CN117095359B - Transmission line safety monitoring and early warning method and system based on artificial intelligence - Google Patents
Transmission line safety monitoring and early warning method and system based on artificial intelligence Download PDFInfo
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Abstract
The application provides a transmission line safety monitoring and early warning method and system based on artificial intelligence, and relates to the technical field of transmission line monitoring. The method mainly comprises the following steps: acquiring a digital elevation map of a power transmission line shot at a fixed visual angle and inclination angles of power transmission towers in the power transmission line, and determining heights corresponding to the power transmission towers of each power transmission line in the digital elevation map; determining a transmission tower with a height lower than that of two adjacent transmission towers as a target transmission tower; determining whether the target transmission tower is abnormal or not based on a digital elevation diagram of the historical transmission line photographed at a fixed visual angle and the inclination angle and the height of the target transmission tower; if the target transmission tower is abnormal, acquiring point cloud data corresponding to the target transmission tower; based on point cloud data corresponding to the target transmission tower, the problem of the target transmission tower is pre-warned, and the method improves the efficiency of safety monitoring and pre-warning of the transmission line.
Description
Technical Field
The application relates to the technical field of power transmission line monitoring, in particular to a power transmission line safety monitoring and early warning method and system based on artificial intelligence.
Background
With the high-speed development of social economy, each industry has put forward higher requirements on the quality and quantity of power supply, and whether the line is safe to run or not is an important index of the reliability of the power grid due to the uncertainty of the environment where the power transmission line is located in the power grid. With the continuous expansion of the power grid scale, the power transmission line inspection and maintenance work under the complex topography condition is more and more, and as the overhead power transmission line is exposed to the atmosphere all the year round and is influenced by uncertain factors such as bad weather and environment, the power transmission line is easy to break down and even to cause disaster. Therefore, in order to ensure the safety of power transmission, the comprehensive remote monitoring of the power transmission line body and the surrounding environment has important practical significance.
At present, the traditional mode generally adopts a manual mode to monitor the power transmission safety, but because the power transmission towers are distributed throughout, the efficiency of monitoring and early warning the power transmission line safety by the manual mode is lower.
Disclosure of Invention
The embodiment of the application provides a transmission line safety monitoring and early warning method and system based on artificial intelligence, which are used for improving the efficiency of transmission line safety monitoring and early warning.
The embodiment of the invention provides an artificial intelligence-based power transmission line safety monitoring and early warning method, which is applied to a power transmission safety monitoring device and comprises the following steps:
acquiring a digital height Cheng Tuyi of a power transmission line and an inclination angle of each power transmission tower in the power transmission line, wherein the digital height Cheng Tuyi of the power transmission line is shot through a fixed visual angle, each power transmission line in the digital elevation view of the power transmission line comprises a plurality of power transmission tower marking points respectively corresponding to the power transmission towers, and each power transmission tower marking point is a position coordinate corresponding to a pixel point with brightness exceeding a preset value in the digital elevation view of the power transmission line;
determining the corresponding heights of transmission towers of each transmission line in the digital elevation chart of the transmission line; each transmission tower mark point in the transmission line digital elevation map corresponds to a height;
determining a transmission tower with the height lower than that of two adjacent transmission towers in each transmission line as a target transmission tower;
determining whether the target transmission tower is abnormal or not based on the historical transmission line digital elevation map shot at the fixed visual angle and the inclination angle and the height of the target transmission tower;
if the target transmission tower is abnormal, acquiring point cloud data corresponding to the target transmission tower;
and carrying out early warning on the problems of the target transmission tower based on the point cloud data corresponding to the target transmission tower.
Further, before determining the respective corresponding heights of the transmission towers of each transmission line in the transmission line digital elevation map, the method further includes:
carrying out first filtering on transmission tower marking points in the transmission line digital elevation map through normalized vegetation indexes corresponding to pixel points in the transmission line digital elevation map;
performing second filtering on the power transmission line digital elevation map subjected to the first filtering through the heights corresponding to all pixel points in the power transmission line digital elevation map and the standard heights of the power transmission towers;
and determining the pixel points in the filtered transmission line digital elevation map as transmission tower marking points corresponding to the transmission towers.
Further, the second filtering of the first filtered transmission line digital elevation map by the height corresponding to each pixel point in the transmission line digital elevation map and the standard height of the transmission tower includes:
performing secondary filtering on pixel points with the height higher than the standard height of the transmission tower in the digital elevation map of the transmission line subjected to the primary filtering;
and/or carrying out secondary filtering on the pixels with the heights lower than the standard heights of the transmission towers of the preset times in the digital elevation diagram of the transmission line subjected to the primary filtering;
the preset multiple is a positive number less than 1.
