A power transmission line safety monitoring method and system

Abstract

The application discloses a kind of transmission line safety monitoring method and system, applied to transmission line safety monitoring field, including obtaining the first image data of each segment of target transmission line under first perspective, and obtaining the second image data of each segment of target transmission line under second perspective;First image data is carried out image segmentation processing, and first selected target object profile information is obtained;Second image data is carried out image mask processing, and second selected target object profile information is obtained;According to the associated matching analysis result of first selected target object profile information and second selected target object profile information, the image group data corresponding to each segment, which is formed by first image data and second image data, is obtained;Each image group data is carried out three-dimensional modeling, and the spatial reconstruction result corresponding to each segment is obtained;Based on each spatial reconstruction result, target transmission line is monitored safely.The method of the application significantly improves the accuracy of transmission line safety monitoring.

Description

Technical Field

[0001] This invention relates to the field of power transmission line safety monitoring technology, and in particular to a method and system for power transmission line safety monitoring. Background Technology

[0002] As the core carrier for the safe and stable operation of the power grid, transmission lines often cross complex geographical environments such as mountains, plains, and hills. They are susceptible to various risk sources such as vegetation growth, construction machinery intrusion, and building construction, which can lead to safety accidents such as line tripping and equipment damage.

[0003] In existing technologies, the environment surrounding transmission lines is regularly inspected manually to monitor their safety. However, this method is not only inefficient but also susceptible to environmental changes, blind spots, and human experience, resulting in low accuracy in identifying safety hazards and large positioning errors. Consequently, transmission line maintenance is passive, and the accident rate remains high. Therefore, accurate and efficient safety monitoring of transmission lines is a key requirement for power grid operation and maintenance. Summary of the Invention

[0004] This invention provides a method and system for monitoring the safety of power transmission lines, in order to solve the technical problem of low accuracy in identifying potential safety hazards in power transmission lines, and to achieve accurate and efficient monitoring of power transmission line safety.

[0005] To address the aforementioned technical problems, embodiments of the present invention provide a method for monitoring the safety of power transmission lines, comprising: First image data corresponding to each segment of the target transmission line from a first perspective is acquired, and second image data corresponding to each segment of the target transmission line from a second perspective is acquired. Perform image segmentation processing on each of the first image data to obtain the corresponding first selected target object contour information; Image masking is performed on each of the second image data to obtain the corresponding second selected target object contour information; Based on the association matching analysis results of all the first selected target contour information and all the second selected target contour information, image group data consisting of the first image data and the second image data corresponding to each segment is obtained; Three-dimensional modeling is performed on each of the image groups to obtain the spatial reconstruction results corresponding to each segment. The three-dimensional modeling process is to improve the missing three-dimensional view content information by introducing elevation data. Based on the spatial reconstruction results, the target transmission line is subjected to safety monitoring.

[0006] As one preferred embodiment, the safety monitoring of the target transmission line based on the various spatial reconstruction results includes: The actual geographical location information of the target transmission line is subjected to spatial vector transformation to obtain actual location vector data; Based on the actual location vector data, spatial mapping processing is performed on each of the spatial reconstruction results to obtain spatial location results; Based on the spatial reconstruction results, the target transmission line is subjected to the safety monitoring. If a safety hazard exists, the geographical location information of the corresponding safety hazard is confirmed based on the spatial location results, and the geographical location information is uploaded to the operation and maintenance center.

[0007] As a preferred embodiment, the step of performing 3D modeling on each of the image groups to obtain the spatial reconstruction results corresponding to each segment, wherein the 3D modeling process involves introducing elevation data to complete the missing 3D viewpoint content information, including: The first image data in the image group data is subjected to threshold denoising processing to obtain a first denoising result, and the second image data in the image group data is subjected to the threshold denoising processing to obtain a second denoising result. Based on the elevation data, depth parallax processing is performed on the first denoising result and the second denoising result to obtain full-view content information; The full-view content information is processed into a three-dimensional mesh based on the reconstruction algorithm to obtain the spatial reconstruction results corresponding to each segment.

