CN112489130A - Distance measuring method and device for power transmission line and target object and electronic equipment - Google Patents
Distance measuring method and device for power transmission line and target object and electronic equipment Download PDFInfo
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Abstract
The invention discloses a method and a device for measuring the distance between a power transmission line and a target object and electronic equipment, wherein the method comprises the following steps: receiving background point cloud and a two-dimensional background image of a power transmission line corridor scene; constructing a coordinate transformation relation between the background point cloud and the two-dimensional background image; selecting characteristic points from the background point cloud and the two-dimensional background image to construct a mapping relation between each pixel coordinate in the two-dimensional background image and each three-dimensional point coordinate in the background point cloud; receiving a real-time two-dimensional image of a power transmission line corridor scene, and judging whether a target object appears in the real-time two-dimensional image; when a target object appears, calculating the three-dimensional point coordinate of the target object in the background point cloud according to the pixel coordinate and the mapping relation of the target object, and searching the three-dimensional point coordinate of the power transmission line closest to the target object; calculating the Euclidean distance between the target object and the power transmission line according to the three-dimensional point coordinates of the target object and the three-dimensional point coordinates of the power transmission line; the method can solve the problem of large error of the traditional handheld laser range finder in the measuring mode.
Description
Technical Field
The application relates to the technical field of power transmission networks, in particular to a method and a device for measuring the distance between a power transmission line and a target object and electronic equipment.
Background
The traditional method for measuring the distance of the power transmission line adopts an artificial ground laser distance measurement mode, and a detector measures the distance between a target object and the power transmission line by using a handheld laser distance meter.
The measurement mode of the traditional handheld laser range finder is easily interfered and influenced by human and environmental factors. For example, in a region with a lot of sunny days, infrared rays contained in strong sunlight can cause a handheld laser range finder used outdoors to generate a large measurement error; under the rain and snow weather conditions, the reflection of the laser beam can be influenced by rain, so that the measuring equipment cannot work normally; meanwhile, inaccurate target positioning caused by human factors can bring errors to measurement. Due to the reasons of manpower and actual field operation cost, all-weather and all-day-long power transmission line monitoring cannot be implemented.
Disclosure of Invention
The invention provides a method and a device for measuring the distance between a power transmission line and a target object and electronic equipment, and can solve the problems that the traditional handheld laser range finder has large measurement mode error and cannot monitor the power transmission line all day long.
A method for measuring the distance between a power transmission line and a target object comprises the following steps:
receiving background point cloud and a two-dimensional background image of a power transmission line corridor scene;
constructing a coordinate transformation relation between the background point cloud and the two-dimensional background image;
selecting feature points from the background point cloud and the two-dimensional background image;
according to the coordinates of the characteristic points and the coordinate transformation relation, constructing a mapping relation between each pixel coordinate in the two-dimensional background image and each three-dimensional point coordinate in the background point cloud;
receiving a real-time two-dimensional image of a power transmission line corridor scene, and judging whether a target object appears in the real-time two-dimensional image;
when a target object appears, calculating the three-dimensional point coordinate of the target object in the background point cloud according to the pixel coordinate of the target object and the mapping relation, and searching the three-dimensional point coordinate of the power transmission line closest to the target object;
and calculating the Euclidean distance between the target object and the power transmission line according to the three-dimensional point coordinates of the target object and the three-dimensional point coordinates of the power transmission line.
Further, the coordinate transformation relationship is as follows:
wherein the content of the first and second substances,
and
are respectively provided withRepresenting each pixel in the horizontal axis of the image
And a longitudinal axis
The physical size of the upper side of the plate,
is the pixel coordinate of the intersection point of the optical axis of the camera and the image plane,
which represents the focal length of the camera(s),
is a coordinate of a pixel, and is,
three-dimensional point coordinates;
representing a rotation matrix between a camera coordinate system and a point cloud three-dimensional space coordinate system,
representing a translation vector of the camera coordinate system to the point cloud three-dimensional space coordinate system.
