Method, device and equipment for determining icing thickness of power transmission line and storage medium

Abstract

The application provides an ice thickness determination method, device and equipment of a power transmission line and a storage medium. First, the first ice thickness of the target power transmission line is determined based on the first outer contour information and the second outer contour information of the target power transmission line, wherein the first outer contour information is determined based on the first point cloud data collected at a first time point, and the second outer contour information is determined based on the second point cloud data collected at a second time point. Then, the ice weight ratio load of the target power transmission line is determined based on the self-weight ratio load and the ice weight ratio load of the target power transmission line, and the second ice thickness of the target power transmission line is determined based on the ice weight ratio load. Then, the target ice thickness of the target power transmission line is determined based on the first ice thickness and the second ice thickness. The embodiment of the application can obtain the target ice thickness of the target power transmission line more accurately by comparing the first ice thickness and the second ice thickness.

Description

Technical Field

[0001] This invention relates to the field of data processing technology, and in particular to a method, apparatus, equipment and storage medium for determining the icing thickness of power transmission lines. Background Technology

[0002] In cold regions, power transmission lines are susceptible to icing during winter, which can lead to power grid disasters such as line breaks and tower collapses, seriously threatening the safe and stable operation of the power grid. Icing not only reduces the transmission efficiency of power lines but can also trigger cascading failures in the power system, causing significant economic losses and social impacts. Therefore, conducting icing monitoring of power transmission lines and keeping abreast of icing conditions is of great significance for preventing power grid disasters and ensuring power supply.

[0003] However, existing icing monitoring and icing thickness identification technologies still have many shortcomings. For example, video monitoring technology is severely limited by weather factors in practical applications. Under adverse weather conditions such as rain, snow, and heavy fog, the imaging effect and recognition accuracy of video monitoring equipment are greatly reduced, making it difficult to accurately determine the thickness and extent of icing.

[0004] Therefore, improving the accuracy of calculating the ice thickness of transmission lines under icing conditions is a technical problem that urgently needs to be solved. Summary of the Invention

[0005] To address the aforementioned technical problems, embodiments of the present invention provide a method, apparatus, device, and storage medium for determining the icing thickness of transmission lines. This method can obtain a more accurate target icing thickness of the target transmission line by comparing a first icing thickness and a second icing thickness, thereby providing precise icing data for transmission line icing identification.

[0006] In a first aspect, embodiments of the present invention provide a method for determining the icing thickness of a transmission line, the method comprising: Based on the first outer contour information and the second outer contour information corresponding to the target transmission line, the first icing thickness of the target transmission line is determined; wherein, the first outer contour information is determined based on the first point cloud data collected for the target transmission line at a first time point, the first point cloud data being the point cloud data of the target transmission line in the case of no icing, and the second outer contour information is determined based on the second point cloud data collected for the target transmission line at a second time point; Based on the self-weight ratio and icing ratio of the target transmission line, the ice weight ratio of the target transmission line is determined, and based on the ice weight ratio, the second icing thickness of the target transmission line is determined. The target icing thickness corresponding to the target transmission line is determined based on the first icing thickness and the second icing thickness.

[0007] In an optional implementation, before determining the first icing thickness of the target transmission line based on the first and second outer contour information corresponding to the target transmission line, the method further includes: The three-dimensional coordinates corresponding to each point cloud data in the second point cloud data are mapped to the pixel coordinate system of the two-dimensional image to obtain the two-dimensional image corresponding to the target transmission line; wherein, the two-dimensional image includes the two-dimensional coordinates corresponding to each point cloud data. Based on the two-dimensional coordinates corresponding to each point cloud data in the two-dimensional image, the second outer contour information corresponding to the target transmission line is determined.

[0008] In an optional implementation, before determining the first icing thickness of the target transmission line based on the first and second outer contour information corresponding to the target transmission line, the method further includes: Acquire initial laser point cloud data collected by the lidar for the target transmission line at the second time point; wherein the lidar is deployed on the tower corresponding to the target transmission line; The feature vectors corresponding to each initial point cloud data in the initial laser point cloud data are extracted, and the feature vectors corresponding to each initial point cloud data are input into a preset support vector machine model. After processing by the preset support vector machine model, the second point cloud data is output. The preset support vector machine model is obtained by training a preset kernel function using the feature vectors corresponding to the third point cloud data and the category labels corresponding to the third point cloud data.

[0009] In an optional implementation, before determining the first icing thickness of the target transmission line based on the first and second outer contour information corresponding to the target transmission line, the method further includes: Acquire multiple frames of laser point cloud data collected by the lidar for the target power transmission line at the second time point; The multi-frame laser point cloud data is superimposed using the least squares method to obtain the second point cloud data of the target transmission line.

[0010] In an optional implementation, before determining the first icing thickness of the target transmission line based on the first and second outer contour information corresponding to the target transmission line, the method further includes: Determine whether the similarity between the first outer contour information and the second outer contour information is greater than a preset first threshold; Accordingly, determining the first icing thickness of the target transmission line based on the first and second outer contour information of the target transmission line includes: If it is determined that the similarity between the first outer contour information and the second outer contour information is not greater than the preset first threshold, then the first icing thickness of the target transmission line is determined based on the first outer contour information and the second outer contour information corresponding to the target transmission line.

[0011] In an optional implementation, before determining the ice-weight ratio of the target transmission line based on its self-weight ratio and icing ratio, the method further includes: The second point cloud data is projected onto a horizontal plane, and the horizontal straight segment of the target transmission line is obtained by fitting using the least squares method. In the vertical plane corresponding to the horizontal straight line segment, the height coordinates of the second point cloud data are fitted to obtain the suspended arc curve of the target transmission line; A transmission line model is constructed based on the horizontally oriented straight segment and the suspended arc curve; Accordingly, determining the ice-weight ratio of the target transmission line based on its self-weight ratio and icing ratio includes: The self-weight ratio and icing ratio of the target transmission line are input into the transmission line model to calculate the ice weight ratio of the target transmission line.

