CN116647032B - Real-time protection system and method for power transmission line of target construction vehicle - Google Patents
Real-time protection system and method for power transmission line of target construction vehicle Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
- H02J13/00002—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by monitoring
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- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S10/00—Systems supporting electrical power generation, transmission or distribution
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Abstract
The invention relates to the field of online monitoring of power transmission lines, in particular to a real-time protection system and method for a power transmission line of a target construction vehicle. The system comprises tower equipment and a vehicle-mounted terminal; the method comprises the steps that three-dimensional point cloud data of all construction vehicles below a power transmission line are detected by on-tower equipment, whether construction risks exist or not is judged according to the three-dimensional point cloud data of all the construction vehicles and a three-dimensional model of the power transmission line, and when the construction risks exist, safety protection is carried out by inserting the construction vehicles through vehicle-mounted terminals installed in the construction vehicles. The construction risk of each construction vehicle below the power transmission line is monitored through the on-tower equipment, when the construction risk is judged to exist, the work of the construction vehicle with the construction risk is intervened through the vehicle-mounted terminal, the normal work of other construction vehicles is avoided, the problem that the construction risk of a specific construction vehicle below the power transmission line cannot be monitored and the vehicle is informed to avoid in time in the prior art is solved, and the real-time protection of the power transmission line is realized.
Description
Technical Field
The invention relates to the field of online monitoring of power transmission lines, in particular to a real-time protection system and method for a power transmission line of a target construction vehicle.
Background
In recent years, with the development of economy, the demand for electric power is gradually increased, and with the continuous expansion of the power grid scale. The construction vehicles below the power transmission line have an influence on the safety of the power transmission line in the construction process, and how to protect the safety of the power transmission line is a closely focused problem in the field.
The radar and video fusion technical scheme is adopted in the prior art to protect the power transmission line, but because the distance between the electric towers is larger, and a plurality of construction vehicles possibly exist to construct the work below the power transmission circuit between the two electric towers at the same time, the prior art can only monitor whether the construction vehicles exist close to the power transmission line in the construction process, but after the construction vehicles are monitored to be close to the power transmission line, all the construction vehicles below the power transmission line can only be reminded in a shouting mode, and great influence is caused on the construction efficiency.
There is a need for a real-time protection system for a power transmission line of a target construction vehicle, so as to solve the problem that in the prior art, the construction risk of a specific construction vehicle below the power transmission line cannot be monitored and the vehicle is informed to avoid in time.
Disclosure of Invention
In order to solve the problem that the construction risk of a specific construction vehicle below a power transmission line cannot be monitored and the vehicle can be timely informed to avoid in the prior art, the embodiment of the invention provides a power transmission line real-time protection system and method for a target construction vehicle, which realize the monitoring of the construction risk of the specific construction vehicle below the power transmission line and the timely informing of the vehicle to avoid and realize the real-time protection of the power transmission line.
In order to solve the technical problems, the specific technical scheme is as follows:
in one aspect, embodiments herein provide a real-time protection system for a power transmission line of a target construction vehicle, comprising,
tower equipment and vehicle-mounted terminals;
the on-tower equipment detects three-dimensional point cloud data of all construction vehicles below the power transmission line, judges whether construction risks exist according to the three-dimensional point cloud data of all the construction vehicles and a three-dimensional model of the power transmission line, and intervenes in the construction vehicles to carry out safety protection through vehicle-mounted terminals installed in the construction vehicles when the construction risks exist.
On the other hand, the embodiment also provides a real-time protection method for the power transmission line of the target construction vehicle, which comprises the following steps,
Detecting three-dimensional point cloud data of all construction vehicles below the power transmission line;
judging whether construction risks exist according to the three-dimensional point cloud data of all the construction vehicles and the three-dimensional model of the power transmission line, and if so, inserting the construction vehicles through vehicle-mounted terminals installed in the construction vehicles to carry out safety protection.
In another aspect, embodiments herein also provide a computer device including a memory, a processor, and a computer program stored on the memory, the processor implementing the above method when executing the computer program.
Finally, embodiments herein also provide a computer storage medium having stored thereon a computer program which, when executed by a processor of a computer device, performs the above-described method.
By utilizing the embodiment, the power transmission line is protected in real time through the on-tower equipment and the vehicle-mounted terminal, the on-tower equipment detects three-dimensional point cloud data of all construction vehicles below the power transmission line in real time, whether construction risks exist or not is judged according to the measured three-dimensional point cloud data and the three-dimensional model of the power transmission line, when the construction risks exist, the safety protection of the power transmission line is carried out through the vehicle-mounted terminal on the construction vehicles, the construction risks of each construction vehicle below the power transmission line are monitored through the on-tower equipment, when the construction risks exist are judged, the work of the construction vehicles with the construction risks is carried out through the vehicle-mounted terminal, and the safety protection is carried out only on the construction vehicles with the construction risks, so that the normal work of other construction vehicles without the construction risks is avoided, the problem that the construction risks of specific construction vehicles below the power transmission line cannot be monitored and the vehicles are timely informed of avoiding in the prior art is solved, and the real-time protection of the power transmission line is realized.
Drawings
In order to more clearly illustrate the embodiments herein or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments herein and that other drawings may be obtained according to these drawings without inventive effort to a person skilled in the art.
Fig. 1 is a schematic diagram of a system for implementing a method for protecting a power transmission line in real time for a target construction vehicle according to an embodiment of the present disclosure;
fig. 2 is a block diagram of a real-time protection system for a power transmission line of a target construction vehicle according to an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of a coordinate system of lidar detection of an embodiment herein;
fig. 4 is a flowchart illustrating a method for protecting a power transmission line of a target construction vehicle in real time according to an embodiment of the present disclosure;
fig. 5 illustrates a step of constructing a three-dimensional model of the power transmission line according to the power transmission line point cloud map in the embodiment herein;
FIG. 6 illustrates steps of an embodiment herein for determining a correspondence between the work vehicle and the vehicle-mounted terminal based on a first location and a second location of the work vehicle;
FIG. 7 illustrates steps of an embodiment herein for determining a correspondence between the work vehicle and the vehicle-mounted terminal based on a first location and a second location of the work vehicle;
FIG. 8 illustrates the steps of an embodiment herein for calculating a first distance between the construction vehicle and the transmission line based on a first location of the construction vehicle, location image data, and a three-dimensional model of the transmission line;
FIG. 9 illustrates the steps of calculating the shortest distance between a construction vehicle and the power line of the power transmission line according to the three-dimensional coordinates of the map of the construction vehicle and the three-dimensional coordinates of the power line in the embodiments herein;
FIG. 10 illustrates a step of analyzing the location image data to determine a two-dimensional coordinate range of the construction vehicle in a two-dimensional image coordinate system in which the location image data is located in accordance with an embodiment herein;
FIG. 11 is a schematic diagram of a computer device according to an embodiment of the present disclosure.
[ reference numerals description ]:
101. a tower pole;
102. a power transmission line;
103. a construction vehicle;
104. a tower-mounted device;
105. a vehicle-mounted terminal;
201. a tower-mounted device;
2011. a three-dimensional model initializing unit of the transmission line;
2012. a laser radar;
2013. an image pickup unit;
2014. A microwave radar;
2015. a weather measurement unit;
2016. a processor;
2017. a construction vehicle position detection camera;
202. a vehicle-mounted terminal;
1102. a computer device;
1104. a processing device;
1106. storing the resource;
1108. a driving mechanism;
1110. an input/output module;
1112. an input device;
1114. an output device;
1116. a presentation device;
1118. a graphical user interface;
1120. a network interface;
1122. a communication link;
1124. a communication bus.
Detailed Description
The following description of the embodiments of the present disclosure will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the disclosure. All other embodiments, based on the embodiments herein, which a person of ordinary skill in the art would obtain without undue burden, are within the scope of protection herein.
It should be noted that the terms "first," "second," and the like in the description and claims herein and in the foregoing figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments described herein may be capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, apparatus, article, or device that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or device.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is illustrated in the flowcharts, in some cases the steps illustrated or described may be performed in an order other than that illustrated herein.
