Damage identification method and device for power transmission line, equipment, storage medium and program product

Abstract

The embodiment of the invention provides a power transmission line damage identification method and device, equipment, a storage medium and a program product, and relates to the technical field of power transmission line abnormity monitoring. The method comprises the following steps: acquiring three-dimensional point cloud data of a power transmission line; the power transmission line is a steel-cored aluminum stranded wire, and the steel-cored aluminum stranded wire comprises a plurality of strands of aluminum stranded wires; processing the three-dimensional point cloud data, and constructing a spatial parameter equation of each aluminum stranded wire; the space parameter equation is used for indicating a space curve of the aluminum stranded wire in the axial direction of the wire; determining a tangent vector of the aluminum stranded wire according to the space parameter equation of the aluminum stranded wire; the tangent vector is used for indicating the line trend of the point on the aluminum stranded wire in the tangent direction; determining abnormal information of the aluminum stranded wire according to the tangent vector of the aluminum stranded wire, and outputting abnormal alarm information; the abnormal alarm information is used for indicating the abnormal condition of the abnormal point in the aluminum stranded wire. The method is used for achieving the effects of quickly and accurately identifying the damage of the power transmission line and improving the abnormity monitoring efficiency and safety.

Description

Technical Field

[0001] This application relates to the field of power transmission line anomaly monitoring technology, and in particular to a method, device, equipment, storage medium and program product for identifying damage to power transmission lines. Background Technology

[0002] Transmission lines are an important component of the power system, and their main function is to transmit electrical energy from power plants to various power-consuming areas. To ensure the safe operation of transmission lines, timely identification and handling of damage to them is crucial.

[0003] In existing technologies, damage identification of power transmission lines typically relies on two main methods: drone inspection and manual observation. Drone inspection methods usually involve planning a flight path and controlling the drone to take visible light and infrared images within a safe distance from the transmission line. Artificial intelligence technology is then used to analyze the captured images to determine line damage. Manual observation, on the other hand, typically involves long-distance observation using telescopes or by professionals walking close to the transmission line to inspect the surface of the steel-cored aluminum stranded wire for damage.

[0004] However, drone inspections are limited by weather conditions and shooting angles, which may result in incomplete inspections and difficulty in quickly and accurately identifying minor damage to power transmission lines; while manual observation methods suffer from low efficiency and high safety risks. Summary of the Invention

[0005] This application provides a method, apparatus, device, storage medium, and program product for identifying damage to power transmission lines, which can quickly and accurately identify damage to power transmission lines and improve the efficiency and safety of power transmission line anomaly monitoring.

[0006] In a first aspect, embodiments of this application provide a method for identifying damage to transmission lines, comprising:

[0007] Acquire three-dimensional point cloud data of a power transmission line; wherein the power transmission line is a steel-cored aluminum stranded wire, and the steel-cored aluminum stranded wire includes multiple strands of aluminum stranded wire;

[0008] The three-dimensional point cloud data is processed to construct the spatial parameter equation for each aluminum stranded wire; the spatial parameter equation is used to indicate the spatial curve of the aluminum stranded wire along the conductor axis.

[0009] Based on the spatial parameter equation of the aluminum stranded wire, the tangent vector of the aluminum stranded wire is determined; the tangent vector is used to indicate the trend of the line direction of the points on the aluminum stranded wire in the tangential direction.

[0010] Based on the tangent vector of the aluminum stranded wire, the abnormal information of the aluminum stranded wire is determined, and the abnormal alarm information is output; the abnormal alarm information is used to indicate the abnormal situation of the abnormal point in the aluminum stranded wire.

[0011] In one possible implementation, acquiring the three-dimensional point cloud data of the transmission line includes:

[0012] The three-dimensional point cloud data of the power transmission line is obtained by a line inspection device; wherein, the line inspection device includes a mobile device and a data acquisition device, the data acquisition device includes at least a lidar for acquiring the three-dimensional point cloud data, the data acquisition device is located on the mobile device, the mobile device is movably connected to the power transmission line, and the mobile device is used to carry the data acquisition device to move on the power transmission line.

[0013] In one possible implementation, processing the three-dimensional point cloud data to construct the spatial parameter equations for each aluminum strand includes:

[0014] Based on the structural information of the steel-cored aluminum stranded wire, the three-dimensional point cloud data of each aluminum strand in the steel-cored aluminum stranded wire is extracted;

[0015] Curve fitting is performed based on the three-dimensional point cloud data of the aluminum stranded wire, and the spatial parameter equation of the aluminum stranded wire is constructed along the conductor axis.

[0016] In one possible implementation, determining the tangent vector of the aluminum stranded wire according to its spatial parametric equation includes:

[0017] The spatial parametric equation of the aluminum stranded wire is differentiated to obtain the tangent vector of the aluminum stranded wire.

[0018] In one possible implementation, determining the abnormal information of the aluminum stranded wire based on the tangent vector of the aluminum stranded wire includes:

[0019] Based on the tangent vector of the aluminum stranded wire, determine the first included angle formed by the tangents of two adjacent points on the aluminum stranded wire;

[0020] If it is determined that the first included angle is greater than the first preset threshold, then it is determined that there is a loose strand abnormality at the two adjacent points on the aluminum strand.

[0021] In one possible implementation, determining the abnormal information of the aluminum stranded wire based on the tangent vector of the aluminum stranded wire includes:

[0022] Construct a radial vector for the aluminum stranded wire; the radial vector is used to indicate the radial direction of the path of points on the aluminum stranded wire.

[0023] Based on the tangent vector and radial vector of the aluminum stranded wire, determine the second included angle formed by the tangent and radial line at each point on the aluminum stranded wire;

[0024] If it is determined that the second included angle is greater than the second preset threshold, then it is determined that there is a loose strand abnormality at that point on the aluminum stranded wire.

[0025] In one possible implementation, determining the abnormal information of the aluminum stranded wire based on the tangent vector of the aluminum stranded wire includes:

[0026] The curvature vector of the aluminum stranded wire is obtained by differentiating the tangent vector of the aluminum stranded wire; the curvature vector is used to indicate the amplitude change of a point on the aluminum stranded wire.

[0027] Calculate the amplitude of a point on the aluminum stranded wire based on the curvature vector of the aluminum stranded wire;

[0028] If the amplitude of a point on the aluminum stranded wire suddenly increases or becomes discontinuous, it is determined that there is a strand breakage abnormality at that point on the aluminum stranded wire.