Further, the feature points are at least three groups;
according to the coordinate of the feature point and the coordinate transformation relation, constructing a mapping relation between each pixel coordinate in the two-dimensional background image and each three-dimensional point coordinate in the background point cloud, wherein the mapping relation comprises the following steps:
substituting the two-dimensional pixel coordinates of the feature points in the two-dimensional background image and the three-dimensional point coordinates in the background point cloud into the coordinate transformation relation, and calculating the rotation matrix and the translation vector;
and according to the coordinate transformation relation, calculating the three-dimensional point coordinate in the background point cloud corresponding to each pixel coordinate in the two-dimensional background image, and obtaining the mapping relation between each pixel coordinate in the two-dimensional background image and each three-dimensional point coordinate in the background point cloud.
Further, after the target object appears, the method further comprises the following steps:
and selecting any pixel of the target object, and searching a three-dimensional point coordinate corresponding to the pixel coordinate according to the mapping relation.
Further, after the target object appears, the method further comprises the following steps:
performing frame selection on the target object;
calculating the space distance from the top angle of the square frame to the bottom angle on the same side;
selecting square frame base angle pixels, and searching three-dimensional point coordinates corresponding to the coordinates of each base angle pixel according to the mapping relation;
adding the space distance to the Z-axis coordinate of the three-dimensional point coordinate of each base angle to obtain the three-dimensional point coordinate of each top angle;
calculating the Euclidean distance between each vertex angle and the power transmission line according to the three-dimensional point coordinates of each vertex angle and the three-dimensional point coordinates of the power transmission line;
and selecting the shortest Euclidean distance obtained by calculation as the distance between the target object and the power transmission line.
Further, calculating the spatial distance from the top angle of the box to the bottom angle on the same side comprises:
selecting any two diagonal angles of the square frame, and calculating the pixel coordinate of the other bottom corner at the bottom end of the square frame according to the pixel coordinates of the diagonal angles;
searching three-dimensional point coordinates corresponding to the two base angles according to the mapping relation;
calculating the Euclidean distance between the two base angles according to the three-dimensional point coordinates of the two base angles;
dividing the Euclidean distance between the two bottom corners by the pixel distance between the two corners to obtain a pixel space size value corresponding to each pixel in the frame;
and calculating the space distance from the top angle to the bottom angle on the same side according to the pixel space size value and the pixel coordinates of the top angle and the bottom angle.
Further, the euclidean distance is calculated by the following formula:
wherein the content of the first and second substances,
and
two three-dimensional point coordinates are respectively, and d is the Euclidean distance.
A distance measuring device of a power transmission line and a target object comprises:
the receiving module is used for receiving background point clouds and two-dimensional background images of power transmission line corridor scenes;
the coordinate transformation module is used for constructing a coordinate transformation relation between the background point cloud and the two-dimensional background image;
the selecting module is used for selecting characteristic points from the background point cloud and the two-dimensional background image;
the relation building module is used for building the mapping relation between each pixel coordinate in the two-dimensional background image and each three-dimensional point coordinate in the background point cloud according to the coordinate of the characteristic point and the coordinate transformation relation;
the judging module is used for receiving a real-time two-dimensional image of a power transmission line corridor scene and judging whether a target object appears in the real-time two-dimensional image;
the coordinate calculation module is used for calculating the three-dimensional point coordinates of the target object in the background point cloud according to the pixel coordinates of the target object and the mapping relation when the target object appears, and searching the three-dimensional point coordinates of the power transmission line closest to the target object;
and the distance calculation module is used for calculating the Euclidean distance between the target object and the power transmission line according to the three-dimensional point coordinates of the target object and the three-dimensional point coordinates of the power transmission line.
An electronic device comprises a processor and a memory, wherein the memory stores a plurality of instructions, and the processor is used for reading the instructions and executing the distance measuring method between a power transmission line and a target object.
A computer readable storage medium, the computer storage medium storing a plurality of instructions, the instructions being readable by a processor and performing the method for measuring the distance between a power transmission line and a target object.
