CN111080770B - Modeling system and method for electric power line inspection pole tower - Google Patents
Modeling system and method for electric power line inspection pole tower Download PDFInfo
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Abstract
The invention relates to a modeling system of an electric power line inspection pole tower, which comprises the following components: the system comprises a laser radar scanning device, a processing device, a display device and a three-dimensional modeling device; the laser radar scanning device is in wireless connection with the processing device and is used for scanning to obtain first image information of the power line inspection tower and transmitting the first image information to the processing device; the processing device is respectively connected with the three-dimensional modeling device and the display device, and is used for receiving, collating and analyzing the first image information, generating second image information and sending the second image information to the three-dimensional modeling device and the display device; the display device is used for receiving the second image information sent by the processing device and displaying the second image information in real time; and the three-dimensional modeling device is used for receiving the second image information and establishing an electric power line patrol pole tower model according to the second image information. The power line inspection pole tower modeling system can directly display the second image information in real time, so that workers can find out unexpected situations in time.
Description
Technical Field
The invention relates to the technical field of three-dimensional laser radar scanning, in particular to a modeling system and method for an electric power line inspection tower.
Background
In recent years, with the rapid development of economic construction in China, the electricity demand is rapidly increased, and the demand for power grid construction is also increasingly strong. Along with the continuous development and construction of electric power construction, how to effectively manage the electric power construction so as to ensure the normal operation of a power grid and ensure the safe transmission of the electric power is also more important. The occurrence of a power failure accident not only brings loss to the economic benefit of the power grid operation enterprises, but also has serious influence on power users and the whole society.
Along with the continuous development and construction of electric power construction, in the process of detecting the safety distance of a power line, a helicopter/unmanned aerial vehicle is generally used for detection through a laser radar scanning technology, after data acquisition is completed, acquired original data are copied by a hard disk, and then the acquired laser point cloud data are preprocessed, classified and the like by standard professional software of the electric power industry, so that the acquired laser point cloud data information can be intuitively seen.
However, the prior art has great delay in time, and can cause work repeatability in practical application; the most critical is that the data collected by the helicopter/unmanned aerial vehicle cannot be dynamically displayed on a screen or the data collection staff cannot find problems in time, and the dynamic three-dimensional data can be seen after the later data processing is finished, and if the data quality is problematic, the data needs to be collected again through the unmanned aerial vehicle.
Disclosure of Invention
Based on the above, it is necessary to provide a power line patrol pole and tower modeling system and method aiming at the problem that image information cannot be directly displayed.
A power patrol tower modeling system, comprising: the system comprises a laser radar scanning device, a processing device, a display device and a three-dimensional modeling device;
the laser radar scanning device is in wireless connection with the processing device and is used for scanning to obtain first image information of the power line inspection tower and sending the first image information to the processing device;
the processing device is respectively connected with the three-dimensional modeling device and the display device, and is used for receiving, sorting and analyzing the first image information, generating second image information and sending the second image information to the three-dimensional modeling device and the display device;
the display device is used for receiving the second image information sent by the processing device and displaying the second image information in real time;
the three-dimensional modeling device is used for receiving the second image information and establishing an electric power line patrol pole tower model according to the second image information.
In one embodiment, the three-dimensional modeling apparatus includes an image receiving module, an image processing module, an image analysis module, and a modeling module;
the image receiving module is respectively connected with the processing device and the image processing module and is used for receiving the second image information sent by the processing device and sending the second image information to the image processing module;
the image processing module is connected with the image analysis module and is used for carrying out format conversion on the second image information and sending the converted second image information to the image analysis module;
the image analysis module is connected with the modeling module and is used for carrying out image analysis on the second image information and sending the second image information after analysis to the modeling module;
and the modeling module is used for receiving the second image information and establishing an electric power line patrol pole tower model according to the second image information.
In one embodiment, the image analysis module includes a viewing angle detection unit and a color adjustment unit;
the visual angle detection unit is connected with the modeling module and is used for detecting the angle of the second image information and sending the second image information after the angle detection to the modeling module;
the color adjustment unit is connected with the modeling module and is used for performing color adjustment on the second image information and sending the second image information after the color adjustment to the modeling module.
