CN-121978656-A - Single-photon laser radar data generation method and system for icing state power transmission line

CN121978656ACN 121978656 ACN121978656 ACN 121978656ACN-121978656-A

Abstract

The invention relates to a single-photon laser radar data generation method and a system of an icing state power transmission line, wherein the method comprises the steps of constructing the power transmission line and geometric information of different icing states of the power transmission line; the method comprises the steps of obtaining single-photon laser radar data in a fog-free scene by simulating a transmission process of photons reaching an icing state in the fog-free scene based on a Monte Carlo sampling method, obtaining single-photon laser radar data in the fog scene by simulating the transmission process of photons reaching the icing state in the fog scene based on a Mie scattering theory, and generating the single-photon laser radar photon data in different fog concentration conditions by linearly superposing the single-photon laser radar data in the fog-free scene and the single-photon laser radar data in the fog scene after encoding. The method can effectively generate the single-photon laser radar data of the power transmission line in the icing state.

Inventors

TAO LIBING
ZHENG LEI
CHEN JUN
WU GUANGQI
HUANG YANJIE
YE ZIHAO
YE ZHUORU
CHEN JIANAN
Huang Luheng
GUO YUANCHAO

Assignees

国网浙江省电力有限公司衢州供电公司

Dates

Publication Date: 20260505
Application Date: 20260122

Claims (10)

