CN103779808A - Power transmission line intelligent inspection system based on LiDAR - Google Patents
Power transmission line intelligent inspection system based on LiDAR Download PDFInfo
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Abstract
The invention provides a power transmission line intelligent inspection system based on LiDAR and further provides a power transmission line intelligent inspection method based on LiDAR. The power transmission line intelligent inspection system comprises a three-dimensional quantifying information acquiring unit, a three-dimensional rebuilding unit and an intelligent inspection analysis unit. The three-dimensional quantifying information acquiring unit is suitable for acquiring power transmission equipment actual space three-dimensional quantifying information and power transmission line peripheral environment ground feature three-dimensional quantifying information, namely, point cloud data provided by LiDAR; the three-dimensional rebuilding unit is suitable for three-dimensional rebuilding of a power transmission line body and a corridor based on power transmission equipment actual space three-dimensional quantifying distribution information and power transmission line peripheral environment ground feature actual three-dimensional quantifying information; the intelligent inspection analysis unit is suitable for carrying out safety distance detection based on three-dimensional rebuilding results, carrying out safety distance analysis according to safety distance detection results and power transmission line safety standards and pointing out power transmission lines not catering to the safety standards or giving an alarm about the power transmission lines not catering to the safety standards. By means of the power transmission line intelligent inspection system and the power transmission line intelligent inspection method, requirements for line inspection data and function digitalization, standardization and visualization are achieved.
Description
Technical field
The ultra-high-tension power transmission line operation field that the present invention relates to electric power system, relates in particular to a kind of power transmission line intelligent cruising inspection system based on LiDAR.
Background technology
Fortune inspection management mode and the conventional manual work mode of existing transmission line, not only labour intensity is large, condition of work is arduous, and efficiency is low, particularly in the inspection with the transmission line of leap great rivers to mountain area, and at ice damage, floods, earthquake, landslide, during night etc. under electrical network emergency and extreme climate condition, line attendant will rely on ground traffic tools or pad it, utilize General Instrument or naked eyes to come line walking inspection, treatment facility defect, and that institute takes time is long, human cost is high, dangerous high.Existing line is patrolled and examined work and is also had following problem:
1, intelligent patrol detection device lacks, and it is low that tradition is patrolled and examined efficiency;
2, the information of patrolling and examining is fed back not in time, and emergency response means lack;
3, exist and patrol and examine blind area;
4, patrol and examine information management automation degree low.
Rapidly in evolution, be badly in need of high efficiency polling transmission line mode at current intelligent grid.
Summary of the invention
The technical problem to be solved in the present invention is, for the deficiencies in the prior art, to provide a kind of power transmission line intelligent cruising inspection system based on LiDAR.
According to one aspect of the invention, a kind of power transmission line intelligent cruising inspection system based on LiDAR is provided, comprise: three quantitative information acquiring units, be suitable for obtaining the three-dimensional quantitative information of transmission facility real space and the actual three-dimensional quantitative information of power transmission line surrounding enviroment atural object, the cloud data that LiDAR provides; Three-dimensional reconstruction unit, is suitable for, based on three-dimensional distributed intelligence and the actual three-dimensional quantitative information of power transmission line surrounding enviroment atural object of quantizing of transmission facility real space, transmission line body and corridor being carried out to three-dimensional reconstruction; And intelligent patrol detection analytic unit, be suitable for based on three-dimensional reconstruction result, carry out safe distance detection, and carry out safe distance analysis according to safe distance testing result and transmission line safety standard, to not meeting pointing out or reporting to the police of safety standard.
Optionally, described intelligent patrol detection analytic unit is also suitable for: based on three-dimensional reconstruction result and the basic machine account information of transmission line, physical characteristic information, circuit actual motion state information and circuit actual environment weather information, to transmission line safety evaluation under different working conditions, to not meeting pointing out or reporting to the police of safety standard.
Optionally, described intelligent patrol detection analytic unit is also suitable for: based on the three-dimensional reconstruction result of multiple time points, carry out variation monitoring.
Optionally, the described power transmission line intelligent cruising inspection system based on LiDAR also comprises: three-dimensional visualization unit, is suitable for the operating process of three quantitative information acquiring units, three-dimensional reconstruction unit and intelligent patrol detection analytic unit and is shown to user with the result of three-dimensional visible.
Optionally, described three quantitative information acquiring units are also suitable for obtaining main flow GIS platform vector format data and main flow Raster Images formatted data, for the geodata at transmission line place is provided, the cloud data providing as LiDAR supplement.