[0012] In one optional implementation, determining the target icing thickness corresponding to the target transmission line based on the first icing thickness and the second icing thickness includes: Determine whether the first ice thickness is equal to the second ice thickness; If it is determined that the first icing thickness is equal to the second icing thickness, then the first icing thickness is determined as the target icing thickness corresponding to the target transmission line; If it is determined that the first icing thickness is not equal to the second icing thickness, a two-dimensional coordinate system is constructed based on a preset second threshold and the icing ratio; wherein, the preset second threshold is used to determine the second outer contour information of the target transmission line; In the two-dimensional coordinate system, the preset second threshold and the icing load ratio are adjusted using the triangle iteration method until the first icing thickness is equal to the second icing thickness, and the first icing thickness is determined as the target icing thickness corresponding to the target transmission line.

[0013] Secondly, the present invention provides a device for determining the icing thickness of a power transmission line, the device comprising: The first determining module is used to determine the first icing thickness of the target transmission line based on the first outer contour information and the second outer contour information corresponding to the target transmission line; wherein, the first outer contour information is determined based on the first point cloud data collected for the target transmission line at a first time point, the first point cloud data is the point cloud data of the target transmission line in the case of no icing, and the second outer contour information is determined based on the second point cloud data collected for the target transmission line at a second time point; The second determining module is used to determine the ice-weight ratio of the target transmission line based on its self-weight ratio and ice-weight ratio, and to determine the second ice thickness of the target transmission line based on the ice-weight ratio. The third determining module is used to determine the target icing thickness corresponding to the target transmission line based on the first icing thickness and the second icing thickness.

[0014] Thirdly, the present invention provides a computer-readable storage medium storing instructions that, when executed on a terminal device, cause the terminal device to perform the above-described method.

[0015] Fourthly, the present invention provides a device for determining the icing thickness of a transmission line, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the above-described method.

[0016] Fifthly, the present invention provides a computer program product comprising a computer program / instruction that, when executed by a processor, implements the above-described method.

[0017] The technical solution provided by the embodiments of the present invention has at least the following advantages compared with the prior art: This invention provides a method, apparatus, device, and storage medium for determining the icing thickness of a transmission line. Specifically, the method first determines the first icing thickness of the target transmission line based on first and second outer contour information of the target transmission line. The first outer contour information is determined based on first point cloud data collected for the target transmission line at a first time point, and the second outer contour information is determined based on second point cloud data collected for the target transmission line at a second time point. Then, based on the self-weight specific load and icing specific load of the target transmission line, the ice-weight specific load of the target transmission line is determined, and the second icing thickness of the target transmission line is determined based on the ice-weight specific load. Finally, based on the first and second icing thicknesses, the target icing thickness of the target transmission line is determined.

[0018] As can be seen, the embodiments of the present invention can use the outer contour information of the target transmission line under the condition of no icing and the outer contour information corresponding to the second time point to calculate the first icing thickness, and obtain a relatively accurate target icing thickness of the target transmission line by using the first icing thickness and the second icing thickness determined based on the ice weight ratio, thereby providing accurate icing data for the identification of transmission line icing. Attached Figure Description

[0019] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 A flowchart illustrating a method for determining the icing thickness of a power transmission line according to an embodiment of the present invention; Figure 2 A schematic diagram of a power transmission line model provided in an embodiment of the present invention; Figure 3 A schematic diagram of a support vector machine clustering algorithm provided in an embodiment of the present invention; Figure 4 A schematic diagram of contour recognition based on the Sobel operator is provided for an embodiment of the present invention; Figure 5 This is a schematic diagram of a device for determining the icing thickness of a power transmission line according to an embodiment of the present invention; Figure 6 This is a schematic diagram of a device for determining the icing thickness of a power transmission line, provided in an embodiment of the present invention. Detailed Implementation

[0022] To better understand the above-mentioned objectives, features, and advantages of the present invention, the solutions of the present invention will be further described below. It should be noted that, unless otherwise specified, the embodiments of the present invention and the features thereof can be combined with each other.

[0023] Many specific details are set forth in the following description in order to provide a full understanding of the invention, but the invention may also be practiced in other ways different from those described herein; obviously, the embodiments in the specification are only some embodiments of the invention, and not all embodiments.

[0024] In cold regions, power transmission lines are susceptible to icing during winter, which can lead to power grid disasters such as line breaks and tower collapses, seriously threatening the safe and stable operation of the power grid. Icing not only reduces the transmission efficiency of power lines but can also trigger cascading failures in the power system, causing significant economic losses and social impacts. Therefore, conducting icing monitoring of power transmission lines and keeping abreast of icing conditions is of great significance for preventing power grid disasters and ensuring power supply.

[0025] However, existing icing monitoring and icing thickness identification technologies still have many shortcomings. For example, video monitoring technology is severely limited by weather factors in practical applications. Under adverse weather conditions such as rain, snow, and heavy fog, the imaging effect and recognition accuracy of video monitoring equipment are greatly reduced, making it difficult to accurately determine the thickness and extent of icing.

[0026] Sensors used in tensile force monitoring technology have a short lifespan in field environments and suffer from low data transmission stability. They are susceptible to environmental factors such as temperature and humidity, leading to performance degradation and distorted monitoring data. This not only affects the accuracy of icing monitoring but also increases maintenance costs and poses a threat to the safe operation of the power system.