Further, before the pixel point in the filtered transmission line digital elevation map is determined as the transmission tower mark point corresponding to the transmission tower, the method further includes:
and performing third filtering on the power transmission line digital elevation map subjected to the second filtering based on the position coordinates of each power transmission tower marking point in the historical power transmission line digital elevation map shot at the fixed visual angle.
Further, the determining whether the target transmission tower is abnormal based on the historical transmission line digital elevation map photographed at the fixed viewing angle and the inclination angle and the height of the target transmission tower includes:
determining whether the inclination angle of the target transmission tower exceeds a preset angle;
if the inclination angle of the target transmission tower exceeds a preset angle, determining whether the height difference between the height of the historical transmission line digital elevation map shot at the fixed visual angle and the height of the target transmission tower is larger than a preset value;
and if the height difference is larger than a preset value, determining that the target transmission tower is abnormal.
Further, the determining whether the target transmission tower is abnormal based on the historical transmission line digital elevation map photographed at the fixed viewing angle and the inclination angle and the height of the target transmission tower includes:
determining a standard angle and a standard height of the target transmission tower based on the historical transmission line digital elevation map shot at the fixed view angle;
calculating an angle difference value between the standard angle and the inclination angle and a height difference value between the standard height and the height;
and determining whether the target transmission tower is abnormal or not according to the weighted sum value of the angle difference value and the height difference value.
Further, the early warning of the problem occurring in the target transmission tower based on the point cloud data corresponding to the target transmission tower includes:
acquiring point cloud data corresponding to the target transmission tower through millimeter wave radar according to a preset time interval;
determining whether dangerous objects appear around the target transmission tower according to the point cloud data;
and if the dangerous object appears, carrying out early warning on the problem of the target transmission tower.
Further, the determining whether dangerous objects appear around the target transmission tower according to the point cloud data includes:
determining the horizontal distance between a target object and the target transmission tower according to the point cloud data and the height of the millimeter wave radar;
and if the horizontal distance is smaller than the preset distance, determining the target object as a dangerous object, and determining that dangerous objects appear around the target transmission tower.
Further, the determining, according to the point cloud data and the height of the millimeter wave radar, a horizontal distance between a target object and the target transmission tower includes:
calculating an initial horizontal distance according to the height of the millimeter wave radar and a beam unilateral coverage angle corresponding to the point cloud data;
and determining the horizontal distance between the target object and the target transmission tower according to the path loss from the target object to the target object and the initial horizontal distance.
The embodiment of the invention provides a transmission line safety monitoring and early warning system based on artificial intelligence; the system comprises a safety monitoring device and a plurality of data acquisition devices;
the data acquisition device is used for acquiring a digital height Cheng Tuyi of the power transmission line shot through a fixed visual angle and an inclination angle of each power transmission tower in the power transmission line, each power transmission line in the digital elevation view of the power transmission line comprises a plurality of power transmission tower marking points corresponding to the power transmission towers respectively, and each power transmission tower marking point is a position coordinate corresponding to a pixel point with brightness exceeding a preset value in the digital elevation view of the power transmission line;
the safety monitoring device is used for determining the corresponding height of each transmission tower of each transmission line in the transmission line digital elevation map; each transmission tower mark point in the transmission line digital elevation map corresponds to a height;
the safety monitoring device is used for determining a transmission tower with the height lower than that of two adjacent transmission towers in each transmission line as a target transmission tower;
the safety monitoring device is used for determining whether the target transmission tower is abnormal or not based on the historical transmission line digital elevation map shot at the fixed visual angle and the inclination angle and the height of the target transmission tower;
the safety monitoring device is used for acquiring point cloud data corresponding to the target transmission tower if the target transmission tower is abnormal;
the safety monitoring device is used for carrying out early warning on problems occurring in the target transmission tower based on the point cloud data corresponding to the target transmission tower.
The invention provides a transmission line safety monitoring and early warning method and system based on artificial intelligence, which are used for acquiring a transmission line digital height Cheng Tuyi shot through a fixed visual angle and an inclination angle of each transmission tower in the transmission line, wherein each transmission line in a transmission line digital elevation graph comprises a plurality of transmission tower marking points respectively corresponding to the transmission towers, and each transmission tower marking point is a position coordinate corresponding to a pixel point with brightness exceeding a preset value in the transmission line digital elevation graph; determining the corresponding heights of transmission towers of each transmission line in a digital elevation chart of the transmission line; each transmission tower mark point in the transmission line digital elevation map corresponds to a height; determining a transmission tower with the height lower than that of two adjacent transmission towers in each transmission line as a target transmission tower; determining whether the target transmission tower is abnormal or not based on the historical transmission line digital elevation map shot at the fixed visual angle and the inclination angle and the height of the target transmission tower; if the target transmission tower is abnormal, acquiring point cloud data corresponding to the target transmission tower; and carrying out early warning on the problems of the target transmission tower based on the point cloud data corresponding to the target transmission tower. For adopt manual mode to monitor transmission of electricity safety among the prior art, this application is based on the transmission line digital elevation map confirm each transmission tower respectively the height that corresponds and inclination confirm the transmission tower that appears unusual to based on the point cloud data of the transmission tower that appears unusual carries out the early warning to the problem that appears, this application need not artifical the participation alright realize transmission line safety monitoring early warning promptly, thereby can improve transmission line safety monitoring early warning's efficiency through this application.