1. A single photon laser radar data generation method of an icing state power transmission line is characterized by comprising the following steps: S1, constructing geometric information of a power transmission line and different icing states of the power transmission line; step S2, simulating a transmission process of a transmission line with photons reaching an icing state in a non-fog scene based on a Monte Carlo sampling method, and acquiring single-photon laser radar data in the non-fog scene; Step S3, simulating a transmission process of photons reaching an icing state in a fog scene based on a Monte Carlo sampling method and a Mie scattering theory, and acquiring single-photon laser radar data in the fog scene; and S4, encoding the single-photon laser radar data in the non-fog scene and the single-photon laser radar data in the fog scene, and then linearly superposing the encoded single-photon laser radar data to generate the single-photon laser radar photon data under different fog concentration conditions.
2. The method for generating single photon lidar data for power transmission lines in ice coating state of claim 1, wherein said different ice coating states of step S1 comprise uniform concentric ice coating, asymmetric eccentric ice coating, and rough irregular ice coating, The uniform concentric circle ice coating has fixed thickness, and the radius of the power transmission line after ice coating is , wherein, Is the radius of the transmission line, The thickness of the ice layer is covered outside the power transmission line; the asymmetric eccentric icing comprises the steps that the icing thickness is changed along with the change of the azimuth angle of the cross section of the transmission line, and modeling is carried out by adopting an angle function, and the modeling is expressed as follows: , wherein, For the average ice-on thickness, Indicating the direction of the incoming wind and, The degree of asymmetry is indicated by the term "asymmetry", Azimuth angle of the cross section of the transmission line; The rough irregular icing is characterized in that a high-frequency disturbance item is superimposed on a reference icing radius to simulate the surface roughness of the icing, and the surface roughness is expressed as follows: , wherein, Representing the function of the noise in the representation, For the amplitude of the disturbance, As a parameter of the dimensions of the device, Is the azimuth angle of the cross section of the transmission line.
3. The method for generating single-photon lidar data of an ice-covered power transmission line of claim 1, wherein the step S2 is based on a Monte Carlo sampling method, and the method for acquiring single-photon lidar data of an ice-covered power transmission line in an haze-free scene by simulating the propagation and return processes of photons reaching the ice-covered power transmission line in the haze-free scene comprises the following steps: The method comprises the steps of firstly calculating a free path of photons in a current haze-free environment, judging whether the photons hit a power transmission line or not in the current moving distance range, updating the moving direction of the photons according to a mirror reflection law and recording the current moving distance of the photons if the photons hit the power transmission line, losing default photons if the photons do not hit the power transmission line, finally calculating a new free path of the photons hitting the power transmission line, moving along the updated moving direction and judging whether the photons are received by a detector, recording the current photons as effective detection photon events if the photons are received by the detector, otherwise, judging the current photons as ineffective photon events and simulating the movement of the next photons, and finally judging all the effective photon events received by the detector as data generated by a single photon laser radar in the haze-free scene.
4. The method for generating single-photon lidar data of an ice-covered power transmission line of claim 1, wherein the step S3 of constructing a physical modeling method for a photon propagation process based on Mie scattering theory comprises the following steps: based on Mie scattering theory construction, physical modeling is carried out on backward scattering in the photon propagation process, photon and medium particles generate multiple collisions and energy attenuation in a fog scene, and the physical modeling is expressed as follows: ; Wherein, the As a factor of the scattering efficiency, In order to absorb the efficiency factor of the device, In order to be a factor of extinction efficiency, In order to be a scattering cross-section, In order to absorb the cross-section, In order to provide a extinction cross-section, As a droplet size factor of the droplets, Is the diameter of the fog drop, For the wavelength of the laser light, And (3) with For the Mie scattering coefficient, the light scattering coefficient, For the number of steps to be expanded, The representation takes the real part of the complex number.
5. The method for generating single-photon lidar data of the ice-covered power transmission line of claim 4, wherein after each collision of the photon with the medium particle in the fog scene, the azimuth angle and the scattering angle of the photon are remodelled, specifically: By locating the azimuth angle of the photon Uniformly sampling in a range to realize modeling of the photon azimuth angle after each collision; ensuring the scattering angle of photons by the following formula The statistical distribution of the (a) accords with a physical rule, and modeling of photon scattering angles after each collision is realized: ; Wherein, the Is a parameter for controlling the directivity of scattering and has a value in the range of , Is the attenuation coefficient.
6. The method for generating single-photon lidar data of an ice-covered power transmission line of claim 1, wherein when step S2 acquires single-photon lidar data in a foggless scenario and step S3 acquires single-photon lidar data in a foggy scenario, the method further comprises simulating multi-surface interactions between photons and a colloid layer of the power transmission line and an ice-covered layer outside the colloid layer to generate multi-surface echo signals conforming to actual physical characteristics, wherein the multi-surface echo signals are expressed as: ; ; ; Wherein, the As a result of the total echo photon information, As the information of the photons of the noise, As a multimodal echo signal formed on the time axis, Representing the number of surfaces that photons may interact with, Is photon and the first The number of return photons interacted with by the individual surfaces, Representing photons from the laser source to the first The propagation distance of the individual interaction surfaces, Is the speed of light.
7. The method for generating single-photon laser radar data of ice-covered power transmission line according to claim 1, wherein said step S4 is characterized in that the single-photon laser radar data in the non-fog scene and the single-photon laser radar data in the fog scene are encoded and then linearly superimposed, and the method for generating the single-photon laser radar photon data in different fog concentration conditions comprises the following steps: Single photon laser radar data in a foggless scene through a first variation self-encoder Coding and outputting the mean value parameter of Gaussian distribution Sum of variance parameter And generating corresponding hidden variables based on a standard Gaussian distribution-based reparameterized sampling method ; Single-photon laser radar data in fog scene through second variation self-encoder Coding and outputting gamma distribution parameters And Generating corresponding hidden variables by a gamma distribution re-parameterized sampling method ; Hidden variables to be generated Hidden variable The linear superposition is used as the input of a decoder to decode and output single photon laser radar data in a fog scene 。
8. The utility model provides a single photon laser radar data generation system of icing state power transmission line which characterized in that includes: the construction module is used for constructing the geometric information of the power transmission line and different icing states; The first data acquisition module is used for simulating the propagation process of photons reaching the transmission line in the icing state in the non-fog scene based on a Monte Carlo sampling method and acquiring single-photon laser radar data in the non-fog scene; the second data acquisition module is used for simulating the propagation process of photons reaching the transmission line in the icing state in the fog scene based on a Monte Carlo sampling method and based on a Mie scattering theory to acquire single-photon laser radar data in the fog scene; the data generation module is used for encoding the single-photon laser radar data in the non-fog scene and the single-photon laser radar data in the fog scene and then linearly superposing the encoded single-photon laser radar data to generate the single-photon laser radar photon data under different fog concentration conditions.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor, when executing the computer program, implements the steps of the method for generating single photon lidar data of an ice-covered power transmission line according to any of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method for generating single-photon lidar data of an ice-covered power transmission line according to any of claims 1 to 7.