[0027] Micro-meteorological monitoring technology faces certain challenges in data processing. While it can acquire meteorological information within a certain range, the representativeness of the monitoring data is insufficient under complex terrain and climatic conditions, making it difficult to comprehensively reflect icing conditions. Furthermore, the protective measures for micro-meteorological monitoring equipment are inadequate, making it susceptible to natural disasters and external environmental factors, leading to equipment damage and affecting monitoring effectiveness. Issues also exist in terms of cost, maintenance, and adaptability. Micro-meteorological monitoring systems integrating multiple monitoring modules are costly, placing significant economic pressure on power companies.

[0028] Therefore, improving the accuracy of calculating the ice thickness of transmission lines under icing conditions is a technical problem that urgently needs to be solved.

[0029] To this end, this invention provides a method for determining the icing thickness of a transmission line. Specifically, firstly, the first icing thickness of the target transmission line is determined based on first and second outer contour information of the target transmission line. The first outer contour information is determined based on first point cloud data collected for the target transmission line at a first time point, and the second outer contour information is determined based on second point cloud data collected for the target transmission line at a second time point. Then, based on the self-weight ratio and icing ratio of the target transmission line, the ice-weight ratio of the target transmission line is determined, and the second icing thickness of the target transmission line is determined based on the ice-weight ratio. Finally, based on the first and second icing thicknesses, the target icing thickness of the target transmission line is determined.

[0030] As can be seen, the embodiments of the present invention can use the outer contour information of the target transmission line under the condition of no icing and the outer contour information corresponding to the second time point to calculate the first icing thickness, and obtain a relatively accurate target icing thickness of the target transmission line by using the first icing thickness and the second icing thickness determined based on the ice weight ratio, thereby providing accurate icing data for the identification of transmission line icing.

[0031] Based on the above method embodiments, the present invention provides a method for determining the icing thickness of transmission lines, such as... Figure 1 The diagram shown is a flowchart illustrating a method for determining the icing thickness of a power transmission line according to an embodiment of the present invention.

[0032] S101: Based on the first outer contour information and the second outer contour information corresponding to the target transmission line, determine the first icing thickness of the target transmission line.

[0033] Wherein, the first outer contour information is determined based on the first point cloud data collected for the target transmission line at the first time point, the first point cloud data being the point cloud data of the target transmission line under non-icing conditions, and the second outer contour information is determined based on the second point cloud data collected for the target transmission line at the second time point.

[0034] In this embodiment of the invention, the second time point can be the current time point or any time point later than the first time point. The first time point is the time point corresponding to the target transmission line when it is not covered with ice.

[0035] In practical applications, in order to improve the accuracy of the first point cloud data and the second point cloud data, high-precision three-dimensional laser scanning technology can also be used to scan the target transmission line at the first time point and the second time point to obtain the laser point cloud data of the target transmission line under different states.

[0036] Among them, 3D laser scanning is a technology that uses laser technology to capture and measure the status of a target transmission line. It collects point cloud data of the target transmission line by sending a laser beam to the target transmission line and measuring the time and intensity of the laser beam return.

[0037] In this embodiment of the invention, after determining the first outer contour information of the target transmission line based on the first point cloud data collected for the target transmission line at the first time point, and determining the second outer contour information based on the second point cloud data collected for the target transmission line at the second time point, the first icing thickness of the target transmission line can be determined based on the first outer contour information and the second outer contour information.

[0038] In some embodiments, the first icing thickness corresponding to the target transmission line can be calculated using the following formula (1).

[0039] b 1= e ( D 2- D 1) / 2(1) in, D 1 indicates the first outer contour information corresponding to the target transmission line. D 2 represents the second outer contour information corresponding to the target transmission line. e This indicates the actual thickness corresponding to a unit pixel. b 1 indicates the first icing thickness corresponding to the target transmission line.

[0040] In some embodiments, before determining the first icing thickness of the target transmission line based on the first outer contour information and the second outer contour information, it may be further determined whether the similarity between the first outer contour information and the second outer contour information is greater than a preset first threshold. If it is determined that the similarity between the first outer contour information and the second outer contour information is not greater than the preset first threshold, then the first icing thickness of the target transmission line is determined based on the first outer contour information and the second outer contour information.

[0041] If the similarity between the first outer contour information and the second outer contour information is not greater than the preset first threshold, it means that the real-time contour (i.e., the second outer contour information) is basically consistent with the reference contour (i.e., the second outer contour information), without significant expansion or area increase. It can be determined that the target transmission line is not currently covered by ice. Otherwise, it means that the target transmission line is covered by ice. At this time, it is necessary to calculate the specific ice thickness to provide a scientific basis for the management department to formulate anti-icing and de-icing strategies, reduce line faults caused by ice, and improve the stability of the power grid and the reliability of power supply.

[0042] S102: Based on the self-weight ratio and icing ratio of the target transmission line, determine the ice-weight ratio of the target transmission line, and determine the second icing thickness of the target transmission line based on the ice-weight ratio.

[0043] In this embodiment of the invention, after determining the first icing thickness of the target transmission line, the ice-weight ratio of the target transmission line can be determined based on the self-weight ratio and the icing ratio of the target transmission line, so as to determine the second icing thickness of the target transmission line using the ice-weight ratio.

[0044] The self-weight load ratio characterizes the line load intensity generated solely by the self-weight of the conductors of the target transmission line, and the load corresponding to the conductor self-weight per unit length and unit cross-sectional area. The icing load ratio characterizes the line load intensity generated by the conductor self-weight and ice weight after the target transmission line conductors are covered with ice, and the total load per unit length and unit cross-sectional area. The ice weight load ratio characterizes the additional line load intensity generated solely by the gravity of the ice covering the surface of the transmission line conductors, and the load corresponding to the ice weight per unit length and unit cross-sectional area.

