CN109390873A - A method of predicting that screen of trees is threatened using point cloud data in electric transmission line channel - Google Patents
A method of predicting that screen of trees is threatened using point cloud data in electric transmission line channel Download PDFInfo
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- CN109390873A CN109390873A CN201811460065.9A CN201811460065A CN109390873A CN 109390873 A CN109390873 A CN 109390873A CN 201811460065 A CN201811460065 A CN 201811460065A CN 109390873 A CN109390873 A CN 109390873A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
Abstract
The invention discloses a kind of to predict the method that screen of trees threatens using point cloud data in electric transmission line channel, it includes: to extract shaft tower point, power transmission line point and vegetation point after the visible images point cloudization processing of shooting when carrying out inspection to electric transmission line channel with unmanned plane；Using every adjacent two base shaft tower as basic unit, the power transmission line in each basic unit is evenly dividing into several segments on two-dimensional surface, chooses the central point of each segment as center of mass point；Successively calculate each center of mass point to each vegetation marginal point of surrounding distance, minimum range as the segment power transmission line between surrounding vegetation at a distance from；The safety distance threshold of power transmission line is formulated, whether the transmission line of electricity has screen of trees threat according to the Distance Judgment between safe distance threshold values and power transmission line and surrounding vegetation；The disadvantages of solving the prior art uses airborne laser radar to need to be mounted on large-scale unmanned plane, and laser radar apparatus is expensive, inconvenient to carry.
Description
Technical field
The invention belongs to Maintenance of Electric Transmission Line technology more particularly to it is a kind of using point cloud data in electric transmission line channel come pre-
Survey the method that screen of trees threatens.
Background technique
Overhead transmission line is the important component of power grid, and most overhead transmission line is established complicated in environment
Mountain and forest region, there is biggish security risks sometimes to transmission line of electricity for the vegetation in mountain area.Such as when trees and power transmission line
When distance is less than safe distance, it is easy to cause the electric power safeties accidents such as tripping, short circuit, threatens the fortune of the safety and stability of electric system
Row.It therefore, is a very important job in transmission line of electricity operational management to the monitoring of conducting wire safe distance.However, in vegetation
The growth of trees is that continuously, this needs operation maintenance personnel every year regularly to carry out electric transmission line channel to patrol at all seasons
Look into work.If patrol number not enough or inspection not in time, and the trees and vegetation to surrounding the speed of growth it is not anticipated that
Prediction and estimation, the potential screen of trees point in electric transmission line channel corridor is just difficult to be removed in time, this will threaten route
Safe operation.
Tradition checks screen of trees in a manner of manual inspection, large labor intensity, and routing inspection efficiency is low.By being based on
The image data that the sensor of common unmanned plane obtains can carry out defect to such as transmission line equipments such as insulator, fitting
Detection, but it is difficult have the three-dimensional space measurement capability such as distance to the ground or scissors crossing.Although being nowadays based on unmanned plane laser
Scanning technique have been relatively mature, and can effectively measure to power transmission line corridor atural object dangerous point, scissors crossing.But
The disadvantages of airborne laser radar needs to be mounted on large-scale unmanned plane, and laser radar apparatus is expensive, inconvenient to carry,
Laser radar apparatus is constrained in the application in polling transmission line field.In addition, overhead transmission line and shaft tower are typically found at ground
Shape complexity, meagrely-populated mountain area or hilly country, this brings greatly difficult and challenge to electric inspection process work.
Summary of the invention:
The technical problem to be solved by the present invention is providing a kind of screen of trees is predicted using point cloud data in electric transmission line channel
The method of threat needs to be mounted on large-scale unmanned plane to solve the prior art using airborne laser radar, and laser radar
The disadvantages of equipment price is expensive, inconvenient to carry, constrains laser radar apparatus in the application in polling transmission line field；It is aerial
Power transmission line and shaft tower are typically found at a varied topography, meagrely-populated mountain area or hilly country, this comes to electric inspection process work belt
The technical problems such as great difficult and challenge.