[0008] As a preferred embodiment, the step of obtaining image group data corresponding to each segment, consisting of the first image data and the second image data, based on the association matching analysis results of all the first selected target contour information and all the second selected target contour information, includes: Principal component analysis is performed on the contour information of the first selected target object to obtain the first contour analysis result; principal component analysis is performed on the contour information of the second selected target object to obtain the second contour analysis result. The first contour analysis result and the second contour analysis result are subjected to similarity processing. Based on the similarity processing result, the contour information of the first selected target object and the contour information of the second selected target object are associated to obtain the contour association result. Based on the contour association results, the image group data corresponding to each segment, consisting of the first image data and the second image data, is obtained.

[0009] As one preferred embodiment, the step of performing image masking processing on each of the second image data to obtain the corresponding second selected target object contour information includes: The image masking process is performed on each of the second image data to obtain the initial masking result; The initial masking result is subjected to grayscale enhancement processing to obtain the enhanced masking result; The enhanced mask result is processed by contour segmentation based on the instance segmentation algorithm to obtain the corresponding contour information of the second selected target object.

[0010] Another embodiment of the present invention provides a power transmission line safety monitoring system, comprising: The image data acquisition module is used to acquire first image data corresponding to each segment of the target transmission line from a first perspective, and to acquire second image data corresponding to each segment of the target transmission line from a second perspective. The image data segmentation module is used to perform image segmentation processing on each of the first image data to obtain the corresponding first selected target object contour information; The image data masking module is used to perform image masking processing on each of the second image data to obtain the corresponding second selected target object contour information; The association matching analysis module is used to obtain image group data consisting of the first image data and the second image data corresponding to each segment based on the association matching analysis results of all the first selected target contour information and all the second selected target contour information; The three-dimensional modeling processing module is used to perform three-dimensional modeling on each of the image group data to obtain the spatial reconstruction results corresponding to each segment. The three-dimensional modeling process is to improve the missing three-dimensional view content information by introducing elevation data. The safety monitoring module is used to perform safety monitoring on the target transmission line based on the spatial reconstruction results.

[0011] As one preferred embodiment, the security monitoring module includes: A spatial vector conversion unit is used to perform spatial vector conversion on the actual geographical location information of the target transmission line to obtain actual location vector data; The spatial mapping processing unit is used to perform spatial mapping processing on each of the spatial reconstruction results based on the actual location vector data to obtain spatial location results; A safety monitoring unit is used to perform safety monitoring on the target transmission line based on the spatial reconstruction results. The location information uploading unit is used to, if a security risk exists, confirm the geographical location information of the corresponding security risk based on the spatial location result, and upload the geographical location information to the operation and maintenance center.

[0012] As one preferred embodiment, the 3D modeling processing module includes: A threshold denoising unit is used to perform threshold denoising processing on the first image data in the image group data to obtain a first denoising result, and to perform the threshold denoising processing on the second image data in the image group data to obtain a second denoising result. The parallax processing unit is used to perform depth parallax processing on the first denoising result and the second denoising result based on the elevation data to obtain full-view content information; The spatial reconstruction unit is used to perform three-dimensional meshing processing on the full-view content information based on the reconstruction algorithm to obtain the spatial reconstruction results corresponding to each segment.

[0013] As one preferred embodiment, the association matching analysis module includes: The principal component analysis unit is used to perform principal component analysis on the contour information of the first selected target object to obtain the first contour analysis result, and to perform principal component analysis on the contour information of the second selected target object to obtain the second contour analysis result. The similarity association unit is used to perform similarity processing on the first contour analysis result and the second contour analysis result, and to perform association processing on the contour information of the first selected target object and the contour information of the second selected target object according to the similarity processing result to obtain the contour association result; The image group determination unit is used to obtain the image group data, which is composed of the first image data and the second image data, corresponding to each of the segments, based on the contour association results.