The method, the device and the electronic equipment for measuring the distance between the power transmission line and the target object, provided by the invention, at least have the following beneficial effects:
(1) the distance between the target object and the power transmission line is calculated from the image by establishing a mapping relation from a two-dimensional pixel coordinate to a three-dimensional point coordinate, so that the accuracy of distance calculation can be effectively improved, and the power transmission line can be monitored in all weather;
(2) the method comprises the following steps of performing frame selection on a target object, calculating the space distance from a top angle of a frame to a bottom angle on the same side, and calculating the coordinates of three-dimensional points of the top angle according to the space distance, so that the subsequent calculation result is more accurate;
(3) after the mapping relation from the two-dimensional pixel coordinate to the three-dimensional point coordinate is established, the distance measurement between the power transmission line and the target object can be realized through the real-time two-dimensional image collected by the monocular camera, and the monocular camera is convenient to set and can effectively reduce the cost.
Drawings
Fig. 1 is a flowchart of an embodiment of a method for measuring a distance between a power transmission line and a target object according to the present invention.
Fig. 2 is a schematic structural diagram of an embodiment of the device for measuring the distance between the power transmission line and the target object according to the present invention.
Fig. 3 is a schematic structural diagram of an embodiment of an electronic device provided in the present invention.
Fig. 4 is a schematic structural diagram of an embodiment of the distance measurement system for the power transmission line and the target object provided by the present invention.
Detailed Description
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
Referring to fig. 1, in some embodiments, there is provided a method for measuring a distance between a power transmission line and a target object, including:
s1, receiving a background point cloud and a two-dimensional background image of a power transmission line corridor scene;
s2, constructing a coordinate transformation relation between the background point cloud and the two-dimensional background image;
s3, selecting feature points from the background point cloud and the two-dimensional background image;
s4, according to the coordinates of the feature points and the coordinate transformation relation, constructing a mapping relation between each pixel coordinate in the two-dimensional background image and each three-dimensional point coordinate in the background point cloud;
s5, receiving a real-time two-dimensional image of a power transmission line corridor scene, and judging whether a target object appears in the real-time two-dimensional image;
s6, when a target object appears, calculating the three-dimensional point coordinate of the target object in the background point cloud according to the pixel coordinate of the target object and the mapping relation, and searching the three-dimensional point coordinate of the power transmission line closest to the target object;
and S7, calculating the Euclidean distance between the target object and the power transmission line according to the three-dimensional point coordinates of the target object and the three-dimensional point coordinates of the power transmission line.
Specifically, in S1, acquiring background point clouds of a power transmission line corridor scene by using an unmanned aerial vehicle laser radar scanning system, planning an operation track of the unmanned aerial vehicle in advance, and sending an instruction to the unmanned aerial vehicle so that the unmanned aerial vehicle flies according to a preset operation track, acquiring the background point clouds of the power transmission line corridor scene by using the laser radar system in the flying process, wherein the acquisition range is that n power towers and the range of 20 meters outside the power transmission line between two adjacent power towers are within, and n is greater than or equal to 2; the space distance between the operation track and the ground of the power transmission line corridor meets a set condition, and the set condition can be understood that the distance between the operation track and the ground is not more than the effective scanning distance of a laser radar scanning system carried by the unmanned aerial vehicle; meanwhile, the flying speed of the unmanned aerial vehicle needs to be controlled under certain conditions, which can be understood, wherein the conditions mean that a laser radar scanning system carried by the unmanned aerial vehicle can acquire the point cloud of an effective collection power transmission line corridor scene and other target objects.
In some embodiments, the method further comprises: and classifying the obtained background point clouds into power transmission line point clouds and non-power transmission line point clouds.
The two-dimensional background image is acquired through the monocular camera arranged on the electric power tower, the width of a power transmission line corridor which can be observed by the monocular camera is larger than or equal to 50 meters, the frequency of image acquisition of the monocular camera is larger than or equal to 10Hz, and the resolution of the image is not lower than 720 multiplied by 480.
