三次元レーザー点群に基づく送電通路樹木バリア高度化方法及びシステム

Abstract

本発明は、三次元レーザー点群に基づく送電通路樹木バリア高度化方法及びシステムを開示し、この方法は、ドローン及びヘリコプター搭載マルチセンサシステムを通じてマルチソースデータを収集し、且つマルチソースデータを前処理することと、処理後のマルチソースデータを用いてデジタル化された電力網通路を確立し且つ樹木バリア分析モデルを構築することと、樹木バリア分析モデルが分析した後のデータ及び電子フェンス技術に基づいて、樹木伐採弁償予測モデルを設計することと、モバイルアプリケーションを開発し、樹木バリアデータストリーム及び閉ループ管理樹木バリア管理サービスストリームを分析することとを含む。高精度で高カバレッジのデータ収集を実現し、送電配線のデジタルツイン及び樹木バリアを正確に識別し、樹木伐採及び賠償管理の標準化と自動化を実現し、モバイルアプリケーションを開発し、樹木バリアデータストリーム及び閉ループ管理樹木バリア管理サービスストリームを分析し、樹木バリア管理の全プロセスのデジタル化とモバイル化管理を実現する。各ステップの統合的な組み合わせにより、送電配線の樹木バリア管理のインテリジェント化と効率を全面的に向上させる。

Description

Technical Field

[0001] The present invention relates to the technical field of operation and maintenance of power systems, and specifically to a method and system for heightening transmission line tree barriers based on three-dimensional laser point clouds.

Background Art

[0002] The development and application of GIS in China started in the late 1970s and is relatively late. Although the history is short, the development is rapid. Its development can be roughly divided into four stages: the preparatory stage, the start stage, the development stage, and the industrialization stage. Since 1996, an industry has been formed and it has advanced towards industrialization. After the previous development, an industry that is gradually independent in terms of research and application has been formed and is developing in the direction of industrialization and marketization. Looking at the overall development process, during the period from the "Sixth Five-Year Plan" to the "Eighth Five-Year Plan", China's GIS technology has made significant progress. Especially during the "Ninth Five-Year Plan" period, the former State Science and Technology Commission incorporated GIS as an independent topic into the "Most Important" science and technology key problem tackling plan, giving it sufficient attention and support. As a result, the pace of technology development has clearly accelerated, the support for basic software technology has been comprehensively strengthened, and high-level technology achievements and products have emerged one after another.

[0003] For example, using GIS spatial analysis techniques, we will perform spatial clustering and historical morphological analysis of the spatiotemporal process of land use expansion in urban Beijing from 1982 to 1997. Utilizing GIS technology, we will analyze the connectivity relationships between road sections based on the characteristics of the urban road network and derive a shortest path algorithm between two nodes in the urban road network. Using indicators such as land use index and vegetation index, we will analyze the current state of land use and land coverage in China using GIS tools and mathematical modeling methods, concluding that "China's current land coverage situation indicates a development and utilization level corresponding to a total land use index of 202 in China." Applying GIS technology, we will estimate soil erosion in Guanxi Township, Taihe County, Jiangxi Province using a general-purpose soil erosion equation. Using meteorological satellite data as the main information source, and land satellite TM data, specialized land use maps, and meteorological observation data as supplementary information sources, we will utilize spatial analysis techniques to perform dynamic monitoring and comprehensive analysis of urban heat distribution characteristics and change laws. In recent years, the development of GIS has been even more remarkable, exhibiting new development trends such as the integration of GIS with expert systems and neural networks, the integration of GIS with CAD software, virtual geographic information systems, integration with remote sensing (RS) and the Global Positioning System (GPS), and open GIS.

[0004] Currently, two-dimensional GIS systems are widely and extensively used in the power industry in areas such as production, operation, and management. However, two-dimensional GIS systems lack a sense of realism and cannot represent the details of primary and secondary equipment and topology connections within substations, nor can they represent the geographical environment along transmission lines or the spatial relationship with transmission and distribution equipment. Therefore, this lack of information representation is hindering the further adoption of two-dimensional GIS in the power industry. Compared to two-dimensional GIS systems, three-dimensional GIS not only solves the problem of displaying spatial relationships, but also allows for the loading of three-dimensional models of power facilities into the system and the establishment of associations between unit model objects and attribute data, enabling users to better understand the overall picture of the power grid and the specific status of each facility. After many years of exploration and practical application, three-dimensional GIS in China's power industry is gradually moving from a stage limited to data management to a stage of data analysis and control.

[0005] Research into three-dimensional visualization and management technology for power wiring in China has developed based on geographic information systems. In a two-dimensional environment, various surface features and terrains are displayed in layers, and actual objects are represented by symbols such as points, lines, and planes within the layers. However, it can only handle data on a plane, and elevation data is processed after being projected onto the plane, making it impossible to represent different elevation points at the same location. Clearly, this two-dimensional system has problems such as low interactivity and poor visibility, and is unable to meet the needs of in-depth applications.

[0006] Three-dimensional digitalization is the process of artificially acquiring external shape data of objects, processing and combining the acquired data information, organizing it through modeling, seamlessly integrating individual, isolated, single-viewpoint three-dimensional digital models, and forming a three-dimensional data file through texture application and rendering. Modeling is a crucial step in this process, especially when large-scale three-dimensional model data is required. Three-dimensional digital models are similar to two-dimensional digital models, but offer many advantages over two-dimensional models, such as a more comprehensive reflection of objective reality. By utilizing virtual reality technology to more intuitively represent the actual appearance and shape of terrain and objects, and by making the abstract point, line, and surface symbols of two-dimensional GIS more intuitive and recognizable in relation to everyday life, the speed of analysis and identification is accelerated. Integrated two-dimensional and three-dimensional digital sharing technology transforms the two-dimensional and three-dimensional interfaces for the user into different display options provided by a single system, rather than different windows in different systems. Users can choose to use either a two-dimensional or three-dimensional environment, and the two-dimensional and three-dimensional systems can synchronize and display identical or different data based on spatial coordinates.

