CN111578861A - Power distribution network tree obstacle detection method and system - Google Patents
Power distribution network tree obstacle detection method and system Download PDFInfo
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- CN111578861A CN111578861A CN202010451330.8A CN202010451330A CN111578861A CN 111578861 A CN111578861 A CN 111578861A CN 202010451330 A CN202010451330 A CN 202010451330A CN 111578861 A CN111578861 A CN 111578861A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/08—Other tools for pruning, branching or delimbing standing trees
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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Abstract
The invention provides a power distribution network tree obstacle detection method, which comprises the following steps: acquiring position information of each node of a distribution line, and then connecting the nodes in series to generate a distribution line installation route map; obtaining a three-dimensional map of the road surface condition of an area where a distribution line installation line map is located through satellite aerial photography; shooting a tree barrier area according to the three-dimensional map, acquiring tree barrier information and creating a tree barrier three-dimensional map model; and after analyzing and processing the tree obstacle three-dimensional map model, the distribution line installation route map and the tree obstacle information, generating a tree obstacle detection report in the upper computer. The invention also provides a system which comprises the image acquisition equipment, a communication module and an upper computer, wherein the image acquisition equipment is in communication connection with the upper computer through the communication module, and the upper computer analyzes and processes the acquired distribution line and the tree obstacle video or image by adopting a video identification technology or an image identification processing technology to generate a tree obstacle detection report, so that the tree obstacle detection efficiency and the tree obstacle detection precision can be effectively improved.
Description
Technical Field
The invention relates to the technical field of power distribution network detection, in particular to a power distribution network tree fault detection method and system.
Background
The distribution network generally comprises overhead lines, cables, towers, distribution transformers, isolating switches, reactive compensators, auxiliary facilities and the like, wherein the distribution lines of the distribution network with the voltage of 10kV or below have the characteristics of more nodes, wide distribution, long line distance and the like, and trees along the distribution lines have the conditions of more types, different growth cycles, different planting modes, historical leaving and the like, so that the tree obstacles along the distribution lines need to be regularly detected. In the past, inspection of the distribution lines is mostly performed by manually inspecting towers one by one, but due to the factors of huge inspection workload, complex geographic environment and the like, a plurality of difficulties and unsafe factors are brought to the work of inspection personnel; and the traditional manual inspection mode causes the waste of personnel and resources, and the effect is poor.
The patent with publication number CN108037514A discloses a method for performing tree obstacle safety detection by using laser point cloud, which adopts a laser radar to emit laser pulses and receive returned pulse signals, obtains under-forest terrain information by penetrating vegetation with part of the laser pulses, obtains laser point cloud data of high-density of various ground objects on the ground surface and high-precision three-dimensional space information of power equipment, and then further analyzes the laser point cloud data to obtain a tree obstacle detection result. However, aerial laser radar point clouds contain both ground points and non-ground points, and a problem of large errors exists in the laser point cloud data analysis and processing process.
Disclosure of Invention
The invention provides a power distribution network tree obstacle detection method and a power distribution network tree obstacle detection system for overcoming the defects of low tree obstacle detection efficiency and low accuracy in the prior art.
In order to solve the technical problems, the technical scheme of the invention is as follows:
a power distribution network tree fault detection method comprises the following steps:
s1: acquiring position information of each node of a distribution line, and then connecting the nodes in series to generate a distribution line installation route map;
s2: obtaining a three-dimensional map of the road surface condition of an area where a distribution line installation line map is located through satellite aerial photography;
s3: shooting a tree barrier area according to the three-dimensional map, acquiring tree barrier information and creating a tree barrier three-dimensional map model;
s4: and after analyzing and processing the tree obstacle three-dimensional map model, the distribution line installation route map and the tree obstacle information, generating a tree obstacle detection report in the upper computer.