Technical solution of the present invention:
A method of predicting that screen of trees is threatened using point cloud data in electric transmission line channel, it includes:
Step 1, the operation maintenance personnel visible light of unmanned plane shooting when different times carry out inspection to electric transmission line channel
After the processing of picture point cloudization, point cloud data is pre-processed；Shaft tower point, power transmission line are extracted from original point cloud data
Point, ground point, building object point and vegetation point；
Step 2 filters out ground point and building object point retention bar tower point, power transmission line point and vegetation point respectively；
Step 3, using every adjacent two base shaft tower as basic unit, the power transmission line in each basic unit on two-dimensional surface
Several segments are evenly dividing into, choose the central point of each segment as center of mass point；
Step 4, according to the three-dimensional coordinate of the three-dimensional coordinate of each center of mass point and each vegetation point of surrounding, successively calculate every
A center of mass point to each vegetation marginal point of surrounding distance, using the minimum range being calculated as the segment power transmission line and surrounding
Distance between vegetation；
Step 5, the database for establishing distance between vegetation and power transmission line in an electric transmission line channel；
Step 6, the safety distance threshold for formulating power transmission line, according between safe distance threshold values and power transmission line and surrounding vegetation
Whether the Distance Judgment transmission line of electricity has screen of trees threat.
It is described that shaft tower point, power transmission line point, ground point, building object point and vegetation point are extracted from original point cloud data,
The method for filtering out ground point respectively and building object point retention bar tower point, power transmission line point and vegetation point are as follows:
Step 2.1 isolates ground point and non-ground points, non-ground points in original point cloud data using filtering method and is then
Shaft tower point, power transmission line point, building object point and vegetation point；
Step 2.2, filtering ground point, remaining point cloud data are non-ground points；
The point cloud data of step 2.3, utilization orientation feature, shaft tower has rod like features, in the characteristic value ratio of vertical direction
Maximum isolates shaft tower point cloud data using direction character；Using Dimension Characteristics, vegetation point and building object point are extracted；According to
Vegetation point is sphere-like object in the spatial display of point cloud data, and building object point is area target in the spatial display of point cloud data,
To respectively be isolated by vegetation point and building object point.
According to the three-dimensional coordinate of the three-dimensional coordinate of each center of mass point and each vegetation point of surrounding described in step 4, successively calculate
Out each center of mass point to each vegetation marginal point of surrounding distance, using the minimum range being calculated as the segment power transmission line with
The method of distance between surrounding vegetation are as follows: using the center of mass point of each segment power transmission line obtained in step 3, obtain each segment
Power transmission line surrounding local maxima elevational point, the Local Vertex as target vegetation.Elevation between adjacent local vegetation vertex is become
Change marginal point of the maximum point as vegetation.It then can be according to the three-dimensional coordinate and surrounding of center of mass point in each basic unit
The three-dimensional coordinate of each vegetation point, successively calculate each center of mass point to each vegetation marginal point of surrounding distance.It will calculate
The minimum range arrived as the segment power transmission line between surrounding vegetation at a distance from.
The method for formulating the safety distance threshold of power transmission line are as follows: according to " DL/T 741-2010 overhead transmission line operation rule
Journey " formulates the power transmission line to the voltage class of safe distance limit value and target power transmission line that the power transmission line of different voltages grade is formulated
Safety distance threshold.
It further include:
Step 7, using the historical data of distance change value between the different times vegetation obtained and power transmission line, use is secondary
The method of moving average predicts the variation tendency of the following distance, specifically: according to every section of transmission of electricity being partitioned on the power transmission line of acquisition
The numerical value of route and the vegetation shortest distance away from around, using double moving average, vegetation when to next unknown polling period
Speed of growth trend is predicted.
The invention has the advantages that:
The present invention turns the process of point cloud data by the image that miniature drone is shot, and carries out at the later period again to point cloud data
Reason, to realize economy, quickly and correctly position the monitoring method for having screen of trees hidden danger point in electric transmission line channel, main thought
Be: about unmanned plane equipment application in the safety patrol inspection of power transmission line, the airborne laser radar scanning system that compares obtains defeated
The three-dimensional coordinate of atural object and power transmission line and shaft tower in electric wire paths, using miniature drone at low cost, inspection is flexible
The advantages that.The present invention carries out Image Acquisition to transmission line of electricity using miniature drone, then carries out image to the image of acquisition and turns
Point cloud operation, then classifies to point cloud data, is broadly divided into five kinds of power transmission line, shaft tower, vegetation, ground and building classifications.