According to a further aspect of the present invention, provide a kind of power transmission line intelligent method for inspecting based on LiDAR, comprising:
Step 1, obtain the three-dimensional quantitative information of transmission facility real space and the actual three-dimensional quantitative information of power transmission line surrounding enviroment atural object, wherein, the cloud data that described three-dimensional quantitative information provides for LiDAR;
Step 2, based on three-dimensional distributed intelligence and the actual three-dimensional quantitative information of power transmission line surrounding enviroment atural object of quantizing of transmission facility real space, transmission line body and corridor are carried out to three-dimensional reconstruction; With
Step 3, based on three-dimensional reconstruction result, carry out safe distance detection, and carry out safe distance analysis according to safe distance testing result and transmission line safety standard, to not meeting pointing out or reporting to the police of safety standard; Or
Based on three-dimensional reconstruction result and the basic machine account information of transmission line, physical characteristic information, circuit actual motion state information and circuit actual environment weather information, to transmission line safety evaluation under different working conditions, to not meeting pointing out or reporting to the police of safety standard; Or
Based on the three-dimensional reconstruction result of multiple time points, carry out variation monitoring.
Optionally, transmission line safety evaluation under different working conditions is comprised:
Safe condition based on climate parameter detects:
For the wire variation model of icing and windage yaw two class weather conditions, calculate and change safe distance and the safe condition of rear wire for surrounding terrain and atural object.
Optionally, transmission line safety evaluation under different working conditions is comprised:
The monitoring of vegetation dangerous spot:
First utilize Octree principle to carry out neighbor point retrieval, respectively the nearest vegetation point of each point in search and power transmission line point cloud;
Then calculate the vertical space distance of the most contiguous vegetation point and power transmission line;
By the space length resolving in conjunction with the growth model of vegetation respectively with safe distance comparison, in the time that space length is greater than safe distance, shows transmission line safety, and judge the safe time limit of this section of circuit according to growth model, otherwise, judge that this section of transmission line exists potential safety hazard.
Optionally, transmission line safety evaluation under different working conditions is comprised:
Transmission line compatibilization is analyzed:
Obtain the actual trend power of transmission line, conductor temperature, conducting wire sag and ambient temperature, according to the actual state of circuit periphery atural object, calculate the maximum magnitude of line load increase-volume.
Optionally, described variation monitoring comprises:
Geological disaster detects: based on the three-dimensional reconstruction result in transmission of electricity corridor, according to the comparison of different times data, ANOMALOUS VARIATIONS is provided alert;
Multi-time Scales variation monitoring: for transmission facility, according to three-dimensional reconstruction result, and compare historical threedimensional model information, detect its possible ANOMALOUS VARIATIONS; Or
Soil illegally uses: for transmission of electricity corridor and near building thereof, find relevant architecture against regulations information by the comparison of threedimensional model information automatic analysis.
Compared with prior art, the present invention makes up the deficiency of traditional routine inspection mode by airborne laser radar measuring technique, utilize the high-precision three-dimensional data of airborne laser radar system acquisition, can rapid measuring lines around atural object to the distance of wire, find in time and eliminate potential faults; On the basis of automatically extracting at power line, the automation that can realize dangerous spot detects, and improves greatly the efficiency of patrolling and examining, and saves routing inspection cost, improves administration of power networks level.
Accompanying drawing explanation
Fig. 1 is the structural representation of the power transmission line intelligent cruising inspection system based on LiDAR that provides according to one embodiment of the invention;
Fig. 2 is the functional schematic of the power transmission line intelligent cruising inspection system based on LiDAR that provides according to one embodiment of the invention;
Fig. 3 is that the power transmission line intelligent based on LiDAR providing according to one embodiment of the invention is patrolled and examined process flow diagram;
Fig. 4 is the power transmission line intelligent method for inspecting flow chart based on LiDAR providing according to one embodiment of the invention.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing, the present invention is described in more detail.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
Inventor finds after deliberation: airborne laser radar is measured (Light Detection And Ranging, LiDAR) technology appear as transmission line efficiently patrol and examine the approach that provides new, airborne laser radar measuring system is a kind of set laser ranging technology, high accuracy global positioning system (Global Positioning System, GPS) technology and high Dynamic Inertia navigation system (Inertial Navigation System, INS) technology is in the system of one.In conjunction with the GPS Continuous Tracking station, region of building up, airborne laser radar system can directly gather circuit corridor high-precision laser point cloud and aerial image, data can be obtained the atural object spatial information in dimensional topography landforms and the corridor of high-precision power transmission line corridor after treatment, comprise shaft tower, hanging wire point position, electric wire sag, trees, building etc.