In one embodiment, the display device includes: the information receiving module is respectively connected with the processing device, the static display module and the dynamic display module;
the information receiving module is used for receiving the second image information sent by the processing device;
the image display module is used for displaying the second image information in real time.
In one embodiment, the display module includes a static display unit and a dynamic display unit;
the static display unit is used for carrying out static display on the second image information;
the dynamic display unit is used for dynamically demonstrating the second image information.
In one embodiment, the device further comprises a storage device;
the storage device is connected with the processing device and is used for receiving the second image information sent by the processing device and storing the second image information into a preset storage medium.
In one embodiment, an external storage device is also included;
the external storage device is connected with the storage device and is used for backing up the second image information in the storage device.
In one embodiment, the printing device is further included;
the printing device is connected with the processing device and is used for receiving the second image information sent by the processing device and printing the second image information.
In one embodiment, the device further comprises a selecting device;
the selecting device is connected with the processing device and is used for selecting the second image information to be printed and generating a selecting instruction; and sending the selection instruction to the processing device, and controlling the printing device to print according to the selection instruction by the processing device.
In one embodiment, the device further comprises a conversion device and a wireless transmission device, wherein the conversion device is connected with the wireless transmission device;
the conversion device is respectively connected with the laser radar scanning device and the wireless transmission device;
the conversion device is used for converting the first image information into a data format which can be identified by the processing device and sending the converted first image information to the wireless transmission device;
the wireless transmission device is in wireless connection with the processing device and is used for transmitting the first image information to the processing device.
The utility model provides a power line inspection pole modeling method is applicable to power line inspection pole modeling system, includes:
receiving first image information wirelessly transmitted by a three-dimensional laser scanning device, and generating second image information according to the first image information;
establishing an electric power line inspection pole tower model according to the second image information;
and displaying the second image information in real time.
In one embodiment, the building the power patrol tower model according to the second image information includes:
and performing angle detection and/or color adjustment on the second image information, and establishing an electric power line inspection pole tower model according to the second image information after the angle detection and/or the color adjustment.
In one embodiment, the displaying the second image information in real time includes:
and carrying out real-time static display and/or dynamic demonstration on the second image information.
According to the electric power line patrol pole tower modeling system, the laser radar scanning device is used for collecting first image information and transmitting the first image information to the processing device, the processing device is used for processing the first image information and transmitting second image information to the three-dimensional modeling device and the display device, the three-dimensional modeling device is used for building an electric power line patrol pole tower model according to the second image information, the display device is used for displaying the second image information, the electric power line patrol pole tower model can be built directly according to the second image information, the second image information of the electric power line patrol pole tower can be displayed directly in real time, and workers can find unexpected situations timely conveniently.
Drawings
FIG. 1 is a schematic block diagram of a power line tower modeling system in accordance with an embodiment of the present invention;
FIG. 2 is a schematic block diagram of the three-dimensional modeling apparatus of FIG. 1;
FIG. 3 is a schematic block diagram of the image analysis module of FIG. 2;
FIG. 4 is a schematic block diagram of the display device of FIG. 1;
FIG. 5 is a schematic block diagram of the image display module of FIG. 4;
fig. 6 is a flowchart of a modeling method for an electric power patrol tower according to an embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
As shown in fig. 1 to 5, the modeling system for the electric power line inspection pole tower includes: laser radar scanning device 10, processing device 40, display device 70, and three-dimensional modeling device 60. Specifically, the lidar scanning device 10 is wirelessly connected to the processing device 40, and is configured to scan and obtain first image information of the power line inspection tower, and send the first image information to the processing device 40. The processing device 40 is respectively connected to the three-dimensional modeling device 60 and the display device 70, and is configured to receive, arrange and analyze the first image information, decode, compress and convert the first image information into a storable format file, generate second image information, and send the second image information to the three-dimensional modeling device 60 and the display device 70. The display device 70 is configured to receive the second image information sent by the processing device 40, and display the second image information in real time. The three-dimensional modeling device 60 is configured to receive the second image information, and establish a power line tower model according to the second image information.