Fig. 1 is a schematic diagram of a system for implementing a real-time protection method for a power transmission line of a target construction vehicle according to an embodiment of the present disclosure, which may include: a pole 101, a transmission line 102, a construction vehicle 103, a tower-mounted device 104, and an in-vehicle terminal 105. A plurality of construction vehicles 103 exist below the power transmission line 102 between the two adjacent towers 101, and during the construction process of the construction vehicles 103, the construction vehicles 103 may be close to the power transmission line 102, so that a greater risk of construction exists. Embodiments herein monitor in real time whether each construction vehicle 103 below the transmission line 102 is approaching the transmission line 102 through the on-tower apparatus 104, and when there is a construction vehicle 103 approaching the transmission line 102, the on-tower apparatus 104 intervenes in the construction vehicle 103 for safety protection through the in-vehicle terminal 105 mounted on the construction vehicle 103.
Specifically, an embodiment herein provides a real-time protection system for a power transmission line of a target construction vehicle, as shown in fig. 2, including a tower-mounted device 201 and a vehicle-mounted terminal 202, where the tower-mounted device 201 detects three-dimensional point cloud data of each construction vehicle below the power transmission line, determines whether a construction risk exists according to the three-dimensional point cloud data and a three-dimensional model of the power transmission line, and intervenes in the construction vehicle to perform safety protection through the vehicle-mounted terminal 202 installed in the construction vehicle when the construction risk exists.
According to the real-time protection system for the power transmission line of the target construction vehicle, disclosed by the embodiment of the invention, the power transmission line is protected in real time through the on-tower equipment 201 and the vehicle-mounted terminal 202, three-dimensional point cloud data of all construction vehicles below the power transmission line are detected in real time by the on-tower equipment, whether construction risks exist or not is judged according to the measured three-dimensional point cloud data and the three-dimensional model of the power transmission line, when the construction risks exist, the safety protection of the power transmission line is carried out by inserting the construction vehicles into the vehicle-mounted terminal 202 mounted on the construction vehicles, the construction risks of each construction vehicle below the power transmission line are monitored through the on-tower equipment 201, when the construction risks exist, the construction vehicles with the construction risks are judged to work through inserting the vehicle-mounted terminal 202, the problem that the construction risks of specific construction vehicles below the power transmission line cannot be monitored and the vehicles can be timely informed is solved, and the real-time protection of the power transmission line is realized.
In the embodiment herein, the tower apparatus 201 may communicate with the vehicle-mounted terminal 202 by means of wireless signal transmission in the prior art. The in-vehicle terminal 202 may be connected to a control system of the construction vehicle such that when a construction risk is monitored, the in-vehicle terminal 202 transmits a control signal to the control system of the construction vehicle to control the operation of the construction vehicle, for example, to terminate the oil supply of the construction vehicle, etc. In addition, the vehicle-mounted terminal 202 may further include a speaker and/or an alarm indicator lamp, and when the construction risk is detected, the tower apparatus 201 may accurately locate to which construction vehicle has the construction risk, and inform the vehicle-mounted terminal 202 in the construction vehicle, and issue an alarm through the speaker and/or the alarm indicator lamp.
As further shown in fig. 2, according to one embodiment herein, the on-tower apparatus 201 further comprises,
the three-dimensional model initializing unit 2011 of the power transmission line is used for acquiring a power transmission line point cloud map in a monitoring range generated by scanning of the independent three-dimensional laser radar equipment;
a processor 2016 for constructing a three-dimensional model of the transmission line from the transmission line cloud map;
a laser radar 2012 mounted on a tower pole of the power transmission line for detecting three-dimensional point cloud data of all construction vehicles below the power transmission line;
a construction vehicle position detection camera 2017 mounted on a tower pole of the power transmission line for detecting position image data of the construction vehicle;
the processor 2016 is further configured to calculate a first location of each construction vehicle under the power transmission line from the three-dimensional point cloud data of all construction vehicles, the first location including coordinates of a plurality of points on each construction vehicle under the power transmission line;
the vehicle-mounted terminal 202 is located on each construction vehicle, and is configured to obtain a second position of each construction vehicle, where the second position includes coordinates of a certain point on each construction vehicle;
The processor 2016 is further configured to determine a correspondence between the construction vehicle and the vehicle-mounted terminal 202 according to the first position and the second position of the construction vehicle, and determine whether there is a construction risk according to the first position of the construction vehicle, the position image data, and the three-dimensional model of the transmission line; and when construction risks exist, the construction vehicles are inserted according to the corresponding relations to carry out safety protection.
In this embodiment, the transmission line three-dimensional model initializing unit 2011 may acquire a transmission line point cloud map within a monitoring range generated by scanning an independent three-dimensional laser radar device, where the independent three-dimensional laser radar device may be an unmanned plane, a backpack three-dimensional laser radar or a ground-mounted laser radar scanner, and the unmanned plane, the backpack three-dimensional laser radar or the ground-mounted laser radar scans a transmission line to obtain the transmission line point cloud map, and stores the transmission line point cloud map in a memory of an on-tower device. It should be noted that, a plurality of transmission lines arranged at different height positions are included between two adjacent towers in the embodiment herein, for example, one transmission line is divided into A, B, C three phases, and if two transmission lines are erected on one tower, six transmission lines are provided in total. When the unmanned aerial vehicle, the knapsack laser radar or the ground-mounted laser radar scanner is used for scanning the power transmission lines, point cloud data of all the power transmission lines can be acquired at one time, and then data extraction is carried out on each power transmission line, so that a three-dimensional model of all the power transmission lines is constructed.
According to one embodiment herein, as shown in fig. 5, constructing a three-dimensional model of the transmission line from the transmission line point cloud map further includes,
step 501: constructing a map three-dimensional coordinate system of the power transmission line point cloud map;
step 502: extracting three-dimensional coordinates of a power line in the map three-dimensional coordinate system of the power line in the power transmission line point cloud map;
step 503: and taking the map three-dimensional coordinate system and the power line three-dimensional coordinate as the three-dimensional model of the power transmission line.
In this embodiment, the unmanned aerial vehicle, the backpack three-dimensional laser radar or the ground-mounted laser radar scanner may use the collected laser point cloud data to extract and construct a power transmission line point cloud map by scanning the power transmission line and the surrounding environment based on the SLAM solution, and then the power transmission line three-dimensional model initialization unit 2011 of the on-tower device 201 acquires the power transmission line point cloud map generated by the unmanned aerial vehicle, the backpack three-dimensional laser radar or the ground-mounted laser radar scanner.
Then, the three-dimensional model initializing unit 2011 of the power transmission line sends the power transmission line point cloud map to the processor 2016 for processing, and the processor 2016 first builds a map three-dimensional coordinate system of the power transmission line point cloud map. And registering the three characteristic points selected manually with a point cloud model of the power transmission line three-dimensional model initialization unit 2011, so that the three-dimensional model of the power transmission line is added to a point cloud map of a construction site of the three-dimensional model of the power transmission line. Finally, the three-dimensional coordinate system of the map and the three-dimensional coordinate of the power line are used as the three-dimensional model of the power transmission line, which can be understood that the coordinate of the first point cloud data detected by the laser radar 2012 is transformed into the three-dimensional coordinate system of the map, and then the shortest distance between the construction vehicle and the power line can be calculated according to the three-dimensional coordinate of the power line (namely, the three-dimensional coordinate point set of the power line).
As shown in fig. 3, the construction vehicles 1 and 2 enter the detection area of the lidar 2012, and the lidar 2012 outputs three-dimensional point cloud data of the construction vehicles 1 and 2 after detection, wherein coordinates of a plurality of points including the construction vehicles 1 and 2 are T Total (S) (x, y, z), i.e., three-dimensional point cloud data of all construction vehicles. In the working process of the construction vehicle 1 and the construction vehicle 2 under the power transmission line, the laser radar 2012 continuously acquires the three-dimensional point cloud data of the construction vehicle 1 and the construction vehicle 2, so as to perform safety protection on the power transmission line in real time.