[0029] In one possible implementation, after determining the abnormal information of the aluminum stranded wire, the method further includes:

[0030] Acquire target images of points in the aluminum stranded wire where anomalies exist; the target images include visible light images and / or infrared thermographic images;

[0031] Identify the target image and determine the line abnormality level at the point where an anomaly exists in the aluminum stranded wire; the line abnormality level is used to indicate the degree of line defect.

[0032] In one possible implementation, identifying the target image and determining the line anomaly level at points in the aluminum stranded wire where anomalies exist includes:

[0033] When the target image is a visible light image, the abnormal area at the point where there is an abnormality in the aluminum stranded wire is determined by image recognition technology, and the abnormality level of the line is determined based on the abnormal area.

[0034] When the target image is an infrared temperature measurement image, the infrared temperature measurement image is identified to determine the real-time temperature at the point where there is an abnormality in the aluminum stranded wire. Based on the real-time temperature, the average temperature of the aluminum stranded wire, and the ambient temperature when the infrared temperature measurement image was taken, the relative temperature difference at the point where there is an abnormality in the aluminum stranded wire is determined. Based on the relative temperature difference, the abnormality level of the line is determined.

[0035] When the target image includes the visible light image and the infrared thermography image, the line anomaly level determined by the abnormal area and the line anomaly level determined by the relative temperature difference are compared, and the line anomaly level at the point where the abnormality exists in the aluminum stranded wire is determined to be the one with the higher level.

[0036] Secondly, embodiments of this application provide a damage identification device for transmission lines, comprising:

[0037] An acquisition unit is used to acquire three-dimensional point cloud data of a transmission line; wherein the transmission line is a steel-cored aluminum stranded wire, and the steel-cored aluminum stranded wire includes multiple strands of aluminum stranded wire;

[0038] The first processing unit is used to process the three-dimensional point cloud data and construct the spatial parameter equation for each aluminum stranded wire; the spatial parameter equation is used to indicate the spatial curve of the aluminum stranded wire along the conductor axis.

[0039] The second processing unit is used to determine the tangent vector of the aluminum stranded wire according to the spatial parameter equation of the aluminum stranded wire; the tangent vector is used to indicate the trend of the line direction of the points on the aluminum stranded wire in the tangential direction.

[0040] The third processing unit is used to determine the abnormal information of the aluminum stranded wire based on the tangent vector of the aluminum stranded wire, and output abnormal alarm information; the abnormal alarm information is used to indicate the abnormal situation of the abnormal point in the aluminum stranded wire.

[0041] Thirdly, embodiments of this application provide an electronic device, including: a memory and a processor;

[0042] The memory stores computer-executed instructions;

[0043] The processor executes computer execution instructions stored in the memory, causing the processor to perform the first aspect and / or various possible implementations of the first aspect as described above.

[0044] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the first aspect and / or various possible implementations of the first aspect.

[0045] Fifthly, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the first aspect and / or various possible implementations of the first aspect.

[0046] The damage identification method, apparatus, equipment, storage medium, and program product for transmission lines provided in this application achieve precise monitoring and real-time anomaly detection of transmission lines by acquiring and analyzing three-dimensional point cloud data of the transmission lines. This not only improves detection efficiency but also reduces manual intervention, enabling real-time monitoring and rapid response of the lines. In addition, the three-dimensional point cloud data can comprehensively identify various anomalies in aluminum stranded wires, including subtle structural changes and obvious damage, thereby improving the accuracy of line anomaly identification and contributing to the improvement of the safety and reliability of transmission lines. Furthermore, timely anomaly alarm information supports preventive maintenance, reduces fault risk, and lowers maintenance costs. Attached Figure Description

[0047] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0048] Figure 1 A schematic flowchart illustrating a damage identification method for transmission lines provided in an embodiment of this application;

[0049] Figure 2 A schematic diagram of the curve of an aluminum stranded wire provided in an embodiment of this application;

[0050] Figure 3 This is a schematic diagram of the tangent between two adjacent points provided in an embodiment of this application;

[0051] Figure 4 A schematic diagram of the tangent and radial line at a point on an aluminum stranded wire, provided in an embodiment of this application;

[0052] Figure 5 A schematic diagram of the structure of a damage identification device for a power transmission line provided in an embodiment of this application;

[0053] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0054] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0055] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0056] Bare conductors in power transmission lines typically use aluminum conductor steel (ACSR), also known as aluminum steel cable or aluminum steel wire. It's a composite conductor combining the conductivity of aluminum with the high strength of steel. ACSR usually consists of multiple strands of aluminum wire twisted around a steel core. The steel core primarily increases strength, while the aluminum strands mainly transmit electrical energy. The steel core is typically composed of single or multiple strands of galvanized steel wire, commonly 1, 7, or 19 strands. The aluminum wires are layered and twisted around the steel core, with common strand counts ranging from 6 to 84, depending on the conductor cross-sectional area requirements. The number of strands is usually determined by voltage rating, current carrying capacity, and mechanical strength to ensure sufficient tensile strength for efficient power transmission.

[0057] The main reasons for loose or broken strands in steel-cored aluminum stranded wire include external mechanical damage, material and manufacturing defects, and environmental and operational factors. During construction, excessive traction force, insufficient bending radius, or dragging friction can cause scratches on the aluminum strand surface or deformation of the internal steel core. Improper crimping processes can also easily cause localized stress concentration, leading to strand breakage. Material quality issues, such as impurities in the aluminum wire or steel core, uneven strength, poor corrosion resistance, or damage to the anti-corrosion layer of the galvanized steel core, will all cause corrosion and reduce overall strength. Manufacturing defects, such as substandard stranding processes and poor welding quality, can create potential sources of breakage. Electrochemical corrosion can occur in humid, polluted, or saline environments, and the thermal effect of current can accelerate the corrosion rate. Mechanical loads and high-frequency vibrations can lead to metal fatigue and microcracks, eventually resulting in strand breakage. Severe weather conditions, such as strong winds and icing, can cause conductor vibration, galloping, or collisions, which can lead to strand breakage over time. Impacts from external objects, such as fallen trees or accidental vehicle collisions, can also damage the conductor. In addition, when the current carried by the transmission line exceeds its rated capacity, it will cause the wire temperature to rise, resulting in an annealing effect on the aluminum conductor. The aluminum conductor will soften, its tensile strength will decrease, and the impact of short-circuit current may also instantly melt and break some aluminum strands, causing strand breakage.