Drawings
Fig. 1 is a flow chart of an artificial intelligence-based transmission line safety monitoring and early warning method;
fig. 2 is a flowchart for determining a transmission tower mark point provided in the present application;
fig. 3 is a diagram of an artificial intelligence-based power transmission line safety monitoring and early warning system;
fig. 4 is a schematic structural diagram of a power transmission safety monitoring device provided in the present application.
Detailed Description
In order to better understand the technical solutions described above, the technical solutions of the embodiments of the present application are described in detail below through the accompanying drawings and the specific embodiments, and it should be understood that the embodiments of the present application and the specific features in the embodiments are detailed descriptions of the technical solutions of the embodiments of the present application, and not limit the technical solutions of the present application, and the embodiments of the present application and the technical features in the embodiments of the present application may be combined with each other without conflict.
Referring to fig. 1, an artificial intelligence based power transmission line safety monitoring and early warning method provided by an embodiment of the invention is applied to a power transmission safety monitoring device, and the method includes:
step 101, acquiring a digital height Cheng Tuyi of a power transmission line shot through a fixed visual angle and an inclination angle of each power transmission tower in the power transmission line.
The transmission line digital elevation map is a digital surface model (Digital Surface Model, DSM) which contains the heights of objects such as surface buildings, bridges, trees and the like, namely, each pixel point in the transmission line digital elevation map has a corresponding height value, the height value can be represented by the brightness value of the pixel point, and the larger the brightness of the pixel point is, the higher the height value represented by the pixel point is.
In this embodiment, each power transmission line in the power transmission line digital elevation map includes a plurality of power transmission tower marking points corresponding to the power transmission towers, respectively, and each power transmission tower marking point is a position coordinate corresponding to a pixel point with brightness exceeding a predetermined value in the power transmission line digital elevation map. Specifically, the preset value can be set according to the actual height of the transmission tower, that is, the pixel point of the preset value is determined according to the actual height of the transmission tower, so that the filtered height (such as a relatively low stump, etc.) obviously does not belong to the position coordinates of the transmission tower.
The inclination angle of each transmission tower in the transmission line in this embodiment can be acquired by an angle sensor provided on each transmission tower, which is provided in the data acquisition device.
Step 102, determining the corresponding heights of the transmission towers of each transmission line in the transmission line digital elevation chart.
In this embodiment, since each pixel point in the transmission line digital elevation map has a height value corresponding to the pixel point, the height corresponding to each transmission tower mark point can be determined according to the transmission line digital elevation map.
And step 103, determining the transmission tower with the height lower than that of two adjacent transmission towers in each transmission line as a target transmission tower.
It should be noted that, in reality, the heights of adjacent transmission towers in the transmission line are substantially uniform, or the transmission towers generally rise or fall, so that the abnormal transmission towers are filtered out according to the characteristic of the transmission line. Specifically, a transmission tower of which the height is lower than two transmission towers adjacent to it (i.e., two transmission towers of which the height is lower than two transmission towers adjacent to it, or transmission towers exhibiting a remarkable concavity) in each transmission line is determined as a target transmission tower.
And 104, determining whether the target transmission tower is abnormal or not based on the historical transmission line digital elevation map shot at the fixed visual angle and the inclination angle and the height of the target transmission tower.
In this embodiment, the historical transmission line digital elevation map is a digital elevation map in which no transmission tower abnormality occurs, and the historical transmission line digital elevation map may be understood as a digital elevation map under a transmission tower in a standard state. The fixed viewing angle is the same as the viewing angle of the transmission line digital elevation map shot in step 101, that is, in this embodiment, by comparing the historical transmission line digital elevation map and the transmission line digital elevation map under the same viewing angle, it is further determined whether the target transmission tower is abnormal.
In an optional embodiment provided in the present application, the determining, based on the historical transmission line digital elevation map photographed at the fixed viewing angle, and the inclination angle and the height of the target transmission tower, whether the target transmission tower is abnormal includes:
step 1041, determining whether the inclination angle of the target transmission tower exceeds a preset angle.
The preset angle can be set according to actual requirements, for example, the preset angle is determined according to the risk that the transmission tower tilts by a certain angle. Specifically, the preset angle may be 15 degrees, 30 degrees, 40 degrees, etc., which is not specifically limited in this embodiment.