The processor 2016 generates coordinates of a plurality of points of the work vehicle 1 and the work vehicle 2 based on the coordinatesT Total (S) (x, y, z) obtaining a first position of the construction vehicle 1, wherein the first position of the construction vehicle 1 is coordinates T of a plurality of points on the construction vehicle 1 1 (x, y, z), for example, includes a of the construction vehicle 1 shown in fig. 3 1 、B 1 、C 1 、D 1 And H 1 Coordinates of points, e.g. A of construction vehicle shown in FIG. 3 1 、B 1 、C 1 、D 1 The coordinates of the points constitute an irregular cube. Similarly, the coordinates T of a plurality of points of the construction vehicle 1 and the construction vehicle 2 are calculated Total (S) (x, y, z) obtaining a first position of the construction vehicle 2, wherein the first position of the construction vehicle 2 is coordinates T of a plurality of points on the construction vehicle 2 2 (x, y, z), e.g., including a of the construction vehicle 2 shown in fig. 3 2 、B 2 、C 2 、D 2 And H 2 Coordinates of points, e.g. A of construction vehicle shown in FIG. 3 2 、B 2 、C 2 、D 2 The coordinates of the points constitute an irregular cube.
Because the three-dimensional point cloud data of all the construction vehicles obtained by the laser radar 2012 only includes the first position of each construction vehicle, in order to monitor the construction risk of each construction vehicle and only alarm and/or control the construction vehicles with construction risks when one or some construction vehicles have construction risks, the corresponding relation between the three-dimensional point operation data of all the construction vehicles obtained by the laser radar 2012 and the vehicle-mounted terminals installed on the construction vehicles needs to be established, and when the construction risk of one construction vehicle is monitored, only alarm and/or control is performed on the construction vehicles. Thus, according to one embodiment herein, as shown in fig. 6, determining the correspondence between the construction vehicle and the vehicle-mounted terminal according to the first position and the second position of the construction vehicle further includes:
step 601: calculating an average distance between the coordinates of the second location and the plurality of coordinates of the first location;
step 602: and determining the corresponding relation between the construction vehicle and the vehicle-mounted terminal according to the average distance and the preset average distance.
In the present embodiment, each of the construction vehicles is locatedThe on-vehicle terminal 202 on the vehicle acquires the second position of the respective construction vehicle, which may be the GNSS (including GPS and beidou coordinates) three-dimensional absolute space coordinates of the position where the on-vehicle terminal 202 is installed in the cab, and continuing as shown in fig. 3, the on-vehicle terminal 202 installed on the construction vehicle 1 obtains the coordinates T of the construction vehicle 1 1 ' wherein the coordinates T of the construction vehicle 1 are (x, y, z) 1 ' (x, y, z) may represent coordinates of a point within the contour of the construction vehicle 1, for example, H where the in-vehicle terminal 202 is installed in the construction vehicle 1 1 Near the point, the coordinate T of the construction vehicle 1 1 ' (x, y, z) at H 1 The vicinity of the point coordinates, i.e., the second position of the construction vehicle 1. Similarly, the in-vehicle terminal 202 mounted on the construction vehicle 2 obtains the coordinates T of the construction vehicle 2 2 ' wherein the coordinates T of the construction vehicle 2 are (x, y, z) 2 ' (x, y, z) may represent coordinates of a point within the contour of the construction vehicle 2, for example, H where the in-vehicle terminal 202 is installed in the construction vehicle 2 2 Near the point, the coordinate T of the construction vehicle 2 2 ' (x, y, z) at H 2 The vicinity of the point coordinates, i.e., the second position of the construction vehicle 2.
The processor 2016 then determines the correspondence between the construction vehicle 1 and the in-vehicle terminal 202 mounted on the construction vehicle 1 based on the first and second positions of the construction vehicle 1, and the processor 2016 determines the correspondence between the construction vehicle 2 and the in-vehicle terminal 202 mounted on the construction vehicle 2 based on the first and second positions of the construction vehicle 2, specifically, due to the coordinates T of the multiple points on the construction vehicle 1 1 (x, y, z) includes the contour coordinates of the construction vehicle 1 (i.e., by A 1 、B 1 、C 1 、D 1 The coordinates of the points form an irregular cube), the coordinates T of the construction vehicle 1 1 ' the coordinates T of the construction vehicle 1 can be calculated within the contour coordinates of the construction vehicle 1 1 ' average distance between the contour coordinates of the construction vehicle 1 and (x, y, z), and then comparing the average distance with a preset average distance to obtain a correspondence of the construction vehicle 1 and the in-vehicle terminal 202 mounted on the construction vehicle 1, and obtaining a correspondence of the construction vehicle 2 and the in-vehicle terminal 202 mounted on the construction vehicle 2 by the same method. It should be noted thatThe preset average distance can be obtained according to the contour of the construction vehicle, for example, an average value of distances between points on the contour of the construction vehicle is used as the preset average distance.
In some other embodiments herein, the vehicle-mounted terminal 202 may also record the contour form of the corresponding construction vehicle, when determining the correspondence between the point cloud data of the construction vehicle and the vehicle-mounted terminal, the contour form of the construction vehicle recorded by the vehicle-mounted terminal 202 may be subjected to coordinate transformation, and transformed to the radar three-dimensional coordinate of the laser radar, and then the preset average distance is calculated according to the contour form of the construction vehicle, and compared with the method of setting the preset average distance according to the manual experience, the preset average distance calculated according to the contour form of the construction vehicle recorded by the vehicle-mounted terminal 202 in the embodiments herein may be more consistent with the actual contour of the construction vehicle, thereby improving the accuracy of determining the correspondence between the point cloud data of the construction vehicle and the vehicle-mounted terminal.
In some other embodiments herein, as shown in fig. 7, determining the correspondence between the construction vehicle and the vehicle-mounted terminal according to the first position and the second position of the construction vehicle further includes:
step 701: calculating a construction vehicle range according to the coordinates of the second position and a preset radius;
step 702: and determining the corresponding relation between the construction vehicle and the vehicle-mounted terminal according to the construction vehicle range and the coordinates of the first position.
In this embodiment, the preset radius may also be calculated according to the contour form of the construction vehicle recorded by the vehicle-mounted terminal 202, which is not described herein.
Then judging whether the construction vehicle 1 has construction risk according to the first position of the construction vehicle 1 and the three-dimensional model of the transmission line, specifically, calculating the highest point coordinate of the construction vehicle 1 according to the first position of the construction vehicle 1, and then calculating the distance L between the highest point of the construction vehicle 1 and the transmission line according to the highest point coordinate of the construction vehicle 1 1 Judging the distance L 1 Whether the distance is smaller than a preset safety distance, if so, the vehicle-mounted terminal corresponding to the construction vehicle 1 is provided202 sends control and/or alarm instructions to cause the vehicle terminal 202 to instruct the vehicle's oil circuit controller to cut off oil circuit power, to cause the vehicle's mechanical devices to stop moving, and/or to alert speakers and/or alarm lights of the vehicle terminal 202 to alert personnel within the construction vehicle 1. Similarly, whether the construction vehicle 2 has a construction risk or not is judged according to the first position of the construction vehicle 2 and the three-dimensional model of the transmission line, specifically, the highest point coordinate of the construction vehicle 2 is calculated according to the first position of the construction vehicle 2, and then the distance L between the highest point of the construction vehicle 2 and the transmission line is calculated according to the highest point coordinate of the construction vehicle 2 2 Judging the distance L 2 If the distance is smaller than the preset safety distance, a suspension and/or alarm instruction is sent to the corresponding vehicle-mounted terminal 202 of the construction vehicle 2, so that the vehicle-mounted terminal 202 instructs an oil circuit controller of the vehicle to cut off the oil circuit power supply, mechanical devices of the vehicle stop moving, and/or an alarm is sent to a loudspeaker and/or an alarm indicator lamp of the vehicle-mounted terminal 202 to remind a worker in the construction vehicle 2.
In this embodiment, the construction vehicle position detection camera 2017 located on the tower pole detects the position image data of the construction vehicle, that is, the construction vehicle position detection camera 2017 shoots the area under the transmission line, the shot photo or video includes the construction vehicle, and the shot photo is the position image data of the construction vehicle. The positional image data is two-dimensional data.