[0058] It is evident that steel-cored aluminum stranded wire inevitably suffers from loose or broken strands, and these damages can affect the safe operation of transmission lines. Therefore, accurately identifying and addressing damage to transmission lines is of paramount importance.

[0059] Traditional damage identification of power transmission lines relies on manual inspections, which involve observing the surface of steel-cored aluminum stranded wires from a distance using telescopes or walking close to the transmission line to check for damage. However, manual inspections are inefficient, and observing the surface of steel-cored aluminum stranded wires from a distance using telescopes can easily result in missed defects. Walking close to the line also carries risks such as falls from heights and electric shocks.

[0060] With the development of drone technology, drones can be combined with visible light and infrared imaging detection technologies to inspect for early damage to power transmission lines. Specifically, through drone flight path planning, drones are controlled to take visible light and infrared photos within a safe distance of 20-50 meters from the power transmission line. Artificial intelligence technology is then used to identify the captured images for defect assessment. Compared to manual inspection, drone inspection is more efficient and safer. However, drone inspection is significantly affected by weather conditions; rain, snow, or strong winds can affect the drone's flight and image quality. Poor signal coverage in some corridor areas also impacts safe drone flight. Furthermore, the accuracy of damage identification is related to the precision of the sensors. When the resolution of infrared and visible light cameras is low, it may be insufficient to detect minute defects, such as tiny aluminum wire cracks. In addition, drone inspection is limited by the drone's flight angle, and the camera's shooting angle may be relatively limited, failing to capture clear details. Defects or potential hazards not visible in the image may be missed.

[0061] To address the aforementioned technical problems, the transmission line damage identification method provided in this application embodiment addresses the issue that, under normal circumstances, the radial vector direction of each strand of aluminum strand is along the direction from the center of the steel core to the center of the strand. Furthermore, as the aluminum strand moves spirally around the steel core, the direction of the radial vector continuously changes in space according to a certain pattern, always maintaining a specific geometric relationship with the spiral path. This reflects the regularity and stability of the aluminum strand strand twisting. Based on this structural feature, this application embodiment analyzes whether the aluminum strand is twisted along the original spiral path using three-dimensional point cloud data of the transmission line, thereby determining whether there are loose or broken strands. This allows for the rapid and accurate identification of minor damage to the transmission line.

[0062] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0063] It should be noted that the execution subject of the transmission line damage identification method provided in this application embodiment can be a transmission line damage identification device, which can be located on an electronic device, such as a mobile phone, computer, server, etc., and this application embodiment does not impose any restrictions. This application embodiment takes a transmission line damage identification device as the execution subject for detailed description.

[0064] Figure 1 This is a schematic flowchart illustrating a damage identification method for power transmission lines provided in an embodiment of this application. Figure 1 As shown in the embodiments of this application, the damage identification method for transmission lines may include:

[0065] S101. Obtain three-dimensional point cloud data of the transmission line; wherein the transmission line is a steel-cored aluminum stranded wire, and the steel-cored aluminum stranded wire includes multiple strands of aluminum stranded wire.

[0066] For example, three-dimensional point cloud data is a form of spatial data representation composed of a large number of points, each with specific coordinates (x, y, z) in three-dimensional space. These points collectively depict the spatial location and shape of the transmission line. Three-dimensional point cloud data can be acquired using LiDAR or other three-dimensional scanning technologies. In this embodiment, the transmission line mainly refers to steel-cored aluminum stranded wire, which is composed of multiple strands of aluminum wire twisted around a steel core. Through the three-dimensional point cloud data of the transmission line, the specific location and shape of each strand of aluminum wire on the outermost surface of the transmission line can be identified for subsequent damage identification.

[0067] Optionally, in one possible embodiment, acquiring the three-dimensional point cloud data of the transmission line may include:

[0068] The three-dimensional point cloud data of the transmission line is obtained by the line inspection device. The line inspection device includes a mobile device and a data acquisition device. The data acquisition device includes at least a lidar for collecting three-dimensional point cloud data. The data acquisition device is located on the mobile device, which is movably connected to the transmission line. The mobile device is used to carry the data acquisition device and move it on the transmission line.

[0069] For example, the power line inspection device mainly includes a mobile device and a data acquisition device. The mobile device is a mechanical device capable of moving along the power transmission line. It is designed to be movably connected to the power transmission line, typically attached via clamping or other fixing mechanisms. The data acquisition device includes at least one lidar sensor for acquiring three-dimensional point cloud data of the power transmission line. Preferably, the data acquisition device may include three lidar probes. Through the coordinated operation of the three lidar probes, the power transmission line can be scanned from different angles (360° of the conductor), avoiding the obstruction problem of a single viewpoint and obtaining accurate three-dimensional point cloud data of the power transmission line. The data acquisition device is located on the mobile device. When acquiring three-dimensional point cloud data of the power transmission line, the inspection device can be attached to the power transmission line using a drone or similar device. The mobile device can then be controlled to automatically move along the power transmission line, and the data acquisition device can be controlled to acquire the three-dimensional point cloud data of the power transmission line.

[0070] The wire-mounted inspection device of this application is particularly suitable for the inspection of long-distance transmission lines, especially in areas with complex terrain or difficult access by manpower. It can be used for routine maintenance inspections and for rapid assessment in extreme weather conditions. By acquiring three-dimensional point cloud data of the transmission line through the wire-mounted inspection device, the inspection efficiency and data quality of the transmission line can be significantly improved, providing a solid data foundation for subsequent damage identification and maintenance decisions.

[0071] S102. Process the three-dimensional point cloud data to construct the spatial parameter equation for each aluminum stranded wire; the spatial parameter equation is used to indicate the spatial curve of the aluminum stranded wire along the conductor axis.

[0072] For example, in order to construct the spatial parametric equation for each aluminum strand, the acquired three-dimensional point cloud data needs to be processed, including but not limited to removing noise points from the point cloud data, point cloud segmentation, curve fitting, parametric representation, optimization, and verification. The spatial parametric equation is a mathematical expression used to describe the curve shape and position of the aluminum strand in three-dimensional space. Through this equation, the spatial orientation of the aluminum strand along the conductor axis can be accurately described.