Further, in S2, the coordinate transformation relationship between the constructed background point cloud and the two-dimensional background image is as follows:
wherein the content of the first and second substances,
and
respectively representing each pixel on the horizontal axis of the image
And a longitudinal axis
The physical size of the upper side of the plate,
is the pixel coordinate of the intersection point of the optical axis of the camera and the image plane,
which represents the focal length of the camera(s),
is a coordinate of a pixel, and is,
three-dimensional point coordinates;
representing a rotation matrix between a camera coordinate system and a point cloud three-dimensional space coordinate system,
representing a translation vector of the camera coordinate system to the point cloud three-dimensional space coordinate system.
In the coordinate transformation relation (1), the rotation matrix R and the translational vector T are unknowns, and therefore S3 is further performed to select feature points from the background point cloud and the two-dimensional background image, and calculate the rotation matrix R and the translational vector T.
Specifically, the selected feature points need to be simultaneously present in a two-dimensional background image returned by the monocular camera and a background point cloud scanned by the unmanned aerial vehicle laser radar, and the feature points do not have position and form changes in the scene; the selected characteristic points are required to ensure uniqueness and are uniformly distributed in the whole scene; optionally, at least 3 groups of feature points are obtained, and it can be understood that, in order to ensure the accuracy of the mapping relationship, as many feature points uniformly distributed in the scene as possible should be selected.
Further, in S4, first, a two-dimensional pixel coordinate of each feature point in the two-dimensional background image and a three-dimensional point coordinate in the background point cloud are obtained, and the pixel coordinate of the feature point in the two-dimensional background image and the three-dimensional point coordinate in the background point cloud are brought into the coordinate transformation relation (1), so as to calculate the rotation matrix and the translation vector;
after the rotation matrix and the translation vector are obtained through calculation, according to the coordinate transformation relation (1), the pixel coordinates in the two-dimensional background image can be calculated to correspond to the three-dimensional point coordinates in the background point cloud, and therefore the mapping relation between the pixel coordinates in the two-dimensional background image and the three-dimensional point coordinates in the background point cloud is obtained.
After the mapping relation between each pixel coordinate in the two-dimensional background image and each three-dimensional point coordinate in the background point cloud is established, the three-dimensional coordinate point of any pixel in the two-dimensional background image corresponding to the background point cloud can be obtained.
Further, in S5, a monocular camera disposed on the power tower collects the real-time two-dimensional image, receives the real-time two-dimensional image, and determines whether a target object appears in the real-time two-dimensional image, specifically, whether a target object appears in the real-time two-dimensional image may be determined by using an image semantic segmentation algorithm.
In some embodiments, after the target object appears in S6, the method further includes:
and selecting any pixel of the target object, and searching a three-dimensional point coordinate corresponding to the pixel coordinate according to the mapping relation.
And taking the three-dimensional point coordinate corresponding to any pixel in the target object as a seed point, searching the three-dimensional point coordinate of the power transmission line closest to the target object, and calculating the Euclidean distance of the three-dimensional point coordinate of the seed point and the three-dimensional point coordinate of the power transmission line, so that the distance between the power transmission line and the target object can be obtained by calculating on the image.
In some embodiments, after the target object appears in S6, the method further includes:
performing frame selection on the target object;
calculating the space distance from the top angle of the square frame to the bottom angle on the same side;
selecting square frame base angle pixels, and searching three-dimensional point coordinates corresponding to the coordinates of each base angle pixel according to the mapping relation;
adding the space distance to the Z-axis coordinate of the three-dimensional point coordinate of each base angle to obtain the three-dimensional point coordinate of each top angle;
calculating the Euclidean distance between each vertex angle and the power transmission line according to the three-dimensional point coordinates of each vertex angle and the three-dimensional point coordinates of the power transmission line;
and selecting the shortest Euclidean distance obtained by calculation as the distance between the target object and the power transmission line.
Wherein, calculate the space distance of square frame apex angle to homonymy base angle, include:
selecting any two diagonal angles of the square frame, and calculating the pixel coordinate of the other bottom corner at the bottom end of the square frame according to the pixel coordinates of the diagonal angles;
searching three-dimensional point coordinates corresponding to the two base angles according to the mapping relation;
calculating the Euclidean distance between the two base angles according to the three-dimensional point coordinates of the two base angles;
dividing the Euclidean distance between the two bottom corners by the pixel distance between the two corners to obtain a pixel space size value corresponding to each pixel in the frame;
and calculating the space distance from the top angle to the bottom angle on the same side according to the pixel space size value and the pixel coordinates of the top angle and the bottom angle.