[0045] In some embodiments, a transmission line model can be constructed using the second point cloud data of the target transmission line, and the ice weight ratio of the target transmission line can be calculated by inputting parameters such as the self-weight ratio and icing ratio of the target transmission line into the transmission line model.

[0046] Specifically, the second point cloud data is first projected onto a horizontal plane, and the horizontal straight line segment of the target transmission line is obtained by fitting using the least squares method. This horizontal straight line segment is used to characterize the spatial orientation of the target transmission line. Then, a transmission line model is constructed based on the horizontal straight line segment and the suspended arc curve. Next, the self-weight ratio and icing ratio of the target transmission line are input into the transmission line model to calculate the ice weight ratio of the target transmission line.

[0047] like Figure 2 The diagram shown is a schematic representation of a transmission line model provided in an embodiment of the present invention. A and B represent the two suspension endpoints of the target transmission line, corresponding to the conductor suspension positions on the towers (or different suspension structures on the same tower) at the two ends of the target transmission line. r represents the uniformly distributed vertical downward load along the target transmission line, i.e., the vertical downward load borne by a unit length of conductor.

[0048] For example, the ice load ratio of the target transmission line can be calculated using the following formula (2).

[0049] (2); in, Indicates the ratio of self-weight to load. Indicates the icing ratio. Indicates the ice weight ratio, ρ The density of ice, d The conductor diameter of the target transmission line. For ice thickness, The cross-sectional area of ​​the conductor is... This is the acceleration due to gravity.

[0050] In this embodiment of the invention, the ice load ratio corresponding to the target transmission line is calculated using the above formula. Then, by transforming the above formula, the ice thickness can be obtained. Among them, the thickness of the ice cover The calculation formula (3) is as follows.

[0051] (3); As can be seen, this embodiment of the invention uses the transmission line's self-weight ratio and icing ratio as inputs, calculates the icing ratio through the difference, and then inversely calculates the corresponding second icing thickness of the transmission line based on the mechanical formula of icing ratio and icing thickness. By using the mechanical characteristics of the conductor as the core basis, rather than relying solely on the geometric contour information of point cloud data, it can effectively reduce the inherent interference caused by geometric measurement scenarios such as point cloud noise, and effectively improve the stability of the icing thickness calculation results.

[0052] S103: Based on the first icing thickness and the second icing thickness, determine the target icing thickness corresponding to the target transmission line.

[0053] In this embodiment of the invention, after determining the first icing thickness and the second icing thickness corresponding to the target transmission line, the target icing thickness corresponding to the target transmission line can be determined based on the first icing thickness and the second icing thickness.

[0054] In the method for determining the icing thickness of a transmission line provided in this embodiment of the invention, the first icing thickness of the target transmission line is first determined based on the first outer contour information and the second outer contour information of the target transmission line. The first outer contour information is determined based on the first point cloud data collected for the target transmission line at a first time point, and the second outer contour information is determined based on the second point cloud data collected for the target transmission line at a second time point. Then, based on the self-weight specific load and the icing specific load of the target transmission line, the ice-weight specific load of the target transmission line is determined, and the second icing thickness of the target transmission line is determined based on the ice-weight specific load. Finally, based on the first icing thickness and the second icing thickness, the target icing thickness of the target transmission line is determined.

[0055] As can be seen, the embodiments of the present invention can use the outer contour information of the target transmission line under the condition of no icing and the outer contour information corresponding to the second time point to calculate the first icing thickness, and obtain a relatively accurate target icing thickness of the target transmission line by using the first icing thickness and the second icing thickness determined based on the ice weight ratio, thereby providing accurate icing data for the identification of transmission line icing.

[0056] Furthermore, when the icing layer is similar in color to the conductor, the identification difficulty of video monitoring technology will increase further, leading to inaccurate monitoring data and failing to provide effective support for anti-icing and de-icing measures.

[0057] Therefore, in order to further improve the accuracy of calculating the icing thickness of transmission lines, this embodiment of the invention can also use a support vector machine algorithm to remove irrelevant data such as vegetation, buildings, and towers before determining the first icing thickness of the target transmission line.

[0058] Specifically, firstly, the initial laser point cloud data collected by the lidar at the second time point for the target power transmission line is acquired, wherein the lidar is deployed on the tower corresponding to the target power transmission line; then, the feature vectors corresponding to each initial point cloud data in the initial laser point cloud data are extracted, and the feature vectors corresponding to each initial point cloud data are input into a preset support vector machine model. After processing by the preset support vector machine model, the second point cloud data is output.

[0059] The preset support vector machine model is obtained by training a preset function using the feature vectors corresponding to the third point cloud data and the category labels corresponding to the third point cloud data. The feature vectors corresponding to the third point cloud data are feature vectors extracted from the third point cloud data using the support vector machine based on any one of the dimensions of echo intensity, echo width, and echo count.

[0060] In some embodiments, after extracting the feature vector corresponding to the third point cloud data, a dataset is constructed based on the extracted feature vector, for example, dataset P=[( x 1, y 1), ( x 2, y 2),…( x i , y i )],in, x i This represents the feature vector of the i-th point cloud sample in the third point cloud data. y i Let represent the class label of the i-th point cloud sample. After constructing the dataset, a radial basis function can also be chosen as the sum function, for example, the formula for calculating the sum function is as follows.

