CN111476091A - Method and system for processing tree barrier information of power transmission line channel - Google Patents
Method and system for processing tree barrier information of power transmission line channel Download PDFInfo
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Abstract
The invention discloses a method and a system for processing tree obstacle information of a power transmission line channel, wherein the processing method comprises the following steps: acquiring image information of an overhead transmission line channel acquired by an image acquisition device; calculating the distance between the overhead transmission line and the channel trees based on the image information; and obtaining the tree obstacle warning information of the power transmission line channel based on the relation between the calculation result and the warning threshold value. According to the technical scheme provided by the invention, the image information of the overhead transmission line channel can be acquired through the image acquisition device in the process of inspecting the overhead transmission line channel tree obstacle, a large number of instruments are not required to be carried, and the portability of the inspection personnel for inspecting the overhead transmission line channel tree obstacle is effectively improved; the intelligent analysis of tree obstacles and the integral promotion of the safety protection capability of the channel are facilitated.
Description
Technical Field
The invention relates to the technical field of electric power operation and inspection, in particular to a method and a system for processing tree obstacle information of a power transmission line channel.
Background
When the overhead transmission line normally operates, if trees in the channel range grow to be within the safe distance of the transmission line, a line trip fault can be caused, the whole line and even the safe and stable operation of the whole power grid are threatened, and the supply and utilization safety of enterprises and public institutions and residential users is seriously threatened. Therefore, scientific and efficient management of tree obstacle information of trees in the overhead transmission line channel is achieved, tree obstacles inside and outside the overhead transmission line channel are cleared in time, necessary measures are taken to maintain the safety of the channel, and the method is an urgent need for reducing and eliminating operation obstacles of the overhead transmission line and improving the safe operation of the overhead transmission line.
At present, collection of tree obstacle information of overhead transmission line channels is mostly achieved comprehensively through various traditional measuring instruments such as a GPS handset, an angle gauge, a box ruler and a station instrument, and a small number of expert scholars also propose to collect tree obstacle information by carrying oblique photography equipment or laser scanning equipment through a rotor unmanned aerial vehicle. However, the inspection personnel need to carry a large number of instruments, and the inspection personnel have the disadvantages of complex operation, low precision, time and labor waste and large human error; on the other hand, the tree obstacle information needs to be unified, sorted, uploaded and analyzed in a manual mode, time and labor are wasted, and manual careless omission is easily caused. An intelligent and real-time method for collecting and analyzing the tree barrier information of the transmission line channel is urgently needed.
Disclosure of Invention
In order to solve the above-mentioned defects in the prior art, the present invention provides a method and a system for processing tree barrier information of a power transmission line channel. The invention provides a method for acquiring image information of an overhead transmission line channel by using a calibrated visible light sensor group or a calibrated sensor array, and further calculating a depth map by using the image data to support the requirements on acquisition and analysis of the tree barrier information of the transmission line channel.
The invention provides a method for processing tree barrier information of a transmission line channel, which comprises the following steps:
acquiring image information of an overhead transmission line channel acquired by an image acquisition device;
calculating the distance between the overhead transmission line and the channel trees based on the image information;
and obtaining the tree obstacle warning information of the power transmission line channel based on the relation between the calculation result and the warning threshold value.
Preferably, the calculating the distance between the overhead transmission line and the channel trees based on the image information includes:
converting the image information into power transmission line channel point cloud data;
dividing the point cloud data of the power transmission line channel into a point set contained in a line and a point set contained in a tree;
and calculating the distance between the current overhead transmission line and the channel trees based on the point set contained in the line and the point set contained in the trees.
Preferably, the converting the image information into power transmission line channel point cloud data includes:
obtaining the geometric shape of the visible surface of the power transmission line channel based on the image information, and drawing a depth image;
calculating power transmission line channel point cloud data through coordinate conversion based on the depth image;
the power transmission line channel comprises a power transmission line and trees.