Optionally, the three-dimensional modeling apparatus 60 includes an image receiving module 610, an image processing module 620, an image analysis module 630, and a modeling module 640. Specifically, the image receiving module 610 is connected to the processing device 40 and the image processing module 620, respectively, and is configured to receive the second image information sent by the processing device 40, and send the second image information to the image processing module 620. The image processing module 620 is connected to the image analysis module 630, and is configured to perform format conversion on the second image information, convert the second image information into a model format file, for example, GRS format, so as to facilitate recognition by the modeling module 640, and send the converted second image information to the image analysis module 630. The image analysis module 630 is connected to the modeling module 640, and is configured to perform image analysis on the second image information, analyze image parameters in the second image information, adjust and record the image parameters, for example, record a viewing angle in the second image information, adjust a color in the second image information, and send the analyzed second image information to the modeling module 640. The modeling module 640 is configured to receive the second image information, and establish a power line patrol tower model according to the second image information. In this embodiment, the three-dimensional modeling apparatus 60 analyzes the second image information by using a density peak clustering algorithm, and establishes a power line patrol tower model according to the second image information. The density peak clustering algorithm is an effective method capable of completely extracting the point cloud of the tower, the shape characteristics of the tower are fully utilized, the minimum bounding box and the fitting circle of the point cloud are calculated in real time, and tower modeling is performed on the basis of the extracted point cloud of the tower.
Optionally, the image analysis module 630 includes a viewing angle detection unit 631 and a color adjustment unit 632. Specifically, the view angle detection unit 631 is connected to the modeling module 640, and is configured to perform angle detection on the second image information, and send the second image information after angle detection to the modeling module 640. The color adjustment unit 632 is connected to the modeling module 640, and is configured to perform color adjustment on the second image information, and send the color-adjusted second image information to the modeling module 640. In this embodiment, the angle detection unit 631 performs angle detection on the second image information, so as to restore the image completely and clearly, and ensure modeling accuracy. The color adjustment unit 632 performs color adjustment on the second image information, so that the modeled model is convenient to observe. The viewing angle detecting unit 631 and the color adjusting unit 632 transmit the processed second image information to the modeling module 640, and the modeling module 640 sorts the processed second image information and performs modeling.
Optionally, the display device 70 includes: the information receiving module 710 and the image display module 720, wherein the information receiving module 710 is respectively connected with the processing device 40, the static display module and the dynamic display module. Specifically, the information receiving module 710 is configured to receive the second image information sent by the processing device 40. The image display module 720 is configured to display the second image information in real time. In particular, the display module includes a static display unit 721 and a dynamic display unit 722. Specifically, the static display unit 721 is configured to perform static display on the second image information. The dynamic display unit 722 is configured to dynamically demonstrate the second image information. In this embodiment, the static display unit 721 may directly display the second image information, and the dynamic display unit 722 may dynamically demonstrate the second image information, so that a worker may clearly understand what is displayed by the second image information, and the effect of displaying the image information is increased.
Optionally, the power line inspection pole modeling system further includes a storage device 80, where the storage device 80 is connected to the processing device 40, and is configured to receive the second image information sent by the processing device 40, store the second image information in a preset storage medium, and store the processed second image information, so as to ensure that the information can be queried and used again. Preferably, the power patrol tower modeling system further includes an external storage device 810, where the external storage device 810 is connected to the storage device 80, and is configured to backup the second image information in the storage device 80, and the second image information is backed up by the external storage device 810, so that the loss rate of the stored second image information is reduced.
Optionally, the power patrol tower modeling system further includes a printing device 90, where the printing device 90 is connected to the processing device 40, and is configured to receive the second image information sent by the processing device 40, and print the second image information. In this embodiment, the printing apparatus 90 is a thermal printer.