[0007] In China, video monitoring equipment has been installed on transmission towers for tree monitoring for a long time. In recent years, the functionality of online video monitoring equipment has been increasingly enhanced, and by incorporating infrared devices, it can automatically issue alarms according to the distance between trees and power lines, prompting operators and maintenance personnel to remove trees in a timely manner and avoid wiring trips. While this method is effective, the large number of transmission towers makes the cost of installing video monitoring equipment over large areas excessively high, and the operation and maintenance of video monitoring is also difficult. Furthermore, at present, standards for video monitoring manufacturers are not unified, and a unified power grid integration standard has not been formed, resulting in low network security performance and creating security risks to equipment information. At present, the application of drones is greatly contributing to improving the operation and maintenance level of power transmission lines. Wide coverage and high accuracy are advantages of drones, and when using drones to measure the distance of tree barriers within wiring protection areas, the accuracy is relatively high. Common drone distance measurement technologies include ultrasonic distance measurement technology, laser radar scanning distance measurement technology, and drone tilt photography distance measurement technology. Of these methods, drone-mounted laser radar measurement offers the highest accuracy. It can collect high-precision point cloud data using radar, and when combined with high-resolution digital image acquisition equipment, it can reproduce the actual situation on site to the greatest extent possible. Through data analysis, a three-dimensional model can be constructed, and effective distance analysis can be performed. Therefore, the potential applications of laser radar for power transmission wiring management are very broad.

[0008] The term Geographic Information System (GIS) was coined in 1963 by Canadian metrologist Roger F. Tomlinson. Due to the significant role and broad scope of GIS, related research and applications have made remarkable progress in recent years. Western countries, represented by the United States, have invested considerable human and material resources in research and development, releasing software tools such as ARC / INFO, MGI, and MAPINFO. Furthermore, with the various developments in computer-related fields, GIS has also undergone new developments, with virtual reality geographic information systems (VRGIS) being particularly remarkable. The first relatively successful VRGIS appeared in the United States in the early 1990s, and Faust and Koller, with relatively successful experiments integrating geographic information systems and virtual reality systems, namely the campus environment information system at Georgia College & State University, introduced the concept of a "virtual reality geographic information system." VRGIS can be considered a special type of "conventional" GIS, placing three-dimensional visualization, which was common in conventional two-dimensional geographic information systems, at the core of the entire system. Its existence is based on the real-time interaction of diverse senses, such as three-dimensional vision and hearing, between the user and geological data.

[0009] Overseas, research into three-dimensional visualization and management technology for power wiring has developed into a deeply applied field based on GIS systems. Overseas research into three-dimensional visualization technology began early, achieving a high level of technological advancement and resulting in numerous mature products. For example, global three-dimensional visualization platforms announced by well-known companies, as well as commercially available visualization platforms, all realize internet-based global image and data visualization. A US company is realizing an internet-connected global virtual terrain environment prototype system using multi-resolution technology and a virtual reality modeling language. Furthermore, ESRI has announced ArcGlobe, a three-dimensional visualization module based on multi-resolution global data, within its ArcGIS series. These products all provide secondary development interfaces to meet the specific application needs of various industries. Currently, the application of three-dimensional geographic information is mainly concentrated in fields such as military geography and agriculture / forestry. Since only a few countries have built related three-dimensional power grid geographic information systems, there is still significant room for development in this field.

[0010] Progress in this field is also being seen overseas. The German company GAH (Gust Alberts GmbH) has succeeded in applying laser radar to the detection of power facilities and is developing a system that can be used for patrol inspections of power lines. The Australian Centre for Spatial Information (CRC for Spatial Information) has developed a small patrol inspection drone equipped with a laser rangefinder, enabling direct measurement of the distance between power lines and the barriers below them.

[0011] While there is much research on the extraction and analysis of power lines, there is currently little research on the risk analysis of tree barriers, and conventional methods remain the most common method for detecting tree barriers in power lines. Only a few research institutions and power companies are using drone imagery or point cloud-based methods to conduct research and applications on tree barrier detection in power lines. USI (USILAND) power company designed and developed an early system suitable for power line detection, which it named Power Dount. This system primarily uses high-precision temperature sensors to detect the sag of power lines. Douglass introduces a similar DTCR platform for power line sag detection designed by the Electric Power Research Institute (ESRC). This platform extracts the sag of power lines using image processing methods based on the target location of power lines captured by a high-resolution camera mounted on the system. In 2003, power grids in Canada and the United States experienced power outages due to vegetation-induced power failures. Researchers in Australia are tracking and detecting power grids and surrounding vegetation through images acquired by drones, analyzing the spatial relationship between power lines and vegetation based on various image processing algorithms to determine whether vegetation height interferes with or damages the use of power lines. In addition, Chiba University and Kansai Electric Power Co., Inc. in Japan have jointly developed a new drone-based inspection system that can inspect major defects such as corrosion of transmission tower materials, tilting of transmission towers, and cracks in concrete utility poles.