Preferably, the obtaining of the transmission line channel tree obstacle warning information based on the relationship between the calculation result and the warning threshold includes:
if the distance between the current overhead transmission line and the channel trees is smaller than or equal to an alarm threshold value, generating transmission line channel tree barrier alarm information, and otherwise, calculating the distance between the overhead transmission line and the channel trees in the next inspection period;
and when the distance between the overhead transmission line and the channel trees in the next inspection period is smaller than or equal to an alarm threshold value, generating transmission line channel tree barrier alarm information, and otherwise, outputting the distance between the current overhead transmission line and the channel trees.
Preferably, calculating the distance between the overhead transmission line and the channel trees in the next routing inspection period comprises:
performing target detection and tree species identification on trees in the overhead transmission line channel based on the image information of the overhead transmission line channel to obtain one or more tree species and corresponding growth rates of the tree species;
predicting the height of the target tree which can be increased in the next inspection period based on the one or more tree species and the corresponding growth rates of the one or more tree species;
and calculating based on the height of the target tree in the next inspection period, so as to obtain the distance between the overhead transmission line and the channel tree in the next inspection period.
Preferably, after obtaining the transmission line path tree obstacle warning information based on the relationship between the calculation result and the warning threshold, the method further includes:
converting the tree barrier warning information of the power transmission line channel into formatted text data;
and sending the tree barrier alarm text data of the power transmission line channel to a data background system or a terminal.
Preferably, the image collector is arranged on the power transmission iron tower or packaged as a handheld end;
the image collector comprises: visible light sensor group and sensor array.
Based on the same invention concept, the invention also provides a system for processing the tree barrier information of the transmission line channel, which comprises the following steps:
the acquisition module is used for acquiring the image information of the overhead transmission line channel acquired by the image acquisition device;
the tree barrier processing module is used for calculating the distance between the overhead transmission line and the passage tree based on the image information;
and the channel tree barrier warning module is used for obtaining the transmission line channel tree barrier warning information based on the relation between the calculation result and the warning threshold value.
Preferably, the tree barrier processing module includes:
the depth image calculation submodule is used for converting the image information into power transmission line channel point cloud data;
the intelligent analysis submodule for the tree obstacle is used for dividing the point cloud data of the power transmission line channel into a point set contained in a line and a point set contained in a tree; and the distance between the current overhead transmission line and the channel trees is calculated based on the point set contained in the line and the point set contained in the trees.
Preferably, the image collector is arranged on the power transmission iron tower or packaged as a handheld end.
Compared with the closest prior art, the technical scheme provided by the invention has the following beneficial effects:
according to the technical scheme provided by the invention, the image information of the overhead transmission line channel collected by the image collector is obtained; calculating the distance between the overhead transmission line and the channel trees based on the image information; and obtaining the tree obstacle warning information of the power transmission line channel based on the relation between the calculation result and the warning threshold value. According to the invention, the image information of the overhead transmission line channel can be acquired by the image acquisition device in the process of inspecting the overhead transmission line channel tree barrier, a large number of instruments are not required to be carried, and the portability of the inspection personnel for inspecting the overhead transmission line channel tree barrier is effectively improved; and the tree barrier warning information of the power transmission line channel is obtained based on the relation between the calculation result and the warning threshold value, so that the intelligent analysis of the tree barrier and the integral improvement of the safety protection capability of the channel are facilitated.
Drawings
Fig. 1 is a flowchart of a method for processing tree obstacle information of a power transmission line channel in the invention;
fig. 2 is a detailed flowchart of a method for processing tree obstacle information of a power transmission line channel according to the present invention;
FIG. 3 is a schematic diagram of a transmission line channel tree barrier information processing system according to the present invention;
FIG. 4 is a diagram of an intelligent tree obstacle analysis submodule according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a barrier warning module according to an embodiment of the present invention.
Detailed Description
For a better understanding of the present invention, reference is made to the following description taken in conjunction with the accompanying drawings and examples.