Optionally, the power line inspection tower modeling system further includes a selecting device 50, where the selecting device 50 is connected to the processing device 40, and is configured to select the second image information to be printed, and generate a selection instruction; the selection instruction is sent to the processing device 40, and the processing device 40 controls the printing device 90 to print according to the selection instruction.
Optionally, the power line inspection pole modeling system further comprises a conversion device 20 and a wireless transmission device 30, wherein the conversion device 20 is connected with the wireless transmission device 30, and the conversion device 20 is respectively connected with the laser radar scanning device 10 and the wireless transmission device 30. The converting device 20 is configured to convert the first image information into a data format that can be recognized by the processing device 40, and send the converted first image information to the wireless transmitting device 30. The wireless transmission device 30 is wirelessly connected to the processing device 40, and is configured to transmit the first image information to the processing device 40. In this embodiment, the lidar scanning device 10 is electrically connected to the transforming device 20, and transmits the acquired first image information to the transforming device 20. The conversion device 20 is electrically connected to the wireless transmission device 30, and the conversion device 20 performs conversion signal processing on the first image information, converts the first image information into a data format recognizable by the processing device 40, and sends the converted first image information to the wireless transmission device 30. The wireless transmission module is wirelessly connected to the processing device 40, and wirelessly transmits the first image information to the processing device 40.
As shown in fig. 6, a modeling method for a power line inspection tower pole is applicable to the power line inspection tower pole modeling system, and includes:
And step 604, establishing a power line patrol pole tower model according to the second image information.
Specifically, angle detection and/or color adjustment are performed on the second image information, and an electric power line inspection pole tower model is built according to the second image information after the angle detection and/or the color adjustment. The angle detection is convenient for completely and clearly restoring the image, so that the modeling accuracy is ensured; the color adjustment enables the modeled model to be convenient to observe, and improves the accuracy and the visibility of the electric power line inspection pole tower model.
And step 606, displaying the second image information in real time.
Specifically, the second image information can be directly subjected to real-time display processing and/or dynamic demonstration, so that a worker can clearly know the content displayed by the second image information, and the display effect of the image information is improved.
In the above power line inspection shaft tower modeling system, the laser radar scanning device 10 is used for acquiring the first image information, and transmitting the first image information to the processing device 40, the processing device 40 processes the first image information, and transmits the second image information to the three-dimensional modeling device 60 and the display device 70, the three-dimensional modeling device 60 establishes a power line inspection shaft tower model according to the second image information, the display device 70 displays the second image information, and can directly establish the power line inspection shaft tower model according to the second image information and directly display the second image information of the power line inspection shaft tower, so that the second image information can be directly displayed in real time, thereby facilitating the timely discovery of accidents by staff.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (12)
1. A power line tower modeling system, comprising: the system comprises a laser radar scanning device, a processing device, a display device and a three-dimensional modeling device;
the laser radar scanning device is in wireless connection with the processing device and is used for scanning to obtain first image information of the power line inspection tower and sending the first image information to the processing device;
the processing device is respectively connected with the three-dimensional modeling device and the display device, and is used for receiving, sorting and analyzing the first image information, generating second image information and sending the second image information to the three-dimensional modeling device and the display device;
the display device is used for receiving the second image information sent by the processing device and displaying the second image information in real time;
the three-dimensional modeling device is used for receiving the second image information and establishing an electric power line patrol pole tower model according to the second image information;
the three-dimensional modeling device comprises an image receiving module, an image processing module, an image analysis module and a modeling module; the image receiving module is respectively connected with the processing device and the image processing module and is used for receiving the second image information sent by the processing device and sending the second image information to the image processing module; the image processing module is connected with the image analysis module and is used for carrying out format conversion on the second image information and sending the converted second image information to the image analysis module; the image analysis module is connected with the modeling module and is used for carrying out image analysis on the second image information and sending the second image information after analysis to the modeling module; and the modeling module is used for receiving the second image information and establishing an electric power line patrol pole tower model according to the second image information.