[0012] In recent years, China Southern Power Grid (N.C.) and Yunnan Power Grid (Yunnan Power Grid (Yunnan Power Grid) have placed great importance on the close integration of production practices and scientific and technological research and development, and the level of scientific and technological innovation has been rapidly improving. The scope of research covers focus areas and hotspot areas such as normal operation and special operations of drones, machine inspection and acceptance testing, instantaneous operation state analysis of power transmission lines, multiple operation state analysis, wiring allowable current verification, drone autonomous operation inspection, three-dimensional pathway construction of power transmission lines, and digital asset management, and has obtained many research results that have had a significant impact in recent years. However, a mature solution does not yet exist to address the need for sophisticated management of tree barriers in important areas such as the Lijiang Power Bureau's important scenic spots such as "Jade Dragon Snow Mountain, Laojun Mountain, and Lugu Lake." [Overview of the project] [Problems that the invention aims to solve]

[0013] In view of the problems described above, we propose the present invention. [Means for solving the problem]

[0014] Therefore, the technical problem that the present invention aims to solve is that the present invention solves the following several important technical problems. Using drones, helicopters, and multi-sensor systems, the system collects high-density, high-precision three-dimensional laser point cloud data, visible light images, infrared images, and video data to achieve comprehensive coverage and accurate measurement of power lines and their surrounding environment. It integrates three-dimensional laser point cloud data, high-resolution images, infrared images, video data, GIS data, environmental data, power grid data, and satellite remote sensing data to achieve seamless integration and efficient processing of multi-source data. Based on tree barrier analysis data and electronic fencing technology, it enables real-time alerting and classification of tree barrier risks. The system verifies and archives feedback data, solving the problems of traditional management methods where information is asymmetrical and feedback is not timely. Electronic fencing technology is used to accurately mark and manage trees requiring compensation.

[0015] To solve the above technical problems, the present invention provides the following technical solution: A method for improving power transmission path tree barriers based on a three-dimensional laser point cloud, Collecting multi-source data through drone and helicopter-mounted multi-sensor systems, and pre-processing the multi-source data, To establish digitized power grid pathways using processed multi-source data and to construct a tree barrier analysis model, Based on the data analyzed by the tree barrier analysis model and electronic fence technology, we will design a tree felling compensation prediction model. This includes developing a mobile application and analyzing tree barrier data streams and closed-loop management tree barrier management service streams.

[0016] In one preferred embodiment of the method for enhancing power transmission path tree barriers based on a three-dimensional laser point cloud as described in the present invention, the platform parameters include task information and resource information.

[0017] One preferred embodiment of the method for enhancing power transmission path tree barriers based on a three-dimensional laser point cloud as described in the present invention is that the multi-sensor system includes a laser radar system, a high-resolution digital camera, an infrared camera, a high-frequency video camera, an environmental sensor, an equipment sensor, a GIS platform, and a high-resolution remote sensing satellite. The multi-source data includes three-dimensional laser point cloud data, high-resolution visible light images, infrared images, video data, and GIS data.

[0018] One preferred embodiment of the method for enhancing power transmission path tree barriers based on three-dimensional laser point clouds as described in the present invention includes establishing digitized power grid paths using processed multi-source data, which involves processing three-dimensional laser point cloud data to obtain a three-dimensional point cloud dataset, constructing a classification function using a PointNet++ model to classify the three-dimensional point cloud dataset, and identifying and separating different types of objects such as transmission towers, wires, ground, and vegetation, with the formula being as follows:

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[0019] One preferred embodiment of the method for improving power transmission path tree barriers based on three-dimensional laser point clouds described in the present invention includes constructing a tree barrier analysis model by combining three-dimensional laser point cloud features of the target tree barrier with single tree segmentation technology based on depth learning automatic point cloud classification technology to perform automatic statistics of dangerous tree barrier areas and construct a tree barrier analysis model. Divide a single tree from point cloud data,

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[0020] One preferred embodiment of the three-dimensional laser point cloud-based method for enhancing power transmission path tree barriers described in the present invention involves designing a tree felling compensation prediction model based on data analyzed by a tree barrier analysis model and electronic fence technology, which includes identifying and classifying trees within the electronic fence by setting distance thresholds.

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[0021] One preferred embodiment of the three-dimensional laser point cloud-based method for enhancing power transmission path tree barriers described in the present invention involves developing a mobile application to analyze the tree barrier data stream and the closed-loop management tree barrier management service stream. Tree barrier analysis model

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[0022] One preferred embodiment of the three-dimensional laser point cloud-based method for enhancing power transmission path tree barriers described in the present invention involves developing a mobile application to analyze the tree barrier data stream and the closed-loop managed tree barrier management service stream, wherein the system statistically analyzes the tree barrier area in real time, generates a task list using tree barrier information exceeding a threshold, transmits it to the mobility terminals of the relevant contractors, and performs re-statisticalization and calibration if the error exceeds 5%. Using GPS and GIS technology, the system will determine the location of tree barriers in real time, provide the contractor with an accurate navigation route, and if the positioning error exceeds 5 meters, the system will automatically adjust and recalculate the navigation route to ensure that the contractor can reach the target location accurately. When the contractor completes the tree barrier removal task, they will upload before-and-after photos and a description of the site conditions. The system will then verify the feedback data, and if the feedback data is incomplete or incorrect, the system will prompt for resubmission. When tree felling involves compensation, the system automatically generates an electronic fence, marks the trees subject to compensation, notifies the relevant parties of the compensation amount and related information via a mobility terminal, and updates the compensation record in the management system in real time. This further includes evaluating the overall system performance monthly, achieving a task completion rate of 95% or higher, and reducing processing time by more than 10%.

