A transmission line passage hidden danger target detection and analysis method

Abstract

This invention discloses a method for detecting and analyzing potential hazards in power transmission line corridors, comprising the following analysis steps: S1, collecting radar point cloud data within the area using a UAV equipped with a laser rangefinder; S2, processing the collected point cloud data to normalize the point cloud space; S3, reconstructing the lowest layer of power lines within the power transmission line corridor; S4, identifying the location of individual trees below the power lines within the power transmission line corridor based on the point cloud spatial characteristics; S5, calculating the distance between the lowest layer of power lines and the individual trees, determining whether it is less than the minimum safe distance, and filtering out potential hazard points based on the difference between the distance and the minimum safe distance, and issuing a safety hazard warning; This invention can quickly identify tree obstruction hazards within power transmission line corridors, and issue safety hazard warnings through distance measurement and analysis, facilitating timely removal of dangerous tree obstructions and ensuring the safe and stable operation of power transmission lines.

Description

Technical Field

[0001] This invention belongs to the field of power transmission line hidden danger detection and analysis technology, specifically relating to a method for detecting and analyzing hidden danger targets in power transmission line corridors. Background Technology

[0002] To ensure power transmission safety and avoid disrupting daily life, overhead transmission lines are typically erected in relatively remote areas. Their corridor width is a strip of land extending outwards from the edge of the power line. Because these corridors occupy a significant amount of land, they are prone to causing electromagnetic interference to the surrounding environment. Therefore, they must maintain a safe distance from the ground and other facilities. The distance between these corridors and surrounding targets is a crucial factor affecting power transmission safety. This is especially true for transmission lines located in areas with abundant natural forests. Regular inspections of the distance between trees and power lines within the corridor are necessary to prevent them from getting too close, which could easily lead to forest fires or power grid failure. Therefore, quickly identifying potential tree obstructions within transmission line corridors and removing dangerously close trees is extremely important for ensuring the safety of transmission lines.

[0003] Therefore, in order to solve the above problems, it is necessary to develop a method for detecting and analyzing potential hazards in power transmission line corridors. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a method for detecting and analyzing potential hazards in power transmission line corridors. This method can quickly identify tree obstacles in power transmission line corridors, measure distances and analyze data to issue safety hazard warnings, facilitate the timely removal of dangerous tree obstacles, and ensure the safe and stable operation of power transmission lines.

[0005] The objective of this invention is achieved as follows: a method for detecting and analyzing potential hazards along power transmission line corridors, comprising the following analytical steps:

[0006] S1. Using a drone equipped with a laser rangefinder, obtain the distance parameters between ground points and sensors within the power transmission line corridor, and collect radar point cloud data within the area;

[0007] S2. Process the collected point cloud data, then separate the ground point cloud, calculate the ground digital elevation information (DEM), and complete the normalization of the point cloud space.

[0008] S3. Based on the collected point cloud data, extract the power line point cloud data in the transmission line channel and reconstruct the lowest layer of power lines in the transmission line channel;

[0009] S4. Identify the location of individual trees under power lines in the transmission line channel based on point cloud spatial features;

[0010] S5. Calculate the distance between the lowest power line and the single tree, determine whether it is less than the minimum safe distance, and screen out potential hazard points based on the difference between it and the minimum safe distance, and issue a safety hazard warning.

[0011] Furthermore, the point cloud data processing in step S2 specifically includes the following steps: ① removing noise points using the distance threshold method; ② extracting ground point clouds using the progressively encrypted triangular mesh filtering algorithm; ③ performing Kriging interpolation on the denoised and classified point cloud data, calculating the pixel value by defining the distance-weighted average of sampling points in the neighborhood of the point, and interpolating the ground point cloud and non-ground point cloud respectively to obtain the digital elevation information (DEM) and digital surface model (DSM).