2. The power line tower modeling system of claim 1, wherein the image analysis module comprises a viewing angle detection unit and a color adjustment unit;
the visual angle detection unit is connected with the modeling module and is used for detecting the angle of the second image information and sending the second image information after the angle detection to the modeling module;
the color adjustment unit is connected with the modeling module and is used for performing color adjustment on the second image information and sending the second image information after the color adjustment to the modeling module.
3. The power line tower modeling system of claim 1, wherein the display device comprises: the information receiving module is respectively connected with the processing device, the static display unit and the dynamic display unit;
the information receiving module is used for receiving the second image information sent by the processing device;
the image display module is used for displaying the second image information in real time.
4. The power line tower modeling system of claim 1, wherein the display device comprises a static display unit and a dynamic display unit;
the static display unit is used for carrying out static display on the second image information;
the dynamic display unit is used for dynamically demonstrating the second image information.
5. The power patrol pole and tower modeling system of claim 1, further comprising a storage device;
the storage device is connected with the processing device and is used for receiving the second image information sent by the processing device and storing the second image information into a preset storage medium.
6. The power patrol pole modeling system of claim 1, further comprising an external storage device;
the external storage device is connected with the storage device and is used for backing up the second image information in the storage device.
7. The power patrol pole modeling system of claim 1, further comprising a printing device;
the printing device is connected with the processing device and is used for receiving the second image information sent by the processing device and printing the second image information.
8. The power patrol pole and tower modeling system according to claim 7, further comprising a selection device;
the selecting device is connected with the processing device and is used for selecting the second image information to be printed and generating a selecting instruction; and sending the selection instruction to the processing device, and controlling the printing device to print according to the selection instruction by the processing device.
9. The power line tower modeling system of claim 1, further comprising a conversion device and a wireless transmission device, the conversion device being coupled to the wireless transmission device;
the conversion device is respectively connected with the laser radar scanning device and the wireless transmission device;
the conversion device is used for converting the first image information into a data format which can be identified by the processing device and sending the converted first image information to the wireless transmission device;
the wireless transmission device is in wireless connection with the processing device and is used for transmitting the first image information to the processing device.
10. A modeling method for a power line inspection tower, which is applicable to the modeling system for the power line inspection tower according to any one of claims 1 to 9, and is characterized by comprising the following steps:
receiving first image information wirelessly transmitted by a three-dimensional laser scanning device, and generating second image information according to the first image information;
establishing an electric power line inspection pole tower model according to the second image information;
and displaying the second image information in real time.
11. The power patrol pole and tower modeling method according to claim 10, wherein said establishing a power patrol pole and tower model from said second image information comprises:
and performing angle detection and/or color adjustment on the second image information, and establishing an electric power line inspection pole tower model according to the second image information after the angle detection and/or the color adjustment.
12. The power line tower modeling method of claim 10, wherein displaying the second image information in real time comprises:
and carrying out real-time static display and/or dynamic demonstration on the second image information.
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| US8125622B2 (en) * | 2009-07-28 | 2012-02-28 | Applied Concepts, Inc. | Lidar measurement device with target tracking and method for use of same |
| CN103884939B (en) * | 2014-03-26 | 2016-08-17 | 华北电力大学 | Power circuit Laser Radar Scanning data analysis system based on PMS |
| WO2017190351A1 (en) * | 2016-05-06 | 2017-11-09 | SZ DJI Technology Co., Ltd. | Systems and methods for video processing and display |
| CN106408209A (en) * | 2016-10-29 | 2017-02-15 | 国家电网公司 | Positioning and line inspection detection system and method in electric power field |
| CN109085604A (en) * | 2018-08-22 | 2018-12-25 | 上海华测导航技术股份有限公司 | A kind of system and method for power-line patrolling |
| CN109254303B (en) * | 2018-09-19 | 2021-03-16 | 绵阳紫蝶科技有限公司 | Power line corridor rapid inspection system and method based on laser scanning guidance |
| CN109901618A (en) * | 2019-03-29 | 2019-06-18 | 国网山东省电力公司梁山县供电公司 | Power-line patrolling system and method |
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