CN112489130B - Distance measurement method and device for power transmission line and target object and electronic equipment - Google Patents
Distance measurement method and device for power transmission line and target object and electronic equipment Download PDFInfo
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- G—PHYSICS
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
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- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
Abstract
The invention discloses a distance measurement method and device for a power transmission line and a target object and electronic equipment, wherein the method comprises the following steps: receiving a 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 the 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 nearest 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 measurement mode of the traditional handheld laser range finder.
Description
Technical Field
The present disclosure relates to the field of power transmission networks, and in particular, to a method and an apparatus for measuring a distance between a power transmission line and a target object, and an electronic device.
Background
The traditional method adopts an artificial ground laser ranging mode for ranging the power transmission line, a detector measures the distance between a target object and the power transmission line by using a handheld laser range finder, and the basic principle of the mode is to calculate the distance by using the light flight time and the light speed and the atmospheric refractive index.
The measurement mode of the traditional hand-held laser range finder is easy to be interfered and influenced by human and environmental factors. For example, in areas with more sunny days, the infrared rays contained in strong sunlight can cause a handheld laser range finder used outdoors to generate larger measurement errors; under the rainy and snowy weather conditions, the reflection of the laser beam can be influenced by rainwater, so that the measuring equipment cannot work normally; meanwhile, inaccuracy in target positioning caused by human factors can also bring errors to measurement. All-weather and all-day transmission line monitoring cannot be implemented due to manpower and actual field operation cost.
Disclosure of Invention
The invention provides a distance measuring method, a distance measuring device and electronic equipment for a power transmission line and a target object, which can solve the problems that the measuring mode of a traditional handheld laser range finder has large error and the power transmission line cannot be monitored all the time.
A distance measurement method of a power transmission line and a target object comprises the following steps:
receiving a 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;
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;
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 three-dimensional point coordinates of the target object in a background point cloud according to pixel coordinates of the target object and the mapping relation, and searching three-dimensional point coordinates of a power transmission line nearest 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,and->Each pixel is shown in the horizontal axis +.>And longitudinal axis->Physical dimensions on->Pixel coordinates for the intersection of the camera optical axis and the image plane, < >>Representing the focal length of the camera, +.>For pixel coordinates +.>Is a three-dimensional point coordinate; />Representing a rotation matrix between a camera coordinate system and a point cloud three-dimensional space coordinate system, +.>And a translation vector representing a camera coordinate system to a 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, a mapping relation between each pixel coordinate in the two-dimensional background image and each three-dimensional point coordinate in the background point cloud is constructed, and the method comprises the following steps:
bringing 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 calculating 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 transformation relation, wherein each pixel coordinate in the two-dimensional background image corresponds to the three-dimensional point coordinate in the background point cloud.
Further, after the target is present, the method further comprises:
and selecting any pixel of the target object, and searching the three-dimensional point coordinate corresponding to the pixel coordinate according to the mapping relation.
Further, after the target is present, 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 base angle pixels, and searching three-dimensional point coordinates corresponding to the base angle pixel coordinates according to the mapping relation;
adding the Z-axis coordinates of the three-dimensional point coordinates of each base angle to the space distance to obtain three-dimensional point coordinates of each vertex angle;
calculating Euclidean distances 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 corner of the square block to the same side bottom corner includes:
selecting any two diagonal angles of the square frame, and calculating the pixel coordinate of the other base angle at the bottom end of the square frame according to the pixel coordinate of the diagonal angle;
according to the mapping relation, searching three-dimensional point coordinates corresponding to the two base angles;
according to the three-dimensional point coordinates of the two base angles, calculating the Euclidean distance between the two base angles;
dividing the Euclidean distance between two bottom corners by the pixel distance between the two corners to obtain a pixel space size value corresponding to each pixel in the square frame;
and calculating the space distance from the vertex angle to the same side base angle according to the pixel space size value and the pixel coordinates of the vertex angle and the base angle.
Further, the euclidean distance is calculated by the following formula:
；
wherein,and->Two three-dimensional point coordinates are respectively adopted, and d is the Euclidean distance.
A distance measurement device for a power transmission line and a target object, comprising:
the receiving module is used for receiving the background point cloud and the two-dimensional background image of the power transmission line corridor scene;
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 construction module is used for 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 according to the coordinates of the characteristic points and the coordinate transformation relation;
the judging module is used for receiving a 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 is used for 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 when the target object appears, and searching the three-dimensional point coordinate of the power transmission line nearest 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.