After the point cloud data for filtering out ground and Building class, the power transmission line point, shaft tower point and the vegetation that are only remained in electric transmission line channel
The point cloud data of point.Using every two base phases neighbour shaft tower as basic unit, two-dimensional space division is carried out to the power transmission line in basic unit:
One section of power transmission line is divided into several segments in horizontal plane, using the center of each power transmission line segment as node, according to it
The three-dimensional coordinate of three-dimensional coordinate and surrounding vegetation point calculates egress at a distance from surrounding vegetation point.Then according to " DL/T741-
2010 overhead transmission line operating standards " to the protection zone range that wire voltage grades at different levels are formulated, judge node to vegetation
The distance of point, if distance is less than safe distance, shows there is screen of trees point herein, in conjunction with basic unit whether within safe distance
Interior all nodes as a result, special color shows all screen of trees points for being less than safe distance with power transmission line nodal distance.It is mentioned with this
Route operation maintenance personnel of waking up removes screen of trees point bring line security hidden danger in time；The prior art is solved using airborne laser radar
It needs to be mounted on large-scale unmanned plane, and the disadvantages of laser radar apparatus is expensive, inconvenient to carry, constrains laser thunder
Application up to equipment in polling transmission line field；Overhead transmission line and shaft tower are typically found at a varied topography, meagrely-populated
Mountain area or hilly country, this brings the technical problems such as greatly difficult and challenge to electric inspection process work.
Specific embodiment
A method of predicting that screen of trees is threatened using point cloud data in electric transmission line channel, it includes:
Step 1, to operation maintenance personnel with unmanned plane when different times carry out inspection to electric transmission line channel shooting it is visible
After the processing of light image point cloudization, point cloud data is pre-processed.Shaft tower point, power transmission line are extracted from original point cloud data
Point and culture point (ground point, building object point and vegetation point).Specific step is as follows:
Ground point and non-ground points in original point cloud data are isolated using filtering method, wherein non-ground points mainly include
For shaft tower point, power transmission line point, building object point and vegetation point.
Ground point is filtered, remaining point cloud data is non-ground points.Then utilization orientation feature, the point cloud data tool of shaft tower
There are rod like features, it is bigger in the characteristic value of vertical direction, therefore shaft tower point cloud data can be isolated using direction character；Benefit
With Dimension Characteristics, vegetation point and building object point are extracted；According to vegetation point point cloud data spatial display be sphere-like object, build
It is area target that object point, which is built, in the spatial display of point cloud data, to respectively be isolated by vegetation point and building object point.
Step 2, after the processing of turning point cloudization in resulting all point cloud datas, using method described in step 1, mistake respectively
After filtering ground point and building object point, only retain shaft tower point, power transmission line point and vegetation point
Step 3, using every adjacent two base shaft tower as basic unit, the power transmission line in each basic unit on two-dimensional surface
It is evenly dividing into segment one by one, the length of each segment is 2 meters, to guarantee the precision of prediction result.Choose each segment
Central point is as center of mass point；Length is greater than 2 meters, and prediction result error will increase；Less than 2 meters calculation amounts can greatly increase, and influence
Calculating speed and real-time.
Step 4, using the center of mass point of each segment power transmission line obtained in step 3, obtain each segment power transmission line surrounding
Local maxima elevational point, the Local Vertex as target vegetation；Elevation between adjacent local vegetation vertex is changed maximum point
Marginal point as vegetation.It then can be according to each vegetation point of three-dimensional coordinate and surrounding of center of mass point in each basic unit
Three-dimensional coordinate, successively calculate each center of mass point to each vegetation marginal point of surrounding distance.The most narrow spacing that will be calculated
From as the segment power transmission line between surrounding vegetation at a distance from.
Step 5, the data obtained in step 4, establish in an electric transmission line channel distance between vegetation and power transmission line
Database.The database predicts vegetation growth speed trend after being, provides data supporting.
Step 6, basis " DL/T 741-2010 overhead transmission line operating standard " are to the power transmission line system of different voltages grade
The voltage class of fixed safe distance limit value and target power transmission line, formulates the safety distance threshold of the power transmission line.If step 4 is fallen into a trap
Calculate some center of mass point between surrounding vegetation at a distance from be less than threshold value, then show that the center of mass point has screen of trees risk.The mass center
The vegetation point for being each less than threshold value with center of mass point distance around point is shown as red, shows to remind herein for screen of trees point with this
Route operation maintenance personnel needs that screen of trees point is trimmed or removed immediately.