Than traditional method, airborne laser radar measuring system can provide high accuracy three-dimensional spatial information, can penetrate vegetation and obtain earth's surface information, and patrol officer can make full use of this information to causing the hidden danger of line security problem and extremely analyzing.In addition, owing to being subject to the impact of wind direction, temperature, humidity, wire load, conducting wire sag degree can change, conducting wire sag model is not easy to set up, utilizing airborne laser radar measuring technique to obtain data carries out after three-dimensional modeling, can directly measure the distance of sag to trees or barrier, and then determine and how to cut down and removing obstacles; Secondly, the row vector if energy automation extraction power line point cloud is gone forward side by side, will make dangerous spot automatically detect and become possibility, the efficiency that raising is patrolled and examined greatly; Again, can make transmission line Three-dimensional Visualization Management System based on airborne laser radar data and route survey and design achievement, the attribute information that typing is relevant, realize the management of transmission line three-dimensional visualization, and can be constantly new data more, thereby be power circuit planning and designing, operation maintenance provides high precision measuring data achievement.
1, three change demands of line walking data
Power transmission line inspection data have digitlization, standardization and (panorama) visual " three change " demand.
Digitlization: modern computer technology and the communication technology are to realize the key foundation technology of intelligent grid.On this basis, constantly there is the concept such as " digital power system " and " digital electric network " to continue to bring out.As the important step of electric power system production run, the digitlization of transmission line data is to realize intelligent grid important foundation.Take visualization of spatial information technology as core, by electric line, electricity supply and use equipment and corresponding geographical environment thereof with excellent pictures and texts accurately, show intuitively, for the electric line of electric power enterprise and the planning of equipment, design, maintenance, management, scheduling, analysis and decision provide Information base and efficient means.
Standardization: avoid patrolman to do the dependence for manual decision and observation, and carry out deep excavation and analysis, its prerequisite is data format and the quantified precision that the information such as all about circuit and environment thereof have unified standard.On this basis, just likely by the Intelligent treatment technology of Import computer, data are unified to analyze and process.Power transmission line itself is as the important assets of electrical network and operation facility, will certainly be quoted by more intellectualizing system and alternately, the basic data with standardization and unified quantization precision is necessary basis in the system of following intelligent grid.
Panorama visible: at present, power industry is obtaining a series of application and achievement aspect the visual presentation of transmission line.But these visualization techniques are substantially take two-dimension GIS as basis, and the mode of utilizing simple how much icons to mark is shown the base attribute such as place, structure of circuit.Its essence and chart and drawing indistinction, just more vivid.And the three-dimensional quantitative relationship of the real space of the transmission facility of being concerned about for electric power line walking and surrounding enviroment geography, landforms is without any embodiment, obviously cannot meet the demand of line walking function.Therefore, three-dimensional panorama is visual is the necessary demand of line walking data." panorama " herein refers to power transmission line packet vinculum circuit planning design information, basic machine account information, physical characteristic information, three-dimensional distributed intelligence, the actual three-dimensional quantitative information of power transmission line surrounding enviroment atural object, circuit actual motion state information and the circuit actual environment weather information etc. of quantizing of transmission facility real space.Above data entirety could form to be described the panorama of power transmission line.
2, three change demands of line walking function
Line walking function has automation, intellectuality and virtualized three change demands.
Automation: traditional walking operation greatly depends on manual operation and observation, its efficiency and reliability are all greatly limited.Therefore, by work higher to repetition in a large number, dullness and reliability requirement, by take digitlization and standardized line walking data as basis, realize automated information processing, remove larger demand and the dependence to manpower on the one hand, improved on the other hand treatment effeciency and reliability.
Intelligent: with artificial observation, analyze and be judged as basic traditional line walking mode, its information processing and analysis ability are greatly fettered and limit.After realizing line walking Data Digital and standardization, by introducing artificial intelligence technology, in conjunction with association area Subject Knowledge, by the present computer technology, can realize multiple high-grade intelligent fractional analysis processing capacity.
Virtual: the possible system failure of setting is carried out to simulation calculation, the fail safe of verification system, the measure of seeking to improve system reliability, is the traditional approach of security analysis of electric power system.But, in electric power line inspection area of maintenance, owing to relating to the factors such as actual track corridor three-dimensional spatial distribution information, trees geomorphology information and weather information as basis, be difficult to analyze and early warning by simulation calculation.Take digitlization and standardized panorama line walking data as basis, by building virtual scene, line security and reliability etc. are carried out to check analysis and will become following a kind of critical function.
For realizing three change demands of line walking data, three change demands of line walking function, the power transmission line intelligent cruising inspection system that inventor proposes by building based on LiDAR is realized.
Inventor tests after deliberation, propose to set up the power transmission line intelligent cruising inspection system based on LiDAR, make up the deficiency of traditional routine inspection mode by airborne laser radar measuring technique, utilize the high-precision three-dimensional data of airborne laser radar system acquisition, can rapid measuring lines around atural object to the distance of wire, find in time and eliminate potential faults; On the basis of automatically extracting at power line, the automation that can realize dangerous spot detects, and improves greatly the efficiency of patrolling and examining, and saves routing inspection cost, improves administration of power networks level.