[0012] Furthermore, step S3, which involves reconstructing the lowest-level power lines within the transmission line corridor using a flexible mesh method, specifically includes the following steps: ① Based on the defined mesh resolution... (meters) and the minimum bounding box coordinates of the power line, uniformly generate planar grid points, and initialize the Z-value of each grid point to be below the minimum elevation value among the power line points; ② Project the power line points into the grid, and within the adjacent rectangular area of ​​each grid point, the power line points projected into that area are identified as the search point set of that grid point; ③ Iteratively increase the Z-axis value of each grid point, so that the grid points move upward at a constant speed; ④ Determine whether each grid point stops moving. When all grid points stop moving or the maximum number of iterations is reached, the iteration terminates; ⑤ Calculate the Z-axis distance between the power line point and its nearest elevation reference grid point, which is less than a threshold. (meters) of power line points are selected as the separated single-layer power line points; ⑥ The obtained power line point set is fitted using a fitting model to complete the reconstruction of the lowest layer of power lines in the transmission line channel.

[0013] Furthermore, in step S4, the mean shift method is used to cluster the point cloud data to obtain the individual tree positions. Specifically, this includes the following steps: ① Randomly select a point from the original point cloud data points as the initial center point, and find all points whose distance from the center point is within the bandwidth h, denoted as set M. These points are considered to belong to the same cluster; ② Using the three-dimensional spatial features of the point cloud, calculate the sum of the vectors from the center point to each data point in set M to obtain the offset vector. ③ Move the center point along the direction of the offset vector, the distance of which is equal to the offset vector. ④ Repeat steps ②-③ until the offset vector is less than the convergence threshold of the iterative operation. Remember the center point at this time; ⑤ Repeat steps ①-④ until all data points are classified; ⑥ Extract the individual tree position, and record the center point of each cluster as the individual tree position.

[0014] Furthermore, the formula for calculating the distance between the lowest power line and the single tree in step S5 is as follows: , , In the formula: Indicates horizontal distance. Indicates vertical distance. Indicates the clearance distance. This represents the lowest threshold when using the flexible grid method for power line reconstruction.

[0015] Furthermore, in step S5, the safety hazard warning is divided into three levels: emergency, major, and general. Specifically, when the distance between the lowest power line and the single tree is less than the minimum safe distance, the warning level is emergency; when the difference between the distance between the lowest power line and the single tree and the minimum safe distance is less than +3 meters, the warning level is major; and when the difference between the distance between the lowest power line and the single tree and the minimum safe distance is greater than +3 meters and less than +9 meters, the warning level is general.

[0016] Due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0017] (1) By using a drone equipped with a laser rangefinder, radar point cloud data in the transmission line channel can be obtained and processed to obtain ground digital elevation information in the transmission line channel. The point cloud space can be normalized, and various information in the transmission line channel can be obtained quickly.

[0018] (2) By using point cloud data, the lowest power line in the transmission line channel can be reconstructed. Only the lowest power line needs to be reconstructed and the distance between it and the lowest power line needs to be calculated, which effectively reduces the workload of power line reconstruction and improves the efficiency of hidden danger detection.

[0019] (3) By calculating the distance between the lowest power line and the single tree, it is determined whether it is less than the minimum safe distance. Based on the difference between it and the minimum safe distance, the hidden danger points are screened out and a safety hazard warning is issued, so as to facilitate the timely removal of dangerous tree obstacles and ensure the safe and stable operation of the power transmission line. Attached Figure Description

[0020] Figure 1 This is a flowchart of the present invention. Detailed Implementation

[0021] The technical solution of the present invention will be further described in detail below through embodiments and in conjunction with the accompanying drawings.

[0022] like Figure 1 As shown, a method for detecting and analyzing potential hazards along a power transmission line corridor includes the following analytical steps:

[0023] S1. Using a drone equipped with a laser rangefinder, obtain the distance parameters between ground points and sensors within the power transmission line corridor, and collect radar point cloud data within the area.

[0024] S2. Process the collected point cloud data, then separate the ground point cloud, calculate the ground digital elevation information (DEM), and complete the normalization of the point cloud space.

[0025] Preferably, the point cloud data processing in step S2 specifically includes the following steps: ① removing noise points using a distance threshold method; ② extracting ground point clouds using a progressively encrypted triangular mesh filtering algorithm, preferably setting the iteration distance and iteration angle to 1.4m and 8°, respectively, to separate ground point clouds from non-ground point clouds; ③ performing Kriging interpolation on the denoised and classified point cloud data, calculating the pixel value by defining the distance-weighted average of sampling points in the neighborhood of the point, and interpolating the ground point cloud and non-ground point cloud respectively to obtain the Digital Elevation Information (DEM) and Digital Surface Model (DSM).