Step 7, to the numerical value of each node for being partitioned on the power transmission line of acquisition and the vegetation shortest distance away from around, use
Double moving average, the speed of growth trend of vegetation is predicted when to next unknown polling period.
There is polling period length, difficulty in view of work of each polling transmission line personnel to screen of trees hidden troubles removing in channel
Greatly, time-consuming, laborious feature, therefore in the mathematical model of selection prediction vegetation growth speed, need to consider mathematical model with
The accuracy of complexity and mathematical model prediction vegetation future growth tendency that Computer Inspection check system combines.This patent is chosen
Double moving average be a kind of time series forecasting advanced form.It is built upon simple Single moving average method
On the basis of, rolling average carried out again to Single moving average value, and according to obtain before real history value, Single moving average
Lagged relationship between value, Double moving average value establishes the mathematical model of prediction future trend.The calculating of the mathematical model is difficult
It spends not sufficiently complex, and Single moving average method can be eliminated can only predict the limitation of next phase according to historical data, solve
The phenomenon that Single moving average method of having determined cannot be used for visible trend variation, improves the accuracy of prediction.
Double moving average implementation method are as follows:
Yt+ T=at+T*bt
Wherein YtPredicted value when+T is the t+T phase；T is current period；T is current period to the interval during prediction
Month；at、btIt is all parameter.
M′t、M″tIt is expressed as the Single moving average value being calculated with arithmetic mean number and Double moving average
Value.Calculating process is as follows:
Wherein xtThe actual value observed when being t-th month；N is moving average across the phase, and numerical value can be according to reality
Border situation is adjusted；M′tIt is the average value that t actual value is observed in t months.
Secondly, working as changing value of the vegetation at a distance from power transmission line is within continuous a period of time in electric transmission line channel can fall in
It, can be according to truthful data, Single moving average value and the secondary movement that history inspection obtains when around one ramp type straight line
The lagged relationship of average value obtains relationship mutual between them:
Xt–M′t=M 't–M″t
Xt=M 't+(M″t-M″t)=2M 't–M″t
Enable at=xt, then at=M 't+(M′t–M″t)=2M 't–M″t①
atRepresent the difference for having found out the average of t phase plus Single moving average number and Double moving average number
Value, so that atIt can be close in the actual value of t phase.To make the predicted value after the T phase, then T Trend value b is addedt。
When historical data values have inclined linear trend, the data difference in any two neighboring period is equal.Because
xt–xt-1=bt=> xt-1=xt–bt
Similarly xt-2=xt-1–bt=xt–2bt…xt-n+1=xt-n+2–bt=xt–(n-1)bt
Because of the historical data of t phase and the lagged value of Single moving average number are as follows:
Similarly
M′t–M′t-1=xt–xt-1=bt；
M′t-1=M 't–bt
It can similarly push away:
M′t-2=M 't–2bt
…
M′t-(n-1)=M 't–(n-1)bt
And
So
According to 1. and 2. can obtaining
After 3. the prediction model of vegetation growth speed is established, applied to the power transmission line obtained in invention content 1
The numerical value of each node of upper segmentation and the vegetation shortest distance away from around, predicts target power transmission line in next phase polling period with this
Whether there is new screen of trees point to generate in paths.Finally according to mean square error methodology (MSE) as number of the present invention
Prediction model is learned for the judgment criteria of vegetation growth trend prediction precision: mean square error is smaller, illustrates that mathematical prediction model is got over
Accurately.The present invention predicts vegetation growth trend case using double moving average:
Using Guizhou 220kV circuit pack laser point cloud data as experimental data set, with double moving average
Prediction vegetation growth the results are shown in Table one:
Table one
The invention has the advantages that
Screen of trees hidden danger rank around power transmission line can be accurately determined first, then can predict the speed of growth of vegetation, thus real
Now predict whether the vegetation in the inspection of electric power operation maintenance personnel next period, in electric transmission line channel can threaten the operation of transmission line of electricity to pacify
Entirely, the screen of trees prediction technique of use, can be very good to judge whether the vegetation growth in transmission line of electricity threatens transmission line of electricity
Operational safety, and the speed of growth of vegetation can also be predicted, power transmission line operation maintenance personnel is helped to understand current power transmission line in time
The growing state of vegetation in paths needs trimming, cleaning to provide the reference of time, to ensure electric system energy for vegetation next time
Enough safely and steadily run.