According to one embodiment of the invention, provide a kind of power transmission line intelligent cruising inspection system based on LiDAR.As shown in Figure 1, this system comprises:
Three quantitative information acquiring units 101, are suitable for obtaining the three-dimensional quantitative information of transmission facility real space and the actual three-dimensional quantitative information of power transmission line surrounding enviroment atural object, the cloud data that LiDAR provides;
Three-dimensional reconstruction unit 102, is suitable for, based on three-dimensional distributed intelligence and the actual three-dimensional quantitative information of power transmission line surrounding enviroment atural object of quantizing of transmission facility real space, transmission line body and corridor being carried out to three-dimensional reconstruction; And
Intelligent patrol detection analytic unit 103, is suitable for based on three-dimensional reconstruction result, carries out safe distance detection, and carries out safe distance analysis according to safe distance testing result and transmission line safety standard, to not meeting pointing out or reporting to the police of safety standard.
According to one embodiment of the invention, above-mentioned intelligent patrol detection analytic unit 103 is also suitable for: based on three-dimensional reconstruction result and the basic machine account information of transmission line, physical characteristic information, circuit actual motion state information and circuit actual environment weather information, to transmission line safety evaluation under different working conditions, to not meeting pointing out or reporting to the police of safety standard.
According to one embodiment of the invention, above-mentioned intelligent patrol detection analytic unit 103 is also suitable for: based on the three-dimensional reconstruction result of multiple time points, carry out variation monitoring.
According to one embodiment of the invention, the power transmission line intelligent cruising inspection system based on LiDAR also comprises:
Three-dimensional visualization unit 104, is suitable for the operating process of three quantitative information acquiring units 101, three-dimensional reconstruction unit 102 and intelligent patrol detection analytic unit 103 and is shown to user with the result of three-dimensional visible.
With reference to figure 2, function and the realization of the intelligent patrol detection analytic unit of said system are described in detail as follows:
1, data processing:
1) import laser radar point cloud data, for the cloud data in transmission line stringing corridor is provided;
2) import main flow GIS platform vector format data, as ArcGIS shapefile, Autodesk dxf, Google GML etc., for the geodata at transmission line place is provided, are supplementing laser radar point cloud data;
3) import main flow Raster Images formatted data, as GeoTiff, BMP, JPEG etc., image data imports in system, is supplementing laser radar point cloud data;
4) load multiple dissimilar files simultaneously edit, and support the Overlapping display simultaneously such as original boat sheet, some cloud, DOM, line layout figure;
5) cloud data intelligence framing;
6) multi-source Spatial Data is browsed the integrating browsing processing in form same user.
Concrete, airborne laser radar system (being airborne laser radar measuring equipment) can directly gather circuit corridor high-precision laser point cloud and aerial image, except power line and shaft tower cloud data, also comprise other data such as ground point, vegetation, building, road river.
First these original point cloud data need the filtering by cloud data, isolate power line data, further distinguish vegetation, building, road etc., obtain different classes of some cloud system row.By these different classes of some cloud sequences, can obtain the atural object spatial information in dimensional topography landforms and the corridor of high-precision power transmission line corridor, comprise shaft tower, hanging wire point position, electric wire sag, trees, building etc.
Airborne laser radar measuring system can provide high accuracy three-dimensional spatial information, can penetrate vegetation and obtain earth's surface information, and patrol officer can make full use of this information to causing the hidden danger of line security problem and extremely analyzing.
In addition, owing to being subject to the impact of wind direction, temperature, humidity, wire load, conducting wire sag degree can change, conducting wire sag model is not easy to set up, utilizing airborne laser radar measuring technique to obtain data carries out after three-dimensional modeling, can directly measure the distance of sag to trees or barrier, and then determine and how to cut down and removing obstacles.
2, intellectual analysis:
In conjunction with the data after above-mentioned data processing, can realize take present state as the senior applied analysis of basic actual state analysis and senior simulation analysis take the various conditions that prefer hypothesis as basis.Mainly comprise:
1) flight measures plan generation
System labor cost structure, using cost and efficiency etc. as optimization aim, generates reasonably flight and measures plan, comprises that periodically flight measures, state flight measures, emergent flight measures.I.e. measurement plan refers to the flight plan in angle reasonable arrangement helicopter based on cost 1 year.
2) power transmission line intelligent is patrolled and examined
Safe distance detect: obtain after cloud data by helicopter LiDAR, realize safe distance detection, specifically comprise: wire and ground minimum range; Minimum clearance between wire and hillside, cliff, rock; Minimum perpendicular distance between wire and building; Minimum horizontal distance between wire and building; Wire is to vertical range and the horizontal range in railway, each standard highway, tramway, river; Wire is to the distance of scissors crossing (power line, order wire, pipeline and cableway).