Step 1042, if the inclination angle of the target transmission tower exceeds a preset angle, determining whether the height difference between the height corresponding to the target transmission tower and the height difference of the target transmission tower in the digital elevation map of the historical transmission line shot at the fixed view angle is greater than a preset value.
In this embodiment, after determining that the inclination angle of the target transmission tower exceeds the preset angle, it is further required to determine whether the height difference between the height corresponding to the target transmission tower and the height difference of the target transmission tower in the digital elevation map of the historical transmission line photographed at the fixed viewing angle is greater than a preset value, so as to determine whether the target transmission tower is abnormal.
Specifically, in this embodiment, a corresponding tower number may be set for each transmission tower of the historical transmission line digital elevation map, then the heights of two transmission towers belonging to the same tower number in the historical transmission line digital elevation map and the transmission line digital elevation map obtained in step 101 are compared, then a difference between the two heights is calculated, and if the difference is greater than a preset value, it is determined that an abnormality occurs in the target transmission tower.
Step 1043, if the height difference is greater than a preset value, determining that the target transmission tower is abnormal.
For example, the height of the transmission tower corresponding to the tower number 1 in the historical transmission line digital elevation chart is 25m, the height of the transmission tower corresponding to the tower number 1 in the transmission line digital elevation chart obtained in the step 101 is 20 m, the height difference obtained through calculation is 5m, the condition that the transmission tower corresponding to the current tower number 1 is submerged is indicated, at the moment, the height difference exceeds a preset value, and it is determined that the transmission tower corresponding to the tower number 1 (target transmission tower) is abnormal.
In another optional embodiment provided in the present application, the determining, based on the historical transmission line digital elevation map photographed at the fixed viewing angle, and the inclination angle and the height of the target transmission tower, whether the target transmission tower is abnormal includes: determining a standard angle and a standard height of the target transmission tower based on the historical transmission line digital elevation map shot at the fixed view angle; calculating an angle difference value between the standard angle and the inclination angle and a height difference value between the standard height and the height; and determining whether the target transmission tower is abnormal or not according to the weighted sum value of the angle difference value and the height difference value.
The angle difference value and the height difference value are provided with corresponding weight values, and the weight values are applied according to actual requirements. In this embodiment, after the angle difference value and the height difference value are obtained by calculation, the angle difference value and the height difference value are normalized, then the normalized data are weighted to obtain a weighted sum value, finally the weighted sum value is compared with a preset weighted value, and if the weighted sum value is greater than the preset weighted value, it is determined that the target transmission tower is abnormal.
And 105, if the target transmission tower is abnormal, acquiring point cloud data corresponding to the target transmission tower.
Specifically, the point cloud data corresponding to the target transmission tower is acquired through the millimeter wave radar arranged in the data acquisition device.
And 106, early warning the problem of the target transmission tower based on the point cloud data corresponding to the target transmission tower.
In an optional embodiment provided in the present application, the early warning for a problem occurring in the target transmission tower based on the point cloud data corresponding to the target transmission tower includes:
and 1061, acquiring point cloud data corresponding to the target transmission tower through the millimeter wave radar according to a preset time interval.
And step 1062, determining whether dangerous objects appear around the target transmission tower according to the point cloud data.
Specifically, determining whether dangerous objects appear around the target transmission tower according to the point cloud data includes: according to the point cloud data and the height of the millimeter wave radar, determining the horizontal distance between a target object and the target transmission tower; and if the horizontal distance is smaller than the preset distance, determining the target object as a dangerous object, and determining that dangerous objects appear around the target transmission tower. The dangerous objects are objects such as cranes, aircrafts or floaters in the surrounding environment of the transmission tower, and the objects can collide with the transmission line to cause accidents.
More specifically, the determining, according to the point cloud data and the height of the millimeter wave radar, the horizontal distance between the target object and the target transmission tower includes: calculating an initial horizontal distance according to the height of the millimeter wave radar and a beam unilateral coverage angle corresponding to the point cloud data; and determining the horizontal distance between the target object and the target transmission tower according to the path loss from the target object to the target object and the initial horizontal distance.
For example, two opposite angles of the transmission tower are respectively provided with a millimeter wave radar with the installation height of 10 m-15 m, and the millimeter wave radar is vertically installed, namely, the center shaft of the millimeter wave radome is vertically installed on the ground. The pitching inclination angle can be adjusted electrically through the built-in module, and the inclination angle ranges from 0 degrees to 25 degrees, so that the antenna radiation beam of each millimeter wave radar is aligned to a certain detection area on the ground. Assuming that the pitch angle between the ground object and the millimeter wave radar is beta, the horizontal distance C between the object and the millimeter wave radar is:
；
；
in the formula, H is the erection height of the millimeter wave radar. The elevation beam width of the receiving antenna is 20 degrees, if H is 15m, the elevation dip angle beta 1=20 degrees of the internal millimeter wave radar, and the single-side coverage angle beta=20+/-beta 1/2 of the beam, beta is 10-30 degrees, and the horizontal distance between the obtained target object and the millimeter wave radar is 26-85 m. Considering the loss of the path L from the millimeter wave radar to the target object, the horizontal distance between the actually measured radar and the target object is 40m for pedestrians and 70m for vehicles, and the moving target track can be monitored stably and accurately.