Example 1
As shown in fig. 1, a method for processing tree barrier information of a power transmission line channel provided by the present invention includes:
acquiring image information of an overhead transmission line channel acquired by an image acquisition device;
secondly, calculating the distance between the overhead transmission line and the channel trees based on the image information;
and step three, obtaining the tree obstacle warning information of the power transmission line channel based on the relation between the calculation result and the warning threshold value.
As shown in fig. 2, the present invention specifically describes a method for processing tree barrier information of power transmission line access through the following steps S1 to S6:
s1 collects the visible light image data of the power transmission line channel by using an image collector, including: an imaging sensor in an image collector faces the position of a target power transmission line channel to obtain visible light image data of the power transmission line channel; in fig. 2, the image collector comprises a visible light sensor group and a sensor array, and is also called a multi-view imaging sensing module;
s2, calculating a depth image and calculating power transmission line channel point cloud data through coordinate transformation, wherein the data comprises the following steps: according to the visible light image data of the transmission line channel input in the S1, a depth image (namely a distance image) is calculated by using a depth image calculation submodule, and the geometric shape of the visible surface of the transmission line channel (including a line, an iron tower and a tree) is directly reflected; further, power transmission line channel point cloud data D: ═ D is calculated by coordinate transformationi＝(xi,yi,zi)}i＝1,…,N；
S3 discerns current overhead transmission line and passageway tree distance based on passageway point cloud data, includes: according to the point cloud data of the transmission line channel input in the S2, point sets D contained in the line, the iron tower and the tree are respectively dividedline∈D、Dtower∈D、Dtree∈ D, such that Dline∪Dtower∪DtreeD; calculating the distance Dist between the current overhead transmission line and the tree in the channelline-tree＝min||di-dj||2Satisfy di∈Dline，dj∈Dtree；
S4 judges whether the transmission line channel tree barrier needs to be alarmed, including: if the distance Dist between the current overhead transmission line and the tree in the channel is not enoughline-treeIf the alarm value is less than or equal to the alarm threshold value k and the alarm value is 1, the step S6 is executed; otherwise, if the alarm value is 0, the step S5 is executed;
s5, the target detection and the tree species identification are carried out on the tree, and then the next tree species is predictedPatrol and examine the height that target trees can increase in the cycle, discern next cycle overhead transmission line and passageway trees distance of patrolling and examining, include: according to the visible light image data of the transmission line channel input in the S1, carrying out target detection and tree species identification on the trees in the transmission line channel to obtain the tree species typetree＝{typel}l＝1,…,MAnd their corresponding growth rates speedtree＝{speedl}l＝1,…,M(ii) a And then the height growth that the target tree can grow in the next inspection period T is predictedtree＝{growthl＝speedl*T}l＝1,…,M(ii) a Calculating the distance Dist between the overhead transmission line and the passage tree in the next routing inspection period on the premise of considering the tree shielding* line-tree＝Distline-tree-growthtree(ii) a Judging whether the tree barrier of the power transmission line channel needs to be alarmed or not, and if the distance between the current overhead power transmission line and the tree channel is Dist* line-treeIf the alarm value is less than or equal to the alarm threshold value k and the alarm value is 1, the step S6 is executed; otherwise, if the alarm value is 0, the step S6 is executed;
s6 shows and transmits back the warning information through the passage tree barrier warning module, including: according to the alarm value input by S3 or S5 and the distance Dist between the overhead transmission line and the tree in the channelline-treeAnd Dist* line-treeCarrying out visual display on the tree obstacle warning information of the power transmission line channel; converting the tree barrier warning information of the power transmission line channel into formatted text data; and finally, transmitting the tree obstacle alarm text data of the power transmission line channel to a data background system of the power energy enterprise and a mobile phone terminal of a person responsible for the power transmission line.
