored cable is obtained.

[0076] The monitoring result of the monitored cable is that the monitored cable has an external damage risk or that the monitored cable does not have an external damage risk.

[0077] It can be understood that the motion path of the construction vehicle is combined with the information of the cable route, and the risk prediction can be performed. If the motion path of the construction vehicle intersects or approaches the cable route, the cable may have an external damage risk. In this way, potential dangers can be found in advance, and measures can be taken in time to avoid damage to the cable and ensure the safe operation of the cable.

[0078] The above cable external damage monitoring method first collects preset position images of an environment in which the monitored cable is located within a preset time period, and can comprehensively and continuously obtain information of an environment around the monitored cable. Then, for each preset position image, the centroid coordinates of the construction vehicle are calculated according to the contour point set of the construction vehicle in the preset position image, and the centroid coordinates of the construction vehicle corresponding to each preset position image are obtained, so that the position of the construction vehicle in the image can be quickly determined. By calculating the centroid coordinates of the construction vehicle in different preset position images, the position change of the construction vehicle at different times can be clearly understood, and key data for determining the motion path is provided. Then, the motion path of the construction vehicle within the preset time period is determined according to the centroid coordinates and the moving speed of the construction vehicle, so that it can be quickly judged whether the construction vehicle is approaching the monitored cable and whether the motion trend of the construction vehicle will threaten the cable. Finally, according to the motion path and the information of the route of the monitored cable, it is predicted whether the monitored cable has an external damage risk, that is, potential dangers can be found in advance, and measures can be taken in time to avoid damage to the cable and ensure the safe operation of the cable. That is, the cable external damage monitoring method of the present application can improve the early warning reliability of cable external damage, that is, the monitoring reliability.

[0079] In one embodiment, the centroid coordinates of the construction vehicle are calculated according to the contour point set of the construction vehicle in the preset position image, including: calculating the centroid coordinates of the construction vehicle according to the coordinates of each contour point in the contour point set and a preset centroid influence factor.

[0080] In a conventional case, the centroid coordinates are obtained by simply averaging the coordinates of each point in the contour point set (assuming that the density of the object is uniform). However, in an actual scene, different parts of the construction vehicle may not have the same importance in determining the centroid position, and the preset centroid influence factor is used to adjust the weight coefficient of each contour point in calculating the centroid coordinates.

[0081] Optionally, the initial horizontal coordinate of the centroid coordinates can be determined according to the average value of the sum of the horizontal coordinates of each contour point in the contour point set, and the initial horizontal coordinate is multiplied by the preset centroid influence factor to obtain the final horizontal coordinate of the centroid. Similarly, the vertical coordinate of the centroid is calculated in this way. In this way, the final centroid coordinates of the construction vehicle can be determined.

[0082] Understandably, by introducing a preset centroid influence factor, different weights can be assigned to contour points of different parts based on the actual weight distribution and structural characteristics of the vehicle, thereby more accurately determining the centroid position of the construction vehicle and improving the safety of subsequent determination of whether the cable is at risk of external damage.

[0083] In one embodiment, such as Figure 3 As shown, the preset centroid influence factors include a first preset centroid influence factor and a second preset centroid influence factor. Based on the coordinates of each contour point in the contour point set and the preset centroid influence factors, the centroid coordinates of the construction vehicle are calculated, including:

[0084] Step 302: Determine the abscissa of the centroid of the construction vehicle based on the ratio of the first weighted value to the first parameter value.

[0085] The first weighting value is the weighted sum of the x-coordinates of each contour point in the contour point set and the first preset centroid influence factor, and the first parameter value is the product of the number of contour points in the contour point set and the first preset centroid influence factor.

[0086] Understandably, the first preset centroid influence factor assigns different weights to the abscissa of each contour point. The contribution of contour points at different locations to the abscissa of the construction vehicle's centroid may vary; for example, the front and rear ends of the vehicle may have different levels of importance in determining the abscissa. By using the first preset centroid influence factor to perform a weighted summation to obtain the first weighted value, the influence of each location on the abscissa of the centroid can be more accurately reflected, thus making the calculated abscissa of the centroid more consistent with the actual mass distribution of the vehicle.