Geological disaster detects: surveys and draws by laser radar after the topography and geomorphology in transmission of electricity corridor, according to the comparison of different times data, through intelligently filters and analysis, ANOMALOUS VARIATIONS provided alert, then by manually further examining and processing.
Multi-time Scales variation monitoring: for transmission facility, such as shaft tower etc., according to three-dimensional measuring information, and compare historical threedimensional model information, detect its possible ANOMALOUS VARIATIONS, the inclination of for example shaft tower.For the available shaft tower inclination of power transmission and transformation on-line monitoring system monitoring information, cross three-dimensional comparison according to this information exchange and verify.
Soil illegally uses: mankind's activity has threat equally for the safe operation of transmission line, and especially transmit electricity corridor and near building thereof are particularly built etc. in violation of rules and regulations.Find relevant information by the comparison of threedimensional model information automatic analysis, can be manager authentic communication is provided.
Patrol and examine information integral management: by the threedimensional model of transmission facility, using high-precision physical model and environment as the carrier of data correlation, machine account, patrol record, defect record, online data and Decision-making of Condition-based Maintenance etc. are carried out to vivid integrally exhibiting and management.
3) line security simulation early warning
Meteorological simulation safe early warning: the data such as meteorology, icing or wind pendulum, sag and power transmission and transforming equipment on-line monitoring system are formulated to unified interface, and set trigger condition.When state information change meets trigger condition, triggering system is carried out automatic imitation verification, check power transmission line under this condition with around the safe distance such as vegetation, building whether meet the requirements.For still unlapped region of power transmission and transformation state-detection, carry out safety check by modeling analysis.
By with the Typhoon Analysis of power grid GIS platform, flood the interaction datas such as analysis, according to provided typhoon grade course etc., or water logging height Water-Body Information, analyze judgement in conjunction with the equipment real space environment of LiDAR mapping.
Vegetation growth simulation early warning: for different types of vegetation, periphery weather conditions, by simulating its speed of growth, judge its potential safety hazard and safe time limit etc. to transmission line.
Trees are toppled over simulation early warning: for power transmission line vegetation around, take measure height point and ground square crossing point line as radius, judge between hemisphere face and power transmission line, whether distance meets safety requirements, trees cause the accident at the severeest possibility in situation of toppling over.
Geological disaster simulation early warning: by specifying the conditions such as region and operating condition, simulation in geological disaster (landslide, mud-rock flow, the flood) situation of certain grade, the infringement that may cause transmission line and equipment and possible potential safety hazard.
4) line security production monitoring
Load increase-volume is analyzed: by with the information interaction of dispatch automated system, obtain the actual trend power of transmission line, and the information such as conductor temperature, conducting wire sag and ambient temperature of providing in conjunction with power transmission and transformation condition monitoring system, according to the actual state of circuit periphery atural object, calculate the maximum magnitude of line load increase-volume, for scheduling provides decision-making foundation.
Operating condition simulation: based on measuring the high accuracy sag threedimensional model obtaining, combining environmental weather and vegetation state, simulate the circuit operating condition of specifying, determines line-sag and the relevant each safe distance index of circuit under this operating mode.
Facility environment is analyzed: the equipment (for example shaft tower) in same type, producer, life-span, due to differences such as geographical environment of living in, weather conditions, mounting means and force way, its state may differ widely.By with Production Managementsystem For Electricpower Network interactive device account information, defect information etc., identify the characteristic informations such as the concrete geographical environment of each equipment, mounting means, force way according to cloud data, for repair based on condition of component provides abundanter foundation.
Safe correlation analysis: by comparison historical statistical data, extract common information for line fault, such as geogen, operational mode factor, climatic factor etc., by these factors being carried out to correlation analysis, identify potential fault region occurred frequently and condition.
Equipment outdoor scene is made an inventory: for equipment account information, the scissors crossing information of Production Managementsystem For Electricpower Network record, line upkeep is retired, equipment replacement is moved etc., in information-change maintenance process frequently, cause unavoidably information and on-the-spot actual incongruent situation, three-dimensional modeling data by with the corresponding relation of equipment entity and environment, can provide the measure of making an inventory based on outdoor scene, the difference of discovery correction of data information and actual state.
5) emergency command management
Fault three-dimensional localization: for example, when line failure (tree sudden strain of a muscle, short trouble), the fault Probability Area information providing according to power grid GIS platform topological analysis function, transfer the three-dimensional modeling data in actual transmission of electricity corridor, this region, can auxiliary judgment failure cause, type and accurate location, for scheduling and emergency first-aid repair provide foundation.
Fault three-dimensional environment is analyzed: to topography and geomorphology and the vegetation etc. of the position of fault periphery environment analysis of building together, for the formulation of the personnel of repairing, equipment, embodiment provides foundation.