According to the technical scheme provided by the invention, visible light image data of a power transmission line channel are collected based on a multi-view imaging sensing terminal; then, the distance between the overhead transmission line and the trees in the channel is identified through calculating the depth image; and finally, target detection and tree species identification are carried out on the trees in the image data, so that the height of the target trees which can be increased in the next inspection period is predicted, and the intelligent analysis and channel safety protection capability of the tree obstacles is effectively improved.
Based on the same inventive concept, the present invention further provides a system for processing tree barrier information of a power transmission line channel, as shown in fig. 3, including:
the acquisition module is used for acquiring the image information of the overhead transmission line channel acquired by the image acquisition device;
the tree barrier processing module is used for calculating the distance between the overhead transmission line and the passage tree based on the image information;
and the channel tree barrier warning module is used for obtaining the transmission line channel tree barrier warning information based on the relation between the calculation result and the warning threshold value.
In an embodiment, the tree barrier processing module includes:
the depth image calculation submodule is used for converting the image information into power transmission line channel point cloud data;
the intelligent analysis submodule for the tree obstacle is used for dividing the point cloud data of the power transmission line channel into a point set contained in a line and a point set contained in a tree; and the distance between the current overhead transmission line and the channel trees is calculated based on the point set contained in the line and the point set contained in the trees.
1) The image collector has been already calibrated to each imaging sensor, support the collection function of the visible light image data of the transmission line channel; the image collector is arranged on the power transmission iron tower or packaged into a handheld end.
The image collector comprises a collecting unit and a communication unit;
the acquisition unit is used for enabling the imaging sensor to face the position of the target power transmission line channel and acquiring visible light image data of the power transmission line channel;
and the communication unit is used for sending the data acquired by the acquisition unit to the computer.
2) The depth image calculation submodule supports calculation of a depth image (namely a distance image) of a transmission line channel and coordinate conversion of point cloud data of the transmission line channel;
3) the tree obstacle intelligent analysis submodule specifically includes, as shown in fig. 4: the device comprises a tree barrier distance identification unit, a tree species detection and identification unit and a tree barrier distance prediction unit; the tree obstacle distance identification unit identifies the distance between the current overhead transmission line and the passage tree based on the passage point cloud data;
4) the channel tree barrier warning module specifically includes, as shown in fig. 5: the system comprises a channel tree barrier visualization unit, an information packaging unit and an information communication unit; the system comprises a channel tree barrier visualization unit, an information packaging unit and an information communication unit, wherein the channel tree barrier visualization unit is used for displaying power transmission line channel tree barrier warning information, the information packaging unit is used for converting the power transmission line channel tree barrier warning information into formatted text data, and the information communication unit is used for sending the power transmission line channel tree barrier warning text data to a data background system of a power energy enterprise and a mobile phone terminal of a power transmission line responsible person.
The technical scheme that this application provided has promoted current overhead transmission line intelligence fortune from two aspects and has examined the level:
firstly, the portable tree obstacle routing inspection of the overhead transmission line channel is realized. The method and the device adopt the calibrated visible light sensor group or sensor array to acquire the image information of the overhead transmission line channel, further calculate the depth map by the image data, and support the acquisition and analysis requirements on the tree barrier information of the transmission line channel. Therefore, the tree barrier inspection device does not need to carry various traditional measuring instruments such as a GPS handset, an angle gauge, a box ruler and a station instrument or a rotor unmanned aerial vehicle device carrying oblique photography equipment or laser scanning equipment in the tree barrier inspection process of the overhead transmission line channel, and the portability of the tree barrier inspection device of the overhead transmission line channel by power energy enterprises is effectively improved.
And secondly, realizing intelligent tree barrier analysis of the overhead transmission line channel. The application proposes that after the image information of the overhead transmission line channel is acquired by the calibrated visible light sensor group or the sensor array, the target detection and the tree species identification are carried out on the trees in the image data, and then the height that the target trees can increase in the next patrol period is predicted, thereby being beneficial to the overall improvement of the tree obstacle intelligent analysis and the channel safety protection capability.