The processor 2016 then calculates a first distance between the construction vehicle and the power transmission line, i.e., calculates the shortest distance between the construction vehicle and the power line, based on the first location of the construction vehicle, the location image data, and the three-dimensional model of the power transmission line.
Specifically, according to one embodiment herein, as shown in fig. 8, calculating the first distance between the construction vehicle and the power transmission line from the first position of the construction vehicle, the position image data, and the three-dimensional model of the power transmission line further includes:
Step 801: analyzing the position image data, and determining a two-dimensional coordinate range of the construction vehicle in a two-dimensional image coordinate system where the position image data is located;
step 802: transforming the first position into the two-dimensional image coordinate system to obtain a two-dimensional coordinate corresponding to the first position;
step 803: extracting the two-dimensional coordinates belonging to the two-dimensional coordinate range to serve as two-dimensional coordinates of the construction vehicle;
step 804: transforming the first position corresponding to the two-dimensional coordinate of the construction vehicle into the three-dimensional coordinate system of the map to obtain the three-dimensional coordinate of the map of the construction vehicle;
step 805: calculating the shortest distance between the construction vehicle and the power line of the power transmission line in the map three-dimensional coordinate system according to the construction vehicle map three-dimensional coordinate and the power line three-dimensional coordinate as a first distance;
step 806: and judging whether construction risks exist according to the first distance.
In this embodiment, the first location detected by the lidar includes coordinates of a plurality of points, and other objects than the construction vehicle may exist under the transmission line, which may also be detected by the lidar, so that the first location may also include point cloud data of the other objects than the construction vehicle, so in order to improve the accuracy of calculating the first distance, it is necessary to accurately extract the point cloud of the construction vehicle from the first location. In this embodiment, therefore, the position image data detected by the position detection camera of the construction vehicle (i.e. a photograph or video under the transmission line) is first analyzed, the construction vehicle is identified, and the area frame where the construction vehicle is located (i.e. the two-dimensional coordinate range of the construction vehicle) is obtained, so that the point cloud data of the construction vehicle is determined from the first position by using the area frame where the construction vehicle is located.
In order to determine the point cloud data of the construction vehicle from the first position by using the region frame where the construction vehicle is located, the embodiment herein needs to transform the first position into the two-dimensional image coordinate system of the construction vehicle detection camera to obtain the two-dimensional coordinate corresponding to the first position, and then extract the two-dimensional coordinate belonging to the region frame where the construction vehicle is located (and the two-dimensional coordinate range of the construction vehicle) as the two-dimensional coordinate of the construction vehicle, so as to determine which first positions are the point cloud data of the construction vehicle.
And then calculating the shortest distance between the construction vehicle and the power line by using the point cloud data of the construction vehicle and the three-dimensional coordinates of the power line, wherein the point cloud data of the construction vehicle is the coordinates in the three-dimensional coordinate system of the laser radar, and the three-dimensional coordinates of the power line are the coordinates in the three-dimensional coordinate system of the map, so that the point cloud data of the construction vehicle (namely the first position corresponding to the two-dimensional coordinates of the construction vehicle) is required to be transformed into the three-dimensional coordinate system of the map to obtain the three-dimensional coordinates of the map of the construction vehicle, and the shortest distance between the construction vehicle and the power line is calculated under the three-dimensional coordinate system of the map.
In this embodiment, the purpose of protecting the power transmission line is to avoid that the rocker arm of the construction vehicle and other components approach the power transmission line, so in this embodiment, the shortest distance (i.e., the first distance) between the construction vehicle and the power line needs to be calculated, and whether the shortest distance is smaller than the safe distance of the power line is determined, if so, the construction risk is indicated. According to one embodiment herein, as shown in fig. 9, calculating the shortest distance between the construction vehicle and the power line of the power transmission line from the three-dimensional coordinates of the map of the construction vehicle and the three-dimensional coordinates of the power line further includes:
Step 901: taking the highest point coordinate in the three-dimensional coordinates of the construction vehicle map as the highest point coordinate of the construction vehicle;
step 902: determining the three-dimensional coordinates of a point power line closest to the highest point coordinate of the construction vehicle on the power line by using a KNN algorithm;
step 903: calculating Euclidean distance between the highest point coordinates of the construction vehicle and the coordinates of the points determined by the KNN algorithm;
step 904: and taking the Euclidean distance as the first distance.
In this embodiment, the highest point coordinate in the three-dimensional coordinates of the construction vehicle map obtained by transforming the point cloud data of the construction vehicle to the three-dimensional coordinates of the map is determined in the three-dimensional coordinates of the map, then the point closest to the highest point coordinate of the construction vehicle on the power line is determined by using a KNN algorithm, the euclidean distance between the coordinate of the point and the highest point coordinate of the construction vehicle is calculated, and the euclidean distance is used as the shortest distance (i.e. the first distance) between the construction vehicle and the power line. In addition, the highest point of the two-dimensional coordinates of the construction vehicle may be determined in the two-dimensional image coordinate system, and then the first position corresponding to the highest point may be transformed into the three-dimensional coordinate system of the map for calculation, which is not limited by the embodiment herein.
According to one embodiment herein, transforming the first position into the two-dimensional image coordinate system, obtaining the two-dimensional coordinates corresponding to the first position further includes:
transforming the first position into a camera three-dimensional coordinate system corresponding to the construction vehicle position detection camera by using a formula (1) to obtain a camera three-dimensional coordinate;
Coord rgb3d ＝T×Coord lidar3d (1)
wherein, coord rgb3d Representing camera three-dimensional coordinates, coord lidar3d Representing the first position, T represents a first extrinsic transformation matrix that transforms the radar three-dimensional coordinate system where the first position is located to the camera three-dimensional coordinate system.
Wherein, the three-dimensional coordinate system of the camera and the three-dimensional coordinate system of the radar are both a right-hand coordinate system and a Coord rgb3d The positive direction of the X axis of the coordinate system is rightward, the positive direction of the Y axis is downward, and the positive direction of the Z axis is consistent with the view direction of the camera; coord lidar3d The positive direction of the X axis of the coordinate system is rightward, the positive direction of the Y axis is consistent with the visual field direction of the laser radar, and the positive direction of the Z axis is upward;
by integrating Coord lidar3d The coordinate system is rotated 90 about its own X-axis in such a way that Coord lidar3d And Coord rgb3d The directions of all axes of the coordinate systems are parallel and consistent, and then the relative offset of the coordinate origins is obtained by a mode of aligning the two coordinate system origins;
The rotation matrix R (matrix of 3X 3) can be obtained by rotating around the X axis, the coordinate offset T (matrix of 3X 1) can be obtained by aligning the origin of coordinates, and the first extrinsic transformation matrix T can be obtained by combining the two as formula (2):
wherein R is 3×3 In order to obtain a rotation matrix by rotating the radar three-dimensional coordinate system around an X axis in the process of transforming the radar three-dimensional coordinate system where the first position is located into the camera three-dimensional coordinate system, t 3×1 And (3) representing that the coordinate origin of the radar three-dimensional coordinate system and the camera three-dimensional coordinate system are aligned to obtain the coordinate offset.
Transforming the three-dimensional coordinate of the camera into a two-dimensional image coordinate system by using a formula (3) to obtain a two-dimensional coordinate corresponding to the first position:
wherein [ u, v]Representing two-dimensional coordinates, [ X ] c ,Y c ,Z c ]And representing three-dimensional coordinates of the camera, wherein K is an internal reference matrix of the construction vehicle position detection camera. The internal reference matrix K of the camera is shown in formula (4):
wherein f x The unit is the number of pixels in the X-axis direction corresponding to the unit focal length (f) distance; f (f) y 5 is the number of pixels in the Y-axis direction corresponding to the unit focal length (f) distance, and the unit is the pixel; c x The offset of the optical axis of the camera in the X-axis direction of the two-dimensional image coordinate system is given in pixels; c y The unit is pixel for the offset of the camera optical axis in the Y-axis direction of the two-dimensional image coordinate system.