[0087] Optionally, the abscissa of the construction vehicle's center of gravity can be calculated using the following formula:

[0088] ;

[0089] In the formula, It is the x-coordinate of the center of mass of the construction vehicle; It is the first The x-coordinate of the centroid corresponding to the preset bit image; It is the total number of preset bit images acquired within a preset time period; It is the first preset centroid influence factor; It is the first weighted value; It is the value of the first parameter.

[0090] in, It can be calculated using the following formula:

[0091] ;

[0092] In the formula, is a first weight adjustment parameter, and the value range is [0.01, 0.1]; represents a material damping coefficient of the construction vehicle, and the value range is [0.01, 0.1]; is a distance value from the profile point of the construction vehicle to the gravity center of the construction vehicle.

[0093] Step 304, determining the longitudinal coordinate of the gravity center of the construction vehicle according to the ratio of the second weighted value and the second parameter value.

[0094] The second weighted value is the weighted sum of the longitudinal coordinates of each profile point in the profile point set and the second preset gravity center influence factor, and the second parameter value is the product value of the number of profile points in the profile point set and the second preset gravity center influence factor.

[0095] The second preset gravity center influence factor gives different weights to the longitudinal coordinates of each profile point. The mass distribution of the construction vehicle at different positions in the vertical direction may also be uneven. By weighted sum of the longitudinal coordinates of the profile points and the second preset gravity center influence factor, the second weighted value is obtained, which can more accurately determine the position of the gravity center in the vertical direction, and considers the mass distribution difference of the vehicle in the vertical direction.

[0096] Optionally, the longitudinal coordinate of the gravity center of the construction vehicle can be calculated according to the following calculation formula:

[0097] ;

[0098] In the formula, is the longitudinal coordinate of the gravity center of the construction vehicle; is the longitudinal coordinate of the gravity center corresponding to the i-th preset bit image; is the longitudinal coordinate of the gravity center corresponding to the i-th preset bit image; is the second preset gravity center influence factor; is the second weighted value; is the second parameter value.

[0099] In the formula, can be calculated according to the following calculation formula:

[0100] ;

[0101] In the formula, is a second weight adjustment parameter, and the value range is [0.1, 0.5].

[0102] In this embodiment, the mass distribution differences of the construction vehicle at different parts in the horizontal and vertical directions are comprehensively considered, and the horizontal and vertical coordinates of the contour points are weighted and calculated by using the first preset centroid influence factor and the second preset centroid influence factor respectively, so that the centroid position of the construction vehicle can be more accurately determined. Compared with the simple average calculation method, the calculation method based on weighting and normalization in this embodiment can better adapt to the complex shape and mass distribution characteristics of the construction vehicle, thereby improving the accuracy of the centroid coordinate calculation result.

[0103] In addition, since the weight adjustment parameter in the formula has an adjustable value range, and factors such as the material damping coefficient of the construction vehicle are considered, the technical solution can adapt to different types of construction vehicles. Whether it is a heavy construction vehicle or a light construction vehicle, construction vehicles of different materials and structures can accurately calculate the centroid influence factor by adjusting the parameters, thereby accurately determining the centroid of the construction vehicle, and further enhancing the universality and applicability of the cable external damage monitoring method of the present application.

[0104] In one embodiment, as shown in Figure 4 According to each centroid coordinate and the moving speed of the construction vehicle, the motion path of the construction vehicle in a preset time period is determined, including:

[0105] Step 402, according to the horizontal coordinate difference and the vertical coordinate difference of each centroid coordinate, the motion direction of the construction vehicle is determined.

[0106] The motion direction of the construction vehicle is the direction formed by the change of the centroid position of the construction vehicle at different times. In simple terms, it is the direction of the construction vehicle moving from one centroid position to the next centroid position, which is usually represented by an angle or a vector.

[0107] It can be understood that by calculating the horizontal coordinate difference and the vertical coordinate difference of each centroid coordinate, the position change of the construction vehicle in the horizontal and vertical directions can be clearly understood.

[0108] Step 404, according to each centroid coordinate, the motion direction and the moving speed, the motion path is determined.

[0109] It can be understood that the centroid coordinates determine the position of the construction vehicle at different times, the motion direction indicates the moving direction of the construction vehicle, and the moving speed determines the distance moved by the construction vehicle in unit time. By combining these three factors, the motion trajectory of the construction vehicle in a preset time period can be accurately described, thereby improving the accuracy of subsequent judgment of whether the monitored cable is at risk of external damage.