According to the technical scheme, an unmanned aerial vehicle, an aerial photography robot or a satellite is adopted to obtain regional videos of the distribution lines, an existing video identification technology or an existing image identification processing technology is adopted to obtain node information of the distribution lines and tree obstacle information of the regional distribution lines, a distribution line installation route map and a tree obstacle three-dimensional map model are generated, and then a tree obstacle detection report is generated according to the distribution line installation route, the tree obstacle information and the tree obstacle three-dimensional map model. In addition, the power distribution network tree obstacle detection method in the technical scheme can be used in cooperation with a data processing system of an urban garden department, can achieve the purpose of managing and controlling the power distribution network tree obstacles in advance, and provides a tree obstacle construction scheme, so that the purposes of improving the distribution line operating environment and guaranteeing the safe and stable operation of the power distribution network are achieved.
Preferably, in the step S1, the specific steps include: the method comprises the steps of shooting the ground where a power distribution network is located by an unmanned aerial vehicle or an aerial photographing robot to obtain position videos or images of the power distribution network, obtaining position information of each node of the power distribution network, and then connecting the nodes in series to generate a power distribution network installation route map.
Preferably, in the step S3, the specific steps include: the method comprises the steps that an unmanned aerial vehicle or an aerial photography robot is adopted to take aerial photography on a tree obstacle area in a distribution line area to acquire tree obstacle information, wherein the tree obstacle information comprises a real-time video or image of the tree obstacle, space coordinate information, tree species, a growth condition and a planting mode; and then, creating a tree obstacle three-dimensional map model according to the acquired real-time video or image of the position of the tree obstacle and the space coordinate information.
Preferably, in the step S4, the tree obstacle detection report includes, but is not limited to, tree obstacle position information, a distribution line avoidance scheme, and a tree obstacle trimming scheme.
Preferably, the distribution line avoiding scheme comprises position selection of a distribution line probe rod and a connection mode of the distribution line probe rod.
Preferably, in the step S4, the specific steps of generating the tree obstacle detection report are as follows:
s401: generating a distribution line evasion scheme according to the tree obstacle three-dimensional map model and the distribution line installation route map;
s402: and according to the growth situation of each tree barrier after the tree barrier information is analyzed and trimmed, predicting the situation that the fastest growth speed reaches the situation affecting the distribution line under the state of sufficient tree growth conditions, and obtaining a tree barrier trimming scheme, wherein the tree barrier trimming scheme comprises the trimming scheme that the growth situation of the tree barrier reaches the situation affecting the distribution line after the tree barrier trimming is completed.
Preferably, the power distribution network tree fault detection method further includes the following steps: s5: and the operator completes the distribution line installation and the tree barrier pruning according to the tree barrier detection report, then obtains the fastest growth prediction time point corresponding to the tree barrier according to the tree barrier pruning scheme, skips to execute the step S3 when the fastest growth prediction time point is reached, and sends an alarm instruction to the operator terminal.
The invention also provides a power distribution network tree obstacle detection system, which applies the power distribution network tree obstacle detection method and comprises image acquisition equipment, a communication module and an upper computer, wherein the image acquisition equipment is in communication connection with the upper computer through the communication module; the upper computer is used for analyzing the video data sent by the image acquisition equipment to obtain distribution line node information and tree obstacle information, establishing a distribution line installation route map, a three-dimensional map of the road surface condition of the area where the distribution line is located and a tree obstacle three-dimensional map model, analyzing and comparing the distribution line installation route map, the three-dimensional map and the tree obstacle three-dimensional map model, and generating a tree obstacle detection report.
Preferably, the image acquisition device comprises a drone or an aerial robot, wherein the drone carries a camera with a fixed-wing or multi-rotor drone.