[0061] (4); in, This indicates the degree of influence of a single point cloud element on the overall point cloud segmentation. x Represents the input vector. The center vector is represented by a hyperplane. The hyperplane that maximizes the classification margin is found using a sequence minimum optimization algorithm, and the support vector machine model is trained to achieve the identification and classification of transmission lines.

[0062] In this embodiment of the invention, due to the differences in absorptivity, distance, and angle between power transmission lines and objects such as vegetation, buildings, and towers, the laser echo intensity, echo width, and echo frequency differ. Therefore, based on the differences in laser echo characteristics between power transmission lines and irrelevant objects such as vegetation, buildings, and towers, accurate extraction of power transmission line point clouds and removal of irrelevant data are achieved. Figure 3 The diagram shown is a schematic of a support vector machine clustering algorithm provided in an embodiment of the present invention, wherein, " "" indicates the point cloud features of the target transmission line (i.e., the feature vector of the target transmission line in the un-iced state), and "×" indicates the point cloud features of interference objects (such as towers, vegetation, and ground) adjacent to the target transmission line.

[0063] In some embodiments, after removing irrelevant data such as vegetation, buildings, and towers from the point cloud data, the extracted point cloud data can be subjected to frame overlay processing to enhance the point cloud quality of the transmission line.

[0064] In this embodiment of the invention, firstly, multiple frames of laser point cloud data collected by the lidar at a second time point for the target transmission line are acquired; then, the multiple frames of laser point cloud data are superimposed using the least squares method to obtain the second point cloud data of the target transmission line.

[0065] Specifically, a data observation matrix is ​​constructed by using the corresponding point positions in different frames of multi-frame laser point cloud data as row vectors. Then, a weight value is assigned to each point according to parameters such as reflectivity and density of the point cloud data, and the optimal position of each point is calculated using the least squares method. Finally, by minimizing the sum of squared errors between the observed and estimated values, the optimal positions of all points can be integrated into one frame. For example, multi-frame laser point cloud data can be overlaid using formula (5).

[0066] (5); in, This represents the fused point cloud position matrix obtained through least squares calculation. W Represents the weight matrix. X Represents the point cloud position matrix variable. Y This represents the observation matrix.

[0067] In this embodiment of the invention, by collecting multiple frames of point cloud data and using the least squares method to perform frame superposition processing on the multiple frames of point cloud data, compared with the method of using a single frame of point cloud data to identify the outer contour of the transmission line, this embodiment of the invention can improve the quality of the final point cloud data by using multiple frames of point cloud data, thereby further improving the accuracy of calculating the icing thickness of the transmission line.

[0068] In some embodiments, after acquiring the point cloud data collected by the lidar on the target power transmission line, the point cloud data of the three-dimensional power transmission line can be converted into a two-dimensional image and image recognition can be performed to obtain the second outer contour information corresponding to the target power transmission line.

[0069] Specifically, firstly, the three-dimensional coordinates corresponding to each point cloud data in the second point cloud data are mapped to the pixel coordinate system of the two-dimensional image to obtain the two-dimensional image corresponding to the target transmission line; wherein, the two-dimensional image includes the two-dimensional coordinates corresponding to each point cloud data; then, based on the two-dimensional coordinates corresponding to each point cloud data in the two-dimensional image, the second outer contour information corresponding to the target transmission line is determined.

[0070] In practical applications, perspective projection transformation can be used to convert 3D point cloud data into a 2D image, and each point in the point cloud data can be... P = ( X , Y , Z Transform to the normalized coordinate system, let: , (6); The coordinates of each point in the two-dimensional image can then be obtained as follows: , (7); in, Indicates the focal length of the lidar lens, ( c x , c y ) represents the coordinates of the center of the point cloud.

[0071] In this embodiment of the invention, after obtaining the two-dimensional image corresponding to the target transmission line, the Sobel operator can be used to determine the second outer contour information corresponding to the target transmission line based on the two-dimensional images corresponding to each point cloud data in the two-dimensional image.

[0072] Specifically, for the two-dimensional coordinates corresponding to each point cloud data in the two-dimensional image, the Sobel operator is used to calculate its gradient in the x and y directions, for example, as shown in the following formula (8).

[0073] (8); (9); in, This represents the gradient in the x-direction. This represents the gradient in the y-direction. I ( x , y ) represents a two-dimensional image at point ( x ,y The intensity value at () g ( i , j The weights of the Sobel operator () are used to calculate the edge strength. for: (10); The edge strength is calculated according to the above formula (10). Then, a preset second threshold T can be applied to determine the second outer contour information, if the edge strength... If the value is greater than the preset second threshold T, then the point is an edge point; if the edge strength... If the value is less than a preset second threshold T, it indicates that the point is not an edge point. The preset second threshold T is determined based on image quality and actual outer contour requirements. Figure 4 The figure shown is a schematic diagram of contour recognition based on the Sobel operator provided in an embodiment of the present invention.

[0074] In one optional implementation, the target icing thickness corresponding to the target transmission line is determined based on the first icing thickness and the second icing thickness. Specifically, this can be achieved by: First, determine whether the first icing thickness is equal to the second icing thickness. If the first icing thickness is equal to the second icing thickness, then the first icing thickness is determined as the target icing thickness corresponding to the target transmission line.

[0075] If it is determined that the first icing thickness is not equal to the second icing thickness, a two-dimensional coordinate system is constructed based on a preset second threshold and the icing ratio of the target transmission line; wherein, the preset second threshold is used to determine the second outer contour information corresponding to the target transmission line; In a two-dimensional coordinate system, the preset second threshold and the icing load ratio are adjusted using the triangle iteration method until the first icing thickness is equal to the second icing thickness, and the first icing thickness is determined as the target icing thickness corresponding to the target transmission line.