And step 1063, if the dangerous object appears, early warning is carried out on the problem of the target transmission tower.
According to the transmission line safety monitoring and early warning method based on artificial intelligence, digital heights Cheng Tuyi of transmission lines shot through a fixed visual angle and inclination angles of transmission towers in the transmission lines are obtained, each transmission line in a transmission line digital elevation graph comprises a plurality of transmission tower marking points corresponding to the transmission towers respectively, and each transmission tower marking point is a position coordinate corresponding to a pixel point with brightness exceeding a preset value in the transmission line digital elevation graph; determining the corresponding heights of transmission towers of each transmission line in a digital elevation chart of the transmission line; each transmission tower mark point in the transmission line digital elevation map corresponds to a height; determining a transmission tower with the height lower than that of two adjacent transmission towers in each transmission line as a target transmission tower; determining whether the target transmission tower is abnormal or not based on the historical transmission line digital elevation map shot at the fixed visual angle and the inclination angle and the height of the target transmission tower; if the target transmission tower is abnormal, acquiring point cloud data corresponding to the target transmission tower; and carrying out early warning on the problems of the target transmission tower based on the point cloud data corresponding to the target transmission tower. For adopt manual mode to monitor transmission of electricity safety among the prior art, this application is based on the transmission line digital elevation map confirm each transmission tower respectively the height that corresponds and inclination confirm the transmission tower that appears unusual to based on the point cloud data of the transmission tower that appears unusual carries out the early warning to the problem that appears, this application need not artifical the participation alright realize transmission line safety monitoring early warning promptly, thereby can improve transmission line safety monitoring early warning's efficiency through this application.
As shown in fig. 2, further, before determining the respective corresponding heights of the transmission towers of each transmission line in the digital elevation map of the transmission line, the method further includes:
step 201, performing first filtering on transmission tower marking points in the transmission line digital elevation through normalized vegetation indexes corresponding to pixel points in the transmission line digital elevation.
Wherein the normalized vegetation index (Normalized Difference Vegetation Index, NDVI) quantifies vegetation by measuring the difference between near infrared (vegetation intense reflection) and red light (vegetation absorption). NDVI ranges from-1 to +1 throughout. But each type of land cover is not well-defined. For example, when the value is negative, it is likely to be water. On the other hand, if the NDVI value is close to +1, it is highly likely to be a thick green leaf. However, when NDVI is close to zero, there are no green leaves and even urban areas are possible. Specifically, normalized vegetation index: ndvi= (NIR-R)/(nir+r), NIR is the reflection value in the near infrared band, and R is the reflection value in the red band. The larger the value of NDVI, the more vegetation coverage is indicated, so this embodiment can detect the vegetation coverage area by setting a reasonable threshold, and if the NDVI corresponding to the transmission tower mark point is in a larger area, it indicates that the transmission tower mark point is a vegetation point (such as a tree, etc.), that is, the transmission tower mark point is inaccurate, so the transmission tower mark point needs to be filtered out.
Step 202, performing a second filtering on the transmission line digital elevation map subjected to the first filtering through the heights corresponding to the pixel points in the transmission line digital elevation map and the standard heights of the transmission towers.
Further, the second filtering of the first filtered transmission line digital elevation map by the height corresponding to each pixel point in the transmission line digital elevation map and the standard height of the transmission tower includes: performing secondary filtering on pixel points with the height higher than the standard height of the transmission tower in the digital elevation map of the transmission line subjected to the primary filtering; and/or carrying out secondary filtering on the pixels with the heights lower than the standard heights of the transmission towers of the preset times in the digital elevation diagram of the transmission line subjected to the primary filtering; the preset multiple is a positive number less than 1.
In this embodiment, if the height of the pixel point in the first filtered transmission line digital elevation map is higher than the standard height of the transmission tower, it is indicated that the height of the pixel point does not belong to the transmission tower, and the pixel point needs to be filtered at this time; and/or carrying out secondary filtering on the pixels with the heights lower than the standard heights of the transmission towers of the preset times in the digital elevation diagram of the transmission line subjected to the primary filtering; the preset multiple is a positive number less than 1, for example, the preset multiple is 0.5-0.7, which is not limited in this embodiment.
And 203, performing third filtering on the transmission line digital elevation map subjected to the second filtering based on the position coordinates of each transmission tower mark point in the historical transmission line digital elevation map photographed at the fixed viewing angle.