Disaster net assessment: for example, after disaster occurs (earthquake), scope is wide, degree is large because transmission line is damaged, needs to start emergent flight and measures, and the very first time is obtained the actual three-dimensional modeling data of devastated transmission line.By the analysis to real data, assessment damage situation is to formulate repairing plan.
Emergency preplan dynamically generates: analyze according to fault three-dimensional localization and fault three-dimensional environment, or after disaster, obtain after disaster net assessment, in conjunction with PMS and the production that provides of scheduling and real time data and the planning of operation, dynamically generate emergency first-aid repair prediction scheme, provide support to the emergency first-aid repair function of GIS platform.
3, three-dimensional visible
The mankind get used to three-dimensional view and the problem analysis with daily life, be therefore shown as operations staff for the three-dimensional image of three-dimensional line walking data and analysis simulation result instrument is easily provided.
In the plane transmission line exhibition method based on two-dimension GIS in the past, the data mediums such as the information providing and chart, drawing there is no essential distinction.And show based on the three-dimensional panorama of laser radar surveying and mapping data, give online operating analysis personnel in high-precision mode by on-the-spot outdoor scene, without just indirect labor's observation and decision-making greatly of field work, greatly improve fail safe and efficiency.On this basis, the result of simulation analysis is combined to displaying with actual relevant device entity and place, the operating analysis personnel's that are also more convenient for processing and judgement.In addition, the important information of other relevant information system also can be integrated unified displaying with display platform comprehensively.And interaction platform corresponding with display platform, for operations staff provides and intelligent patrol detection data platform and the closely channel of interaction of various senior applied analysis function.
According to one embodiment of the invention, provide a kind of power transmission line intelligent based on LiDAR to patrol and examine process, as shown in Figure 3, specifically describe as follows:
S1: data acquisition and processing
Helicopter three-dimensional laser radar measuring system is the novel three-dimensional space data collection means of a kind of quick obtaining high resolution image data simultaneously and high-precision laser cloud data, is the at present unique quick mapping means that can accurately recover circuit corridor landform, landforms, atural object, overhead line structures position shape, line-sag simultaneously.Data processing is obtained three-dimensional distributed intelligence and the actual three-dimensional quantitative information of power transmission line surrounding enviroment atural object of quantizing of transmission facility real space by the measurement of helicopter three-dimensional laser radar.
Simultaneously by with Production Managementsystem For Electricpower Network interface, obtain the basic machine account information of transmission line, physical characteristic information, circuit actual motion state information and circuit actual environment weather information etc.
S2: transmission line body and corridor three-dimensional reconstruction
Based on the cloud data of helicopter-mounted Laser Radar Scanning, carry out transmission line body and corridor three-dimensional reconstruction, comprise atural object three-dimensional reconstruction in terrain reconstruction, this volume reconstruction of transmission line and corridor.
S3: transmission line Calculation of Safety Distance
The a large amount of transmission line obtaining after transmission line being scanned based on Helicopter bone laser radar and the three-dimensional laser point cloud data of gallery, measure space length, the space length of scissors crossing etc. between power equipment and circuit corridor atural object, carry out safe distance analysis according to transmission line safety standard.
(1) three dimensions measures: comprise that any two points two dimension, three-dimensional distance measure, any two points discrepancy in elevation measures; Laser spots on line of vector arbitrarily positional distance measure; Laser spots measures to line of vector beeline; Laser spots measures to DEM optional position; Laser spots measures to DEM beeline; Line of vector optional position distance measuring; Line of vector beeline measures.
(2) buffering area safe distance detects: except artificial measuring function, system also will provide a series of automation circuits buffering area safe distance measuring ability based on computer graphics algorithm.Power transmission line based on Octree detects apart from atural object (earth's surface, vegetation, house) safe distance; Adjacent two-phase separation and discrepancy in elevation safe distance detect; Overhead ground wire to safe distance between wire detects.
(3) sectional drawing analysis: self-defined transverse and longitudinal sectional drawing calculates, the plotting that comprises the information such as turning point, turn direction angle, place name, characters of ground object, leap; Specify Spacing or the automation sectional drawing of designated key measurement point calculates; Based on sectional distance measuring function.
(4) sag matching: extract sag minimum point single or institute's live wire laser spots, detect its distance of atural object extremely around; By single or all power lines take catenary form least square fitting as B-spline spline curve model.
S4: transmission line safety evaluation and warning intelligent analysis under different working conditions
(1) safe condition based on climate parameter detects: for the wire variation model of icing and windage yaw two class weather conditions, calculate and change the safe condition of rear wire for surrounding terrain and atural object.
(2) vegetation dangerous spot monitoring: the trees based on the height of tree, high-precision DEM and electric wire electricity tower position are toppled over analysis and early warning.