[0023] An advanced system for managing tree barriers on power transmission paths based on three-dimensional laser point clouds, A data acquisition module that collects multi-source data through a drone and helicopter-mounted multi-sensor system and pre-processes the multi-source data, A tree barrier analysis module that establishes digitized power grid pathways using processed multi-source data and constructs a tree barrier analysis model, A compensation prediction module that designs a tree felling compensation prediction model based on data analyzed by a tree barrier analysis model and electronic fence technology, The project includes developing a mobile application module that analyzes tree barrier data streams and closed-loop management tree barrier management service streams.

[0024] A computer device comprising memory and a processor, wherein a computer program is stored in the memory, and the processor executes the computer program to realize the steps of the method according to any one of the present invention.

[0025] A computer-readable storage medium in which a computer program is stored, characterized in that when the computer program is executed by a processor, the method is as described in any one of the present invention. [Effects of the Invention]

[0026] Beneficial Effects of the Invention: The three-dimensional laser point cloud-based method for enhancing power transmission line tree barriers according to the present invention achieves high-precision, high-coverage data collection, accurately identifies digital twins of power transmission lines and tree barriers, enables standardization and automation of tree felling and compensation management, develops mobile applications, analyzes tree barrier data streams and closed-loop management tree barrier management service streams, and realizes digital and mobile management of the entire tree barrier management process. The integrated combination of each step comprehensively improves the intelligence and efficiency of tree barrier management on power transmission lines, ensuring the safe and stable operation of power transmission lines.

[0027] To more clearly illustrate the technical concept of the embodiments of the present invention, the drawings that may be used in the description of the embodiments are briefly described below. Obviously, the drawings in the following description are only a few embodiments of the present invention, and those skilled in the art can obtain other drawings based on these without any creative effort. [Brief explanation of the drawing]

[0028] [Figure 1]This is an overall flowchart of the method for enhancing power transmission path tree barriers based on a three-dimensional laser point cloud according to Embodiment 1 of the present invention. [Figure 2] This is an architectural diagram of the mobile application technology for the method of enhancing power transmission path tree barriers based on a three-dimensional laser point cloud according to Embodiment 1 of the present invention. [Figure 3] This is a diagram of the overall technical architecture of the visualization and exhibition platform for the method of enhancing power transmission path tree barriers based on three-dimensional laser point clouds according to Embodiment 1 of the present invention. [Modes for carrying out the invention]

[0029] To make the above-mentioned objectives, features, and advantages of the present invention clearer and easier to understand, specific embodiments of the present invention will be described in detail below with reference to the drawings. However, the embodiments described are only some, not all, embodiments of the present invention. All other embodiments that can be obtained by those skilled in the art without any creative work based on the embodiments of the present invention should fall within the scope of the protection of the present invention.

[0030] Example 1 Referring to Figure 1, one embodiment of the present invention provides a method for enhancing power transmission path tree barriers based on a three-dimensional laser point cloud, which includes the following:

[0031] S1: Collect multi-source data through drone and helicopter-mounted multi-sensor systems, and pre-process the multi-source data.

[0032] The multi-sensor system includes laser radar systems, high-resolution digital cameras, infrared cameras, high-frequency video cameras, environmental sensors, instrument sensors, GIS platforms, and high-resolution remote sensing satellites.

[0033] Multi-source data includes three-dimensional laser point cloud data, high-resolution visible light images, infrared images, video data, and GIS data.

[0034] The collected multi-source data is classified and denoised using depth learning and machine learning algorithms. Specific steps include classifying laser point cloud data using algorithms to identify and separate different types of objects such as transmission towers, wires, ground, and vegetation; removing noise points to ensure high accuracy and quality of the data; and extracting and analyzing geometric information from the processed data to provide a reliable data base for subsequent tree barrier analysis and 3D visualization demonstrations. Data collection is performed via drone and helicopter-mounted multi-sensor systems, allowing for coverage of wide areas and acquisition of detailed data at different heights and angles. This method is more efficient than conventional ground inspections, significantly reducing the time and cost of manual inspections. Furthermore, the multi-sensor system can collect multiple types of data, including 3D laser point clouds, high-resolution images, infrared images, video data, and GIS data, ensuring data comprehensiveness and diversity.

[0035] By classifying and denoising collected multi-source data using depth learning and machine learning algorithms, different types of objects (such as transmission towers, wires, ground, and vegetation) can be effectively identified and separated, and noise points in the data can be removed. This ensures high accuracy and quality of the data, further improving the accuracy of subsequent analysis. The high accuracy and reliability of the data processing provide a reliable data foundation for tree barrier analysis and 3D visualization demonstrations.

[0036] Furthermore, by extracting and analyzing geometric information from the pre-processed data, a reliable data base can be provided for tree barrier analysis and three-dimensional visualization demonstrations. This data base contributes to more accurate identification and assessment of tree barrier risks, supporting scientific decision-making and efficient management. By constructing high-precision three-dimensional models, power transmission lines and their surrounding environments can be intuitively visualized, facilitating inspections and maintenance by operators and maintenance personnel, and improving work efficiency and management levels.

[0037] Furthermore, such efficient and accurate data collection and processing methods enable the timely detection and assessment of potential risks in power transmission lines, such as tree barriers and equipment failures, ensuring the safety and reliability of the power transmission lines. High-quality data support helps operators and maintenance personnel take timely action, preventing failures, reducing the risk of power outages, and improving the stable operating level of the power grid.

[0038] S2: Establish digitized power grid pathways using processed multi-source data and construct a tree barrier analysis model.