Preferably, the system further comprises a warning module, the warning module comprises a controller, a memory, a warning lamp and a warning instruction sending module, wherein the input end of the controller is connected with the output end of the upper computer, the controller is in two-way connection with the memory, the first output end of the controller is connected with the input end of the warning lamp, the warning lamp is arranged in the tree obstacle area, and the second output end of the controller is connected with the input end of the warning instruction sending module. In the using process, the controller receives the tree barrier fastest growth prediction time point obtained by analysis from the upper computer and transmits the tree barrier fastest growth prediction time point to the memory for storage; the storage device sends the stored fastest growth prediction time point of the tree barrier to the controller at regular time, the controller judges whether the current time reaches the fastest growth prediction time point of the tree barrier, if yes, a working signal is sent to the warning lamp and the warning instruction sending module, the warning lamp corresponding to the tree barrier area is controlled to work, and the warning instruction sending module sends a warning instruction to the staff terminal.
Compared with the prior art, the technical scheme of the invention has the beneficial effects that: the collected distribution line and tree obstacle videos or images are analyzed and processed by adopting a video identification technology or an image identification processing technology, a tree obstacle detection report is generated, and the tree obstacle detection efficiency and the tree obstacle detection precision can be effectively improved.
Drawings
Fig. 1 is a flowchart of a power distribution network tree fault detection method according to embodiment 1.
Fig. 2 is a schematic structural diagram of the power distribution network tree fault detection system in embodiment 2.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the patent;
it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The technical solution of the present invention is further described below with reference to the accompanying drawings and examples.
Example 1
The present embodiment provides a method for detecting a power distribution network tree fault, which is a flowchart of the method for detecting a power distribution network tree fault according to the present embodiment, as shown in fig. 1.
The method for detecting the tree fault of the power distribution network provided by the embodiment comprises the following steps:
s1: and acquiring the position information of each node of the distribution line, and then connecting the nodes in series to generate a distribution line installation route map.
In the step, an unmanned aerial vehicle or an aerial photography robot is adopted to shoot the ground where the power distribution network is located to obtain position videos or images of the power distribution line, a video identification technology or an image identification technology is adopted to obtain position information of each node of the power distribution line, and then the identified nodes are connected in series to generate a preliminary power distribution line installation route map.
S2: and obtaining a three-dimensional map of the road surface condition of the area where the distribution line installation line map is located through satellite aerial photography.
In the step, a three-dimensional map of a distribution line installation line map area is obtained mainly through satellite aerial photography, and three-dimensional space coordinate information of a position where a tree obstacle exists along the distribution line can be obtained.
S3: shooting a tree barrier area according to the three-dimensional map, acquiring tree barrier information and creating a tree barrier three-dimensional map model; the method comprises the following specific steps:
the method comprises the steps that an unmanned aerial vehicle or an aerial photography robot is adopted to carry out aerial photography on a tree obstacle area in a distribution line area to acquire tree obstacle information, wherein the tree obstacle information comprises a real-time video or image of the tree obstacle, space coordinate information, tree species, a growth condition and a planting mode; and then, creating a tree obstacle three-dimensional map model according to the acquired real-time video or image of the position of the tree obstacle and the space coordinate information.
In this step, the obtained tree species, growth conditions and planting mode can be applied to estimating the growth speed of the trees, can be used for generating a tree obstacle pruning scheme and can be used for predicting the time point when the tree obstacle grows to affect the distribution line.
S4: and after analyzing and processing the tree obstacle three-dimensional map model, the distribution line installation route map and the tree obstacle information, generating a tree obstacle detection report in the upper computer.
In this step, the tree obstacle detection report includes, but is not limited to, tree obstacle position information, a distribution line avoidance scheme, and a tree obstacle trimming scheme, wherein the distribution line avoidance scheme includes position selection of a distribution line probe rod and a connection mode of the distribution line probe rod.
In this embodiment, the specific steps of generating the tree fault detection report are as follows:
s401: generating a distribution line evasion scheme according to the tree obstacle three-dimensional map model and the distribution line installation route map;
s402: and according to the growth situation of each tree barrier after the tree barrier information is analyzed and trimmed, predicting the situation that the distribution line is influenced by the fastest growth speed in the state that the tree growth condition is sufficient, and obtaining a tree barrier trimming scheme.