Further, the first position corresponding to the two-dimensional coordinate of the construction vehicle is transformed into a three-dimensional coordinate system of the map, and the formula for obtaining the three-dimensional coordinate of the map of the construction vehicle is (5):
wherein [ X ] map3d ,Y map3d ,Z map3d ]Representing the three-dimensional coordinates of the map of the construction vehicle,
[X lidar3d ,Y lidar3d ,Z lidar3d ]representing a first position corresponding to two-dimensional coordinates of a construction vehicle, T g A second perspective transformation matrix is represented that transforms the radar three-dimensional coordinate system to the map three-dimensional coordinate system. Second extrinsic transformation T g The calculation modes of the matrix and the first extrinsic transformation matrix T are the same, and will not be described here again.
In an embodiment herein, in order to accurately determine the region frame of each construction vehicle (i.e., the two-dimensional coordinate range of the construction vehicle), according to one embodiment herein, as shown in fig. 10, the analyzing the position image data, determining the two-dimensional coordinate range of the construction vehicle in the two-dimensional image coordinate system in which the position image data is located further includes:
step 1001: analyzing the position image data by utilizing a pre-trained target detection model to obtain a plurality of detection frames of the same construction vehicle;
step 1002: taking a detection frame with the highest confidence score as a first detection frame, wherein the confidence score is the probability that the detection frame output by the target detection model is correct, and taking the first detection frame as a corresponding two-dimensional coordinate range of the construction vehicle;
Step 1003: calculating the cross ratio of the first detection frame and other detection frames;
step 1004: judging whether the cross-over ratio exceeds a preset cross-over ratio threshold value or not;
step 1005: if yes, discarding the detection frame;
step 1006: and determining the detection frame with the largest confidence score from the detection frames except the first detection frame and the abandoned detection frames, and performing the step of taking the detection frame with the largest confidence score as the first detection frame again until all the detection frames are processed.
In this embodiment, the target detection model may be trained based on a deep learning algorithm, and in particular, the network structure adopted is a classical network structure of target detection, and mainly includes a backhaul part, a neg part and a Head part. The backup part and the Neck part are mainly used for better extracting shallow texture and high-level semantic information of the image, and the Head part is used for carrying out classification prediction on the acquired characteristics and carrying out constraint on the learning direction of the network through a loss function.
The position image data is firstly input into a Backbone network for feature extraction, and then is obtained after passing through the Backbone networkIs a feature map of (1). Where B is the number of lot data, N is the number of channels, H, W is the height and width of the image, respectively. Inputting the feature map output by the backbone network into a Neck network part to perform multi-scale feature fusion, thereby obtaining better image features, and outputting the better image features as +. >Is a feature map of (1). And inputting the feature map into a Head network to carry out engineering vehicle coordinate position regression.
In this embodiment, the construction vehicle position detection camera is an RGB camera, the RGB camera is used to collect video data of a working scene of the construction vehicle, then the collected video data is processed to obtain position image data including the construction vehicle, the engineering vehicle in the position image data is marked by LabelImg software, and according to 6:3: and 1, training a target detection model for the data division training set, the verification set and the test set.
In the training process, the model is constrained through the loss function of the classical target detection algorithm, so that the accuracy and recall rate of the target detection model on the verification set are higher and higher, and the model is considered to have better performance.
The process of analyzing the position image data by using the pre-trained target detection model mainly comprises two parts of model reasoning and subsequent processing, wherein firstly, the position image data of the construction vehicle to be detected is subjected to Backbone, neck and Head parts to obtain a plurality of image coordinates of the predicted construction vehicle (namely a detection frame, wherein the frame consists of four points). The predicted coordinates are filtered out mainly by using a non-maximum suppression algorithm, so that each construction vehicle obtains the optimal coordinate position. Then, the one with the largest confidence score in the detection frame is selected and marked as box_best, and is used as the two-dimensional coordinate range of the corresponding construction vehicle (the confidence score is the probability that the network outputs the prediction as correct when outputting the detection frame). The cross-over ratio of box_best to the remaining test frames is then calculated (IoU). The intersection ratio (loU) function is to calculate the intersection and union ratio of two bounding boxes, and the region overlapping degree of the two detecting boxes can be known through IoU, and the larger IoU is, the higher the region overlapping degree is. And then judging whether the cross-over ratio exceeds a preset cross-over ratio threshold value, if so, discarding the detection frame. And then, determining the detection box_best with the largest confidence score from the detection boxes except the box_best and the discarded detection boxes, and executing the step of taking the detection box_best with the largest confidence score as the first detection box again until all the detection boxes are processed.
By the method shown in fig. 10, the detection frame having a high overlap ratio can be omitted, and the accuracy of identifying the two-dimensional coordinate range of the construction vehicle can be improved.
In this embodiment of the present disclosure, the processor 2016 may be a separate physical computer, or may be a processor cluster or a distributed system formed by a plurality of physical computers, or may be a cloud server that provides cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content delivery network (CDN, content Delivery Network), and basic cloud computing services such as big data and artificial intelligence platforms.
In some alternative embodiments, in-vehicle terminal 202 may protect the transmission line in conjunction with on-tower device 201. In particular, the in-vehicle terminal 202 may include, but is not limited to, a desktop computer or like type of electronic device with a control data interface. Alternatively, the operating system running on the electronic device may include, but is not limited to, an android system, an IOS system, linux, windows, and the like.
In this embodiment, the construction vehicles under the power transmission line may include multiple types, where the heights of the different types of construction vehicles and the telescopic heights of the swing arms may be different, so as to further protect the power transmission line, and according to one embodiment of this document, continuing to be shown in fig. 2, the on-tower apparatus 201 further includes a camera unit 2013, which is installed on a tower pole of the power transmission line, and is configured to obtain the identifier of each construction vehicle under the power transmission line;
The processor 2016 is further configured to obtain a motion track range of the construction vehicle according to the identifier of the construction vehicle, and determine whether there is a construction risk according to the first position of the construction vehicle, the position image data, the motion track range, and the three-dimensional model of the power transmission line.
In this embodiment, the identification of the construction vehicle may include a number plate, a vehicle nameplate, and the like of the construction vehicle, the image capturing unit 2013 captures the construction vehicle, then performs gray scale processing on the image of the construction vehicle by adopting a method of image processing in the prior art, so as to reduce the subsequent calculation amount, obtain a gray scale image of the construction vehicle, and then performs feature extraction on the gray scale image, where the extracted features may include the number plate, the vehicle nameplate, and the like of the construction vehicle, obtain an image area where the number plate, the vehicle nameplate, and the like are located, and then further identify numbers or letters in the image area, so as to obtain the identification of the construction vehicle. The processor 2016 may then communicate with a record database of the construction vehicle, and obtain record information of the construction vehicle based on the number plate, nameplate, etc. of the construction vehicle, and further obtain a movement track range of the construction vehicle, such as a swing arm telescopic range, etc. of the construction vehicle from the record information. Judging whether construction risks exist according to the first position and position image data of the construction vehicle, the motion track range and the three-dimensional model of the power transmission line, specifically, obtaining the highest point of the construction vehicle according to the first position and position image data of the construction vehicle, calculating the shortest distance between the highest point of the construction vehicle and the power transmission line according to the three-dimensional model of the power transmission line and the highest point, and judging whether accidents occur when construction is continued according to the motion track range of the highest point, the shortest distance between the current highest point and the power transmission line and the safe distance of the power transmission line. If it is determined that an accident occurs in the construction vehicle continued to be constructed, the construction vehicle is controlled and/or alerted by the in-vehicle terminal 202. Further, the construction process of the construction vehicle can be controlled according to the motion track range of the construction vehicle, so that the shortest distance between the highest point of the construction vehicle and the power transmission line is ensured to be continuously larger than the safe distance of the power transmission line in the construction process, a plurality of construction risk levels can be set according to the motion track range of the construction vehicle, the shortest distance between the current highest point of the construction vehicle and the power transmission line and the safe distance of the power transmission line, and the current construction risk level is alarmed through the vehicle-mounted terminal 202.