[0039] Establishing a digitized power grid pathway using processed multi-source data involves the following: processing three-dimensional laser point cloud data to obtain a three-dimensional point cloud dataset; constructing a classification function using the PointNet++ model to classify the three-dimensional point cloud dataset; identifying and separating different types of objects such as transmission towers, wires, ground, and vegetation; the formula is as follows:

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[0040] Constructing a tree barrier analysis model involves the following: building a tree barrier analysis model by combining a single-tree segmentation technique with three-dimensional laser point cloud features of the target tree barrier based on depth learning automatic point cloud classification technology, and performing automatic statistics of the dangerous tree barrier area. Divide a single tree from point cloud data,

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[0041] By establishing digitized power grid pathways using multi-source data, comprehensive and accurate three-dimensional modeling of power transmission lines and their surrounding environment can be achieved. This method not only provides high-precision spatial information but also enables comprehensive monitoring and analysis of power transmission lines by combining it with multiple data sources (such as visible light images, infrared images, video data, and GIS data). Three-dimensional laser point cloud data and other high-resolution data enable high-precision three-dimensional modeling of power transmission lines and provide detailed spatial information. By combining it with infrared images and video data, temperature and dynamic monitoring of power transmission line equipment can be achieved, enabling timely detection of potential failures and risks. Integrating GIS data provides comprehensive information on power transmission lines and the surrounding geographic environment, supporting more scientific decision-making and management. Multi-source data fusion processing ensures data diversity and accuracy, providing a reliable data base for subsequent analysis and decision-making.

[0042] By constructing a tree barrier analysis model using depth learning and single-tree segmentation techniques based on processed multi-source data, accurate identification and evaluation of tree barriers are achieved. The depth learning algorithm automatically identifies and classifies different objects (such as transmission towers, wires, and vegetation) in point cloud data, improving the efficiency and accuracy of the analysis. Single-tree segmentation techniques allow for accurate segmentation and statistical analysis of the tree barrier area of ​​each tree, providing detailed tree barrier information. Based on tree barrier height and risk thresholds, real-time assessment and alerting of tree barrier risk are possible, enabling real-time action to eliminate potential risks. The tree barrier analysis model provides detailed tree barrier information and risk assessment results, supporting scientific decision-making and efficient management, and enhancing the safety and reliability of power transmission lines.

[0043] S3: Based on the data analyzed by the tree barrier analysis model and electronic fencing technology, design a tree felling compensation prediction model.

[0044] Based on the data analyzed by the tree barrier analysis model and the electronic fence technology, designing a tree felling compensation prediction model includes the following: By setting a distance threshold, identifying and classifying the trees within the electronic fence,

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[0045] By combining a tree barrier analysis model with electronic fencing technology, we design a tree felling compensation prediction model to achieve a comprehensive assessment of tree felling and compensation risks. The tree barrier analysis model accurately calculates tree barrier height and risk thresholds, and combined with electronic fencing technology, accurately assesses the felling risk of each tree. High-risk areas can be identified, trees requiring felling and compensation can be prioritized, and potential risks can be avoided. The model utilizes multi-source data and automated algorithms to automate tree felling and compensation management. This reduces manual intervention, increases management efficiency, and ensures accuracy in data processing and decision-making. Combined with electronic fencing technology, it enables dynamic monitoring of trees and the surrounding environment, providing timely risk feedback. When the environment or tree conditions change, the prediction model is updated in a timely manner to provide the latest risk assessment and management advice. Through accurate risk assessment and real-time monitoring, high-risk trees can be identified and processed in a timely manner, reducing power transmission line failures caused by tree barriers. This improves the operational safety and reliability of power transmission lines and ensures power supply stability.

[0046] S4: Develop a mobile application to analyze tree barrier data streams and closed-loop management tree barrier management service streams.

[0047] Developing a mobile application and analyzing tree barrier data streams and closed-loop management tree barrier management service streams is possible. Tree barrier analysis model

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[0048] The system collects statistics on tree barrier area in real time, generates a task list using tree barrier information exceeding a threshold, and sends it to the mobility terminals of the relevant contractors. If the error exceeds 5%, the system performs re-statistics and calibration. Using GPS and GIS technology, the system determines the location of tree barriers in real time, provides the contractor with an accurate navigation path, and if the positioning error exceeds 5 meters, the system automatically adjusts and recalculates the navigation path to ensure the contractor can reach the target location accurately. When the contractor completes the tree barrier removal task, they will upload before-and-after photos and a description of the site conditions. The system will then verify the feedback data, and if the feedback data is incomplete or incorrect, the system will prompt for resubmission. If tree felling involves compensation, the system automatically generates an electronic fence, marks the trees subject to compensation, notifies relevant parties of the compensation amount and related information via a mobility terminal, and updates compensation records in the management system in real time. Evaluate the overall system performance monthly, aiming for a task completion rate of 95% or higher and a reduction in processing time of 10% or more.

[0049] Clear risk level classification enables priority processing of high-risk tree barriers, reducing the impact of potential risks and ensuring the safety of power transmission lines. The system also improves the efficiency and accuracy of task assignment by automatically generating tasks and transmitting them to mobile application terminals. Real-time statistical analysis and calibration ensure high data accuracy, avoiding task assignment and execution problems due to data errors and enhancing the reliability of overall management. Accurate positioning and navigation improve the efficiency and accuracy of contractors' work, ensuring that tree barrier processing tasks are completed in a timely and accurate manner, reducing possible delays and errors. Real-time feedback and task verification ensure the effectiveness and transparency of task execution, increasing the controllability and reliability of management. Contractor feedback data provides important reference for system optimization and performance evaluation. Automatic generation of electronic fences and real-time updates of compensation records improve the accuracy and transparency of compensation management, reducing disputes and management difficulties. Regular performance evaluations and system optimization ensure efficient system operation and continuous improvement, raising the overall level of management.