In the distribution line avoidance scheme generated in this embodiment, the generation condition is to avoid the overlapping position of the distribution line installation route map and the tree barrier three-dimensional map model, where when the distribution line installation route map and the tree barrier three-dimensional map model overlap, the overlapping position point indicates that the tree barrier affects the installation of the distribution line.
The generated tree barrier pruning scheme of the embodiment comprises a pruning scheme after the tree barrier grows to affect the distribution line, namely, under the condition that the tree growth condition is in a sufficient state, the fastest growth speed of the tree barrier is calculated, the time for the tree barrier to reach the affected distribution line (namely, the fastest growth prediction time point of the tree barrier), the growth of the tree barrier to reach the affected distribution line and the like are calculated, then, after the tree barrier pruning is finished currently according to the tree barrier growth data design, the time point for the tree barrier to grow to reach the affected distribution line, the pruning angle and the like are designed.
S5: and the operator completes distribution line installation and tree barrier trimming according to the tree barrier detection report, then obtains a fastest growth prediction time point corresponding to the tree barrier according to the tree barrier trimming scheme, skips to execute the step S3 when the fastest growth prediction time point is reached, updates the tree barrier detection report, forms regular detection and maintenance, sends a warning instruction to the operator terminal, and warns the operator to inspect the target tree barrier position.
In the embodiment, the video identification technology or the image identification technology is mainly adopted to identify and process video image data acquired by aerial photography of an unmanned aerial vehicle, an aerial photography robot, a satellite and the like, a generated three-dimensional map model has the characteristic of high stability, and the generated three-dimensional map model can be used for a long time due to the long period of change of the terrain of the distribution line, and in the process of regularly detecting the tree obstacles of the distribution network, the regular detection of the tree obstacles can be completed only by shooting the tree obstacle area in the three-dimensional map of the road surface condition of the area where the distribution line installation line diagram is located based on the initial acquisition, and the operation efficiency of detecting the tree obstacles can be effectively improved.
In addition, the power distribution network tree obstacle detection method in the embodiment can be further in butt joint with a data system of an urban garden department, so that the power distribution network tree obstacle is managed and controlled in advance and maintained and processed regularly, the power distribution line inspection workload is effectively reduced, and the use stability of the power distribution network is ensured.
Example 2
The embodiment provides a power distribution network tree obstacle detection system, which is applied to the power distribution network tree obstacle detection method provided in embodiment 1. Fig. 2 is a schematic structural diagram of the power distribution network tree fault detection system according to this embodiment.
In the power distribution network tree obstacle detection system that this embodiment provided, including image acquisition equipment 1, communication module 2, host computer 3, wherein, image acquisition equipment 1 passes through communication module 2 with host computer 3 carries out communication connection.
The upper computer 3 in this embodiment is configured to analyze video data sent from the image acquisition device 1 to obtain distribution line node information and tree obstacle information, establish a distribution line installation route map, a three-dimensional map of a road surface condition of an area where the distribution line is located, and a tree obstacle three-dimensional map model, analyze and compare the three-dimensional map models, and generate a tree obstacle detection report.
Image acquisition equipment 1 in this embodiment includes unmanned aerial vehicle or the robot of taking photo by plane, wherein, unmanned aerial vehicle adopts fixed wing or many rotor unmanned aerial vehicle to carry on the camera.
The communication module 2 in this embodiment adopts a switch, a coordinator, or a GPRS module, a WIFI module, or the like for data communication.
The distribution network tree obstacle detection system in this embodiment still includes warning module 4, warning module 4 includes controller 41, memory 42, warning light 43 and warning instruction sending module 44, wherein, controller 41's input with the output of host computer 3 is connected, controller 41 with memory 42 both way junction, controller 41's first output with the input of warning light 43 is connected, warning light 43 sets up in the tree obstacle region, controller 41's second output with warning instruction sending module 44's input is connected.