[0026] S3. Based on the collected point cloud data, extract the power line point cloud data in the transmission line channel and reconstruct the lowest layer of power lines in the transmission line channel.

[0027] Preferably, step S3, which involves reconstructing the lowest-level power lines within the transmission line corridor using a flexible mesh method, specifically includes the following steps: ① Based on the defined mesh resolution (meters) and the minimum bounding box coordinates of the power line, uniformly generate planar grid points, and initialize the Z-value of each grid point to be below the minimum elevation value among the power line points; ② Project the power line points into the grid, and within the adjacent rectangular area of ​​each grid point, the power line points projected into that area are identified as the search point set of that grid point; ③ Iteratively increase the Z-axis value of each grid point, so that the grid points move upward at a constant speed; ④ Determine whether each grid point stops moving. When all grid points stop moving or the maximum number of iterations is reached, the iteration terminates; ⑤ Calculate the Z-axis distance between the power line point and its nearest elevation reference grid point, which is less than a threshold. (meters) of power line points are selected as the separated single-layer power line points; ⑥ The obtained power line point set is fitted using a fitting model to complete the reconstruction of the lowest layer of power lines in the transmission line channel.

[0028] Preferably, in step ③, the Z-axis value of the grid point increases by in each iteration. The unit is meters, where It is a forward ratio.

[0029] Preferably, in step ④, the condition for determining whether each grid point has stopped moving is: the Z-axis distance between the grid point and the nearest electric field line point in its search point set is less than 1. Or the adjacent grid points have stopped moving.

[0030] Preferably, in step ⑤, the elevation reference grid point is one whose Z-axis distance from the nearest electric field line point in its search point set is less than [the specified value]. Grid points that stop moving due to certain conditions.

[0031] Preferably, in step ⑥, the parabolic equation of the XZ plane plus the equation of the straight line on the horizontal plane are used as the fitting model to reconstruct the electric field lines, specifically expressed as follows: In the formula: Represents the slope of the equation of a straight line. Indicates the intercept. These represent the coefficients of the parabola.

[0032] S4. Identify the location of individual trees under power lines within the transmission line corridor based on point cloud spatial features.

[0033] Preferably, step S4 uses the mean shift method to cluster the point cloud data to obtain the individual tree positions, specifically including the following steps: ① Randomly select a point in the original point cloud data as the initial center point, find all points whose distance from the center point is within the bandwidth h, denoted as set M, and consider these points to belong to the same cluster; ② Use the three-dimensional spatial features of the point cloud to calculate the sum of the vectors from the center point to each data point in set M, and obtain the offset vector. ③ Move the center point along the direction of the offset vector, the distance of which is equal to the offset vector. ④ Repeat steps ②-③ until the offset vector is less than the convergence threshold of the iterative operation. Remember the center point at this time; ⑤ Repeat steps ①-④ until all data points are classified; ⑥ Extract the individual tree position, and record the center point of each cluster as the individual tree position.

[0034] S5. Calculate the distance between the lowest power line and the single tree, determine whether it is less than the minimum safe distance, and screen out potential hazard points based on the difference between it and the minimum safe distance, and issue a safety hazard warning.

[0035] Preferably, the formula for calculating the distance between the lowest power line and the single tree in step S5 is: , , In the formula: Indicates horizontal distance. Indicates vertical distance. Indicates the clearance distance. This represents the lowest threshold when using the flexible grid method for power line reconstruction.

[0036] Preferably, in step S5, the safety hazard warning is divided into three levels: emergency, major, and general. Specifically, when the distance between the lowest power line and the single tree is less than the minimum safe distance, the warning level is emergency; when the difference between the distance between the lowest power line and the single tree and the minimum safe distance is less than +3 meters, the warning level is major; and when the difference between the distance between the lowest power line and the single tree and the minimum safe distance is greater than +3 meters and less than +9 meters, the warning level is general.

[0037] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of the claims of the present invention.