Specifically, for a target object with a large size, the target object is subjected to frame selection, and because the square frame is two-dimensional, if the distance between the pixel of the square frame vertex angle and the power transmission line is directly selected to be calculated, the distance is not accurate enough, so that the calculation result is more accurate by calculating the space distance between the square frame vertex angle and the bottom angle on the same side and calculating the coordinate of a vertex angle three-dimensional point according to the space distance.
Further, the euclidean distance described in this embodiment is calculated by the following formula:
wherein the content of the first and second substances,
and
two three-dimensional point coordinates are respectively, and d is the Euclidean distance.
The distance measurement between the power transmission line and the target object is realized, and the safety distance to the ground of 500kV, 220kV and 110kV voltage grades is managed according to different voltage grades of the power transmission line so as to judge the distance between the hazard source and the wire.
The method for measuring the distance between the power transmission line and the target object provided by the embodiment at least has the following beneficial effects:
(1) the distance between the target object and the power transmission line is calculated from the image by establishing a mapping relation from a two-dimensional pixel coordinate to a three-dimensional point coordinate, so that the accuracy of distance calculation can be effectively improved, and the power transmission line can be monitored in all weather;
(2) the method comprises the following steps of performing frame selection on a target object, calculating the space distance from a top angle of a frame to a bottom angle on the same side, and calculating the coordinates of three-dimensional points of the top angle according to the space distance, so that the subsequent calculation result is more accurate;
(3) after the mapping relation from the two-dimensional pixel coordinate to the three-dimensional point coordinate is established, the distance measurement between the power transmission line and the target object can be realized through the real-time two-dimensional image collected by the monocular camera, and the monocular camera is convenient to set and can effectively reduce the cost.
Referring to fig. 2, in some embodiments, there is provided a device for measuring a distance between a power transmission line and a target object, including:
the receiving module 1 is used for receiving background point clouds and two-dimensional background images of power transmission line corridor scenes;
the coordinate transformation module 2 is used for constructing a coordinate transformation relation between the background point cloud and the two-dimensional background image;
the selecting module 3 is used for selecting characteristic points from the background point cloud and the two-dimensional background image;
the relation building module 4 is used for building the mapping relation between each pixel coordinate in the two-dimensional background image and each three-dimensional point coordinate in the background point cloud according to the coordinate of the characteristic point and the coordinate transformation relation;
the judging module 5 is used for receiving the real-time two-dimensional image of the power transmission line corridor scene and judging whether a target object appears in the real-time two-dimensional image;
the coordinate calculation module 6 is used for calculating the three-dimensional point coordinates of the target object in the background point cloud according to the pixel coordinates of the target object and the mapping relation when the target object appears, and searching the three-dimensional point coordinates of the power transmission line closest to the target object;
and the distance calculation module 7 is used for calculating the Euclidean distance between the target object and the power transmission line according to the three-dimensional point coordinates of the target object and the three-dimensional point coordinates of the power transmission line.
Specifically, the receiving module 1 receives the background point cloud of the power transmission line corridor scene acquired by the unmanned aerial vehicle laser radar scanning system and the two-dimensional background image acquired by the monocular camera, and the scanning range of the unmanned aerial vehicle laser radar scanning system and the range of the image acquired by the monocular camera refer to the above method embodiment, which is not described herein again.
The coordinate transformation relation between the background point cloud constructed by the coordinate transformation module 2 and the two-dimensional background image is shown as formula (1).
The feature points selected by the selection module 3 are at least 3 groups, the selected feature points need to be simultaneously present in a two-dimensional background image returned by the monocular camera and a background point cloud scanned by the unmanned aerial vehicle laser radar, and the feature points do not have position and form changes in a scene; the selected characteristic points are required to ensure uniqueness and are uniformly distributed in the whole scene; it can be understood that, in order to ensure the accuracy of the mapping relationship, feature points uniformly distributed in the scene should be selected as much as possible.