[0014] As one preferred embodiment, the image data mask module includes: An initial mask processing unit is used to perform the image mask processing on each of the second image data to obtain an initial mask result; An enhanced mask processing unit is used to perform grayscale enhancement processing on the initial mask result to obtain an enhanced mask result; The contour segmentation processing unit is used to perform contour segmentation processing on the enhanced mask result based on the instance segmentation algorithm to obtain the corresponding contour information of the second selected target object.

[0015] Compared with the prior art, the beneficial effects of the embodiments of the present invention are at least one of the following: This application acquires dual image data from a first perspective and a second perspective, and extracts the contours of the target object from different image processing paths, thereby achieving multi-dimensional and complementary feature information capture and improving the completeness and accuracy of the contour information; This application can effectively filter and construct the optimal image group data corresponding to each segment by performing correlation matching analysis on the contour information of the dual perspectives, laying a reliable data foundation for subsequent high-quality 3D modeling; This application effectively compensates for the lack of perspective when relying solely on image data by introducing elevation data in the 3D modeling process, thereby generating a more complete and accurate spatial reconstruction result, realistically restoring the three-dimensional scene of the transmission line and its environment; This application performs safety monitoring based on the high-precision spatial reconstruction results of each segment, enabling earlier detection, more accurate positioning, and more reliable early warning of potential hazards on the line (such as the approach of foreign objects, tree obstacles, and deformation of the line itself), significantly improving the automation level and proactive defense capability of transmission line safety monitoring. Attached Figure Description

[0016] Figure 1 This is a flowchart illustrating a power transmission line safety monitoring method in one embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of a power transmission line safety monitoring system in one embodiment of the present invention; Figure label: The module includes: 11. Image data acquisition module; 12. Image data segmentation module; 13. Image data masking module; 14. Association matching analysis module; 15. 3D modeling and processing module; and 16. Security monitoring module. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0018] In the description of this application, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first," "second," "third," etc., may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0019] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal communication between two components. The terms "vertical," "horizontal," "left," "right," "upper," "lower," and similar expressions used herein are for illustrative purposes only and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0020] In the description of this application, it should be noted that, unless otherwise defined, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in this specification is for the purpose of describing specific embodiments only and is not intended to limit the invention. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0021] Transmission lines are critical infrastructure for ensuring the safe and stable operation of the power grid. Their extensive coverage often traverses complex mountainous areas, undulating plains, and varied hilly terrain. The environments along these lines are dynamically complex, frequently facing various safety hazards such as excessive vegetation growth, collisions with external construction machinery, and intrusion by illegal buildings. These factors can easily trigger serious accidents such as line discharge tripping, line breakage, and tower collapse. Traditionally, the focus has been on regular on-site inspections by patrol personnel to understand the surrounding environment. However, this method is not only labor-intensive, with long coverage periods and low inspection efficiency, but also easily constrained by weather conditions, geographical obstacles, limited visibility, and differences in personnel expertise. This leads to incomplete and inaccurate identification of potential risks, location errors, and difficulty in timely and effective early warning and response. As a result, line maintenance has long been in a reactive state, with frequent safety accidents and significant control challenges. Therefore, constructing a transmission line safety monitoring system capable of accurate perception, intelligent analysis, and efficient early warning has become an urgent need to improve the intelligence level of power grid operation and maintenance and ensure power supply reliability.

[0022] One embodiment of the present invention provides a method for safety monitoring of power transmission lines. For details, please refer to [link to relevant documentation]. Figure 1 , Figure 1 The diagram shown is a flowchart of a power transmission line safety monitoring method according to one embodiment of the present invention. The method includes steps S1 to S6: S1. Obtain first image data corresponding to each segment of the target transmission line from a first perspective, and obtain second image data corresponding to each segment of the target transmission line from a second perspective; S2. Perform image segmentation processing on each of the first image data to obtain the corresponding first selected target object contour information; S3. Perform image masking processing on each of the second image data to obtain the corresponding second selected target object contour information; S4. Based on the association matching analysis results of all the first selected target contour information and all the second selected target contour information, obtain image group data corresponding to each segment, which consists of the first image data and the second image data; S5. Perform three-dimensional modeling on each of the image group data to obtain the spatial reconstruction results corresponding to each segment. The three-dimensional modeling process is to improve the missing three-dimensional view content information by introducing elevation data. S6. Based on the spatial reconstruction results, perform safety monitoring on the target transmission line.