Claims

1. A method for detecting and analyzing potential hazards along power transmission line corridors, characterized in that: The analysis includes the following steps: S1. Using a drone equipped with a laser rangefinder, obtain the distance parameters between ground points and sensors within the power transmission line corridor, and collect radar point cloud data within the area; S2. Process the collected point cloud data, then separate the ground point cloud, calculate the ground digital elevation information (DEM), and complete the normalization of the point cloud space. S3. Based on the collected point cloud data, extract the power line point cloud data in the transmission line channel and reconstruct the lowest layer of power lines in the transmission line channel; S4. Identify the location of individual trees under power lines in the transmission line channel based on point cloud spatial features; S5. Calculate the distance between the lowest power line and the single tree, determine whether it is less than the minimum safe distance, and screen out potential hazard points based on the difference between it and the minimum safe distance, and issue a safety hazard warning.

2. The method for detecting and analyzing hidden dangers in power transmission line corridors according to claim 1, characterized in that: The point cloud data processing in step S2 includes the following steps: ① removing noise points using the distance threshold method; ② extracting ground point clouds using the progressively encrypted triangular mesh filtering algorithm; ③ performing Kriging interpolation on the denoised and classified point cloud data, calculating the pixel value by defining the distance-weighted average of sampling points in the neighborhood of the point, and interpolating the ground point cloud and non-ground point cloud respectively to obtain the digital elevation information (DEM) and digital surface model (DSM).

3. The method for detecting and analyzing hidden dangers in power transmission line corridors according to claim 1, characterized in that: Step S3, which involves reconstructing the lowest-level power lines within the transmission line corridor using a flexible mesh method, specifically includes the following steps: ① Based on the defined mesh resolution... (meters) and the minimum bounding box coordinates of the power line, uniformly generate planar grid points, and initialize the Z-value of each grid point to be below the minimum elevation value among the power line points; ② Project the power line points into the grid, and within the adjacent rectangular area of ​​each grid point, the power line points projected into that area are identified as the search point set of that grid point; ③ Iteratively increase the Z-axis value of each grid point, so that the grid points move upward at a constant speed; ④ Determine whether each grid point stops moving. When all grid points stop moving or the maximum number of iterations is reached, the iteration terminates; ⑤ Calculate the Z-axis distance between the power line point and its nearest elevation reference grid point, which is less than a threshold. (meters) of power line points are selected as the separated single-layer power line points; ⑥ The obtained power line point set is fitted using a fitting model to complete the reconstruction of the lowest layer of power lines in the transmission line channel.

4. The method for detecting and analyzing hidden dangers in power transmission line corridors according to claim 1, characterized in that: In step S4, the mean shift method is used to cluster the point cloud data to obtain the individual tree positions. Specifically, this includes the following steps: ① Randomly select a point from the original point cloud data points as the initial center point, and find all points whose distance from the center point is within bandwidth h, denoted as set M. These points are considered to belong to the same cluster; ② Using the three-dimensional spatial features of the point cloud, calculate the sum of the vectors from the center point to each data point in set M to obtain the offset vector. ③ Move the center point along the direction of the offset vector, the distance of which is equal to the offset vector. ④ Repeat steps ②-③ until the offset vector is less than the convergence threshold of the iterative operation. Remember the center point at this time; ⑤ Repeat steps ①-④ until all data points are classified; ⑥ Extract the individual tree position, and record the center point of each cluster as the individual tree position.

5. The method for detecting and analyzing hidden dangers in power transmission line corridors according to claim 1, characterized in that: The formula for calculating the distance between the lowest power line and the single tree in step S5 is as follows: , , In the formula: Indicates horizontal distance. Indicates vertical distance. Indicates the clearance distance. This represents the lowest threshold when using the flexible grid method for power line reconstruction.

6. The method for detecting and analyzing hidden dangers in power transmission line corridors according to claim 1, characterized in that: In step S5, the safety hazard warning is divided into three levels: emergency, major, and general. Specifically, when the distance between the lowest power line and the single tree is less than the minimum safe distance, the warning level is emergency; when the difference between the distance between the lowest power line and the single tree and the minimum safe distance is less than +3 meters, the warning level is major; and when the difference between the distance between the lowest power line and the single tree and the minimum safe distance is greater than +3 meters and less than +9 meters, the warning level is general.

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