(3) transmission line compatibilization is analyzed: by with the information interaction of dispatching patcher, obtain the actual trend power of transmission line, and the information such as conductor temperature, conducting wire sag and ambient temperature of providing in conjunction with power transmission and transformation condition monitoring system, according to the actual state of circuit periphery atural object, calculate the maximum magnitude of line load increase-volume, for scheduling provides decision-making foundation.
(4) multi-time Scales power transmission line corridor variation monitoring: by timing analysis and trend-monitoring for transmission of electricity corridor circuit and atural object, find in time the geological disaster hidden danger existing in transmission of electricity corridor and make in time precautionary measures.
Based on said process, according to one embodiment of the invention, provide a kind of power transmission line intelligent method for inspecting based on LiDAR.As shown in Figure 4, the method S10 comprises:
S11, obtain three-dimensional distributed intelligence and the actual three-dimensional quantitative information of power transmission line surrounding enviroment atural object of quantizing of transmission facility real space; For example obtain above-mentioned information by airborne laser radar measurement;
S12, based on three-dimensional distributed intelligence and the actual three-dimensional quantitative information of power transmission line surrounding enviroment atural object (cloud data) of quantizing of transmission facility real space, transmission line body and corridor are carried out to three-dimensional reconstruction; Three-dimensional reconstruction for example comprises: atural object three-dimensional reconstruction in terrain reconstruction, this volume reconstruction of transmission line and corridor;
S13, based on three-dimensional reconstruction result, carry out safe distance detection, for example measure the space length between power equipment and circuit corridor atural object, the space length of scissors crossing, and carry out safe distance analysis according to safe distance testing result and transmission line safety standard, to not meeting pointing out or reporting to the police of safety standard;
S14, based on three-dimensional reconstruction result and the basic machine account information of transmission line, physical characteristic information, circuit actual motion state information and circuit actual environment weather information, to transmission line safety evaluation under different working conditions, to not meeting pointing out or reporting to the police of safety standard.
Wherein, transmission line safety evaluation under different working conditions is further comprised in step S14:
(1) safe condition based on climate parameter detects: for the wire variation model of icing and windage yaw two class weather conditions, calculate and change safe distance and the safe condition of rear wire for surrounding terrain and atural object;
(2) vegetation dangerous spot monitoring: the trees based on the height of tree, high-precision DEM and electric wire electricity tower position are toppled over analysis and early warning.First utilize Octree principle to carry out neighbor point retrieval, the nearest vegetation point of each point in search and power transmission line point cloud respectively, then calculates the vertical space distance of the most contiguous vegetation point and power transmission line.By the space length resolving in conjunction with the growth model of vegetation respectively with safe distance comparison, in the time that space length is greater than safe distance, shows transmission line safety, and judge the safe time limit of this section of circuit according to growth model, otherwise, think that this section of transmission line exists potential safety hazard.
(3) transmission line compatibilization is analyzed: (for example obtain the actual trend power of transmission line, by with the information interaction of dispatch automated system), and the information such as conductor temperature, conducting wire sag and ambient temperature of providing in conjunction with power transmission and transformation condition monitoring system, according to the actual state of circuit periphery atural object, calculate the maximum magnitude of line load increase-volume, for scheduling provides decision-making foundation.In conjunction with the horizontal range obtaining under present load, calculate under safe distance the distance on the most neighboringly object point and power transmission line vertical direction according to triangle geometry principle.Get under present load and safety limit the most neighboringly object point and power transmission line distance in vertical direction, the load of describing in conjunction with sag mechanical model and the function of power transmission line sag Degree of Accord Relation can be determined the maximum increase-volume scope of power transmission line.
(4) multi-time Scales power transmission line corridor variation monitoring: by timing analysis and trend-monitoring for transmission of electricity corridor circuit and atural object, find in time the geological disaster hidden danger existing in transmission of electricity corridor and make in time precautionary measures.
It will be understood by those skilled in the art that, under certain applied environment, safe distance determination and analysis is required function, thereby above-mentioned steps S14 is optional; Under another kind of applied environment, be required function to transmission line safety evaluation under different working conditions, thereby step S13 is optional.
Should be noted that and understand, in the situation that not departing from the desired the spirit and scope of the present invention of accompanying claim, can make various modifications and improvement to the present invention of foregoing detailed description.Therefore, the scope of claimed technical scheme is not subject to the restriction of given any specific exemplary teachings.
Claims (10)
1. the power transmission line intelligent cruising inspection system based on LiDAR, comprising:
Three quantitative information acquiring units, are suitable for obtaining the three-dimensional quantitative information of transmission facility real space and the actual three-dimensional quantitative information of power transmission line surrounding enviroment atural object, the cloud data that LiDAR provides;
Three-dimensional reconstruction unit, is suitable for, based on three-dimensional distributed intelligence and the actual three-dimensional quantitative information of power transmission line surrounding enviroment atural object of quantizing of transmission facility real space, transmission line body and corridor being carried out to three-dimensional reconstruction; And
Intelligent patrol detection analytic unit, is suitable for based on three-dimensional reconstruction result, carries out safe distance detection, and carries out safe distance analysis according to safe distance testing result and transmission line safety standard, to not meeting pointing out or reporting to the police of safety standard.