In this embodiment, the power may be supplied to the on-tower device by using a solar panel, a lithium battery or a power transmission line, and the power may be supplied to the on-vehicle terminal by using a lithium battery or a power transmission line, because the laser radar, the on-vehicle terminal and the camera unit need to consume a large amount of electric energy for working, in order to avoid the waste of electric energy and thus save the monitoring cost, according to one embodiment of the present disclosure, the on-tower device 201 further includes a microwave radar 2014, which is installed on a tower pole of the power transmission line, and is used for detecting whether the construction vehicle exists below the power transmission line;
the processor 2016 is further configured to initiate operation of other electronics of the on-tower apparatus 201 when the microwave radar 2014 detects the presence of a construction vehicle beneath the transmission line.
In this embodiment, the microwave radar 2014 continuously detects whether a construction vehicle exists in a preset range below the power transmission line, if the construction vehicle exists, the processor 2016 starts the operation of the vehicle-mounted terminal 202 and other electronic devices (such as the laser radar 2012 and the camera unit 2013) of the on-tower device 201, wherein the preset range can be determined according to the scale of the power transmission line and the construction cost, and further, the microwave radar 2014 can further detect that no construction vehicle exists in a certain time below the power transmission line or stop the operation of the other electronic devices (such as the laser radar 2012 and the camera unit 2013) of the on-tower device 201 after the construction vehicle stops, so that the waste of electric energy is avoided.
In this embodiment, whether a construction vehicle exists in a preset range below the continuously detected transmission line may also be detected by the image capturing unit 2013, etc., which is not limited in this embodiment.
According to one embodiment of the present disclosure, the power transmission line may generate a certain galloping wind bias along with the action of surrounding wind force, when the galloping wind bias exists on the power transmission line, even if the highest point of the construction vehicle is continuously unchanged, the power transmission circuit may change the distance between the power transmission line and the highest point of the construction vehicle due to the action of the wind force, so, in order to improve the accuracy of detecting when the galloping wind bias exists on the power transmission line, as shown in fig. 2, the tower-mounted device 201 further includes a weather measurement unit 2015 for measuring a weather value of an area where the power transmission line is located;
the processor 2016 is further configured to construct a three-dimensional model of wind-bias-swing of the power transmission line according to the meteorological values and the power transmission line point cloud map, and determine whether a construction risk exists according to the first position of the construction vehicle, the position image data, and the three-dimensional model of wind-bias-swing of the power transmission line.
In embodiments herein, meteorological values may include wind speed, temperature, humidity, barometric pressure, etc., and embodiments herein are not limited.
Exemplary, firstly, acquiring elevation images, longitude and latitude coordinates of towers, tower models and local meteorological data of the topography of the power transmission line erection site, then acquiring geographic data of the power transmission line erection site by using software of a global digital elevation model ASTER GDEM V version 2, and processing to obtain a digital elevation data diagram: collecting, processing and analyzing geographic data of a region where the power transmission line is located by using a global digital elevation model, deriving a topographic data map of the region where the power transmission line is located, intercepting an initial topographic image according to different altitudes to obtain RGB images corresponding to different altitudes, then carrying out gray processing on the images, converting the RGB images into corresponding gray images, and further processing the obtained topographic data gray images to obtain a digital elevation data map corresponding to the topography with extremely high precision; then, a sliding Lagrange interpolation method is adopted to establish a three-dimensional model of the site topography of the power transmission line erection, and the three-dimensional model of the whole power transmission line can be obtained by substituting the connecting line of each tower coordinate and the label of the power transmission line obtained by collecting the simple three-dimensional model of the tower and the wire of the power transmission line into the three-dimensional model of the site topography of the corresponding power transmission line erection by combining the simple three-dimensional model of the towers and the wires of the power transmission line; then wind field simulation is carried out on the three-dimensional model of the whole transmission line by finite element analysis software, so that the actual wind speed of the complex micro-topography is obtained; then, a support vector machine algorithm is adopted to learn and train a plurality of three-dimensional models and simulation results of the whole regional power transmission line, and a support vector machine algorithm model is constructed; then, predicting wind field results of the three-dimensional model of the whole power transmission line of the target terrain through a support vector machine intelligent algorithm model to obtain the actual wind speed of the height where the power transmission line is erected; and finally substituting the wind speed result into a wind deflection calculation formula of the power transmission line to obtain a wind deflection galloping three-dimensional model of the power transmission line.
And calculating the shortest distance between the highest point of the construction vehicle and the power transmission line according to the wind deflection galloping three-dimensional model and the first position and position image data of the construction vehicle, and judging whether construction risks exist according to the safety distance of the power transmission line.
In some other embodiments herein, the data acquired by the on-tower device and the vehicle-mounted terminal may also be stored in a server, so that the server can monitor the protection process of the transmission line.
Based on the same inventive concept, the embodiment herein also provides a real-time protection method for the power transmission line of the target construction vehicle, which is used for protecting the power transmission line in real time, and fig. 4 is a flowchart of the real-time protection method for the power transmission line of the target construction vehicle in the embodiment herein. The process of protecting a transmission line is described in this figure, but may include more or fewer operational steps based on conventional or non-inventive labor. The order of steps recited in the embodiments is merely one way of performing the order of steps and does not represent a unique order of execution. When a system or apparatus product in practice is executed, it may be executed sequentially or in parallel according to the method shown in the embodiments or the drawings. As shown in fig. 4, the method may include:
Step 401: detecting three-dimensional point cloud data of all construction vehicles below the power transmission line;
step 402: judging whether construction risks exist according to the three-dimensional point cloud data of all the construction vehicles and the three-dimensional model of the power transmission line, and if so, inserting the construction vehicles through vehicle-mounted terminals installed in the construction vehicles to carry out safety protection.
In some other embodiments herein, the method further comprises determining the preset safe distance according to a voltage level of the power transmission line.
Illustratively, the voltage level and the safety distance reference table may be shown in table 1, where the voltage level and the safety distance reference table are existing standards, and are not described herein.
TABLE 1
| Voltage (kilovolt) | Safe distance (Rice) |
| 10 | 0.7 |
| 35 | 1 |
| 110 | 1.5 |
| 220 | 3 |
The beneficial effects obtained by the method are consistent with those obtained by the system, and the embodiments of the present disclosure are not repeated.
As shown in fig. 11, which is a schematic structural diagram of a computer device according to an embodiment of the present invention, the processor 2016 in the present invention may be the computer device in the present embodiment, and the method of the present invention described above is performed. The computer device 1102 may include one or more processing devices 1104, such as one or more Central Processing Units (CPUs), each of which may implement one or more hardware threads. The computer device 1102 may also include any storage resources 1106 for storing any kind of information, such as code, settings, data, etc. For example, and without limitation, the storage resources 1106 may include any one or more of the following combinations: any type of RAM, any type of ROM, flash memory devices, hard disks, optical disks, etc. More generally, any storage resource may store information using any technology. Further, any storage resource may provide volatile or non-volatile retention of information. Further, any storage resources may represent fixed or removable components of computer device 1102. In one case, when the processing device 1104 executes associated instructions stored in any storage resource or combination of storage resources, the computer device 1102 may perform any of the operations of the associated instructions. The computer device 1102 also includes one or more drive mechanisms 1108, such as a hard disk drive mechanism, optical disk drive mechanism, and the like, for interacting with any storage resources.
The computer device 1102 may also include an input/output module 1110 (I/O) for receiving various inputs (via an input device 1112) and for providing various outputs (via an output device 1114). One particular output mechanism may include a presentation device 1116 and an associated Graphical User Interface (GUI) 1118. In other embodiments, input/output module 1110 (I/O), input device 1112, and output device 1114 may not be included, but merely as a computer device in a network. The computer device 1102 may also include one or more network interfaces 1120 for exchanging data with other devices via one or more communication links 1122. One or more communication buses 1124 couple together the components described above.
The communication link 1122 may be implemented in any manner, for example, through a local area network, a wide area network (e.g., the internet), a point-to-point connection, etc., or any combination thereof. Communication link 1122 may include any combination of hardwired links, wireless links, routers, gateway functions, name servers, etc. governed by any protocol or combination of protocols.
Embodiments herein also provide a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the above method.
Embodiments herein also provide a computer readable instruction, wherein the program therein causes the processor to perform the above method when the processor executes the instruction.