[0050] In another embodiment, this embodiment is an advanced power transmission path tree barrier management system based on a three-dimensional laser point cloud, A data acquisition module that collects multi-source data through a drone and helicopter-mounted multi-sensor system and pre-processes the multi-source data, A tree barrier analysis module that establishes digitized power grid pathways using processed multi-source data and constructs a tree barrier analysis model, A compensation prediction module that designs a tree felling compensation prediction model based on data analyzed by a tree barrier analysis model and electronic fence technology, We will further provide an advanced power transmission path tree barrier management system based on three-dimensional laser point clouds, which includes a mobile application module that develops a mobile application to analyze tree barrier data streams and closed-loop management tree barrier management service streams.

[0051] When the above functions are implemented as a software function unit and sold or used as an independent product, they can be stored on a computer-readable storage medium. Based on this understanding, the proposed technical concept of the present invention can be embodied in the form of a software product, either essentially, in part, or in part, in contribution to existing technologies. The computer software product is stored on a storage medium and includes a plurality of instructions for executing all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as U disks, removable hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0052] The logic and / or steps shown in the flowchart or described in other form herein can be considered, for example, an ordered list of executable instructions for implementing a logical function, which is concretely implemented on any computer-readable medium and is available for use by instruction execution systems, devices or equipment (such as computer-based systems, systems including processors, or systems capable of obtaining and executing instructions from other instruction execution systems, devices or equipment), or for use in combination with such instruction execution systems, devices or equipment. "Computer-readable medium" may be any device capable of storing, communicating, propagating or transmitting a program for use in combination with an instruction execution system, device or equipment.

[0053] More specific examples (non-exclusive list) of computer-readable media include electrical connections with one or more wires (electronic devices), portable computer disk boxes (magnetic devices), random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber devices, and portable compact disk read-only memory (CDROM). Computer-readable media may also be, for example, paper or other suitable media, because it is possible to obtain programs electronically by optically scanning paper or other media, followed by editing, translating, or processing them in any other suitable manner, and then storing them in computer memory.

[0054] It should be understood that each part of the present invention can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, several steps or methods can be implemented using software or firmware stored in memory and executed by an appropriate instruction execution system. For example, when implemented by hardware, as in other embodiments, it can be implemented by any or a combination thereof of the following technologies well known to those skilled in the art, such as discrete logic circuits having logic gate circuits for realizing logic functions in data signals, application-specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays (PGAs), and field-programmable gate arrays (FPGAs).

[0055] Example 2 The experimental site was selected as a power transmission line area in Lijiang, Yunnan Province, an area with complex terrain and dense vegetation. The multi-sensor system used in the experiment included a laser radar system, high-resolution digital camera, infrared camera, high-frequency video camera, environmental sensors, instrument sensors, GIS platform, and high-resolution remote sensing satellite. Data acquisition was performed using drones and helicopters, each providing cover photography at different heights and angles.

[0056] The drone flies at an altitude of 50 meters, and the helicopter flies at an altitude of 150 meters, both configured to cover the entire experimental area. The flight routes follow pre-set trajectories to ensure coverage of the entire area. A laser radar system is used to collect three-dimensional laser point cloud data, a high-resolution digital camera is used to capture visible light images, an infrared camera is used to acquire infrared images, a high-frequency video camera is used to record video data, environmental sensors and equipment sensors record environmental parameters and equipment status, respectively, and a GIS platform and high-resolution remote sensing satellites provide geographic information and remote sensing data.

[0057] The collected data is classified and denoised using depth learning and machine learning algorithms. Specific steps include classifying laser point cloud data, identifying and separating different types of objects such as transmission towers, wiring, ground, and vegetation, removing noise points, and ensuring high accuracy and quality of the data. Geometric information is then extracted and analyzed from the processed data to provide a reliable data foundation for subsequent tree barrier analysis and 3D visualization demonstrations.

[0058] Using the processed multi-source data, a digitized power grid pathway is established by combining it with 3D laser point cloud data, high-resolution visible light images, infrared images, video data, GIS data, environmental data, power grid data, and satellite remote sensing data. By integrating the multi-source data, a highly accurate 3D power grid model is formed.

[0059] Based on digitized power grid path data, a tree barrier analysis model is constructed using a depth learning algorithm. The model identifies and classifies dangerous tree barriers by combining them with three-dimensional laser point cloud features of target tree barriers through automatic point cloud classification technology, and performs automatic statistics of dangerous tree barrier areas by combining them with single tree segmentation technology.

[0060] Based on data analyzed by a tree barrier analysis model, a tree felling compensation prediction model is designed in combination with electronic fencing technology. By setting distance thresholds and risk levels, trees that need to be felled are marked and managed, and potential compensation amounts are predicted.

[0061] We will develop a mobile application to enable real-time analysis of tree barrier data streams and closed-loop management of tree barrier management service streams. The mobile application can receive task lists automatically generated by the system and provide accurate navigation paths to the contractor.

[0062] After the contractor completes the tree barrier removal task, real-time feedback and task verification are provided via a mobile application. The system verifies the feedback data to ensure the effectiveness of task execution. The experimental results are shown in Table 1.

[0063] Table 1: Experimental Data Table [Table 1]

[0064] The data indicates that when the height of the tree barrier is high (e.g., 25 meters for tree barrier 6), the risk level is also high (risk level 10). This shows that the system can accurately assess the risk level of the tree barrier and generate corresponding priority processing tasks.