[0076] Specifically, if it is determined that the first icing thickness b1 is less than the second icing thickness b2, after constructing a two-dimensional coordinate system using a preset second threshold T and the icing ratio r2 of the target transmission line, the first icing thickness b1 is increased and the second icing thickness b2 is decreased by reducing the preset second threshold T and the icing ratio r2.

[0077] According to formula (10), the preset second threshold T in the Sobel operator is used to determine edge points. The smaller the preset second threshold T, the more lenient the edge detection is, and more points will be determined as edge points, thus increasing the second outer contour information D2 corresponding to the target transmission line. According to formula (1), when the second outer contour information D2 increases, the calculated first icing thickness b1 will increase synchronously.

[0078] According to formula (3), when the icing ratio r2 is reduced, the second icing thickness b2 will be reduced, thereby achieving the effect of increasing the first icing thickness b1 and reducing the second icing thickness b2.

[0079] Similarly, if it is determined that the first icing thickness b1 is greater than the second icing thickness b2, then after constructing a two-dimensional coordinate system, the first icing thickness b1 and the second icing thickness b2 can be reduced and increased by increasing the preset second threshold T and the icing ratio r2.

[0080] In practical applications, in the aforementioned two-dimensional coordinate system with a preset second threshold - icing ratio, the steps of gradually approximating the optimal solution using the triangle iteration method may include: First, extract the initial point P0 = (T_0, r2_0) from the two-dimensional coordinate system. Then, select points P1 = (T_1, r2_1) and P2 = (T_2, r2_2) from the two-dimensional coordinate system to form a triangle. Calculate the |b1-b2| error of the three points P0, P1, and P2, and sort them according to the error from smallest to largest to obtain the best point, the second worst point, and the worst point.

[0081] Then, remove the worst point and calculate the center positions (i.e., the centroids) of the best and second-worst points. The x-coordinate (T) of the centroid is the average of the x-coordinates of the best and second-worst points, and the y-coordinate (r2) is the average of the y-coordinates of the best and second-worst points. Then, reflect the worst point through the centroid to the other side. The position of the reflected point is now the centroid + (centroid - worst point). The next step is determined based on the error of the reflected point. Case A: If the error of the reflection point is smaller than that of the best point, it means that the reflection direction is better. In this case, the reflection can be expanded in that direction. The expansion point is the centroid + 2 × (centroid - worst point). The error of the expansion point is calculated. If the error of the expansion point is smaller, the worst point is replaced by the expansion point. Otherwise, the worst point is replaced by the reflection point.

[0082] Case B: If the error of the reflection point is between the best point and the second worst point, it means that the reflection point is good, and the worst point is directly replaced by the reflection point.

[0083] Case C: If the error of the reflection point is greater than that of the second worst point but less than that of the worst point, it means that the reflection direction is not very good. In this case, the worst point can be replaced by the reflection point and a shrinkage process can be performed. The shrinkage point is the centroid + 0.5 × (worst point - centroid). Then calculate the error of the shrinkage point and replace the worst point with the shrinkage point.

[0084] Case D: If the error of the reflection point is greater than that of the worst point, it means that the reflection direction is deviated too much. In this case, no reflection processing is performed. Instead, the worst point is directly shrunk. The shrunk point is the centroid + 0.5 × (worst point - centroid). If the shrunk point is better than the worst point, the worst point is replaced with the shrunk point. If the shrunk point does not improve the situation, the entire triangle is shrunk towards the best point. For example, all points are moved half the distance towards the best point to obtain a new triangle.

[0085] Continue iterative processing in the above manner. As the number of iterations increases, the area of ​​the triangle will become smaller and smaller, and the three vertices of the triangle will become closer and closer. That is, the triangle will gradually move towards the region with the smallest error until the error of the three vertices is less than 10% of the initial error (that is, the deviation of b1_0 and b2_0 corresponding to P0). Then, take the center coordinates (T_*, r2_*) of the current triangle and calculate b1_* and b2_*. At this time, b1_* is approximately equal to b2_*, and the final target ice thickness is (b1_*+b2_*) / 2.

[0086] As can be seen, by adjusting the preset second threshold T and the icing load r2, the embodiments of the present invention can achieve the effect of simultaneously adjusting the first icing thickness and the second icing thickness, allowing the visual measurement value and the mechanical measurement value to be mutually calibrated and iteratively converged, which to a certain extent offsets the errors generated by the above two methods and improves the measurement accuracy of icing thickness.

[0087] Based on the above method embodiments, the present invention also provides a device for determining the icing thickness of transmission lines, with reference to... Figure 5 This is a schematic diagram of a device for determining the icing thickness of a power transmission line according to an embodiment of the present invention. The device includes: The first determining module 501 is used to determine the first icing thickness of the target transmission line based on the first outer contour information and the second outer contour information corresponding to the target transmission line; wherein, the first outer contour information is determined based on the first point cloud data collected for the target transmission line at a first time point, the first point cloud data is the point cloud data of the target transmission line in the case of no icing, and the second outer contour information is determined based on the second point cloud data collected for the target transmission line at a second time point; The second determining module 502 is used to determine the ice weight ratio of the target transmission line based on the self-weight ratio and the ice load ratio of the target transmission line, and to determine the second ice thickness of the target transmission line based on the ice load ratio. The third determining module 503 is used to determine the target icing thickness corresponding to the target transmission line based on the first icing thickness and the second icing thickness.