For the embodiment of the invention, after the first filtering and the second filtering are performed based on the normalized vegetation index corresponding to the pixel point and the height of the pixel point, the third filtering is performed based on the position coordinates of each transmission tower mark point in the historical transmission line digital elevation map shot at the fixed visual angle, so as to obtain the transmission tower mark point corresponding to the transmission tower.
It should be noted that, because the marking points of each transmission tower belonging to the same transmission line are basically on a straight line or a curve, the embodiment can filter the pixel points obviously not belonging to the same transmission line based on the position coordinates of the marking points of each transmission tower in the digital elevation chart of the historical transmission line by comparison, and finally obtain the marking points of the transmission towers.
And 204, determining the pixel points in the filtered transmission line digital elevation map as transmission tower marking points corresponding to the transmission towers.
In this embodiment, the transmission tower marking points corresponding to the transmission towers are determined based on the normalized vegetation indexes corresponding to the pixel points and the heights of the pixel points, and the position coordinates of each transmission tower marking point in the digital elevation map of the historical transmission line photographed at the fixed viewing angle. Therefore, the accuracy of determining the marking points of the transmission towers is ensured, and the efficiency of safety monitoring and early warning of the transmission lines is further improved.
Referring to fig. 3, an artificial intelligence-based power transmission line safety monitoring and early warning system provided in an embodiment of the present invention includes a safety monitoring device and a plurality of data acquisition devices;
the data acquisition device is used for acquiring a digital height Cheng Tuyi of the power transmission line shot through a fixed visual angle and an inclination angle of each power transmission tower in the power transmission line, each power transmission line in the digital elevation view of the power transmission line comprises a plurality of power transmission tower marking points corresponding to the power transmission towers respectively, and each power transmission tower marking point is a position coordinate corresponding to a pixel point with brightness exceeding a preset value in the digital elevation view of the power transmission line;
the safety monitoring device is used for determining the corresponding height of each transmission tower of each transmission line in the transmission line digital elevation map; each transmission tower mark point in the transmission line digital elevation map corresponds to a height;
the safety monitoring device is used for determining a transmission tower with the height lower than that of two adjacent transmission towers in each transmission line as a target transmission tower;
the safety monitoring device is used for determining whether the target transmission tower is abnormal or not based on the historical transmission line digital elevation map shot at the fixed visual angle and the inclination angle and the height of the target transmission tower;
the safety monitoring device is used for acquiring point cloud data corresponding to the target transmission tower if the target transmission tower is abnormal;
the safety monitoring device is used for carrying out early warning on problems occurring in the target transmission tower based on the point cloud data corresponding to the target transmission tower.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present invention.
In an embodiment, a safety monitoring device is provided, and the safety monitoring device corresponds to the artificial intelligence-based power transmission line safety monitoring and early warning method one by one. As shown in fig. 4, the functional modules of the device are described in detail as follows:
the obtaining module 41 is configured to obtain a digital height Cheng Tuyi of a power transmission line and an inclination angle of each power transmission tower in the power transmission line, where the digital height Cheng Tuyi of the power transmission line is photographed through a fixed viewing angle, each power transmission line in the digital elevation map of the power transmission line includes a plurality of power transmission tower marking points corresponding to the power transmission towers respectively, and each power transmission tower marking point is a position coordinate corresponding to a pixel point with brightness exceeding a predetermined value in the digital elevation map of the power transmission line;
the determining module 42 is configured to determine a height corresponding to each transmission tower of each transmission line in the digital elevation map of the transmission line; each transmission tower mark point in the transmission line digital elevation map corresponds to a height;
the determining module 42 is further configured to determine a transmission tower in each transmission line, which is lower than two adjacent transmission towers, as a target transmission tower;
the determining module 42 is further configured to determine whether the target transmission tower is abnormal based on the historical transmission line digital elevation map photographed at the fixed viewing angle, and the inclination angle and the height of the target transmission tower;
the obtaining module 42 is further configured to obtain point cloud data corresponding to the target transmission tower if the target transmission tower is abnormal;
and the early warning module 43 is used for carrying out early warning on the problems of the target transmission tower based on the point cloud data corresponding to the target transmission tower.
Further, the apparatus further comprises: a filtration module 44 for:
carrying out first filtering on transmission tower marking points in the transmission line digital elevation map through normalized vegetation indexes corresponding to pixel points in the transmission line digital elevation map;
performing second filtering on the power transmission line digital elevation map subjected to the first filtering through the heights corresponding to all pixel points in the power transmission line digital elevation map and the standard heights of the power transmission towers;
and determining the pixel points in the filtered transmission line digital elevation map as transmission tower marking points corresponding to the transmission towers.