In the specific implementation process, the image acquisition equipment 1 shoots and acquires video or image data of the distribution line, the video or image data is sent to the upper computer 3 through the communication module 2 to be subjected to video identification processing or image identification processing, position information of each node of the distribution line is obtained, and then the nodes are connected in series to generate a distribution line installation route map;
the image acquisition equipment 1 shoots and acquires a three-dimensional map of the pavement condition of an area where a distribution line installation line diagram is located and sends the three-dimensional map to the upper computer 3 through the communication module 2;
the image acquisition equipment 1 shoots and acquires video or image data of a tree barrier area according to the three-dimensional image, and sends the video or image data to the upper computer 3 through the communication module 2 for video identification processing or image identification processing to obtain tree barrier information, wherein the tree barrier information specifically comprises real-time video or image of the tree barrier, space coordinate information, tree species, growth condition, planting mode and the like; the upper computer 3 creates a tree barrier three-dimensional map model according to the real-time video or image of the tree barrier position in the tree barrier information obtained by identification and the space coordinate information;
the upper computer 3 generates a distribution line avoidance scheme according to the three-dimensional distribution line obstacle map model and the distribution line installation route map, and specifically avoids the superposition position of the distribution line installation route map and the three-dimensional distribution line obstacle map model, wherein when the distribution line installation route map is superposed with the three-dimensional distribution line obstacle map model, the superposition position point represents that the distribution line installation is influenced by the tree obstacle;
and the upper computer 3 predicts the condition that the fastest growth speed reaches the condition of influencing the distribution line under the state of sufficient tree growth conditions according to the growth condition of each tree barrier after the tree barrier information is analyzed and trimmed, and obtains a tree barrier trimming scheme, wherein the tree barrier trimming scheme comprises the trimming scheme that the growth condition of the tree barrier reaches the condition of influencing the distribution line after the tree barrier trimming is completed.
The controller 41 receives the tree barrier fastest growth prediction time point obtained by analysis from the upper computer 3, and transmits the tree barrier fastest growth prediction time point to the memory 42 for storage; the memory 42 sends the stored fastest growth prediction time point of the tree barrier to the controller 41 at regular time, the controller 41 judges whether the current time reaches the fastest growth prediction time point of the tree barrier, if so, working signals are sent to the warning lamp 43 and the warning instruction sending module 44 to control the warning lamp 43 corresponding to the tree barrier area to work, and the warning instruction sending module 44 sends a warning instruction to a staff terminal to realize regular maintenance operation of the distribution line.
The same or similar reference numerals correspond to the same or similar parts;
the terms describing positional relationships in the drawings are for illustrative purposes only and are not to be construed as limiting the patent;
it should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. A power distribution network tree fault detection method is characterized by comprising the following steps:
s1: acquiring position information of each node of a distribution line, and then connecting the nodes in series to generate a distribution line installation route map;
s2: obtaining a three-dimensional map of the road surface condition of the area where the distribution line installation line map is located through satellite aerial photography;
s3: shooting a tree obstacle area according to the three-dimensional map, acquiring tree obstacle information and creating a tree obstacle three-dimensional map model;
s4: and after analyzing and processing the tree obstacle three-dimensional map model, the distribution line installation route map and the tree obstacle information, generating a tree obstacle detection report in an upper computer.
2. The power distribution network tree fault detection method of claim 1, wherein: in the step S1, the specific steps include: the method comprises the steps of shooting the ground where a power distribution network is located by an unmanned aerial vehicle or an aerial photographing robot to obtain position videos or images of the power distribution network, obtaining position information of each node of the power distribution network, and then connecting the nodes in series to generate a power distribution network installation route map.
3. The power distribution network tree fault detection method of claim 1, wherein: in the step S3, the specific steps include: the method comprises the steps that an unmanned aerial vehicle or an aerial photography robot is adopted to carry out aerial photography on a tree obstacle area in a distribution line area to acquire tree obstacle information, wherein the tree obstacle information comprises a real-time video or image of the tree obstacle, space coordinate information, tree species, a growth condition and a planting mode; and then, creating a tree obstacle three-dimensional map model according to the acquired real-time video or image of the position of the tree obstacle and the space coordinate information.