[0110] In this embodiment, by analyzing the motion path and the trend information of the monitored cable, whether the construction vehicle will approach or collide with the cable can be more accurately judged.

[0111] In one embodiment, as shown in Figure 5 the motion direction of the construction vehicle is determined according to the horizontal coordinate difference and the vertical coordinate difference of each centroid coordinate, including:

[0112] Step 502, determining the initial direction of the construction vehicle according to the motion direction parameter of the construction vehicle.

[0113] Wherein, the motion direction parameter is the inverse tangent value of the ratio of the horizontal coordinate difference to the vertical coordinate difference.

[0114] It can be understood that the inverse tangent function can convert the proportional relationship of the coordinate difference into an angle value, which can accurately represent the motion direction of the construction vehicle in a two-dimensional plane.

[0115] Step 504, correcting the initial direction by using a preset motion direction influence coefficient, and determining the corrected initial direction as the motion direction.

[0116] Wherein, the preset motion direction influence coefficient is a coefficient for correcting the initial direction of the construction vehicle.

[0117] It can be understood that in the actual construction site, the motion of the construction vehicle may be affected by various factors, such as the slope of the ground, the steering characteristics of the vehicle, wind, etc. The preset motion direction influence coefficient can be adjusted according to these actual situations to correct the initial direction, so that the finally determined motion direction is more in line with the actual situation.

[0118] Specifically, the motion direction of the construction vehicle can be calculated according to the following calculation formula:

[0119] ;

[0120] In the formula, is the motion direction of the construction vehicle; is the motion direction parameter; represents the vertical coordinate value of the centroid of the construction vehicle at the th position; represents the vertical coordinate value of the centroid of the construction vehicle at the th position; represents the horizontal coordinate value of the centroid of the construction vehicle at the th position; represents the horizontal coordinate value of the centroid of the construction vehicle at the th position; is the preset motion direction influence coefficient.

[0121] Wherein, The calculation formula of is as follows:

[0122] ;

[0123] wherein, is the mass of the construction vehicle; is the turning radius of the construction vehicle, which determines the amplitude and trajectory of the construction vehicle turning; is the angular velocity of the construction vehicle turning, which reflects the speed of the construction vehicle turning; is the driving time of the construction vehicle; is the road surface friction coefficient; denotes the acceleration of gravity; is the nonlinear stiffness coefficient of the suspension system of the construction vehicle, the value range of is [1000, 5000] N / m.

[0124] In this embodiment, by using the coordinate difference value of the center of mass of the construction vehicle at adjacent time points, the motion direction of the construction vehicle is calculated by combining the arctangent function, which can accurately determine the driving direction of the construction vehicle in the preposition image. Compared with some simple estimation or direction judgment method relying on a single sensor, this calculation method based on the change of the center of mass coordinates considers the movement of the overall position of the construction vehicle, which can more accurately reflect the actual motion trend of the construction vehicle, and provides reliable direction information for subsequent motion path prediction and risk assessment.

[0125] In addition, the motion direction influence coefficient is introduced in the calculation formula, which can comprehensively consider the influence of various factors such as the turning characteristics of the construction vehicle, the road surface conditions, and the environmental interference on the actual motion direction of the construction vehicle. By adjusting the coefficient, the calculated motion direction can be more consistent with the driving direction of the vehicle under actual complex working conditions, which enhances the adaptability of the cable anti-external damage monitoring method of the present application to different scenes, thereby improving the accuracy and reliability of the monitoring system.

[0126] In one embodiment, as shown in Figure 6 , the motion path is determined according to the center of mass coordinates, the motion direction, and the moving speed, including:

[0127] Step 602, determining the horizontal coordinate of the construction vehicle moving in a preset time period according to the sum value of the horizontal coordinate value of each center of mass coordinate, the third parameter, and the first path influence factor.

[0128] Wherein, the third parameter is the product value of the moving speed, the sine value of the motion direction, and the preset time period.