Further, the filtering module 44 is further configured to:
performing secondary filtering on pixel points with the height higher than the standard height of the transmission tower in the digital elevation map of the transmission line subjected to the primary filtering; and/or
Performing secondary filtering on pixel points with the height lower than the standard height of the transmission tower of the preset multiple in the digital elevation chart of the transmission line subjected to the primary filtering; the preset multiple is a positive number less than 1.
Further, the filtering module 44 is further configured to:
and performing third filtering on the power transmission line digital elevation map subjected to the second filtering based on the position coordinates of each power transmission tower marking point in the historical power transmission line digital elevation map shot at the fixed visual angle.
Further, the determining module 42 is specifically configured to:
determining whether the inclination angle of the target transmission tower exceeds a preset angle;
if the inclination angle of the target transmission tower exceeds a preset angle, determining whether the height difference between the height of the historical transmission line digital elevation map shot at the fixed visual angle and the height of the target transmission tower is larger than a preset value;
and if the height difference is larger than a preset value, determining that the target transmission tower is abnormal.
Further, the determining module 42 is specifically configured to:
determining a standard angle and a standard height of the target transmission tower based on the historical transmission line digital elevation map shot at the fixed view angle;
calculating an angle difference value between the standard angle and the inclination angle and a height difference value between the standard height and the height;
and determining whether the target transmission tower is abnormal or not according to the weighted sum value of the angle difference value and the height difference value.
Further, the early warning module 43 is specifically configured to:
acquiring point cloud data corresponding to the target transmission tower through millimeter wave radar according to a preset time interval;
determining whether dangerous objects appear around the target transmission tower according to the point cloud data;
and if the dangerous object appears, carrying out early warning on the problem of the target transmission tower.
Further, the determining module 42 is specifically configured to:
determining the horizontal distance between a target object and the target transmission tower according to the point cloud data and the height of the millimeter wave radar;
and if the horizontal distance is smaller than the preset distance, determining the target object as a dangerous object, and determining that dangerous objects appear around the target transmission tower.
Further, the determining module 42 is specifically configured to:
calculating an initial horizontal distance according to the height of the millimeter wave radar and a beam unilateral coverage angle corresponding to the point cloud data;
and determining the horizontal distance between the target object and the target transmission tower according to the path loss from the target object to the target object and the initial horizontal distance.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention.
Claims (8)
1. An artificial intelligence-based power transmission line safety monitoring and early warning method is characterized in that the method is applied to a power transmission safety monitoring device and comprises the following steps:
acquiring a digital height Cheng Tuyi of a power transmission line and an inclination angle of each power transmission tower in the power transmission line, wherein the digital height Cheng Tuyi of the power transmission line is shot through a fixed visual angle, each power transmission line in the digital elevation view of the power transmission line comprises a plurality of power transmission tower marking points respectively corresponding to the power transmission towers, and each power transmission tower marking point is a position coordinate corresponding to a pixel point with brightness exceeding a preset value in the digital elevation view of the power transmission line;
determining the corresponding heights of transmission towers of each transmission line in the digital elevation chart of the transmission line; each transmission tower mark point in the transmission line digital elevation map corresponds to a height;
determining a transmission tower with the height lower than that of two adjacent transmission towers in each transmission line as a target transmission tower;
determining whether the target transmission tower is abnormal or not based on the historical transmission line digital elevation map shot at the fixed visual angle and the inclination angle and the height of the target transmission tower;
if the target transmission tower is abnormal, acquiring point cloud data corresponding to the target transmission tower;
based on the point cloud data corresponding to the target transmission tower, early warning is carried out on the problems of the target transmission tower;
before determining the respective corresponding heights of the transmission towers of each transmission line in the transmission line digital elevation map, the method further comprises:
carrying out first filtering on transmission tower marking points in the transmission line digital elevation map through normalized vegetation indexes corresponding to pixel points in the transmission line digital elevation map;
performing second filtering on the power transmission line digital elevation map subjected to the first filtering through the heights corresponding to all pixel points in the power transmission line digital elevation map and the standard heights of the power transmission towers;
determining pixel points in the filtered transmission line digital elevation map as transmission tower marking points corresponding to the transmission towers;
before the pixel points in the filtered transmission line digital elevation map are determined to be the transmission tower mark points corresponding to the transmission towers, the method further comprises the following steps:
and performing third filtering on the power transmission line digital elevation map subjected to the second filtering based on the position coordinates of each power transmission tower marking point in the historical power transmission line digital elevation map shot at the fixed visual angle.
2. The method of claim 1, wherein the performing the second filtering on the first filtered transmission line digital elevation map by the height corresponding to each pixel point in the transmission line digital elevation map and the standard height of the transmission tower comprises:
performing secondary filtering on pixel points with the height higher than the standard height of the transmission tower in the digital elevation map of the transmission line subjected to the primary filtering;
and/or carrying out secondary filtering on the pixels with the heights lower than the standard heights of the transmission towers of the preset times in the digital elevation diagram of the transmission line subjected to the primary filtering;
the preset multiple is a positive number less than 1.