[0023] Furthermore, in step S1, because a single-view image has limited field of view and cannot fully reflect the three-dimensional spatial relationship between the transmission line and its surrounding environment, complementary dual-view images can effectively cover blind spots and obtain richer visual information. This embodiment acquires first-view and second-view image data of the same transmission line segment from different angles or using different devices. For example, a drone equipped with visible light and infrared sensors is used to cruise along the line, collecting oblique-view images from the side and vertical-view images directly below the line to obtain first-view and second-view image data of the same transmission line segment.

[0024] Specifically, a 20km long power transmission line is divided into 500m segments, and images are taken from both a first-person and a second-person perspective using equipment mounted on a drone. Preferably, the first-person perspective is a forward or vertical observation angle, such as an image taken by the drone flying directly above the line, or an image taken from a camera mounted on a line tower looking down. This perspective is similar to looking vertically down from the air, clearly showing the tops of the conductors and ground wires, construction machinery, illegal structures, and vegetation canopies below the line; it excels at showing the vertical relationships of the objects. The second-person perspective is a sideways or oblique observation angle, such as an image taken by the drone flying to the side of the line. This perspective is similar to observing a utility pole from the ground, clearly showing the side outline of the transmission line, the connection between the conductors and insulator strings, and the lateral distances between the line and surrounding trees and buildings; it excels at showing the horizontal relationships of the objects.

[0025] This step provides a multi-angle overlapping stereo vision data foundation for subsequent image segmentation contour extraction and 3D modeling, enabling the calculation of the precise 3D position and shape of the target object through viewpoint matching, thereby significantly improving the accuracy and reliability of identifying and locating risk sources such as tree obstacles and mechanical construction in the line corridor.

[0026] Further, in step S2, image segmentation processing is performed on the first image data to accurately separate and identify key target objects, such as conductors, insulators, and towers, from the overall image containing the transmission line and complex background. This process is typically achieved using a deep learning-based semantic segmentation model. This model, trained on a large amount of labeled image data of transmission line components, can classify the input image pixel by pixel, thereby accurately outlining the shape boundary of each target object and generating its contour information. Preferably, the first selected target object contour information refers to the target object contour extracted from the image data corresponding to the first viewpoint. The target objects are mainly the main structure of the transmission line, such as conductors, ground wires, insulator strings, and tower hardware. The advantage of this step is that it transforms the messy original image into structured contour data, greatly simplifying subsequent information processing. This lays a reliable foundation for accurate association and matching with the second viewpoint data and ultimately achieving high-precision three-dimensional spatial reconstruction, and directly improves the ability to identify safety hazards such as deformation, damage, or abnormally close objects of transmission line components.

[0027] Furthermore, in step S3, image masking is performed on the second image data to effectively focus on key areas below the power line and eliminate interference from irrelevant backgrounds such as the sky and distant mountains, thereby accurately extracting the contours of specific risk targets such as construction machinery and illegal buildings. First, initial masking is performed on the second image data, then grayscale enhancement is applied to the initial masking result, and finally contour segmentation is performed on the grayscale enhancement result to obtain the contour information of the second selected target object. This method masks or filters pixels in non-critical areas of the second-view image, retaining only the local image directly below the power line corridor that needs to be monitored, and then delineating the contour information of specific objects from the local image. Preferably, the contour information of the second selected target object refers to the target object contour obtained by analyzing the image data corresponding to the second view. The target objects are mainly potential risk sources under or around the power transmission line, such as cranes, bulldozers, newly constructed buildings, and treetops. The advantage of this step is that it significantly reduces the amount of data processing and increases the density of useful information, making subsequent association and matching with the first-view contour more efficient and accurate, thereby effectively enhancing the detection capability of dynamic risk targets below the power line and the analysis efficiency of the entire monitoring system.