[0129] Optionally, the horizontal coordinate of the construction vehicle moving in the preset time period can be obtained according to the following calculation formula:

[0130] ;

[0131] is a horizontal coordinate of the center of mass of the construction vehicle at the i-th position; is a horizontal coordinate of the center of mass of the construction vehicle at the i-th position; is a horizontal coordinate of the center of mass of the construction vehicle at the i-th position; is a horizontal coordinate of the center of mass of the construction vehicle at the i-th position; is a moving speed of the construction vehicle; is a third parameter; is a first path influence factor; is a preset time period.

[0132] is a horizontal coordinate of the center of mass of the construction vehicle at the i-th position; can be calculated according to the following calculation formula:

[0133] ;

[0134] is a horizontal coordinate of the center of mass of the construction vehicle at the i-th position; is a wind force value; is an included angle between a wind direction and a vehicle driving direction; is a windward area of the construction vehicle; is an air density; is a mass of the construction vehicle; is a maximum acceleration of the construction vehicle; is a geomagnetic anomaly coefficient of a driving area of the construction vehicle.

[0135] Step 604, determining a vertical coordinate of the construction vehicle in the preset time period according to a sum value of the vertical coordinate value of each center of mass coordinate, the fourth parameter and the second path influence factor.

[0136] is a product value of the moving speed, the cosine value of the moving direction and the preset time period.

[0137] Optionally, the vertical coordinate of the construction vehicle in the preset time period can be obtained according to the following calculation formula:

[0138] ;

[0139] is a vertical coordinate of the center of mass of the construction vehicle at the i-th position; is a vertical coordinate of the center of mass of the construction vehicle at the i-th position; is a vertical coordinate of the center of mass of the construction vehicle at the i-th position; is a vertical coordinate of the center of mass of the construction vehicle at the i-th position; is a fourth parameter; is a second path influence factor.

[0140] is a vertical coordinate of the center of mass of the construction vehicle at the i-th position; can be calculated according to the following calculation formula:

[0141] ;

[0142] is a vertical coordinate of the center of mass of the construction vehicle at the i-th position; represents the load of the construction vehicle; represents the road flatness; represents the stiffness of the suspension system of the construction vehicle; represents the elastic recovery coefficient influence coefficient.

[0143] Step 606, determining the motion path according to the horizontal coordinate and the vertical coordinate of the construction vehicle moving in a preset time period.

[0144] It can be understood that the coordinates of the finally obtained motion path are (x, y). , ).

[0145] In this embodiment, the motion direction and speed of the construction vehicle are combined, and the horizontal coordinate and vertical coordinate influence factors are considered at the same time, so that the motion path coordinates of the construction vehicle in the future period of time can be accurately predicted. Compared with the straight line prediction method based on speed and direction, this method fully considers the influence of various actual factors on the motion of the construction vehicle, so that the prediction result is more consistent with the real motion trajectory of the construction vehicle, and provides a reliable prediction basis for preventing the external damage risk of the construction vehicle to the high-voltage cable line in advance.

[0146] In addition, the parameters in the formula cover various environmental factors, such as the geomagnetic anomaly coefficient reflecting the potential influence of the geomagnetic environment of the vehicle driving area on the vehicle motion, the wind force value, the angle between the wind direction and the vehicle driving direction, and the vehicle windward area. The parameters comprehensively consider the effect of wind on vehicle motion. This makes the cable external damage monitoring method of the present application be able to adapt to vehicle motion prediction under different geographical environments and meteorological conditions, and enhances the applicability and reliability of the monitoring system in complex environments.

[0147] In one embodiment, as shown in Figure 7 , according to the motion path and the trend information of the monitored cable, it is predicted whether the monitored cable has an external damage risk, and the monitoring result of the monitored cable is obtained, including:

[0148] Step 702, determining the initial distance between the construction vehicle and the monitored cable according to the motion path and the trend information of the monitored cable.

[0149] The initial distance is the distance between the coordinates of the motion path and the coordinates of the feature points of the monitored cable. The feature points of the monitored cable can be obtained by processing the preset bit image through an image recognition algorithm. Specifically, the position of the monitored cable in the image is first recognized, and a feature point set of the monitored cable is extracted, which can represent the key position and trend of the monitored cable. Then, the spatial feature model of the monitored cable is constructed by calculating the distance value between each feature point and the surrounding feature points, so as to accurately determine the specific form and position distribution of the monitored cable in the image.