Further, the relationship building module 4 is further configured to bring the two-dimensional pixel coordinates of the feature points in the two-dimensional background image and the three-dimensional point coordinates in the background point cloud into the coordinate transformation relationship, and calculate the rotation matrix and the translation vector; and according to the coordinate transformation relation, calculating the three-dimensional point coordinate in the background point cloud corresponding to each pixel coordinate in the two-dimensional background image, and obtaining the mapping relation between each pixel coordinate in the two-dimensional background image and each three-dimensional point coordinate in the background point cloud.
Further, the coordinate calculation module 6 is further configured to select any one pixel of the target object after the target object appears, and search for a three-dimensional point coordinate corresponding to the pixel coordinate according to the mapping relationship. The distance calculation module 7 is further configured to calculate an euclidean distance between the target object and the power transmission line according to the three-dimensional point coordinate corresponding to the pixel and the three-dimensional point coordinate of the power transmission line by using a formula (2).
Further, the coordinate calculation module 6 is further configured to select a frame of the target object after the target object appears; calculating the space distance from the top angle of the square frame to the bottom angle on the same side; selecting square frame base angle pixels, and searching three-dimensional point coordinates corresponding to the coordinates of each base angle pixel according to the mapping relation; and adding the space distance to the Z-axis coordinate of the three-dimensional point coordinate of each base angle to obtain the three-dimensional point coordinate of each top angle. The distance calculation module 7 is further used for calculating the Euclidean distance between each vertex angle and the power transmission line according to the three-dimensional point coordinates of each vertex angle and the three-dimensional point coordinates of the power transmission line; and selecting the shortest Euclidean distance obtained by calculation as the distance between the target object and the power transmission line.
Further, the coordinate calculation module 6 is further configured to select any two diagonal angles of the square frame, and calculate a pixel coordinate of the other bottom corner at the bottom end of the square frame according to the pixel coordinates of the diagonal angles; searching three-dimensional point coordinates corresponding to the two base angles according to the mapping relation; calculating the Euclidean distance between the two base angles according to the three-dimensional point coordinates of the two base angles; dividing the Euclidean distance between the two bottom corners by the pixel distance between the two corners to obtain a pixel space size value corresponding to each pixel in the frame; and calculating the space distance from the top angle to the bottom angle on the same side according to the pixel space size value and the pixel coordinates of the top angle and the bottom angle.
The distance measuring device for the power transmission line and the target object provided by the embodiment at least has the following beneficial effects:
(1) the distance between the target object and the power transmission line is calculated from the image by establishing a mapping relation from a two-dimensional pixel coordinate to a three-dimensional point coordinate, so that the accuracy of distance calculation can be effectively improved, and the power transmission line can be monitored in all weather;
(2) the method comprises the following steps of performing frame selection on a target object, calculating the space distance from a top angle of a frame to a bottom angle on the same side, and calculating the coordinates of three-dimensional points of the top angle according to the space distance, so that the subsequent calculation result is more accurate;
(3) after the mapping relation from the two-dimensional pixel coordinate to the three-dimensional point coordinate is established, the distance measurement between the power transmission line and the target object can be realized through the real-time two-dimensional image collected by the monocular camera, and the monocular camera is convenient to set and can effectively reduce the cost.
Referring to fig. 3, in some embodiments, there is further provided an electronic device including a processor 301 and a memory 302, where the memory 301 stores a plurality of instructions, and the processor 302 is configured to read the plurality of instructions and execute the above-mentioned method for measuring the distance between the power transmission line and the target object, and for example, the method includes: receiving background point cloud and a two-dimensional background image of a power transmission line corridor scene; constructing a coordinate transformation relation between the background point cloud and the two-dimensional background image; selecting feature points from the background point cloud and the two-dimensional background image; according to the coordinates of the characteristic points and the coordinate transformation relation, constructing a mapping relation between each pixel coordinate in the two-dimensional background image and each three-dimensional point coordinate in the background point cloud; receiving a real-time two-dimensional image of a power transmission line corridor scene, and judging whether a target object appears in the real-time two-dimensional image; when a target object appears, calculating the three-dimensional point coordinate of the target object in the background point cloud according to the pixel coordinate of the target object and the mapping relation, and searching the three-dimensional point coordinate of the power transmission line closest to the target object; and calculating the Euclidean distance between the target object and the power transmission line according to the three-dimensional point coordinates of the target object and the three-dimensional point coordinates of the power transmission line.