[0028] Further, in step S4, the association matching analysis based on all the first and second selected target object contour information is to accurately map the two sets of contour data obtained from different perspectives and processing paths to the same real-world object and line segment, thereby selecting the first and second image data that best reflect the three-dimensional spatial condition of the segment and pairing them to form an effective image group. Specifically, firstly, principal component analysis is performed on the first and second selected target object contour information to obtain the first and second contour analysis results. Secondly, feature matching and spatial geometric relationships in computer vision are used to calculate the similarity between the first and second contour analysis results, thereby obtaining the contour association result. Finally, based on the contour association result, the relative position, shape features, and spatial projection consistency of the line components in the first contour and the risk targets in the second contour are compared. Only when the two can be successfully matched and meet the disparity conditions required for three-dimensional reconstruction will the corresponding first image data and the corresponding second image data be selected and assembled into an image group data. The benefit of this step is that it ensures from the source that the data used for 3D modeling is correlated and of high quality, effectively avoiding mismatches between images from different perspectives, providing a fundamental guarantee for generating accurate and reliable spatial reconstruction results, thereby significantly improving the accuracy and reliability of subsequent safety monitoring and analysis.

[0029] Furthermore, in step S5, 3D modeling of each image group and the introduction of elevation data are performed to address the problem that it is difficult to reconstruct the true altitude and three-dimensional shape of objects in complex terrain using only dual-view planar images. This allows for the construction of a 3D scene that accurately reflects the terrain and spatial location of the transmission line corridor. Specifically, firstly, threshold denoising is performed on the first and second image data in the image group to obtain the first and second denoising results. Secondly, using a stereo matching algorithm in computer vision, the preliminary 3D coordinates of the same target in the image group are calculated based on the parallax of the same target under different viewpoints. Then, based on the pre-acquired elevation data, the missing stereo information due to viewpoint occlusion is supplemented to obtain full-view content information. Finally, the full-view content information is processed into a 3D mesh using a reconstruction algorithm to obtain the spatial reconstruction result. The advantage of this step is that it can generate centimeter-level precision spatial reconstruction results with real geographic coordinates and elevation information, enabling precise measurement of key safety parameters such as the distance between the line sag and the ground, and the clearance between surrounding trees or machinery and the conductor. This allows for comprehensive, high-precision quantitative analysis and early warning of potential risks.

[0030] Furthermore, in step S6, the target transmission line is monitored for safety based on the spatial reconstruction results of each segment because these results provide a three-dimensional digital twin of the line and its surrounding environment with centimeter-level precision. This upgrades monitoring from traditional two-dimensional image judgment to precise quantitative analysis in three-dimensional space. Preferably, the precise latitude, longitude, and altitude coordinates of key points such as towers obtained from the Global Positioning System are converted into vector data that can be used for three-dimensional spatial calculations through a spatial coordinate transformation algorithm. Based on this, the entire three-dimensional model is rotated, scaled, and translated to fully align it with the real geographical environment. When the system identifies tree obstructions or external damage risks in the three-dimensional model, it can directly output the specific latitude, longitude, and even the nearest tower number of the potential hazard point. After receiving the warning information, the operation and maintenance center can directly dispatch personnel to the precise location for handling, greatly shortening the investigation time and improving emergency response efficiency. This fundamentally solves the core pain points of vague descriptions of hazard locations and difficulties in on-site search in traditional monitoring.