It should be understood that, in the various embodiments herein, the sequence number of each process described above does not mean the sequence of execution, and the execution sequence of each process should be determined by its functions and internal logic, and should not constitute any limitation on the implementation process of the embodiments herein.
It should also be understood that in embodiments herein, the term "and/or" is merely one relationship that describes an associated object, meaning that three relationships may exist. For example, a and/or B may represent: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.
Those of ordinary skill in the art will appreciate that the elements and algorithm steps described in connection with the embodiments disclosed herein may be embodied in electronic hardware, in computer software, or in a combination of the two, and that the elements and steps of the examples have been generally described in terms of function in the foregoing description to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present disclosure.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein.
In the several embodiments provided herein, it should be understood that the disclosed systems, devices, and methods may be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. In addition, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices, or elements, or may be an electrical, mechanical, or other form of connection.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the elements may be selected according to actual needs to achieve the objectives of the embodiments herein.
In addition, each functional unit in the embodiments herein may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solutions herein are essentially or portions contributing to the prior art, or all or portions of the technical solutions may be embodied in the form of a software product stored in a storage medium, including several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments herein. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Specific examples are set forth herein to illustrate the principles and embodiments herein and are merely illustrative of the methods herein and their core ideas; also, as will be apparent to those of ordinary skill in the art in light of the teachings herein, many variations are possible in the specific embodiments and in the scope of use, and nothing in this specification should be construed as a limitation on the invention.
Claims (21)
1. A real-time protection system for a power transmission line of a target construction vehicle is characterized by comprising,
tower equipment and vehicle-mounted terminals;
the on-tower equipment detects three-dimensional point cloud data of all construction vehicles below the power transmission line, judges whether construction risks exist according to the three-dimensional point cloud data of all the construction vehicles and a three-dimensional model of the power transmission line, and intervenes in the construction vehicles to carry out safety protection through vehicle-mounted terminals installed in the construction vehicles when the construction risks exist;
the above-tower apparatus further comprises a first module,
the three-dimensional model initializing unit of the transmission line is used for acquiring a point cloud map of the transmission line in a monitoring range generated by scanning of the independent three-dimensional laser radar equipment;
the processor is used for constructing a three-dimensional model of the power transmission line according to the power transmission line point cloud map;
The laser radar is arranged on a tower pole of the power transmission line and is used for detecting three-dimensional point cloud data of all construction vehicles below the power transmission line;
a construction vehicle position detection camera which is arranged on a tower pole of the power transmission line and is used for detecting position image data of the construction vehicle;
the processor is further used for calculating a first position of each construction vehicle below the power transmission line according to the three-dimensional point cloud data of all construction vehicles, and the first position comprises coordinates of a plurality of points on each construction vehicle below the power transmission line;
the vehicle-mounted terminal is positioned on each construction vehicle and used for acquiring a second position of each construction vehicle, wherein the second position comprises coordinates of a certain point on each construction vehicle;
the processor is further used for determining the corresponding relation between the construction vehicle and the vehicle-mounted terminal according to the first position and the second position of the construction vehicle, and judging whether construction risks exist according to the first position of the construction vehicle, the position image data and the three-dimensional model of the power transmission line; and when construction risks exist, the construction vehicles are inserted according to the corresponding relations to carry out safety protection.
2. The power transmission line real-time protection system of a target construction vehicle according to claim 1, wherein determining the correspondence between the construction vehicle and the vehicle-mounted terminal according to the first position and the second position of the construction vehicle further comprises:
calculating an average distance between the coordinates of the second location and the plurality of coordinates of the first location;
and determining the corresponding relation between the construction vehicle and the vehicle-mounted terminal according to the average distance and the preset average distance.
3. The power transmission line real-time protection system of a target construction vehicle according to claim 1, wherein determining the correspondence between the construction vehicle and the vehicle-mounted terminal according to the first position and the second position of the construction vehicle further comprises:
calculating a construction vehicle range according to the coordinates of the second position and a preset radius;
and determining the corresponding relation between the construction vehicle and the vehicle-mounted terminal according to the construction vehicle range and the coordinates of the first position.
4. The system for real-time protection of a power transmission line of a target construction vehicle according to claim 1, wherein constructing a three-dimensional model of the power transmission line from the power transmission line point cloud map further comprises,
Constructing a map three-dimensional coordinate system of the power transmission line point cloud map;
extracting three-dimensional coordinates of a power line in the map three-dimensional coordinate system of the power line in the power transmission line point cloud map;
and taking the map three-dimensional coordinate system and the power line three-dimensional coordinate as the three-dimensional model of the power transmission line.
5. The real-time protection system for a power transmission line of a target construction vehicle according to claim 4, wherein the first position is three-dimensional data, and the position image data is two-dimensional data;
judging whether construction risks exist according to the first position of the construction vehicle, the position image data and the three-dimensional model of the power transmission line further comprises:
analyzing the position image data, and determining a two-dimensional coordinate range of the construction vehicle in a two-dimensional image coordinate system where the position image data is located;
transforming the first position into the two-dimensional image coordinate system to obtain a two-dimensional coordinate corresponding to the first position;
extracting the two-dimensional coordinates belonging to the two-dimensional coordinate range to serve as two-dimensional coordinates of the construction vehicle;
transforming the first position corresponding to the two-dimensional coordinate of the construction vehicle into the three-dimensional coordinate system of the map to obtain the three-dimensional coordinate of the map of the construction vehicle;
Calculating the shortest distance between the construction vehicle and the power line of the power transmission line in the map three-dimensional coordinate system according to the construction vehicle map three-dimensional coordinate and the power line three-dimensional coordinate as a first distance;
and judging whether construction risks exist according to the first distance.
6. The real-time protection system for a power transmission line of a target construction vehicle according to claim 5, wherein calculating a shortest distance between the construction vehicle and a power line of the power transmission line from the three-dimensional coordinates of the construction vehicle map and the three-dimensional coordinates of the power line further comprises:
taking the highest point coordinate in the three-dimensional coordinates of the construction vehicle map as the highest point coordinate of the construction vehicle;
determining a point on the power line, which is closest to the coordinate of the highest point of the construction vehicle, by using a KNN algorithm;
calculating the Euclidean distance of the three-dimensional coordinates of the power line between the coordinate of the highest point of the construction vehicle and the coordinate of the point determined by the KNN algorithm;
and taking the Euclidean distance as the first distance.
7. The real-time protection system for an electric power transmission line of a target construction vehicle according to claim 5, wherein analyzing the position image data, determining a two-dimensional coordinate range of the construction vehicle in a two-dimensional image coordinate system in which the position image data is located, further comprises:
Analyzing the position image data by utilizing a pre-trained target detection model to obtain a plurality of detection frames of the same construction vehicle;
taking a detection frame with the highest confidence score as a first detection frame, wherein the confidence score is the probability that the detection frame output by the target detection model is correct, and taking the first detection frame as a corresponding two-dimensional coordinate range of the construction vehicle;
calculating the cross ratio of the first detection frame and other detection frames;
judging whether the cross-over ratio exceeds a preset cross-over ratio threshold value or not;
if yes, discarding the detection frame;
and determining the detection frame with the largest confidence score from the detection frames except the first detection frame and the abandoned detection frames, and performing the step of taking the detection frame with the largest confidence score as the first detection frame again until all the detection frames are processed.
8. The real-time protection system for a power transmission line of a target construction vehicle according to claim 5, wherein transforming the first position into the two-dimensional image coordinate system to obtain two-dimensional coordinates corresponding to the first position further comprises:
using the formula Coord rgb3d ＝T×Coord lidar3d Transforming the first position into a camera three-dimensional coordinate system corresponding to the construction vehicle position detection camera to obtain a camera three-dimensional coordinate, wherein the chord rgb3d Representing the three-dimensional coordinates of the camera, coord lidar3d Representing the first position, and T represents a first external parameter transformation matrix for transforming a radar three-dimensional coordinate system where the first position is located into the camera three-dimensional coordinate system;
using the formulaTransforming the three-dimensional coordinate of the camera into the two-dimensional image coordinate system to obtain a two-dimensional coordinate corresponding to the first position, wherein [ u, v]Representing the two-dimensional coordinates, [ X ] c ,Y c ,Z c ]And representing the three-dimensional coordinates of the camera, wherein K is an internal reference matrix of the construction vehicle position detection camera.