In some embodiments, there is also provided a computer-readable storage medium storing a plurality of instructions, which can be read by a processor and execute the method for measuring the distance between the power transmission line and the target object, for example, the method includes: receiving background point cloud and a two-dimensional background image of a power transmission line corridor scene; constructing a coordinate transformation relation between the background point cloud and the two-dimensional background image; selecting feature points from the background point cloud and the two-dimensional background image; according to the coordinates of the characteristic points and the coordinate transformation relation, constructing a mapping relation between each pixel coordinate in the two-dimensional background image and each three-dimensional point coordinate in the background point cloud; receiving a real-time two-dimensional image of a power transmission line corridor scene, and judging whether a target object appears in the real-time two-dimensional image; when a target object appears, calculating the three-dimensional point coordinate of the target object in the background point cloud according to the pixel coordinate of the target object and the mapping relation, and searching the three-dimensional point coordinate of the power transmission line closest to the target object; and calculating the Euclidean distance between the target object and the power transmission line according to the three-dimensional point coordinates of the target object and the three-dimensional point coordinates of the power transmission line.
Referring to fig. 4, in some embodiments, a system for measuring a distance between a power transmission line and a target object is further provided, including an electronic device 100, an unmanned aerial vehicle lidar scanning system 200, and a monocular camera 300, where the electronic device 100 is an execution subject of the method for measuring a distance between a power transmission line and a target object, and the unmanned aerial vehicle lidar scanning system 200 and the monocular camera 300 are in communication connection with the electronic device 100.
In addition, the system further comprises a display module 400 connected with the electronic device 100, for displaying the real-time two-dimensional image collected by the monocular camera and displaying the background point cloud; in addition, the distance measurement result is also displayed.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention. It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A method for measuring the distance between a power transmission line and a target object is characterized by comprising the following steps:
receiving background point cloud and a two-dimensional background image of a power transmission line corridor scene;
constructing a coordinate transformation relation between the background point cloud and the two-dimensional background image;
selecting feature points from the background point cloud and the two-dimensional background image;
according to the coordinates of the characteristic points and the coordinate transformation relation, constructing a mapping relation between each pixel coordinate in the two-dimensional background image and each three-dimensional point coordinate in the background point cloud;
receiving a real-time two-dimensional image of a power transmission line corridor scene, and judging whether a target object appears in the real-time two-dimensional image;
when a target object appears, calculating the three-dimensional point coordinate of the target object in the background point cloud according to the pixel coordinate of the target object and the mapping relation, and searching the three-dimensional point coordinate of the power transmission line closest to the target object;
and calculating the Euclidean distance between the target object and the power transmission line according to the three-dimensional point coordinates of the target object and the three-dimensional point coordinates of the power transmission line.
2. The method according to claim 1, wherein the coordinate transformation relationship is as follows:
wherein the content of the first and second substances,
and
respectively representing each pixel on the horizontal axis of the image
And a longitudinal axis
The physical size of the upper side of the plate,
is the pixel coordinate of the intersection point of the optical axis of the camera and the image plane,
which represents the focal length of the camera(s),
is a coordinate of a pixel, and is,
three-dimensional point coordinates;
representing a rotation matrix between a camera coordinate system and a point cloud three-dimensional space coordinate system,
representing a translation vector of the camera coordinate system to the point cloud three-dimensional space coordinate system.