4. The power distribution network tree fault detection method of claim 1, wherein: in the step S4, the tree obstacle detection report includes, but is not limited to, tree obstacle position information, a distribution line avoidance scheme, and a tree obstacle trimming scheme.
5. The power distribution network tree fault detection method of claim 4, wherein: the distribution line avoiding scheme comprises position selection of a distribution line probe rod and a connection mode of the distribution line probe rod.
6. The power distribution network tree fault detection method of claim 4, wherein: in the step S4, the specific steps of generating the tree fault detection report are as follows:
s401: analyzing the tree obstacle three-dimensional map model and the distribution line installation route map and generating a distribution line evasion scheme;
s402: and according to the growth situation of each tree barrier after the tree barrier information is analyzed and trimmed, predicting the situation that the distribution line is influenced by the fastest growth speed in the state that the tree growth condition is sufficient, and obtaining a tree barrier trimming scheme.
7. The power distribution network tree fault detection method of claim 6, wherein: the power distribution network tree fault detection method further comprises the following steps:
s5: and the operator completes the distribution line installation and the tree barrier pruning according to the tree barrier detection report, then obtains the fastest growth prediction time point corresponding to the tree barrier according to the tree barrier pruning scheme, skips to execute the step S3 when the fastest growth prediction time point is reached, and sends an alarm instruction to the operator terminal.
8. The utility model provides a distribution network tree barrier detecting system which characterized in that, includes image acquisition equipment, communication module, host computer, wherein:
the image acquisition equipment is in communication connection with the upper computer through the communication module;
the upper computer is used for analyzing the video data sent by the image acquisition equipment to obtain distribution line node information and tree obstacle information, establishing a distribution line installation route map, a three-dimensional map of the road surface condition of the area where the distribution line is located and a tree obstacle three-dimensional map model, analyzing and comparing the distribution line installation route map, the three-dimensional map and the tree obstacle three-dimensional map model, and generating a tree obstacle detection report.
9. The power distribution network tree fault detection system of claim 8, wherein: image acquisition equipment includes unmanned aerial vehicle or the robot of taking photo by plane, wherein, unmanned aerial vehicle adopts fixed wing or many rotor unmanned aerial vehicle to carry on the camera.
10. The power distribution network tree fault detection system of claim 8, wherein: the system further comprises a warning module, wherein the warning module comprises a controller, a memory, a warning lamp and a warning instruction sending module, the input end of the controller is connected with the output end of the upper computer, the controller is bidirectionally connected with the memory, the first output end of the controller is connected with the input end of the warning lamp, the warning lamp is arranged in a tree barrier area, and the second output end of the controller is connected with the input end of the warning instruction sending module;
the controller receives the tree barrier fastest growth prediction time point obtained by analysis from the upper computer and transmits the tree barrier fastest growth prediction time point to the memory for storage; the storage device sends the stored fastest growth prediction time point of the tree barrier to the controller at regular time, the controller judges whether the current time reaches the fastest growth prediction time point of the tree barrier, if so, working signals are sent to the warning lamp and the warning instruction sending module to control the warning lamp corresponding to the tree barrier area to work, and the warning instruction sending module sends a warning instruction to the staff terminal.
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| CN113449688A (en) * | 2021-07-20 | 2021-09-28 | 国网江苏省电力有限公司泰州供电分公司 | Power transmission tree obstacle recognition system based on image and laser point cloud data fusion |
| CN114431018A (en) * | 2022-03-22 | 2022-05-06 | 南方电网电力科技股份有限公司 | Tree obstacle clearing method, device and system |
| CN114445395A (en) * | 2022-02-12 | 2022-05-06 | 河南城建学院 | Distribution line tree obstacle intelligent positioning method and device based on Internet and big data |
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