Description

Single-photon laser radar data generation method and system for icing state power transmission line Technical Field The invention relates to the technical field of data generation, in particular to a single-photon laser radar data generation method of an icing state power transmission line. Background The single-photon laser radar is used as a novel active detection means, has high time resolution and high sensitivity, can obtain target depth information by measuring the flight time of single photons, and provides technical support for the identification and evaluation of the icing state of the transmission line. However, the currently actually acquired single-photon lidar raw data of the power transmission line and the icing state thereof are extremely deficient, which limits the research and optimization of related algorithms to a great extent. Meanwhile, the existing single-photon laser radar data generation method rarely considers the photon propagation characteristics under a fog scene and the influence of backward scattering echo photons of fog on actual detection photons, so that the generated data lacks of high fidelity and physical consistency. The existing single-photon laser radar data generation method is generally only aimed at general scenes, and is difficult to meet the requirements of data authenticity, physical consistency and complex scene adaptability in power transmission line icing detection. Therefore, in order to improve the rationality, accuracy and practicability of the detection algorithm in different scenes, it is highly desirable to design a high-quality and high-fidelity data generation method based on the single-photon laser radar active imaging technology in different scenes, so that the reliability and applicability of the detection algorithm in different scenes are improved, and a data basis is provided for the identification of the icing state of the subsequent transmission line. Disclosure of Invention Therefore, the technical problem to be solved by the invention is to overcome the problems that the single-photon laser radar data generation method in the prior art is generally only aimed at general scenes, and the data authenticity, physical consistency and complex scene adaptability in the icing detection of the transmission line are difficult to meet. In order to solve the technical problems, the invention provides a single-photon laser radar data generation method of an icing state power transmission line, which comprises the following steps: S1, constructing geometric information of a power transmission line and different icing states of the power transmission line; step S2, simulating a transmission process of a transmission line with photons reaching an icing state in a non-fog scene based on a Monte Carlo sampling method, and acquiring single-photon laser radar data in the non-fog scene; Step S3, simulating a transmission process of photons reaching an icing state in a fog scene based on a Monte Carlo sampling method and a Mie scattering theory, and acquiring single-photon laser radar data in the fog scene; and S4, encoding the single-photon laser radar data in the non-fog scene and the single-photon laser radar data in the fog scene, and then linearly superposing the encoded single-photon laser radar data to generate the single-photon laser radar photon data under different fog concentration conditions. In one embodiment of the present invention, the different icing states of the step S1 include uniform concentric icing, asymmetric eccentric icing, and coarse irregular icing, wherein, The uniform concentric circle ice coating has fixed thickness, and the radius of the power transmission line after ice coating is, wherein,Is the radius of the transmission line,The thickness of the ice layer is covered outside the power transmission line; the asymmetric eccentric icing comprises the steps that the icing thickness is changed along with the change of the azimuth angle of the cross section of the transmission line, and modeling is carried out by adopting an angle function, and the modeling is expressed as follows: , wherein, For the average ice-on thickness,Indicating the direction of the incoming wind and,The degree of asymmetry is indicated by the term "asymmetry",Azimuth angle of the cross section of the transmission line; The rough irregular icing is characterized in that a high-frequency disturbance item is superimposed on a reference icing radius to simulate the surface roughness of the icing, and the surface roughness is expressed as follows: , wherein, Representing the function of the noise in the representation,For the amplitude of the disturbance,As a parameter of the dimensions of the device,Is the azimuth angle of the cross section of the transmission line. In one embodiment of the present invention, the step S2 is based on a monte carlo sampling method, and the method for simulating the propagation and return process of photons reaching the transmission