9. The real-time protection system for the electric transmission line of the target construction vehicle according to claim 8, wherein the first position corresponding to the two-dimensional coordinates of the construction vehicle is transformed into the three-dimensional coordinate system of the map, and the formula for obtaining the three-dimensional coordinates of the map of the construction vehicle is:
wherein [ X ] map3d ,Y map3d ,Z map3d ]Representing the three-dimensional coordinates of the construction vehicle map, [ X ] lidar3d ,Y lidar3d ,Z lidar3d ]Representing the first position, T, corresponding to the two-dimensional coordinates of the construction vehicle g A second extrinsic transformation matrix is represented that transforms the radar three-dimensional coordinate system to the map three-dimensional coordinate system.
10. The real-time protection system for the power transmission line of the target construction vehicle according to claim 1, wherein the on-tower equipment further comprises a camera unit, which is installed on a tower pole of the power transmission line and is used for acquiring the identification of each construction vehicle below the power transmission line;
The processor is further used for acquiring a motion track range of the construction vehicle according to the identification of the construction vehicle, and judging whether construction risks exist according to the first position of the construction vehicle, the position image data, the motion track range and the three-dimensional model of the power transmission line.
11. The real-time protection system for a power transmission line of a target construction vehicle according to claim 1, wherein the on-tower apparatus further comprises a microwave radar installed on a tower pole of the power transmission line for detecting whether a construction vehicle exists below the power transmission line;
the processor is further used for starting the work of the vehicle-mounted terminal and other electronic devices of the on-tower equipment when the microwave radar detects that a construction vehicle exists below the power transmission line.
12. The real-time protection system for a power transmission line of a target construction vehicle according to claim 1, wherein the on-tower equipment further comprises a weather measurement unit for measuring weather values of an area where the power transmission line is located;
the processor is further used for constructing a wind deflection galloping three-dimensional model of the power transmission line according to the meteorological values and the power transmission line point cloud map, and judging whether construction risks exist according to the first position of the construction vehicle, the position image data and the wind deflection galloping three-dimensional model of the power transmission line.
13. A real-time protection method for a power transmission line of a target construction vehicle is characterized by comprising the following steps of,
detecting three-dimensional point cloud data of all construction vehicles below the power transmission line;
judging whether construction risks exist according to the three-dimensional point cloud data of all the construction vehicles and the three-dimensional model of the power transmission line, and if construction risks exist, inserting the construction vehicles into the vehicle-mounted terminals installed in the construction vehicles to carry out safety protection;
judging whether construction risks exist according to the three-dimensional point cloud data of all the construction vehicles and the three-dimensional model of the power transmission line,
constructing a three-dimensional model of the power transmission line according to the power transmission line point cloud map in the monitoring range generated by scanning of the obtained independent three-dimensional laser radar equipment;
calculating a first position of each construction vehicle according to three-dimensional point cloud data of construction vehicles of all construction vehicles, wherein the first position comprises coordinates of a plurality of points on each construction vehicle below the power transmission line;
determining the corresponding relation between the construction vehicle and the vehicle-mounted terminal according to a second position acquired by the vehicle-mounted terminal on each construction vehicle and a first position of the construction vehicle, wherein the second position comprises coordinates of a certain point on each construction vehicle;
Detecting position image data of all construction vehicles below the power transmission line;
judging whether construction risks exist or not according to the first position of the construction vehicle, the position image data and the three-dimensional model of the power transmission line;
and when construction risks exist, the construction vehicles are inserted according to the corresponding relations to carry out safety protection.
14. The method of claim 13, wherein determining whether there is a construction risk based on the first location of the construction vehicle, the location image data, and the three-dimensional model of the transmission line further comprises,
determining the highest point coordinate of the construction vehicle in the construction process according to the first position of the construction vehicle and the position image data;
determining the shortest distance between the highest point coordinate and the power transmission line according to the highest point coordinate and the three-dimensional model of the power transmission line;
and judging whether construction risks exist or not according to the shortest distance and the preset safety distance.
15. The method for protecting a power transmission line of a target construction vehicle in real time according to claim 14, wherein the first position is three-dimensional data, and the position image data is two-dimensional data;
Judging whether construction risks exist according to the first position of the construction vehicle, the position image data and the three-dimensional model of the power transmission line further comprises:
analyzing the position image data, and determining a two-dimensional coordinate range of the construction vehicle in a two-dimensional image coordinate system where the position image data is located;
transforming the first position into the two-dimensional image coordinate system to obtain a two-dimensional coordinate corresponding to the first position;
extracting the two-dimensional coordinates belonging to the two-dimensional coordinate range to serve as two-dimensional coordinates of the construction vehicle;
transforming the first position corresponding to the two-dimensional coordinate of the construction vehicle into a three-dimensional coordinate system of a map to obtain the three-dimensional coordinate of the map of the construction vehicle;
calculating the shortest distance between the construction vehicle and the power line of the power transmission line in the map three-dimensional coordinate system according to the construction vehicle map three-dimensional coordinate and the power line three-dimensional coordinate as a first distance;
and judging whether construction risks exist according to the first distance.
16. The method for protecting a power transmission line of a target construction vehicle in real time according to claim 15, wherein transforming the first position into the two-dimensional image coordinate system to obtain two-dimensional coordinates corresponding to the first position further comprises:
Using the formula Coord rgb3d ＝T×Coord lidar3d Transforming the first position into a camera three-dimensional coordinate system corresponding to the construction vehicle position detection camera to obtain a camera three-dimensional coordinate, wherein the chord rgb3d Representing the three-dimensional coordinates of the camera, coord lidar3d Representing the first position, and T represents a first external parameter transformation matrix for transforming a radar three-dimensional coordinate system where the first position is located into the camera three-dimensional coordinate system;
using the formulaTransforming the three-dimensional coordinate of the camera into the two-dimensional image coordinate system to obtain a two-dimensional coordinate corresponding to the first position, wherein [ u, v]Representing the two-dimensional coordinates, [ X ] c ,Y c ,Z c ]And representing the three-dimensional coordinates of the camera, wherein K is an internal reference matrix of the construction vehicle position detection camera.
17. The method for protecting a power transmission line of a target construction vehicle according to claim 16, wherein,
transforming the first position corresponding to the two-dimensional coordinate of the construction vehicle into the three-dimensional coordinate system of the map to obtain a formula of the three-dimensional coordinate of the construction vehicle map, wherein the formula is as follows:
wherein [ X ] map3d ,Y map3d ,Z map3d ]Representing the three-dimensional coordinates of the construction vehicle map, [ X ] lidar3d ,Y lidar3d ,Z lidar3d ]Representing the first position, T, corresponding to the two-dimensional coordinates of the construction vehicle g A second extrinsic transformation matrix is represented that transforms the radar three-dimensional coordinate system to the map three-dimensional coordinate system.
18. The method for real-time protection of a power transmission line of a target construction vehicle according to claim 13, further comprising,
acquiring a motion track range of the construction vehicle according to the identification of the construction vehicle;
and judging whether construction risks exist according to the first position of the construction vehicle, the position image data, the movement track range and the three-dimensional model of the power transmission line.
19. The method for real-time protection of a power transmission line of a target construction vehicle according to claim 13, further comprising,
constructing a wind deflection galloping three-dimensional model of the power transmission line according to the meteorological value of the area where the power transmission line is located and the power transmission line point cloud map;
and constructing a wind deflection galloping three-dimensional model of the power transmission line according to the meteorological values and the power transmission line point cloud map, and judging whether construction risks exist or not according to the first position and the position image data of the construction vehicle and the wind deflection galloping three-dimensional model of the power transmission line.
20. A computer device comprising a memory, a processor, and a computer program stored on the memory, characterized in that the computer program, when being executed by the processor, performs the instructions of the method according to any of claims 13-19.
21. A computer storage medium having stored thereon a computer program, which when executed by a processor of a computer device, performs the instructions of the method according to any of claims 13-19.
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