Example 2
In this embodiment, taking the binocular imaging-based acquisition of information about the obstacles in the hollow bamboo groves of the 220kV overhead transmission line channel as an example, the technical scheme provided by the invention is implemented as follows:
(S1) using an image collector to enable the calibrated binocular imaging sensor to face the position of the target 220kV overhead transmission line channel, and collecting visible light image data of the 220kV overhead transmission line channel; wherein, the visible light image data is stored and transmitted in BMP format;
(S2) according to the visible light image data of the power transmission line channel input in the S1, a depth image (namely a distance image) is calculated by a depth image calculation submodule consisting of an AM335x core plate and Atlas200, and the geometric shapes of visible surfaces of lines, iron towers and trees in the power transmission line channel are directly reflected; further, power transmission line channel point cloud data D: ═ D is calculated by coordinate transformationi＝(xi,yi,zi)}i＝1,…,72000(ii) a Wherein, the visible power transmission line channel point cloud data is stored and transmitted in a las format;
(S3) according to the point cloud data of the power transmission line channel input in the S2, respectively dividing point sets D contained in the line, the iron tower and the tree through a clustering algorithmline∈D、Dtower∈D、Dtree∈ D, such that Dline∪Dtower∪DtreeD; calculating the distance Dist between the current overhead transmission line and the tree in the channelline-tree＝min||di-dj||25.5m, satisfies di∈Dline，dj∈Dtree；
(S4) judging whether the tree barrier of the power transmission line channel needs to be alarmed, if so, judging that the distance Dist between the current overhead power transmission line and the tree channel is too longline-treeIf the value k is greater than the alarm threshold value k by 5.5m and the alarm value k is 4.5m, the process proceeds to step S5;
(S5) according to the visible light image data of the transmission line channel input in the S1, the deep learning target detection and identification model TreeNet is utilized to carry out target detection and tree species identification on the trees in the transmission line channel to obtain the tree species typetreeArthropoda and corresponding growth rate speed thereoftree0.3 m/day; and then the height growth that the target tree can grow in the next patrol period T-15 day is predictedtree4.5 m; calculating the next inspection period of the overhead transmission line on the premise of considering tree shieldingDistance Dist from tree in passageway* line-tree＝Distline-tree-growthtree1 m; judging whether the tree barrier of the power transmission line channel needs to be alarmed or not, and if the distance between the current overhead power transmission line and the tree channel is Dist* line-treeIf the alarm threshold k is 4.5m or less and the alarm value is 1, go to step S6;
(S6) according to the alarm value 1 input in S3 or S5 and the distance Dist between the overhead transmission line and the tree in the passageline-tree5.5m and Dist* line-treeCarrying out visual display on the tree obstacle alarm information of the power transmission line channel in 1 m; converting the tree barrier warning information of the power transmission line channel into formatted text data, wherein the tree type of the power transmission line channel is hollow bamboo, and the distance of the tree barrier of the power transmission line channel is triggered to be less than 4.5 meters in the next inspection period, so that cleaning is recommended; and finally, transmitting the tree obstacle alarm text data of the power transmission line channel to a data background system of the power energy enterprise and a mobile phone terminal of a person responsible for the power transmission line.
The invention provides an intelligent and real-time transmission line channel tree obstacle information acquisition and analysis method and system by introducing artificial intelligent technologies such as multi-view imaging, deep learning, target detection and recognition, and the like, and supports research and development of portable handheld equipment.
According to the technical scheme, the calibrated visible light sensor group or sensor array is adopted to obtain the image information of the overhead transmission line channel, and then the image data is used for obtaining the depth map and converting the depth map into point cloud data to support the calculation of the distance between the overhead transmission line and the tree in the channel.