[0150] Step 704, determining the distance between the construction vehicle and the monitored cable according to the initial distance and the distance correction factor.

[0151] Wherein, the distance correction factor is a coefficient or parameter used to adjust the initial distance. The distance correction factor takes into account various factors that may affect the deviation between the actual distance of the construction vehicle from the cable and the initial calculated distance, such as measurement errors, environmental factors (such as terrain undulations, obstacles blocking, etc.), changes in the attitude of the vehicle, etc., so that the final determined distance between the construction vehicle and the monitored cable is more accurate.

[0152] Specifically, the distance between the construction vehicle and the monitored cable can be obtained according to the following calculation formula:

[0153] ;

[0154] In the formula, is the distance between the construction vehicle and the monitored cable; is the initial distance between the construction vehicle and the monitored cable; is the distance correction factor. is the horizontal coordinate of the feature point of the monitored cable; is the vertical coordinate of the feature point of the monitored cable.

[0155] Wherein, can be calculated according to the following calculation formula:

[0156] ;

[0157] In the formula, represents the voltage grade correction coefficient; represents the cable voltage grade; is the reference voltage grade; represents the soil conductivity correction coefficient; represents the soil conductivity; is the reference soil conductivity; represents the soil dielectric constant fluctuation coefficient near the cable.

[0158] Step 706, determining that the monitoring result is that the monitored cable is at risk of external damage if the distance is not greater than a preset distance threshold.

[0159] Specifically, according to the distance between the construction vehicle and the monitored cable to determine whether the construction vehicle poses a risk of external damage to the cable, the distance is compared with a preset distance threshold If If the monitoring results indicate that the construction vehicle poses a risk of external damage to the cable, an alarm signal will be issued; if If the monitoring results indicate that the construction vehicle poses no risk of external damage to the cable, then the monitoring results are confirmed.

[0160] This embodiment uses the above method to first determine the initial distance and then correct it using a distance correction factor, thereby obtaining a more accurate distance between the construction vehicle and the monitored cable. This can avoid misjudgment or omission due to distance calculation errors, promptly detect potential external damage risks, and ensure the safe operation of the cable.

[0161] The cable external damage monitoring method of this application, by utilizing real-time monitoring of the movement trajectory of construction vehicles and prediction of their future movement paths, can accurately determine whether construction vehicles will pose a risk of external damage to high-voltage cable lines. Compared to traditional manual inspections or simple fixed-point monitoring methods, this method can issue an alarm before construction vehicles approach the danger zone, avoiding cable external damage accidents caused by delayed response. This effectively ensures the safe and stable operation of high-voltage cable lines, reduces power supply interruptions caused by cable damage, and minimizes economic losses and social impact.

[0162] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0163] Based on the same inventive concept, this application also provides a cable external damage monitoring device for implementing the cable external damage monitoring method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations of one or more cable external damage monitoring device embodiments provided below can be found in the limitations of the cable external damage monitoring method described above, and will not be repeated here.

[0164] In one embodiment, such as Figure 8 As shown, a cable external damage prevention monitoring device is provided, including: a cable environmental information acquisition module 802, a vehicle centroid coordinate determination module 804, a vehicle motion path prediction module 806, and a cable external damage prevention early warning module 808, wherein:

[0165] The cable environment information acquisition module 802 is configured to collect preset position images of an environment in which the monitored cable is located within a preset time period, and the preset position images include construction vehicle information and a running direction of the monitored cable.

[0166] The vehicle centroid coordinate determination module 804 is configured to calculate, for each preset position image, a centroid coordinate of the construction vehicle according to a set of contour points of the construction vehicle in the preset position image, to obtain the centroid coordinate of the construction vehicle corresponding to each preset position image.

[0167] The vehicle motion path prediction module 806 is configured to determine a motion path of the construction vehicle within the preset time period according to the centroid coordinates and a moving speed of the construction vehicle.

[0168] The cable external damage early warning module 808 is configured to predict whether the monitored cable has an external damage risk according to the motion path and the running direction of the monitored cable, to obtain a monitoring result of the monitored cable.

[0169] In an embodiment, the vehicle centroid coordinate determination module 804 is further configured to calculate the centroid coordinate of the construction vehicle according to coordinates of each contour point in the set of contour points and a preset centroid influence factor.