[0073] Optionally, in one possible embodiment, the three-dimensional point cloud data is processed to construct the spatial parameter equations for each aluminum strand, including:

[0074] S01. Based on the structural information of the steel-cored aluminum stranded wire, separate the three-dimensional point cloud data of each aluminum strand in the steel-cored aluminum stranded wire;

[0075] S02. Based on the three-dimensional point cloud data of aluminum stranded wire, curve fitting is performed to construct the spatial parameter equation of aluminum stranded wire along the conductor axis.

[0076] For example, a steel-cored aluminum stranded wire is composed of multiple aluminum strands twisted around a steel core. Each aluminum strand exhibits a helical shape in space. Based on the model and parameters of the steel-cored aluminum stranded wire, structural information such as the number of strands, diameter, twisting angle, and number of strands of the outermost aluminum strand can be determined. Then, clustering algorithms (such as DBSCAN or K-means) can be used to segment the three-dimensional point cloud data of the transmission line into different clusters, with each cluster corresponding to one aluminum strand. By analyzing the geometric characteristics of the point cloud (such as density and distribution pattern), the three-dimensional point cloud data of each aluminum strand can be identified and separated. Furthermore, based on the helical shape of the aluminum strand, a suitable curve fitting model is selected, and curve fitting is performed based on the three-dimensional point cloud data of each aluminum strand. The fitted curve is then expressed as a parametric equation, yielding the spatial parametric equation of each aluminum strand along the conductor axis.

[0077] For example, Figure 2 This is a schematic diagram of the curve of an aluminum stranded wire provided in an embodiment of this application. Figure 2 As shown, the parametric equation of the three-dimensional space z constructed by each aluminum stranded wire along the conductor axis is, under normal circumstances, a curve with a regular spiral along the conductor axis.

[0078] Combination Figure 2 The parametric equation of the three-dimensional space z of each aluminum stranded wire along the conductor axis can be given by the following formula (1):

[0079] (1)

[0080] Extracting the spatial parameter equations of each aluminum strand from complex 3D point cloud data requires not only advanced data processing technology but also a deep understanding of the structure of steel-cored aluminum strands. Accurate spatial parameter equations provide an important foundation for subsequent damage identification, geometric analysis, and maintenance decisions.

[0081] S103. Determine the tangent vector of the aluminum stranded wire according to the spatial parameter equation of the aluminum stranded wire; the tangent vector is used to indicate the trend of the line direction of the points on the aluminum stranded wire in the tangential direction.

[0082] For example, the tangent vector of the aluminum strand can be calculated based on the spatial parameter equation of each strand. The tangent vector refers to the tangent direction at a point on the aluminum strand, reflecting the trend of that point in the tangent direction in space.

[0083] Optionally, in one possible embodiment, determining the tangent vector of the aluminum stranded wire according to the spatial parameter equation of the aluminum stranded wire may include:

[0084] The spatial parametric equation of the aluminum stranded wire is differentiated to obtain the tangent vector of the aluminum stranded wire.

[0085] For example, the spatial parametric equation (1) of each aluminum strand can be differentiated using the following formula (2) to obtain the tangent vector of each aluminum strand as shown in formula (3):

[0086] (2)

[0087] (3)

[0088] in, This represents the rate of change of the curve in the x-direction; This represents the rate of change of the curve in the y-direction.

[0089] By differentiating the spatial parametric equations of aluminum stranded wire, tangent vectors can be extracted quickly and effectively. These vectors not only provide information about the spatial orientation of the aluminum stranded wire but also offer crucial foundational data for subsequent anomaly detection and damage identification. Analyzing changes in tangent vectors allows for the timely identification and location of potential problems, thereby improving the maintenance efficiency and safety of transmission lines.

[0090] S104. Based on the tangent vector of the aluminum stranded wire, determine the abnormal information of the aluminum stranded wire and output the abnormal alarm information; the abnormal alarm information is used to indicate the abnormal situation of the abnormal point in the aluminum stranded wire.

[0091] For example, abnormal information about the aluminum stranded wire can be identified based on its tangent vector. Abnormal information may include loose or broken strands. By comparing the tangent vector under normal conditions with the currently calculated tangent vector, abnormal points can be detected. Upon detection, an alarm message can be output to alert maintenance personnel to these potentially damaged locations on the aluminum stranded wire.

[0092] Understandably, the tangent vector of an aluminum strand represents its trend at a certain point. Normally, each strand should be arranged according to the design path, with its tangent vector matching the design value or the tangent vectors of adjacent points. If the tangent vector deviates from the design value or has a large angle with the tangent vectors of adjacent points, it means that the strand's trend at that point is different from the expected trend, indicating significant bending or twisting. This could be due to uneven local stress, significant external interference, installation errors, or other factors causing the strand position to shift, potentially resulting in loose strands. When loose strands exist, because some segments of the strand are no longer twisted along the original spiral path but instead twisted or shifted, the direction of the radial vector no longer follows the normal variation pattern, showing a significant deviation. Therefore, the presence of loose strands in the aluminum strand can be determined based on its tangent vector.

[0093] Optionally, in one possible embodiment, determining the anomalous information of the aluminum stranded wire based on the tangent vector of the aluminum stranded wire may include:

[0094] S1. Based on the tangent vector of the aluminum stranded wire, determine the first included angle formed by the tangents of two adjacent points on the aluminum stranded wire;

[0095] S2. If it is determined that the first included angle is greater than the first preset threshold, then it is determined that there is a loose strand abnormality at the two adjacent points on the aluminum strand.

[0096] For example, by differentiating the spatial parametric equation of the aluminum strand, the tangent vector corresponding to each point on the aluminum strand can be obtained, representing the instantaneous direction of the aluminum strand at that point. In this embodiment, two adjacent points on the aluminum strand can be selected, and the angle formed by their tangents can be calculated. Then, the presence of a loose strand abnormality can be determined based on the size of the angle.

[0097] For example, Figure 3 This is a schematic diagram of the tangent between two adjacent points provided in an embodiment of this application. For example... Figure 3 As shown, if the tangent vectors corresponding to two adjacent points P1 and P2 are respectively and The angle θ (not shown in the figure) between the tangents of two adjacent points P1 and P2 can be calculated using the following formula (4):

[0098] (4)

[0099] If the calculated included angle θ is much larger than the normal included angle, such as exceeding the first preset threshold, it indicates that the included angle of the tangent vectors of adjacent points P1 and P2 has increased abnormally, and it can be considered that there is a loose strand abnormality at the two adjacent points P1 and P2 on the aluminum strand. In this embodiment, the specific value of the first preset threshold is not limited; for example, it can be 0°, 3°, etc.