According to the technical scheme, after the calibrated visible light sensor group or sensor array is adopted to acquire the image information of the overhead transmission line channel, target detection and tree species identification are carried out on the trees in the image data, and then the height of the target trees which can increase in the next inspection period is predicted.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The present invention is not limited to the above embodiments, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention are included in the scope of the claims of the present invention which are filed as the application.
Claims (10)
1. A method for processing tree barrier information of a transmission line channel is characterized by comprising the following steps:
acquiring image information of an overhead transmission line channel acquired by an image acquisition device;
calculating the distance between the overhead transmission line and the channel trees based on the image information;
and obtaining the tree obstacle warning information of the power transmission line channel based on the relation between the calculation result and the warning threshold value.
2. The method of claim 1, wherein calculating the distance between the overhead transmission line and the trees in the passage based on the image information comprises:
converting the image information into power transmission line channel point cloud data;
dividing the point cloud data of the power transmission line channel into a point set contained in a line and a point set contained in a tree;
and calculating the distance between the current overhead transmission line and the channel trees based on the point set contained in the line and the point set contained in the trees.
3. The method of claim 2, wherein said converting said image information into power line channel point cloud data comprises:
obtaining the geometric shape of the visible surface of the power transmission line channel based on the image information, and drawing a depth image;
calculating power transmission line channel point cloud data through coordinate conversion based on the depth image;
the power transmission line channel comprises a power transmission line and trees.
4. The method of claim 2, wherein obtaining the transmission line access tree obstacle warning information based on the relationship between the calculation result and the warning threshold value comprises:
if the distance between the current overhead transmission line and the channel trees is smaller than or equal to an alarm threshold value, generating transmission line channel tree barrier alarm information, and otherwise, calculating the distance between the overhead transmission line and the channel trees in the next inspection period;
and when the distance between the overhead transmission line and the channel trees in the next inspection period is smaller than or equal to an alarm threshold value, generating transmission line channel tree barrier alarm information, and otherwise, outputting the distance between the current overhead transmission line and the channel trees.
5. The method of claim 4, wherein the calculating the distance between the overhead transmission line and the passage tree in the next routing inspection period comprises:
performing target detection and tree species identification on trees in the overhead transmission line channel based on the image information of the overhead transmission line channel to obtain one or more tree species and corresponding growth rates of the tree species;
predicting the height of the target tree which can be increased in the next inspection period based on the one or more tree species and the corresponding growth rates of the one or more tree species;
and calculating based on the height of the target tree in the next inspection period, so as to obtain the distance between the overhead transmission line and the channel tree in the next inspection period.
6. The method of claim 1, wherein after obtaining the transmission line access tree obstacle warning information based on the relationship between the calculation result and the warning threshold, the method further comprises:
converting the tree barrier warning information of the power transmission line channel into formatted text data;
and sending the tree barrier alarm text data of the power transmission line channel to a data background system or a terminal.
7. The method of claim 1, wherein the image collector is disposed on the power transmission tower or packaged as a handheld end;
the image collector comprises: visible light sensor group and sensor array.
8. A system for processing tree barrier information of a power transmission line channel, comprising:
the acquisition module is used for acquiring the image information of the overhead transmission line channel acquired by the image acquisition device;
the tree barrier processing module is used for calculating the distance between the overhead transmission line and the passage tree based on the image information;
and the channel tree barrier warning module is used for obtaining the transmission line channel tree barrier warning information based on the relation between the calculation result and the warning threshold value.
9. The system of claim 8, wherein the tree barrier processing module comprises:
the depth image calculation submodule is used for converting the image information into power transmission line channel point cloud data;
the intelligent analysis submodule for the tree obstacle is used for dividing the point cloud data of the power transmission line channel into a point set contained in a line and a point set contained in a tree; and the distance between the current overhead transmission line and the channel trees is calculated based on the point set contained in the line and the point set contained in the trees.
10. The system of claim 8, wherein the image collector is disposed on the pylon or packaged as a handheld end.
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