3. The method according to claim 2, wherein the number of the characteristic points is at least three;
according to the coordinate of the feature point and the coordinate transformation relation, constructing a mapping relation between each pixel coordinate in the two-dimensional background image and each three-dimensional point coordinate in the background point cloud, wherein the mapping relation comprises the following steps:
substituting the pixel coordinates of the feature points in the two-dimensional background image and the three-dimensional point coordinates in the background point cloud into the coordinate transformation relation, and calculating the rotation matrix and the translation vector;
and according to the coordinate transformation relation, calculating the three-dimensional point coordinate in the background point cloud corresponding to each pixel coordinate in the two-dimensional background image, and obtaining the mapping relation between each pixel coordinate in the two-dimensional background image and each three-dimensional point coordinate in the background point cloud.
4. The method for measuring the distance between the power transmission line and the target object according to claim 1, wherein after the target object appears, the method further comprises:
and selecting any pixel of the target object, and searching a three-dimensional point coordinate corresponding to the pixel coordinate according to the mapping relation.
5. The method for measuring the distance between the power transmission line and the target object according to claim 1, wherein after the target object appears, the method further comprises:
performing frame selection on the target object;
calculating the space distance from the top angle of the square frame to the bottom angle on the same side;
selecting square frame base angle pixels, and searching three-dimensional point coordinates corresponding to the coordinates of each base angle pixel according to the mapping relation;
adding the space distance to the Z-axis coordinate of the three-dimensional point coordinate of each base angle to obtain the three-dimensional point coordinate of each top angle;
calculating the Euclidean distance between each vertex angle and the power transmission line according to the three-dimensional point coordinates of each vertex angle and the three-dimensional point coordinates of the power transmission line;
and selecting the shortest Euclidean distance obtained by calculation as the distance between the target object and the power transmission line.
6. The method of claim 5, wherein the step of calculating the spatial distance from the top corner of the square frame to the bottom corner of the same side comprises:
selecting any two diagonal angles of the square frame, and calculating the pixel coordinate of the other bottom corner at the bottom end of the square frame according to the pixel coordinates of the diagonal angles;
searching three-dimensional point coordinates corresponding to the two base angles according to the mapping relation;
calculating the Euclidean distance between the two base angles according to the three-dimensional point coordinates of the two base angles;
dividing the Euclidean distance between the two bottom corners by the pixel distance between the two corners to obtain a pixel space size value corresponding to each pixel in the frame;
and calculating the space distance from the top angle to the bottom angle on the same side according to the pixel space size value and the pixel coordinates of the top angle and the bottom angle.
7. The method of any one of claims 1 to 6, wherein the Euclidean distance is calculated by the following formula:
wherein the content of the first and second substances,
and
two three-dimensional point coordinates are respectively, and d is the Euclidean distance.
8. A distance measuring device of a power transmission line and a target object is characterized by comprising:
the receiving module is used for receiving background point clouds and two-dimensional background images of power transmission line corridor scenes;
the coordinate transformation module is used for constructing a coordinate transformation relation between the background point cloud and the two-dimensional background image;
the selecting module is used for selecting characteristic points from the background point cloud and the two-dimensional background image;
the relation building module is used for building the mapping relation between each pixel coordinate in the two-dimensional background image and each three-dimensional point coordinate in the background point cloud according to the coordinate of the characteristic point and the coordinate transformation relation;
the judging module is used for receiving a real-time two-dimensional image of a power transmission line corridor scene and judging whether a target object appears in the real-time two-dimensional image;
the coordinate calculation module is used for calculating the three-dimensional point coordinates of the target object in the background point cloud according to the pixel coordinates of the target object and the mapping relation when the target object appears, and searching the three-dimensional point coordinates of the power transmission line closest to the target object;
and the distance calculation module is used for calculating the Euclidean distance between the target object and the power transmission line according to the three-dimensional point coordinates of the target object and the three-dimensional point coordinates of the power transmission line.
9. An electronic device, comprising a processor and a memory, wherein the memory stores a plurality of instructions, and the processor is configured to read the plurality of instructions and execute the method according to any one of claims 1 to 7 for measuring the distance between the power transmission line and the target object.
10. A computer-readable storage medium storing instructions readable by a processor for performing the method of measuring the distance between a power transmission line and a target object according to any one of claims 1 to 7.
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