[0100] By analyzing the tangent vector of the aluminum stranded wire and calculating the included angle between adjacent points, based on a set reasonable threshold, abnormal loose strands in the aluminum stranded wire can be effectively identified, potential structural problems can be detected in the early stages, and timely measures can be taken to ensure the safe and stable operation of the transmission line.

[0101] Optionally, in one possible embodiment, determining the anomalous information of the aluminum stranded wire based on the tangent vector of the aluminum stranded wire may include:

[0102] S10. Construct the radial vector of the aluminum stranded wire; the radial vector is used to indicate the radial direction of the line at a point on the aluminum stranded wire.

[0103] S20. Determine the second angle formed by the tangent and radial lines at each point on the aluminum stranded wire, based on the tangent vector and radial vector of the aluminum stranded wire.

[0104] S30. If it is determined that the second included angle is greater than the second preset threshold, then it is determined that there is a loose strand abnormality at that point on the aluminum strand.

[0105] For example, at a certain position, the normal radial vector should form a specific angle (e.g., 15 degrees) with the tangent direction of the helix. However, due to loose strands, the actual radial vector may form other angles (e.g., 30 degrees) with the tangent direction. In this case, the radial vector direction can also be considered to have deviated from the helix path. Therefore, the presence of loose strands in the aluminum strand can also be determined by analyzing the second angle formed by the tangent and the radial line at various points on the aluminum strand.

[0106] Specifically, a radial vector of the aluminum strand can be constructed first; wherein, the radial vector is used to indicate the radial direction of the points on the aluminum strand. The radial direction can be a direction parallel to the central axis of the aluminum strand, or it can be a direction pointing to the center of the aluminum strand; this embodiment does not impose any limitations. Optionally, the radial vector of the aluminum strand can be expressed as the following formula (5):

[0107] (5)

[0108] Then, based on the tangent vector and radial vector of the aluminum strand, the second included angle formed by the tangent and radial line at each point on the aluminum strand is determined. Then, based on the comparison result between the second included angle and the second preset threshold, it is determined whether there is a loose strand abnormality at that point on the aluminum strand.

[0109] For example, Figure 4 This is a schematic diagram of the tangent and radial line at a certain point on an aluminum stranded wire, provided as an embodiment of this application. (See diagram below.) Figure 4 As shown, the angle α (not shown in the figure) formed by the tangent and radial line at point P0 can be calculated using the following formula (6):

[0110] (6)

[0111] If the angle α formed by the tangent line and the radial line at point P0 is much larger than the normal angle, for example, greater than the second preset threshold, or α-α0 exceeds a certain threshold ( If the angle is normal (which can be determined based on the parameters of the steel-cored aluminum stranded wire), then it indicates that the angle between the radial vector and the tangential vector has increased abnormally, and the conductor has loose strands.

[0112] By analyzing the tangential and radial vectors of aluminum stranded wire, abnormal loose strands can be accurately identified. The second angle determined by the radial and tangential vectors can reveal the structural integrity of the aluminum stranded wire. Especially when identifying abnormal bending or twisting, by setting a reasonable threshold, potential structural problems can be detected at an early stage, allowing for timely measures to ensure the safe and stable operation of transmission lines.

[0113] Optionally, in one possible embodiment, determining the anomalous information of the aluminum stranded wire based on the tangent vector of the aluminum stranded wire may further include:

[0114] S100. Differentiate the tangent vector of the aluminum stranded wire to obtain the curvature vector of the aluminum stranded wire; the curvature vector is used to indicate the amplitude change of a point on the aluminum stranded wire.

[0115] S200. Calculate the amplitude of a point on the aluminum stranded wire based on the curvature vector of the aluminum stranded wire.

[0116] S300. If the amplitude of a point on the aluminum stranded wire suddenly increases or becomes discontinuous, it is determined that there is a strand breakage anomaly at that point on the aluminum stranded wire.

[0117] For example, in this embodiment of the application, in addition to determining whether there is a loose strand abnormality in the aluminum stranded wire, it is also possible to determine whether there is a broken strand abnormality in the aluminum stranded wire. For the identification of whether there is a broken strand abnormality in the aluminum stranded wire, curvature vector analysis calculation can be introduced. Specifically, the tangent vector of the aluminum stranded wire can be differentiated to obtain the curvature vector of the aluminum stranded wire. For example, the following formula (7) can be used to differentiate the tangent vector of the aluminum stranded wire as shown in formula (3) to obtain the curvature vector of the aluminum stranded wire as shown in formula (8):

[0118] (7)

[0119] (8)

[0120] The curvature vector reflects the rate of change of the tangent vector, i.e., the degree of bending of the aluminum strand in space. The curvature vector provides detailed information about the degree of bending of the aluminum strand in space, and sudden increases or discontinuities in its amplitude are important indicators for identifying anomalies. Under normal circumstances (when there are no broken strands), the curvature vector of each strand of the steel-cored aluminum strand should be continuous and have a stable amplitude. If the amplitude of the curvature vector at a certain point suddenly increases or becomes discontinuous (such as a derivative jump), it indicates that there is a broken strand anomaly at that location.

[0121] By differentiating the tangent vector to obtain the curvature vector and analyzing the changes in its amplitude, abnormal strand breakage in aluminum stranded wire can be effectively identified. This method allows for the detection of potential structural problems at an early stage, enabling timely measures to be taken to ensure the safe and stable operation of transmission lines.

[0122] In this embodiment of the application, when a loose strand abnormality is detected in the aluminum stranded wire, an alarm signal indicating that a loose strand exists in the transmission line can be output. When a broken strand abnormality is detected in the aluminum stranded wire, an alarm signal indicating that a broken strand exists in the transmission line can be output, so that maintenance personnel can take timely measures to ensure the safe and stable operation of the transmission line.