[0065] The correspondence between tree barrier area and compensation amount demonstrates that the system can reasonably estimate compensation amounts based on the size of the tree barrier area. For example, if tree barrier 6 has an area of ​​80 square meters, the corresponding compensation amount is 2000 yuan. This accurate compensation estimation enhances fairness and transparency in management.

[0066] The relationship between electronic fence distance and risk level demonstrates that high-risk tree barriers can be effectively managed and controlled by setting an electronic fence distance threshold. For example, the electronic fence distance for tree barrier 6 is 7 meters, ensuring effective management of the high-risk tree barrier.

[0067] The data shows that task completion rates are generally high (e.g., 98% for tree barrier 1, 100% for tree barrier 7), indicating that the system can efficiently assign tasks and ensure their completion. This demonstrates the effectiveness and reliability of the closed-loop management system.

[0068] The system can receive feedback from contractors in real time via a mobile application, verify the feedback data, and ensure the effectiveness of task execution.

[0069] However, the above embodiments are not limiting but merely illustrate the technical concept of the present invention. While the present invention will be described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or substitutions of the technical concept of the present invention can be made without departing from the spirit and scope of the technical concept, and all such modifications or substitutions should be included within the scope of the claims of the present invention.

Claims

1. A method for improving tree barriers on power transmission paths based on a three-dimensional laser point cloud, Collecting multi-source data through drone and helicopter-mounted multi-sensor systems, and pre-processing the multi-source data, To establish digitized power grid pathways using processed multi-source data and to construct a tree barrier analysis model, Based on the data analyzed by the tree barrier analysis model and electronic fence technology, we will design a tree felling compensation prediction model. A method for enhancing power transmission path tree barriers based on a three-dimensional laser point cloud, characterized by including the development of a mobile application and the analysis of a tree barrier data stream and a closed-loop management tree barrier management service stream.

2. The multi-sensor system includes a laser radar system, a high-resolution digital camera, an infrared camera, a high-frequency video camera, environmental sensors, equipment sensors, a GIS platform, and a high-resolution remote sensing satellite. The method for improving power transmission path tree barriers based on a three-dimensional laser point cloud according to claim 1, characterized in that the multi-source data includes three-dimensional laser point cloud data, high-resolution visible light images, infrared images, video data, and GIS data.

3. Establishing a digitized power grid pathway using processed multi-source data involves the following: processing three-dimensional laser point cloud data to obtain a three-dimensional point cloud dataset; constructing a classification function using a PointNet++ model to classify the three-dimensional point cloud dataset; identifying and separating different types of objects such as transmission towers, wires, ground, and vegetation; the formula is as follows: [Math 1] [Math 2] represents the probability distributions of different categories, and softmax is the activation function, ensuring that the sum of the probabilities of all outputs is 1. [Math 3] This represents the weight matrix, [Math 4] is, point [Math 5] Represents the feature vector, [Math 6] This represents the bias term, [Number 7] This represents a position in space, [Number 8] In this case, it is classified as a transmission tower. [Number 9] In this case, it is classified as a conductor, [Number 10] In that case, classify them on the ground. [Math 11] In this case, it is classified as vegetation. A high-resolution visible light image is acquired using a high-resolution digital camera, clear visual data is obtained, and this is converted into a light reflectance distribution map. [Math 12] An infrared camera is used to acquire infrared images and identify areas of thermal anomaly. [Number 13] By acquiring video data using a high-frequency video camera and obtaining dynamic monitoring information, we extract the characteristics of dynamic changes. [Number 14] We acquire GIS data through a GIS platform, perform smoothing and analysis on the GIS data, and extract spatial distribution features. [Number 15] The established formula for the digitized power grid pathway is as follows: [Number 16] [Number 17] This represents a model of a digitized power grid pathway, ( [Number 18] ) represents coordinates in three-dimensional space, ( [Number 19] ) is in point cloud data 【Number 20】 Represents the coordinates of the nth point, [Math 21] This represents the kernel function, [Number 22] This represents the distribution function of the input data, [Number 23] This represents the integration variable, [Number 24] This represents the light reflectance, [Number 25] This represents wavelength, [Number 26] This represents an angle, [Number 27] This represents the absorption coefficient of light, [Number 28] This represents distance, [Number 29] This represents the Stefan-Boltzmann constant, [Number 30] This represents the surface temperature of an object. [Number 31] This represents the background temperature. [Number 32] This represents the integral area, [Number 33] This represents the total number of frames in the video data, ( [Number 34] ) is in video data [Number 35] This represents the coordinates of the frame, ( [Number 36] ) represents the average value of the coordinates in the video data, [Number 37] This represents the standard deviation of the coordinates in the video data. [Number 38] This is an exponential function [Number 39] This is a high-resolution visible light image [Number 40] This represents the temperature distribution in the infrared image. [Number 41] This represents the dynamic features in the video data, [Number 42] This represents the GIS data after processing. [Number 43] In the case of 00, it indicates that the power transmission path at this location has a high spatial density and complexity, is at a high risk level, and requires priority processing and enhanced monitoring. [Number 44] A value of 50 indicates that the transmission path at this location has a moderate complexity, a moderate risk level, and requires regular monitoring and maintenance to ensure the safety of the power grid channel. [Number 45] The method for enhancing power transmission path tree barriers based on a three-dimensional laser point cloud according to claim 2, characterized in that, if the value is 0, it indicates that the power transmission path at this location is simple or sparse, at a low risk level, and the power grid path is in a safe state.