Claims (5)
1. a kind of method predicting screen of trees using point cloud data in electric transmission line channel and threatening, it includes:
Step 1, the operation maintenance personnel visible images of unmanned plane shooting when different times carry out inspection to electric transmission line channel
After point cloudization processing, point cloud data is pre-processed；Extracted from original point cloud data shaft tower point, power transmission line point,
Millet cake, building object point and vegetation point；
Step 2 filters out ground point and building object point retention bar tower point, power transmission line point and vegetation point respectively；
Step 3, using every adjacent two base shaft tower as basic unit, it is on two-dimensional surface that the power transmission line in each basic unit is uniform
Several segments are divided into, choose the central point of each segment as center of mass point；
Step 4, according to the three-dimensional coordinate of the three-dimensional coordinate of each center of mass point and each vegetation point of surrounding, successively calculate each matter
Heart point to each vegetation marginal point of surrounding distance, using the minimum range being calculated as the segment power transmission line and surrounding vegetation
Between distance；
Step 5, the database for establishing distance between vegetation and power transmission line in an electric transmission line channel；
Step 6, formulate power transmission line safety distance threshold, according to safe distance threshold values and power transmission line between surrounding vegetation at a distance from
Judge whether the transmission line of electricity has screen of trees threat.
2. a kind of method predicting screen of trees using point cloud data in electric transmission line channel and threatening according to claim 1,
It is characterized by: described extract shaft tower point, power transmission line point, ground point, building object point and vegetation from original point cloud data
Point, the method for filtering out ground point respectively and building object point retention bar tower point, power transmission line point and vegetation point are as follows:
Step 2.1 isolates ground point and non-ground points in original point cloud data using filtering method, and non-ground points are then shaft tower
Point, power transmission line point, building object point and vegetation point；
Step 2.2, filtering ground point, remaining point cloud data are non-ground points；
The point cloud data of step 2.3, utilization orientation feature, shaft tower has rod like features, maximum in the characteristic value ratio of vertical direction,
Shaft tower point cloud data is isolated using direction character；Using Dimension Characteristics, vegetation point and building object point are extracted；According to vegetation point
It is sphere-like object in the spatial display of point cloud data, building object point is area target in the spatial display of point cloud data, thus point
Vegetation point and building object point are not isolated.
3. a kind of method predicting screen of trees using point cloud data in electric transmission line channel and threatening according to claim 1,
It is characterized by: successively being counted described in step 4 according to the three-dimensional coordinate of the three-dimensional coordinate of each center of mass point and each vegetation point of surrounding
Calculate each center of mass point to each vegetation marginal point of surrounding distance, using the minimum range being calculated as the segment power transmission line
Method at a distance between vegetation around are as follows: using the center of mass point of each segment power transmission line obtained in step 3, obtain each small
Section power transmission line surrounding local maxima elevational point, the Local Vertex as target vegetation.Elevation between adjacent local vegetation vertex
Change marginal point of the maximum point as vegetation.It then can three-dimensional coordinate according to center of mass point in each basic unit and week
The three-dimensional coordinate for enclosing each vegetation point, successively calculate each center of mass point to each vegetation marginal point of surrounding distance.It will calculate
Obtained minimum range as the segment power transmission line between surrounding vegetation at a distance from.
4. a kind of method predicting screen of trees using point cloud data in electric transmission line channel and threatening according to claim 1,
It is characterized by: the method for formulating the safety distance threshold of power transmission line are as follows: according to " DL/T 741-2010 overhead transmission line road transport
Professional etiquette journey " it is defeated to formulate this to the voltage class of safe distance limit value and target power transmission line that the power transmission line of different voltages grade is formulated
The safety distance threshold of electric wire.
5. a kind of method predicting screen of trees using point cloud data in electric transmission line channel and threatening according to claim 1,
It is characterized by: it further include:
Step 7, using different times obtain vegetation and power transmission line between distance change value historical data, using secondary movement
The method of average predicts the variation tendency of the following distance, specifically: according to every section of transmission line of electricity being partitioned on the power transmission line of acquisition
With the numerical value of the vegetation shortest distance away from around, using double moving average, the growth of vegetation when to next unknown polling period
Speed trend is predicted.
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