[0123] The damage identification method for transmission lines provided in this application achieves accurate monitoring and real-time anomaly detection of transmission lines by acquiring and analyzing three-dimensional point cloud data of the transmission lines. This not only improves detection efficiency but also reduces manual intervention, enabling real-time monitoring and rapid response of the lines. In addition, the three-dimensional point cloud data can comprehensively identify various anomalies in aluminum stranded wires, including subtle structural changes and obvious damage, thereby improving the accuracy of line anomaly identification and contributing to the improvement of the safety and reliability of transmission lines. Furthermore, timely anomaly alarm information supports preventive maintenance, reduces the risk of failure, and lowers maintenance costs.

[0124] Optionally, based on the above embodiments, in one possible embodiment, after determining the abnormal information of the aluminum stranded wire, the damage identification method for transmission lines provided in this application embodiment may further include:

[0125] S201. Obtain target images of points in the aluminum stranded wire where abnormalities exist; the target images include visible light images and / or infrared thermographic images;

[0126] S202. Identify the target image and determine the line abnormality level at the point where an anomaly exists in the aluminum stranded wire; the line abnormality level is used to indicate the degree of line defect.

[0127] For example, embodiments of this application utilize vector analysis of aluminum stranded wires based on three-dimensional point cloud data to quantify the geometric parameters of the steel-cored aluminum stranded wires. Combined with the structural parameters of the steel-cored aluminum stranded wires, intelligent identification of loose strands and broken strands can be achieved. Furthermore, in practical applications, visible light image recognition and infrared thermography image recognition can be combined to improve the accuracy of identifying loose strands and broken strands in the conductor.

[0128] Specifically, when identifying loose or broken strands in a transmission line (steel-cored aluminum stranded wire) based on 3D point cloud data, visible light images and / or infrared thermographic images of the points with abnormalities can be retrieved from the coordinates of these points. Visible light images, acquired using ordinary camera equipment, primarily provide information about the appearance of the aluminum stranded wire, including color changes and physical damage (such as breakage or wear). Infrared thermographic images, acquired using infrared camera equipment, provide information about the temperature distribution of the aluminum stranded wire. By identifying visible light and / or infrared thermographic images, not only can the accuracy of the anomaly assessment be verified, but the corresponding line anomaly level can also be determined, allowing users to promptly understand the extent of the line defect and take appropriate measures.

[0129] Optionally, in one possible embodiment, identifying the target image and determining the line anomaly level at points in the aluminum stranded wire where anomalies exist may include:

[0130] S2021. When the target image is a visible light image, the abnormal area at the point where there is an abnormality in the aluminum stranded wire is determined by image recognition technology, and the abnormality level of the line is determined based on the abnormal area.

[0131] S2022. When the target image is an infrared temperature measurement image, identify the infrared temperature measurement image, determine the real-time temperature at the point where there is an anomaly in the aluminum stranded wire, and determine the relative temperature difference at the point where there is an anomaly in the aluminum stranded wire based on the real-time temperature, the average temperature of the aluminum stranded wire, and the ambient temperature when the infrared temperature measurement image was taken, and determine the line anomaly level based on the relative temperature difference.

[0132] S2023. When the target image includes both visible light images and infrared temperature measurement images, compare the line anomaly level determined by the abnormal area with the line anomaly level determined by the relative temperature difference, and determine the line anomaly level at the point in the aluminum stranded wire where the anomaly exists as the higher level.

[0133] For example, for visible light images, computer vision techniques from image recognition technology can be used to process the images, extracting abnormal features such as color changes, irregular shapes, and surface damage to identify abnormal areas in the aluminum stranded wire. Then, image segmentation algorithms from image recognition technology (such as thresholding, edge detection, convolutional neural networks, and deep learning models) are used to separate the abnormal areas from the image and calculate their areas, for example, in terms of pixel count or actual physical area (obtained through calibration). Finally, an area threshold for classifying the abnormality level is pre-set based on experience or standards to determine the line abnormality level. For example, small-area abnormalities may be considered minor, while large-area abnormalities may be considered severe. By comparing the abnormal area with the set threshold, the line abnormality level can be determined.

[0134] For infrared thermography images, the real-time temperature of abnormal points in the aluminum stranded wire can be extracted from the infrared thermography images, and the average temperature of the aluminum stranded wire (i.e., the average temperature of the transmission line) and the ambient temperature when the infrared thermography images were taken can be determined. Then, the relative temperature difference can be calculated according to the following formula (9):

[0135] (9)

[0136] in, The relative temperature difference; T k This refers to the real-time temperature at the point where an anomaly exists in the aluminum stranded wire; T v T0 is the average temperature of the aluminum stranded wire; T0 is the ambient temperature when the infrared thermography image was captured.

[0137] Based on the calculated relative temperature difference and a pre-set threshold, the urgency of a transmission line defect, such as a loose or broken strand, can be determined. For example, if... If the percentage is less than or equal to 30%, it is defined as a common defect; if If the percentage is greater than 30% but less than 80%, it is defined as a general defect; if A defect is defined as greater than or equal to 80% but less than 90%; if A defect is defined as critical if it is greater than or equal to 90%. This application does not impose restrictions on the threshold values ​​corresponding to the anomaly levels; these threshold values ​​can be set according to actual needs.

[0138] When both visible light images and infrared thermographic images are acquired as target images, based on the above method, the line anomaly level at the point in the aluminum stranded wire where the anomaly exists is determined according to the anomaly area, and the line anomaly level at the point in the aluminum stranded wire where the anomaly exists is determined according to the relative temperature difference. The levels determined by the two methods can be compared, and the higher level can be determined as the final line anomaly level at the point in the aluminum stranded wire where the anomaly exists. This is to avoid failure to make correct maintenance decisions due to inaccurate identification of the severity of the anomaly, which could lead to unpredictable safety accidents in the transmission line.

[0139] Visible light images and infrared thermography images provide rich visual and temperature information, which can help identify the nature and severity of anomalies and enable multi-dimensional assessment of aluminum stranded wire anomalies. This application's embodiments, through analysis of the anomaly area and relative temperature difference, can accurately determine the anomaly level, providing crucial information for maintenance decisions. This method not only improves the accuracy and reliability of anomaly detection but also optimizes resource allocation, ensuring the safe and efficient operation of transmission lines.

[0140] Figure 5 This is a schematic diagram of the structure of a damage identification device for a power transmission line provided in an embodiment of this application. Figure 5As shown, the damage identification device 50 for transmission lines provided in this embodiment includes an acquisition unit 501, a first processing unit 502, a second processing unit 503, and a third processing unit 504.