2. the power transmission line intelligent cruising inspection system based on LiDAR as claimed in claim 1, wherein, described intelligent patrol detection analytic unit is also suitable for:
Based on three-dimensional reconstruction result and the basic machine account information of transmission line, physical characteristic information, circuit actual motion state information and circuit actual environment weather information, to transmission line safety evaluation under different working conditions, to not meeting pointing out or reporting to the police of safety standard.
3. the power transmission line intelligent cruising inspection system based on LiDAR as claimed in claim 1, wherein, described intelligent patrol detection analytic unit is also suitable for:
Based on the three-dimensional reconstruction result of multiple time points, carry out variation monitoring.
4. the power transmission line intelligent cruising inspection system based on LiDAR as claimed in claim 1, also comprises:
Three-dimensional visualization unit, is suitable for the operating process of three quantitative information acquiring units, three-dimensional reconstruction unit and intelligent patrol detection analytic unit and is shown to user with the result of three-dimensional visible.
5. the power transmission line intelligent cruising inspection system based on LiDAR as claimed in claim 1, wherein, described three quantitative information acquiring units are also suitable for obtaining main flow GIS platform vector format data and main flow Raster Images formatted data, for the geodata at transmission line place is provided, the supplementing of the cloud data providing as LiDAR.
6. the power transmission line intelligent method for inspecting based on LiDAR, comprising:
Step 1, obtain the three-dimensional quantitative information of transmission facility real space and the actual three-dimensional quantitative information of power transmission line surrounding enviroment atural object, wherein, the cloud data that described three-dimensional quantitative information provides for LiDAR;
Step 2, based on three-dimensional distributed intelligence and the actual three-dimensional quantitative information of power transmission line surrounding enviroment atural object of quantizing of transmission facility real space, transmission line body and corridor are carried out to three-dimensional reconstruction; With
Step 3, based on three-dimensional reconstruction result, carry out safe distance detection, and carry out safe distance analysis according to safe distance testing result and transmission line safety standard, to not meeting pointing out or reporting to the police of safety standard; Or
Based on three-dimensional reconstruction result and the basic machine account information of transmission line, physical characteristic information, circuit actual motion state information and circuit actual environment weather information, to transmission line safety evaluation under different working conditions, to not meeting pointing out or reporting to the police of safety standard; Or
Based on the three-dimensional reconstruction result of multiple time points, carry out variation monitoring.
7. the power transmission line intelligent method for inspecting based on LiDAR as claimed in claim 6, wherein, comprises transmission line safety evaluation under different working conditions:
Safe condition based on climate parameter detects:
For the wire variation model of icing and windage yaw two class weather conditions, calculate and change safe distance and the safe condition of rear wire for surrounding terrain and atural object.
8. the power transmission line intelligent method for inspecting based on LiDAR as claimed in claim 6, wherein, comprises transmission line safety evaluation under different working conditions:
The monitoring of vegetation dangerous spot:
First utilize Octree principle to carry out neighbor point retrieval, respectively the nearest vegetation point of each point in search and power transmission line point cloud;
Then calculate the vertical space distance of the most contiguous vegetation point and power transmission line;
By the space length resolving in conjunction with the growth model of vegetation respectively with safe distance comparison, in the time that space length is greater than safe distance, shows transmission line safety, and judge the safe time limit of this section of circuit according to growth model, otherwise, judge that this section of transmission line exists potential safety hazard.
9. the power transmission line intelligent method for inspecting based on LiDAR as claimed in claim 6, wherein, comprises transmission line safety evaluation under different working conditions:
Transmission line compatibilization is analyzed:
Obtain the actual trend power of transmission line, conductor temperature, conducting wire sag and ambient temperature, according to the actual state of circuit periphery atural object, calculate the maximum magnitude of line load increase-volume.
10. the power transmission line intelligent method for inspecting based on LiDAR as claimed in claim 6, wherein, variation monitoring comprises:
Geological disaster detects: based on the three-dimensional reconstruction result in transmission of electricity corridor, according to the comparison of different times data, ANOMALOUS VARIATIONS is provided alert;
Multi-time Scales variation monitoring: for transmission facility, according to three-dimensional reconstruction result, and compare historical threedimensional model information, detect its possible ANOMALOUS VARIATIONS; Or
Soil illegally uses: for transmission of electricity corridor and near building thereof, find relevant architecture against regulations information by the comparison of threedimensional model information automatic analysis.
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