[0031] Preferably, if the power transmission line is located in a dense forest, the present invention provides another embodiment for segmenting the tree canopy and realizing the safety monitoring of the power transmission line by detecting the canopy height. Specifically, firstly, airborne or UAV lidar point cloud data along the power transmission channel is acquired. After noise removal and fusion with optical image priors, accurate separation of ground points and normalization of vegetation point clouds are performed. Subsequently, an adaptive confidence control Pit-free multilayer interpolation algorithm is used to construct a pit-free canopy height model to ensure the continuity and integrity of the canopy surface. On this basis, the treetop detection window is dynamically determined by combining the semivariance function and the vegetation heterogeneity index, and then geometrically... Moment correction enables precise treetop location; using the corrected tree apex as a seed, multi-scale semi-variance constrained region growth is performed to extract the initial canopy region, and during the growth process, region splitting and merging are adaptively performed based on multiple criteria such as height continuity, boundary gradient, shape consistency, texture similarity, and crown-ridge connectivity; after merging, the boundary is updated in real time and the canopy outline is optimized based on shape indices such as aspect ratio, angle ratio, and area threshold to generate single-tree canopy segmentation results that conform to botanical characteristics; finally, the minimum safe distance between the canopy and the conductor can be automatically calculated by combining the three-dimensional model of the transmission line, realizing accurate monitoring and early warning of vegetation risks in the transmission corridor.

[0032] Another embodiment of the present invention provides a power transmission line safety monitoring system; for details, please refer to [link to relevant documentation]. Figure 2 , Figure 2 The diagram shown illustrates the structure of a power transmission line safety monitoring system according to one embodiment of the present invention. The system includes: The image data acquisition module 11 is used to acquire first image data corresponding to each segment of the target transmission line from a first perspective, and to acquire second image data corresponding to each segment of the target transmission line from a second perspective. Image data segmentation module 12 is used to perform image segmentation processing on each of the first image data to obtain the corresponding first selected target object contour information; Image data mask module 13 is used to perform image masking processing on each of the second image data to obtain the corresponding second selected target object contour information; The association matching analysis module 14 is used to obtain image group data consisting of the first image data and the second image data corresponding to each segment based on the association matching analysis results of all the first selected target contour information and all the second selected target contour information; The 3D modeling processing module 15 is used to perform 3D modeling on each of the image group data to obtain the spatial reconstruction results corresponding to each segment. The 3D modeling process is to improve the missing 3D view content information by introducing elevation data. The safety monitoring module 16 is used to perform safety monitoring on the target transmission line based on the spatial reconstruction results.

[0033] Furthermore, in the above embodiments, the security monitoring module includes: A spatial vector conversion unit is used to perform spatial vector conversion on the actual geographical location information of the target transmission line to obtain actual location vector data; The spatial mapping processing unit is used to perform spatial mapping processing on each of the spatial reconstruction results based on the actual location vector data to obtain spatial location results; A safety monitoring unit is used to perform safety monitoring on the target transmission line based on the spatial reconstruction results. The location information uploading unit is used to, if a security risk exists, confirm the geographical location information of the corresponding security risk based on the spatial location result, and upload the geographical location information to the operation and maintenance center.

[0034] Furthermore, in the above embodiments, the 3D modeling processing module includes: A threshold denoising unit is used to perform threshold denoising processing on the first image data in the image group data to obtain a first denoising result, and to perform the threshold denoising processing on the second image data in the image group data to obtain a second denoising result. The parallax processing unit is used to perform depth parallax processing on the first denoising result and the second denoising result based on the elevation data to obtain full-view content information; The spatial reconstruction unit is used to perform three-dimensional meshing processing on the full-view content information based on the reconstruction algorithm to obtain the spatial reconstruction results corresponding to each segment.

[0035] Furthermore, in the above embodiments, the association matching analysis module includes: The principal component analysis unit is used to perform principal component analysis on the contour information of the first selected target object to obtain the first contour analysis result, and to perform principal component analysis on the contour information of the second selected target object to obtain the second contour analysis result. The similarity association unit is used to perform similarity processing on the first contour analysis result and the second contour analysis result, and to perform association processing on the contour information of the first selected target object and the contour information of the second selected target object according to the similarity processing result to obtain the contour association result; The image group determination unit is used to obtain the image group data, which is composed of the first image data and the second image data, corresponding to each of the segments, based on the contour association results.