[0141] The acquisition unit 501 is used to acquire three-dimensional point cloud data of the transmission line; wherein the transmission line is a steel-cored aluminum stranded wire, and the steel-cored aluminum stranded wire includes multiple strands of aluminum stranded wire.

[0142] The first processing unit 502 is used to process the three-dimensional point cloud data and construct the spatial parameter equation of each aluminum stranded wire; the spatial parameter equation is used to indicate the spatial curve of the aluminum stranded wire along the conductor axis.

[0143] The second processing unit 503 is used to determine the tangent vector of the aluminum stranded wire according to the spatial parameter equation of the aluminum stranded wire; the tangent vector is used to indicate the trend of the line direction of the points on the aluminum stranded wire in the tangent direction.

[0144] The third processing unit 504 is used to determine the abnormal information of the aluminum stranded wire based on the tangent vector of the aluminum stranded wire, and output the abnormal alarm information; the abnormal alarm information is used to indicate the abnormal situation of the abnormal point in the aluminum stranded wire.

[0145] The apparatus provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and will not be described in detail here.

[0146] In one possible implementation, the acquisition unit 501 is specifically used for:

[0147] The three-dimensional point cloud data of the transmission line is obtained by the line inspection device. The line inspection device includes a mobile device and a data acquisition device. The data acquisition device includes at least a lidar for collecting three-dimensional point cloud data. The data acquisition device is located on the mobile device, which is movably connected to the transmission line. The mobile device is used to carry the data acquisition device and move it on the transmission line.

[0148] In one possible implementation, the first processing unit 502 is specifically used for:

[0149] Based on the structural information of the steel-cored aluminum stranded wire, the three-dimensional point cloud data of each aluminum strand in the steel-cored aluminum stranded wire is separated.

[0150] Curve fitting is performed based on the three-dimensional point cloud data of aluminum stranded wire to construct the spatial parametric equation of aluminum stranded wire along the conductor axis.

[0151] In one possible implementation, the second processing unit 503 is specifically used for:

[0152] The spatial parametric equation of the aluminum stranded wire is differentiated to obtain the tangent vector of the aluminum stranded wire.

[0153] In one possible implementation, the third processing unit 504 is specifically used for:

[0154] Based on the tangent vector of the aluminum stranded wire, determine the first included angle formed by the tangents of two adjacent points on the aluminum stranded wire;

[0155] If it is determined that the first included angle is greater than the first preset threshold, then it is determined that there is a loose strand abnormality at the two adjacent points on the aluminum strand.

[0156] In one possible implementation, the third processing unit 504 is specifically used for:

[0157] Construct the radial vector of the aluminum stranded wire; the radial vector is used to indicate the radial direction of the line at a point on the aluminum stranded wire.

[0158] Based on the tangent vector and radial vector of the aluminum strand, determine the second included angle formed by the tangent and radial line at each point on the aluminum strand;

[0159] If it is determined that the second included angle is greater than the second preset threshold, then it is determined that there is a loose strand abnormality at that point on the aluminum stranded wire.

[0160] In one possible implementation, the third processing unit 504 is specifically used for:

[0161] The curvature vector of the aluminum stranded wire is obtained by differentiating the tangent vector of the aluminum stranded wire; the curvature vector is used to indicate the amplitude variation at a point on the aluminum stranded wire.

[0162] Calculate the amplitude of a point on the aluminum stranded wire based on the curvature vector of the aluminum stranded wire;

[0163] If the amplitude of a point on the aluminum stranded wire suddenly increases or becomes discontinuous, it is determined that there is a strand breakage anomaly at that point on the aluminum stranded wire.

[0164] In one possible implementation, the third processing unit 504, after determining the abnormal information of the aluminum stranded wire, is further configured to:

[0165] Acquire target images of points in the aluminum stranded wire where anomalies exist; the target images include visible light images and / or infrared thermographic images;

[0166] Identify the target image and determine the line anomaly level at the point where anomalies exist in the aluminum stranded wire; the line anomaly level is used to indicate the degree of line defect.

[0167] In one possible implementation, the third processing unit 504 is specifically used for:

[0168] When the target image is a visible light image, the abnormal area at the point where there is an anomaly in the aluminum stranded wire is determined by image recognition technology, and the abnormality level of the line is determined based on the abnormal area.

[0169] When the target image is an infrared temperature measurement image, the infrared temperature measurement image is identified to determine the real-time temperature at the point where there is an anomaly in the aluminum stranded wire. Based on the real-time temperature, the average temperature of the aluminum stranded wire, and the ambient temperature when the infrared temperature measurement image was taken, the relative temperature difference at the point where there is an anomaly in the aluminum stranded wire is determined, and the line anomaly level is determined based on the relative temperature difference.

[0170] When the target image includes both visible light images and infrared thermography images, the line anomaly level determined by the abnormal area and the line anomaly level determined by the relative temperature difference are compared, and the line anomaly level at the point in the aluminum stranded wire where the anomaly exists is determined by the higher level.

[0171] The apparatus provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and will not be described in detail here.

[0172] It should be noted that the division of the various modules in the above device is merely a logical functional division. In actual implementation, they can be fully or partially integrated into a single physical entity, or they can be physically separated. These modules can be implemented entirely in software via processing element calls; they can be fully implemented in hardware; or some modules can be implemented in software via processing element calls, while others are implemented in hardware. Furthermore, they can be stored as program code in the device's memory, and the data processing modules can be called and executed by a specific processing element. The implementation of other modules is similar. These modules can be fully or partially integrated together, or implemented independently. The processing element here can be an integrated circuit with signal processing capabilities. During implementation, each step of the above method or each of the above modules can be completed through integrated logic circuits in the hardware of the processor element or through software instructions.

[0173] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 6 As shown, the electronic device 60 provided in this embodiment includes at least one processor 601 and a memory 602. Optionally, the device 60 further includes a communication component 603. The processor 601, memory 602, and communication component 603 are connected via a bus 604.

[0174] In a specific implementation, at least one processor 601 executes computer execution instructions stored in memory 602, causing at least one processor 601 to perform the above-described method.