[0170] In an embodiment, the vehicle centroid coordinate determination module 804 is further configured to determine a horizontal coordinate of the centroid of the construction vehicle according to a ratio of a first weighted value to a first parameter value, wherein the first weighted value is a weighted sum of the horizontal coordinates of each contour point in the set of contour points and a first preset centroid influence factor, and the first parameter value is a product value of a number of contour points in the set of contour points and the first preset centroid influence factor; and determine a vertical coordinate of the centroid of the construction vehicle according to a ratio of a second weighted value to a second parameter value, wherein the second weighted value is a weighted sum of the vertical coordinates of each contour point in the set of contour points and a second preset centroid influence factor, and the second parameter value is a product value of the number of contour points in the set of contour points and the second preset centroid influence factor.

[0171] In an embodiment, the vehicle motion path prediction module 806 is further configured to determine a motion direction of the construction vehicle according to a horizontal coordinate difference value and a vertical coordinate difference value of the centroid coordinates; and determine the motion path according to the centroid coordinates, the motion direction, and the moving speed.

[0172] In an embodiment, the vehicle motion path prediction module 806 is further configured to determine an initial direction of the construction vehicle according to a motion direction parameter of the construction vehicle, wherein the motion direction parameter is an inverse tangent value of a ratio of the horizontal coordinate difference value to the vertical coordinate difference value; and correct the initial direction by using a preset motion direction influence coefficient, and determine the corrected initial direction as the motion direction.

[0173] In one embodiment, the vehicle motion path prediction module 806 is further configured to: determine the abscissa of the construction vehicle within a preset time period based on the sum of the abscissa values ​​of each centroid coordinate, the third parameter, and the first path influence factor; the third parameter is the product of the sine value of the moving speed and the moving direction, and the preset time period; determine the ordinate of the construction vehicle within a preset time period based on the ordinate values ​​of each centroid coordinate, the fourth parameter, and the second path influence factor; the fourth parameter is the product of the cosine value of the moving speed and the moving direction, and the preset time period; and determine the motion path based on the abscissa and ordinate of the construction vehicle within the preset time period.

[0174] In one embodiment, the cable external damage prevention early warning module 808 is further configured to: determine the initial distance between the construction vehicle and the monitored cable based on the movement path and the direction information of the monitored cable; determine the distance between the construction vehicle and the monitored cable based on the initial distance and the distance correction factor; and determine that the monitoring result indicates that the monitored cable is at risk of external damage if the distance is not greater than a preset distance threshold.

[0175] Each module in the aforementioned cable damage prevention monitoring device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0176] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 9 As shown, the computer device includes a processor, memory, communication interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a cable damage prevention monitoring method. The display screen can be an LCD screen or an e-ink screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad on the computer device casing, or an external keyboard, touchpad, or mouse.

[0177] Those skilled in the art will understand that Figure 9The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. The specific computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0178] In an embodiment, a computer device is provided, including a memory and a processor, the memory storing a computer program, and the processor implementing the steps in the above method embodiments when executing the computer program.

[0179] In an embodiment, a computer readable storage medium is provided, storing a computer program, and the computer program implementing the steps in the above method embodiments when executed by a processor.

[0180] In an embodiment, a computer program product is provided, including a computer program, and the computer program implementing the steps in the above method embodiments when executed by a processor.

[0181] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in the present application are all information and data authorized by the user or authorized by all parties.

[0182] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when the computer program is executed, the processes of the above-mentioned embodiments of the methods can be included. Any reference to memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration but not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., without being limited thereto.

[0183] Any combination of the technical features of the above embodiments can be made. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combination of the technical features does not exist, it should be considered as the scope of the present application.

[0184] The above embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent of the present application. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of protection of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A method for monitoring cable damage from external sources, characterized in that, The method includes: Collect preset position images of the environment where the monitored cable is located within a preset time period. The preset position images include construction vehicle information and the route information of the monitored cable. For each preset position image, the centroid coordinates of the construction vehicle are calculated based on the set of contour points of the construction vehicle in the preset position image, so as to obtain the centroid coordinates of the construction vehicle corresponding to each preset position image. Based on the centroid coordinates and the moving speed of the construction vehicle, the movement path of the construction vehicle within the preset time period is determined; Based on the movement path and the direction information of the monitored cable, the risk of external damage to the monitored cable is predicted, and the monitoring result of the monitored cable is obtained.