[0088] In one optional embodiment, the apparatus further includes: The mapping module is used to map the three-dimensional coordinates corresponding to each point cloud data in the second point cloud data to the pixel coordinate system of the two-dimensional image to obtain the two-dimensional image corresponding to the target transmission line; wherein, the two-dimensional image includes the two-dimensional coordinates corresponding to each point cloud data. The fourth determining module is used to determine the second outer contour information corresponding to the target transmission line based on the two-dimensional coordinates corresponding to each point cloud data in the two-dimensional image.

[0089] In one optional embodiment, the apparatus further includes: The first acquisition module is used to acquire the initial laser point cloud data collected by the lidar on the target transmission line at the second time point; wherein the lidar is deployed on the tower corresponding to the target transmission line; An extraction module is used to extract the feature vectors corresponding to each initial point cloud data in the initial laser point cloud data, and input the feature vectors corresponding to each initial point cloud data into a preset support vector machine model. After processing by the preset support vector machine model, the second point cloud data is output. The preset support vector machine model is obtained by training a preset kernel function using the feature vectors corresponding to the third point cloud data and the category labels corresponding to the third point cloud data.

[0090] In one optional embodiment, the apparatus further includes: The second acquisition module is used to acquire multiple frames of laser point cloud data collected by the lidar for the target power transmission line at the second time point; The overlay processing module is used to perform frame overlay processing on the multi-frame laser point cloud data according to the least squares method to obtain the second point cloud data of the target transmission line.

[0091] In one optional embodiment, the apparatus further includes: The fifth determining module is used to determine whether the similarity between the first outer contour information and the second outer contour information is greater than a preset threshold. Accordingly, the first determining module is specifically used for: If it is determined that the similarity between the first outer contour information and the second outer contour information is not greater than the preset threshold, then the first icing thickness of the target transmission line is determined based on the first outer contour information and the second outer contour information corresponding to the target transmission line.

[0092] In one optional embodiment, the apparatus further includes: The projection module is used to project the second point cloud data onto a horizontal plane and obtain the horizontal straight line segment of the target transmission line by least squares fitting. The fitting processing module is used to fit the height coordinates of the second point cloud data in the vertical plane corresponding to the horizontal straight line segment to obtain the suspended arc curve of the target transmission line. A construction module is used to construct a transmission line model based on the horizontally oriented straight line segment and the suspended arc curve; Accordingly, the second determining module is specifically used for: The self-weight ratio and icing ratio of the target transmission line are input into the transmission line model to calculate the ice weight ratio of the target transmission line.

[0093] In one optional implementation, the third determining module is specifically used for: Determine whether the first ice thickness is equal to the second ice thickness; If it is determined that the first icing thickness is equal to the second icing thickness, then the first icing thickness or the second icing thickness is determined as the target icing thickness corresponding to the target transmission line; If it is determined that the first icing thickness is not equal to the second icing thickness, a two-dimensional coordinate system is constructed based on a preset second threshold and the icing ratio; wherein, the preset second threshold is used to determine the second outer contour information of the target transmission line; In the two-dimensional coordinate system, the preset second threshold and the icing load ratio are adjusted using the triangle iteration method until the first icing thickness is equal to the second icing thickness, and the first icing thickness is determined as the target icing thickness corresponding to the target transmission line.

[0094] In the device for determining the icing thickness of a transmission line provided in this embodiment of the invention, the first icing thickness of the target transmission line is first determined based on the first outer contour information and the second outer contour information of the target transmission line. The first outer contour information is determined based on the first point cloud data collected for the target transmission line at a first time point, and the second outer contour information is determined based on the second point cloud data collected for the target transmission line at a second time point. Then, based on the self-weight specific load and the icing specific load of the target transmission line, the ice-weight specific load of the target transmission line is determined, and the second icing thickness of the target transmission line is determined based on the ice-weight specific load. Finally, based on the first icing thickness and the second icing thickness, the target icing thickness of the target transmission line is determined.

[0095] As can be seen, the embodiments of the present invention can use the outer contour information of the target transmission line under the condition of no icing and the outer contour information corresponding to the second time point to calculate the first icing thickness, and obtain a relatively accurate target icing thickness of the target transmission line by using the first icing thickness and the second icing thickness determined based on the ice weight ratio, thereby providing accurate icing data for the identification of transmission line icing.

[0096] In addition to the methods and apparatus described above, embodiments of the present invention also provide a computer-readable storage medium storing instructions that, when executed on a terminal device, cause the terminal device to implement the method for determining the icing thickness of transmission lines as described in the embodiments of the present invention.

[0097] This invention also provides a computer program product, which includes a computer program / instruction. When the computer program / instruction is executed by a processor, it implements the method for determining the icing thickness of transmission lines described in this invention.

[0098] In addition, embodiments of the present invention also provide a device for determining the icing thickness of transmission lines, see [link to relevant documentation]. Figure 6 As shown, it may include: The device includes a processor 601, a memory 602, an input device 603, and an output device 604. The number of processors 601 in the device determining the icing thickness of the transmission line can be one or more. Figure 6 Taking a processor as an example. In some embodiments of the present invention, the processor 601, memory 602, input device 603, and output device 604 can be connected via a bus or other means, wherein, Figure 6 Taking the example of a connection between China and Israel via a bus.

[0099] The memory 602 can be used to store software programs and modules. The processor 601 executes various functional applications of the transmission line icing thickness determination device and determines the icing thickness of the transmission line by running the software programs and modules stored in the memory 602. The memory 602 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, at least one application program required for a function, etc. In addition, the memory 602 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device. The input device 603 can be used to receive input digital or character information and generate signal inputs related to user settings and function control of the transmission line icing thickness determination device.

[0100] Specifically in this embodiment, the processor 601 will load the executable files corresponding to the processes of one or more applications into the memory 602 according to the following instructions, and the processor 601 will run the applications stored in the memory 602 to realize the various functions of the above-mentioned transmission line icing thickness determination device.