[0036] Furthermore, in the above embodiments, the image data mask module includes: An initial mask processing unit is used to perform the image mask processing on each of the second image data to obtain an initial mask result; An enhanced mask processing unit is used to perform grayscale enhancement processing on the initial mask result to obtain an enhanced mask result; The contour segmentation processing unit is used to perform contour segmentation processing on the enhanced mask result based on the instance segmentation algorithm to obtain the corresponding contour information of the second selected target object.

[0037] Compared with the prior art, the beneficial effects of the embodiments of the present invention are at least one of the following: (1) This application achieves multi-dimensional and complementary feature information capture by acquiring dual image data from the first and second perspectives and extracting the contour of the target object from different image processing paths, thereby improving the integrity and accuracy of the contour information; (2) This application can effectively filter and construct the optimal image group data corresponding to each segment by performing correlation matching analysis on dual-view contour information, thus laying a reliable data foundation for subsequent high-quality 3D modeling; (3) By introducing elevation data in the three-dimensional modeling process, this application effectively makes up for the lack of perspective when relying solely on image data, thereby generating a more complete and accurate spatial reconstruction result, and realistically restoring the three-dimensional scene of the transmission line and its environment. (4) This application uses high-precision spatial reconstruction results of each segment for safety monitoring, which can realize earlier detection, more accurate positioning and more reliable early warning of line hazards (such as foreign objects approaching, tree obstacles, body deformation, etc.), significantly improving the automation level and active defense capability of transmission line safety monitoring.

[0038] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A method for safety monitoring of power transmission lines, characterized in that, include: First image data corresponding to each segment of the target transmission line from a first perspective is acquired, and second image data corresponding to each segment of the target transmission line from a second perspective is acquired. Perform image segmentation processing on each of the first image data to obtain the corresponding first selected target object contour information; Image masking is performed on each of the second image data to obtain the corresponding second selected target object contour information; Based on the association matching analysis results of all the first selected target contour information and all the second selected target contour information, image group data consisting of the first image data and the second image data corresponding to each segment is obtained; Three-dimensional modeling is performed on each of the image groups to obtain the spatial reconstruction results corresponding to each segment. The three-dimensional modeling process is to improve the missing three-dimensional view content information by introducing elevation data. The step involves performing 3D modeling on each of the image groups to obtain spatial reconstruction results corresponding to each segment. The 3D modeling process involves introducing elevation data to complete the missing 3D viewpoint information, including: The first image data in the image group data is subjected to threshold denoising processing to obtain a first denoising result, and the second image data in the image group data is subjected to the threshold denoising processing to obtain a second denoising result. Based on the elevation data, depth parallax processing is performed on the first denoising result and the second denoising result to obtain full-view content information; Based on the reconstruction algorithm, the full-view content information is processed into a three-dimensional mesh to obtain the spatial reconstruction results corresponding to each segment; Based on the spatial reconstruction results, the target transmission line is subjected to safety monitoring.

2. The method for safety monitoring of transmission lines as described in claim 1, characterized in that, The safety monitoring of the target transmission line based on the spatial reconstruction results includes: The actual geographical location information of the target transmission line is subjected to spatial vector transformation to obtain actual location vector data; Based on the actual location vector data, spatial mapping processing is performed on each of the spatial reconstruction results to obtain spatial location results; Based on the spatial reconstruction results, the target transmission line is subjected to the safety monitoring. If a safety hazard exists, the geographical location information of the corresponding safety hazard is confirmed based on the spatial location results, and the geographical location information is uploaded to the operation and maintenance center.

3. The method for safety monitoring of transmission lines as described in claim 1, characterized in that, The step of obtaining image group data corresponding to each segment, consisting of the first image data and the second image data, based on the association matching analysis results of all the first selected target contour information and all the second selected target contour information, includes: Principal component analysis is performed on the contour information of the first selected target object to obtain the first contour analysis result; principal component analysis is performed on the contour information of the second selected target object to obtain the second contour analysis result. The first contour analysis result and the second contour analysis result are subjected to similarity processing. Based on the similarity processing result, the contour information of the first selected target object and the contour information of the second selected target object are associated to obtain the contour association result. Based on the contour association results, the image group data corresponding to each segment, consisting of the first image data and the second image data, is obtained.