4. Constructing a tree barrier analysis model involves the following: building a tree barrier analysis model by combining a single-tree segmentation technique with three-dimensional laser point cloud features of the target tree barrier based on depth learning automatic point cloud classification technology, and performing automatic statistics of the dangerous tree barrier area. Divide a single tree from point cloud data, [Number 46] integral region [Number 47] Height of each point inside [Number 48] and the risk level threshold [Number 49] By comparing them, if the height exceeds the threshold, it belongs to the dangerous tree barrier. [Number 50] A tree barrier analysis model was constructed using a PointNet++ neural network, and the formula is as follows: [Number 51] [Number 52] This represents the constructed tree barrier analysis model. [Number 53] The threshold is between 0 and 1. [Number 54] This represents the integration region, [Number 55] This represents the number of points in the point cloud data. [Number 56] This represents coordinates in three-dimensional space, [Number 57] teeth, [Number 58] Represents the coordinates of the nth point, [Number 59] This represents the threshold for single tree splitting, [Number 60] This represents the indicator function, [Number 61] This represents the weight matrix, [Number 62] This represents the point cloud feature vector, [Number 63] represents the bias term, and softmax represents the activation function. [Number 64] This represents the height of the tree barrier, [Number 65] This is the danger level threshold. [Number 66] This represents the division result, [Number 67] The method for improving power transmission path tree barriers based on a three-dimensional laser point cloud according to claim 3, characterized in that it represents the area of ​​the hazardous tree barrier.

5. Designing a tree felling compensation prediction model based on data analyzed by a tree barrier analysis model and electronic fence technology includes identifying and classifying trees within the electronic fence by setting distance thresholds, [Number 68] By comparing the tree barrier height and danger height threshold within the integration region, and combining this with the results of the electronic fence technology, we calculate the compensation priority for each tree. [Number 69] [Number 70] This represents a tree felling compensation prediction model, [Number 71] This represents the integration region, [Number 72] This represents the height of the tree barrier, [Number 73] This represents the danger level threshold, [Number 74] This represents the indicator function, [Number 75] This represents the number of trees in the electronic fence. [Number 76] This represents the Gaussian function, [Number 77] This represents the absorption coefficient of light, [Number 78] This represents distance, [Number 79] This represents an exponential function, [Number 80] In this case, it indicates that tree felling and compensation within this area are high-risk and need to be handled with priority. [Number 81] The method for enhancing power transmission path tree barriers based on a three-dimensional laser point cloud, as described in claim 4, is characterized in that, in this case, tree felling and compensation within this area are low risk and do not require processing.

6. Developing a mobile application and analyzing tree barrier data streams and closed-loop management tree barrier management service streams is possible. Tree barrier analysis model [Number 82] If the value > 0.5, the tree barrier risk level is high, the tree barrier density in the area is high, and many dangerous tree barriers exist, requiring priority processing. The system automatically generates a priority processing task and sends it to the mobile application terminal. [Number 83] In this case, the tree barrier risk level is low, the tree barrier density in the area is low, and there are no dangerous tree barriers, and sorting is performed based on the set priority order. The method for enhancing power transmission path tree barriers based on a three-dimensional laser point cloud, according to claims 5 and 4, characterized in that the assessment accuracy rate for each risk level must reach 95% or higher, and if this standard is not met, the system will perform algorithm optimization and adjustment.

7. Developing a mobile application to analyze tree barrier data streams and closed-loop managed tree barrier management service streams involves a system that statistically analyzes tree barrier area in real time, generates a task list using tree barrier information exceeding a threshold, and transmits it to the mobile terminals of relevant contractors. If the error exceeds 5%, the system performs re-statistics and calibration. Using GPS and GIS technology, the system will determine the location of tree barriers in real time, provide the contractor with an accurate navigation route, and if the positioning error exceeds 5 meters, the system will automatically adjust and recalculate the navigation route to ensure that the contractor can reach the target location accurately. When the contractor completes the tree barrier removal task, they will upload before-and-after photos and a description of the site conditions. The system will then verify the feedback data, and if the feedback data is incomplete or incorrect, the system will prompt for resubmission. When tree felling involves compensation, the system automatically generates an electronic fence, marks the trees subject to compensation, notifies relevant parties of the compensation amount and related information via a mobility terminal, and updates compensation records in the management system in real time. The method for improving power transmission path tree barriers based on a three-dimensional laser point cloud according to claim 6, further comprising evaluating the overall performance of the system on a monthly basis, achieving a task completion rate of 95% or more, and reducing processing time by 10% or more.

8. An advanced power transmission path tree barrier management system based on a three-dimensional laser point cloud employing the method described in claim 1, A data acquisition module that collects multi-source data through a drone and helicopter-mounted multi-sensor system and pre-processes the multi-source data, A tree barrier analysis module that establishes digitized power grid pathways using processed multi-source data and constructs a tree barrier analysis model, A compensation prediction module that designs a tree felling compensation prediction model based on data analyzed by a tree barrier analysis model and electronic fence technology, An advanced power transmission path tree barrier management system based on three-dimensional laser point clouds, characterized by including a mobile application module that develops a mobile application and analyzes a tree barrier data stream and a closed-loop management tree barrier management service stream.

9. A computer device comprising memory and a processor, wherein a computer program is stored in the memory, A computer program computer device characterized in that when the processor executes the computer program, it realizes the steps of a method for improving power transmission path tree barriers based on a three-dimensional laser point cloud.

10. A computer-readable storage medium on which a computer program is stored, A computer-readable storage medium characterized in that, when the computer program is executed by the processor, it realizes the steps of a method for improving power transmission path tree barriers based on a three-dimensional laser point cloud.

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