[0101] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0102] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for determining the icing thickness of a power transmission line, characterized in that, The method includes: Based on the first outer contour information and the second outer contour information corresponding to the target transmission line, the first icing thickness of the target transmission line is determined; wherein, the first outer contour information is determined based on the first point cloud data collected for the target transmission line at a first time point, the first point cloud data being the point cloud data of the target transmission line in the case of no icing, and the second outer contour information is determined based on the second point cloud data collected for the target transmission line at a second time point; Based on the self-weight ratio and icing ratio of the target transmission line, the ice weight ratio of the target transmission line is determined, and based on the ice weight ratio, the second icing thickness of the target transmission line is determined. The target icing thickness corresponding to the target transmission line is determined based on the first icing thickness and the second icing thickness.

2. The method according to claim 1, characterized in that, Before determining the first icing thickness of the target transmission line based on the first and second outer contour information corresponding to the target transmission line, the method further includes: The three-dimensional coordinates corresponding to each point cloud data in the second point cloud data are mapped to the pixel coordinate system of the two-dimensional image to obtain the two-dimensional image corresponding to the target transmission line; wherein, the two-dimensional image includes the two-dimensional coordinates corresponding to each point cloud data. Based on the two-dimensional coordinates corresponding to each point cloud data in the two-dimensional image, the second outer contour information corresponding to the target transmission line is determined.

3. The method according to claim 1, characterized in that, Before determining the first icing thickness of the target transmission line based on the first and second outer contour information corresponding to the target transmission line, the method further includes: Acquire initial laser point cloud data collected by the lidar for the target transmission line at the second time point; wherein the lidar is deployed on the tower corresponding to the target transmission line; The feature vectors corresponding to each initial point cloud data in the initial laser point cloud data are extracted, and the feature vectors corresponding to each initial point cloud data are input into a preset support vector machine model. After processing by the preset support vector machine model, the second point cloud data is output. The preset support vector machine model is obtained by training a preset kernel function using the feature vectors corresponding to the third point cloud data and the category labels corresponding to the third point cloud data.

4. The method according to claim 1, characterized in that, Before determining the first icing thickness of the target transmission line based on the first and second outer contour information corresponding to the target transmission line, the method further includes: Acquire multiple frames of laser point cloud data collected by the lidar for the target power transmission line at the second time point; The multi-frame laser point cloud data is superimposed using the least squares method to obtain the second point cloud data of the target transmission line.

5. The method according to claim 1, characterized in that, Before determining the first icing thickness of the target transmission line based on the first and second outer contour information corresponding to the target transmission line, the method further includes: Determine whether the similarity between the first outer contour information and the second outer contour information is greater than a preset first threshold; Accordingly, determining the first icing thickness of the target transmission line based on the first and second outer contour information of the target transmission line includes: If it is determined that the similarity between the first outer contour information and the second outer contour information is not greater than the preset first threshold, then the first icing thickness of the target transmission line is determined based on the first outer contour information and the second outer contour information corresponding to the target transmission line.

6. The method according to claim 1, characterized in that, Before determining the ice-weight ratio of the target transmission line based on its self-weight ratio and icing ratio, the method further includes: The second point cloud data is projected onto a horizontal plane, and the horizontal straight segment of the target transmission line is obtained by fitting using the least squares method. In the vertical plane corresponding to the horizontal straight line segment, the height coordinates of the second point cloud data are fitted to obtain the suspended arc curve of the target transmission line; A transmission line model is constructed based on the horizontally oriented straight segment and the suspended arc curve; Accordingly, determining the ice-weight ratio of the target transmission line based on its self-weight ratio and icing ratio includes: The self-weight ratio and icing ratio of the target transmission line are input into the transmission line model to calculate the ice weight ratio of the target transmission line.

7. The method according to claim 1, characterized in that, Determining the target icing thickness corresponding to the target transmission line based on the first icing thickness and the second icing thickness includes: Determine whether the first ice thickness is equal to the second ice thickness; If it is determined that the first icing thickness is equal to the second icing thickness, then the first icing thickness is determined as the target icing thickness corresponding to the target transmission line; If it is determined that the first icing thickness is not equal to the second icing thickness, a two-dimensional coordinate system is constructed based on a preset second threshold and the icing ratio; wherein, the preset second threshold is used to determine the second outer contour information of the target transmission line; In the two-dimensional coordinate system, the preset second threshold and the icing load ratio are adjusted using the triangle iteration method until the first icing thickness is equal to the second icing thickness, and the first icing thickness is determined as the target icing thickness corresponding to the target transmission line.

8. A device for determining the icing thickness of a power transmission line, characterized in that, The device includes: The first determining module is used to determine the first icing thickness of the target transmission line based on the first outer contour information and the second outer contour information corresponding to the target transmission line; wherein, the first outer contour information is determined based on the first point cloud data collected for the target transmission line at a first time point, the first point cloud data is the point cloud data of the target transmission line in the case of no icing, and the second outer contour information is determined based on the second point cloud data collected for the target transmission line at a second time point; The second determining module is used to determine the ice-weight ratio of the target transmission line based on its self-weight ratio and ice-weight ratio, and to determine the second ice thickness of the target transmission line based on the ice-weight ratio. The third determining module is used to determine the target icing thickness corresponding to the target transmission line based on the first icing thickness and the second icing thickness.

9. An electronic device, characterized in that, The electronic device includes: processor; Memory used to store the processor's executable instructions; The processor is configured to read the executable instructions from the memory and execute the instructions to implement the method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The storage medium stores a computer program for performing the method as described in any one of claims 1-7.

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