4. The method for safety monitoring of transmission lines as described in claim 1, characterized in that, The step of performing image masking processing on each of the second image data to obtain the corresponding second selected target object contour information includes: The image masking process is performed on each of the second image data to obtain the initial masking result; The initial masking result is subjected to grayscale enhancement processing to obtain the enhanced masking result; The enhanced mask result is processed by contour segmentation based on the instance segmentation algorithm to obtain the corresponding contour information of the second selected target object.

5. A power transmission line safety monitoring system, characterized in that, include: The image data acquisition module is used to acquire first image data corresponding to each segment of the target transmission line from a first perspective, and to acquire second image data corresponding to each segment of the target transmission line from a second perspective. The image data segmentation module is used to perform image segmentation processing on each of the first image data to obtain the corresponding first selected target object contour information; The image data masking module is used to perform image masking processing on each of the second image data to obtain the corresponding second selected target object contour information; The association matching analysis module is used to obtain image group data consisting of the first image data and the second image data corresponding to each segment based on the association matching analysis results of all the first selected target contour information and all the second selected target contour information; The three-dimensional modeling processing module is used to perform three-dimensional modeling on each of the image group data to obtain the spatial reconstruction results corresponding to each segment. The three-dimensional modeling process is to improve the missing three-dimensional view content information by introducing elevation data. The step involves performing 3D modeling on each of the image groups to obtain spatial reconstruction results corresponding to each segment. The 3D modeling process involves introducing elevation data to complete the missing 3D viewpoint information, including: The first image data in the image group data is subjected to threshold denoising processing to obtain a first denoising result, and the second image data in the image group data is subjected to the threshold denoising processing to obtain a second denoising result. Based on the elevation data, depth parallax processing is performed on the first denoising result and the second denoising result to obtain full-view content information; Based on the reconstruction algorithm, the full-view content information is processed into a three-dimensional mesh to obtain the spatial reconstruction results corresponding to each segment; The safety monitoring module is used to perform safety monitoring on the target transmission line based on the spatial reconstruction results.

6. The power transmission line safety monitoring system as described in claim 5, characterized in that, The security monitoring module includes: The spatial vector conversion unit is used to perform spatial vector conversion on the actual geographical location information of the target transmission line to obtain actual location vector data. The spatial mapping processing unit is used to perform spatial mapping processing on each of the spatial reconstruction results based on the actual location vector data to obtain spatial location results; A safety monitoring unit is used to perform safety monitoring on the target transmission line based on the spatial reconstruction results. The location information uploading unit is used to, if a security risk exists, confirm the geographical location information of the corresponding security risk based on the spatial location result, and upload the geographical location information to the operation and maintenance center.

7. The power transmission line safety monitoring system as described in claim 5, characterized in that, The association matching analysis module includes: The principal component analysis unit is used to perform principal component analysis on the contour information of the first selected target object to obtain a first contour analysis result, and to perform principal component analysis on the contour information of the second selected target object to obtain a second contour analysis result. The similarity association unit is used to perform similarity processing on the first contour analysis result and the second contour analysis result, and to perform association processing on the contour information of the first selected target object and the contour information of the second selected target object based on the similarity processing result to obtain the contour association result; The image group determination unit is used to obtain the image group data, which is composed of the first image data and the second image data, corresponding to each of the segments, based on the contour association results.

8. The power transmission line safety monitoring system as described in claim 5, characterized in that, The image data mask module includes: An initial mask processing unit is used to perform the image mask processing on each of the second image data to obtain an initial mask result; An enhanced mask processing unit is used to perform grayscale enhancement processing on the initial mask result to obtain an enhanced mask result; The contour segmentation processing unit is used to perform contour segmentation processing on the enhanced mask result based on the instance segmentation algorithm to obtain the corresponding contour information of the second selected target object.

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