2. The method according to claim 1, characterized in that, The step of calculating the centroid coordinates of the construction vehicle based on the set of contour points of the construction vehicle in the preset position image includes: The centroid coordinates of the construction vehicle are calculated based on the coordinates of each contour point in the set of contour points and the preset centroid influence factor.

3. The method according to claim 1, characterized in that, The preset centroid influence factor includes a first preset centroid influence factor and a second preset centroid influence factor. The step of calculating the centroid coordinates of the construction vehicle based on the coordinates of each contour point in the contour point set and the preset centroid influence factor includes: The abscissa of the centroid of the construction vehicle is determined based on the ratio of the first weighted value to the first parameter value; the first weighted value is the weighted sum of the abscissa of each contour point in the contour point set and the first preset centroid influence factor; the first parameter value is the product of the number of contour points in the contour point set and the first preset centroid influence factor. The ordinate of the centroid of the construction vehicle is determined based on the ratio of the second weighted value and the second parameter value; the second weighted value is the weighted sum of the ordinates of each contour point in the contour point set and the second preset centroid influence factor; the second parameter value is the product of the number of contour points in the contour point set and the second preset centroid influence factor.

4. The method according to any one of claims 1 to 3, characterized in that, Determining the movement path of the construction vehicle within the preset time period based on the centroid coordinates and the moving speed of the construction vehicle includes: The direction of movement of the construction vehicle is determined based on the difference in the abscissa and ordinate of each centroid coordinate. The motion path is determined based on the centroid coordinates, the direction of motion, and the speed of movement.

5. The method according to claim 4, characterized in that, Determining the direction of movement of the construction vehicle based on the differences in the abscissa and ordinate of each centroid coordinate includes: The initial direction of the construction vehicle is determined based on its motion direction parameters; the motion direction parameters are the arctangent of the ratio of the difference in the horizontal coordinate to the difference in the vertical coordinate. The initial direction is corrected using a preset motion direction influence coefficient, and the corrected initial direction is determined as the motion direction.

6. The method according to claim 4, characterized in that, Determining the motion path based on the centroid coordinates, the direction of motion, and the speed of movement includes: The abscissa of the construction vehicle within the preset time period is determined based on the sum of the abscissa values ​​of each centroid coordinate, the third parameter, and the first path influence factor; the third parameter is the product of the moving speed, the sine of the moving direction, and the preset time period. Based on the sum of the ordinate values ​​of each centroid coordinate, the fourth parameter, and the second path influence factor, the ordinate of the construction vehicle's movement within the preset time period is determined; the fourth parameter is the product of the moving speed, the cosine of the direction of movement, and the preset time period. The movement path is determined based on the horizontal and vertical coordinates of the construction vehicle's movement within the preset time period.

7. The method according to any one of claims 1 to 3, characterized in that, The step of predicting whether the monitored cable is at risk of external damage based on the movement path and the cable's orientation information, and obtaining the monitoring result of the monitored cable, includes: Based on the movement path and the direction information of the monitored cable, the initial distance between the construction vehicle and the monitored cable is determined; The distance between the construction vehicle and the monitored cable is determined based on the initial distance and the distance correction factor. If the distance is not greater than a preset distance threshold, the monitoring result is determined to indicate that the monitored cable is at risk of external damage.

8. A cable damage prevention monitoring device, characterized in that, The device includes: The cable environment information acquisition module is used to collect preset position images of the environment of the monitored cable within a preset time period. The preset position images include construction vehicle information and the routing information of the monitored cable. The vehicle centroid coordinate determination module is used to calculate the centroid coordinates of the construction vehicle for each preset position image based on the set of contour points of the construction vehicle in the preset position image, so as to obtain the centroid coordinates of the construction vehicle corresponding to each preset position image. The vehicle motion path prediction module is used to determine the motion path of the construction vehicle within the preset time period based on the centroid coordinates and the moving speed of the construction vehicle. The cable external damage prevention early warning module is used to predict whether the monitored cable is at risk of external damage based on the movement path and the direction information of the monitored cable, and to obtain the monitoring results of the monitored cable.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7.

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