[0175] The specific implementation process of processor 601 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0176] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0177] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0178] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0179] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0180] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0181] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0182] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0183] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0184] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0185] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0186] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0187] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0188] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A method for damage identification of transmission lines, characterized in that, include: Acquire three-dimensional point cloud data of a power transmission line; wherein the power transmission line is a steel-cored aluminum stranded wire, and the steel-cored aluminum stranded wire includes multiple strands of aluminum stranded wire; The three-dimensional point cloud data is processed to construct the spatial parameter equation for each aluminum stranded wire; the spatial parameter equation is used to indicate the spatial curve of the aluminum stranded wire along the conductor axis. Based on the spatial parameter equation of the aluminum stranded wire, the tangent vector of the aluminum stranded wire is determined; the tangent vector is used to indicate the trend of the line direction of the points on the aluminum stranded wire in the tangential direction. Based on the tangent vector of the aluminum stranded wire, the abnormal information of the aluminum stranded wire is determined, and the abnormal alarm information is output; the abnormal alarm information is used to indicate the abnormal situation of the abnormal point in the aluminum stranded wire.

2. The method according to claim 1, characterized in that, The acquisition of the three-dimensional point cloud data of the transmission line includes: The three-dimensional point cloud data of the power transmission line is obtained by a line inspection device; wherein, the line inspection device includes a mobile device and a data acquisition device, the data acquisition device includes at least a lidar for acquiring the three-dimensional point cloud data, the data acquisition device is located on the mobile device, the mobile device is movably connected to the power transmission line, and the mobile device is used to carry the data acquisition device to move on the power transmission line.

3. The method according to claim 1, characterized in that, The process of processing the three-dimensional point cloud data to construct the spatial parameter equations for each aluminum stranded wire includes: Based on the structural information of the steel-cored aluminum stranded wire, the three-dimensional point cloud data of each aluminum strand in the steel-cored aluminum stranded wire is extracted; Curve fitting is performed based on the three-dimensional point cloud data of the aluminum stranded wire, and the spatial parameter equation of the aluminum stranded wire is constructed along the conductor axis.

4. The method according to claim 1, characterized in that, Determining the tangent vector of the aluminum stranded wire based on its spatial parameter equation includes: The spatial parametric equation of the aluminum stranded wire is differentiated to obtain the tangent vector of the aluminum stranded wire.

5. The method according to claim 1, characterized in that, The step of determining the abnormal information of the aluminum stranded wire based on the tangent vector of the aluminum stranded wire includes: Based on the tangent vector of the aluminum stranded wire, determine the first included angle formed by the tangents of two adjacent points on the aluminum stranded wire; If it is determined that the first included angle is greater than the first preset threshold, then it is determined that there is a loose strand abnormality at the two adjacent points on the aluminum strand.

6. The method according to claim 1, characterized in that, The step of determining the abnormal information of the aluminum stranded wire based on the tangent vector of the aluminum stranded wire includes: Construct a radial vector for the aluminum stranded wire; the radial vector is used to indicate the radial direction of the path of points on the aluminum stranded wire. Based on the tangent vector and radial vector of the aluminum stranded wire, determine the second included angle formed by the tangent and radial line at each point on the aluminum stranded wire; If it is determined that the second included angle is greater than the second preset threshold, then it is determined that there is a loose strand abnormality at that point on the aluminum stranded wire.

7. The method according to claim 1, characterized in that, The step of determining the abnormal information of the aluminum stranded wire based on the tangent vector of the aluminum stranded wire includes: The curvature vector of the aluminum stranded wire is obtained by differentiating the tangent vector of the aluminum stranded wire; the curvature vector is used to indicate the amplitude change of a point on the aluminum stranded wire. Calculate the amplitude of a point on the aluminum stranded wire based on the curvature vector of the aluminum stranded wire; If the amplitude of a point on the aluminum stranded wire suddenly increases or becomes discontinuous, it is determined that there is a strand breakage abnormality at that point on the aluminum stranded wire.

8. The method according to any one of claims 1-7, characterized in that, After determining the abnormal information of the aluminum stranded wire, the method further includes: Acquire target images of points in the aluminum stranded wire where anomalies exist; the target images include visible light images and / or infrared thermographic images; Identify the target image and determine the line abnormality level at the point where an anomaly exists in the aluminum stranded wire; the line abnormality level is used to indicate the degree of line defect.

9. The method according to claim 8, characterized in that, The step of identifying the target image and determining the line anomaly level at points in the aluminum stranded wire where anomalies exist includes: When the target image is a visible light image, the abnormal area at the point where there is an abnormality in the aluminum stranded wire is determined by image recognition technology, and the abnormality level of the line is determined based on the abnormal area. When the target image is an infrared temperature measurement image, the infrared temperature measurement image is identified to determine the real-time temperature at the point where there is an abnormality in the aluminum stranded wire. Based on the real-time temperature, the average temperature of the aluminum stranded wire, and the ambient temperature when the infrared temperature measurement image was taken, the relative temperature difference at the point where there is an abnormality in the aluminum stranded wire is determined. Based on the relative temperature difference, the abnormality level of the line is determined. When the target image includes the visible light image and the infrared thermography image, the line anomaly level determined by the abnormal area and the line anomaly level determined by the relative temperature difference are compared, and the line anomaly level at the point where the abnormality exists in the aluminum stranded wire is determined to be the one with the higher level.

10. A damage identification device for transmission lines, characterized in that, include: An acquisition unit is used to acquire three-dimensional point cloud data of a transmission line; wherein the transmission line is a steel-cored aluminum stranded wire, and the steel-cored aluminum stranded wire includes multiple strands of aluminum stranded wire; The first processing unit is used to process the three-dimensional point cloud data and construct the spatial parameter equation for each aluminum stranded wire; the spatial parameter equation is used to indicate the spatial curve of the aluminum stranded wire along the conductor axis. The second processing unit is used to determine the tangent vector of the aluminum stranded wire according to the spatial parameter equation of the aluminum stranded wire; the tangent vector is used to indicate the trend of the line direction of the points on the aluminum stranded wire in the tangential direction. The third processing unit is used to determine the abnormal information of the aluminum stranded wire based on the tangent vector of the aluminum stranded wire, and output abnormal alarm information; the abnormal alarm information is used to indicate the abnormal situation of the abnormal point in the aluminum stranded wire.

11. An electronic device, characterized in that, include: Memory, processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory, causing the processor to perform the method as described in any one of claims 1-9.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1-9.

13. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method described in any one of claims 1-9.

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