3. The method of claim 1, wherein the determining whether the target transmission tower is abnormal based on the historical transmission line digital elevation map photographed at the fixed viewing angle and the inclination angle and the height of the target transmission tower comprises:
determining whether the inclination angle of the target transmission tower exceeds a preset angle;
if the inclination angle of the target transmission tower exceeds a preset angle, determining whether the height difference between the height of the historical transmission line digital elevation map shot at the fixed visual angle and the height of the target transmission tower is larger than a preset value;
and if the height difference is larger than a preset value, determining that the target transmission tower is abnormal.
4. The method of claim 1, wherein the determining whether the target transmission tower is abnormal based on the historical transmission line digital elevation map photographed at the fixed viewing angle and the inclination angle and the height of the target transmission tower comprises:
determining a standard angle and a standard height of the target transmission tower based on the historical transmission line digital elevation map shot at the fixed view angle;
calculating an angle difference value between the standard angle and the inclination angle and a height difference value between the standard height and the height;
and determining whether the target transmission tower is abnormal or not according to the weighted sum value of the angle difference value and the height difference value.
5. The method according to any one of claims 1-4, wherein the pre-warning the problem occurring in the target transmission tower based on the point cloud data corresponding to the target transmission tower includes:
acquiring point cloud data corresponding to the target transmission tower through millimeter wave radar according to a preset time interval;
determining whether dangerous objects appear around the target transmission tower according to the point cloud data;
and if the dangerous object appears, carrying out early warning on the problem of the target transmission tower.
6. The method of claim 5, wherein determining whether dangerous objects are present around the target transmission tower based on the point cloud data comprises:
determining the horizontal distance between a target object and the target transmission tower according to the point cloud data and the height of the millimeter wave radar;
and if the horizontal distance is smaller than the preset distance, determining the target object as a dangerous object, and determining that dangerous objects appear around the target transmission tower.
7. The method of claim 6, wherein determining a horizontal distance of a target object from the target transmission tower based on the point cloud data and the height of the millimeter wave radar comprises:
calculating an initial horizontal distance according to the height of the millimeter wave radar and a beam unilateral coverage angle corresponding to the point cloud data;
and determining the horizontal distance between the target object and the target transmission tower according to the path loss from the target object to the target object and the initial horizontal distance.
8. An artificial intelligence-based transmission line safety monitoring and early warning system, which is based on the method of any one of claims 1-4, characterized in that the system comprises a safety monitoring device and a plurality of data acquisition devices;
the data acquisition device is used for acquiring a digital height Cheng Tuyi of the power transmission line shot through a fixed visual angle and an inclination angle of each power transmission tower in the power transmission line, each power transmission line in the digital elevation view of the power transmission line comprises a plurality of power transmission tower marking points corresponding to the power transmission towers respectively, and each power transmission tower marking point is a position coordinate corresponding to a pixel point with brightness exceeding a preset value in the digital elevation view of the power transmission line;
the safety monitoring device is used for determining the corresponding height of each transmission tower of each transmission line in the transmission line digital elevation map; each transmission tower mark point in the transmission line digital elevation map corresponds to a height;
the safety monitoring device is used for determining a transmission tower with the height lower than that of two adjacent transmission towers in each transmission line as a target transmission tower;
the safety monitoring device is used for determining whether the target transmission tower is abnormal or not based on the historical transmission line digital elevation map shot at the fixed visual angle and the inclination angle and the height of the target transmission tower;
the safety monitoring device is used for acquiring point cloud data corresponding to the target transmission tower if the target transmission tower is abnormal;
the safety monitoring device is used for carrying out early warning on problems occurring in the target transmission tower based on point cloud data corresponding to the target transmission tower;
before determining the respective corresponding heights of the transmission towers of each transmission line in the transmission line digital elevation chart, the method further comprises the following steps:
carrying out first filtering on transmission tower marking points in the transmission line digital elevation map through normalized vegetation indexes corresponding to pixel points in the transmission line digital elevation map;
performing second filtering on the power transmission line digital elevation map subjected to the first filtering through the heights corresponding to all pixel points in the power transmission line digital elevation map and the standard heights of the power transmission towers;
determining pixel points in the filtered transmission line digital elevation map as transmission tower marking points corresponding to the transmission towers;
before the pixel points in the filtered transmission line digital elevation map are determined to be the transmission tower mark points corresponding to the transmission tower, the method further comprises the following steps:
and performing third filtering on the power transmission line digital elevation map subjected to the second filtering based on the position coordinates of each power transmission tower marking point in the historical power transmission line digital elevation map shot at the fixed visual angle.
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