The electronic equipment 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 of the transmission line and the target object.
A computer-readable storage medium storing a plurality of instructions readable by a processor and performing the above-described method of measuring a distance between a transmission line and a target object.
The distance measuring method and device for the power transmission line and the target object and the electronic equipment provided by the invention at least comprise the following beneficial effects:
(1) By establishing a mapping relation from two-dimensional pixel coordinates to three-dimensional point coordinates, the distance between a target object and the power transmission line is calculated from the image, the accuracy of distance calculation can be effectively improved, and all-weather monitoring of the power transmission line is realized;
(2) Selecting a target object in a frame, and calculating the three-dimensional point coordinates of the vertex angle according to the space distance from the vertex angle of the square frame to the bottom angle at the same side by calculating the space distance, so that the subsequent calculation result is more accurate;
(3) After the mapping relation from the two-dimensional pixel coordinates to the three-dimensional point coordinates is established, the distance measurement between the power transmission line and the target object can be realized through the real-time two-dimensional image acquired 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 a distance measurement device for a transmission line and a target object provided by the present invention.
Fig. 3 is a schematic structural diagram of an embodiment of an electronic device according to the present invention.
Fig. 4 is a schematic structural diagram of an embodiment of a distance measurement system for a transmission line and a target object according to the present invention.
Detailed Description
In order to better understand the above technical solutions, the following detailed description will be given with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1, in some embodiments, a method for measuring a distance between a power transmission line and a target object is provided, 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 characteristic points from the background point cloud and the two-dimensional background image;
s4, 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 according to the coordinates of the characteristic points and the coordinate transformation relation;
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 three-dimensional point coordinates of the target object in a background point cloud according to pixel coordinates of the target object and the mapping relation, and searching three-dimensional point coordinates of a 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, collecting background point clouds of a power transmission line corridor scene through an unmanned aerial vehicle laser radar scanning system, planning operation tracks of the unmanned aerial vehicle in advance, and sending instructions to the unmanned aerial vehicle so as to enable the unmanned aerial vehicle to fly according to the preset operation tracks, wherein the collected background point clouds of the power transmission line corridor scene are collected through the laser radar system in the flying process, and the collection range is n power towers and a 20-meter range outside the power transmission line between two adjacent power towers, wherein n is more 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 it can be understood that the set condition refers to 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 a certain condition, and it can be understood that the laser radar scanning system carried by the unmanned aerial vehicle can acquire the point cloud of the effective acquisition transmission line corridor scene and other targets.
In some embodiments, the method further comprises: classifying the acquired background point clouds into a power transmission line point cloud and a non-power transmission line point cloud.
The two-dimensional background image is acquired by the monocular camera arranged on the power tower, the width of a power transmission line corridor which can be observed by the monocular camera is greater than or equal to 50 meters, the frequency of the image acquired by the monocular camera is greater than or equal to 10Hz, and the resolution ratio of the image is not less 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:
;(1)
wherein,and->Each pixel is shown in the horizontal axis +.>And longitudinal axis->Physical dimensions on->Pixel coordinates for the intersection of the camera optical axis and the image plane, < >>Representing the focal length of the camera, +.>For pixel coordinates +.>Is a three-dimensional point coordinate; />Representing a rotation matrix between a camera coordinate system and a point cloud three-dimensional space coordinate system, +.>And a translation vector representing a camera coordinate system to a point cloud three-dimensional space coordinate system.
In the coordinate transformation relation (1), the rotation matrix R and the translation vector T are unknowns, and thus 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 translation vector T.
Specifically, the selected characteristic points need to exist in a two-dimensional background image returned by the monocular camera and a background point cloud scanned by the unmanned aerial vehicle laser radar at the same time, and the position and the shape of the characteristic points in a scene are not changed; the selected characteristic points should ensure uniqueness and be uniformly distributed in the whole scene; optionally, at least 3 sets of feature points are acquired, and it can be understood that, in order to ensure accuracy of the mapping relationship, as many feature points uniformly distributed in the scene should be selected as possible.
Further, in S4, first, two-dimensional pixel coordinates of each feature point in the two-dimensional background image and three-dimensional point coordinates in the background point cloud are obtained, the pixel coordinates of the feature point in the two-dimensional background image and the three-dimensional point coordinates in the background point cloud are brought into the coordinate transformation relation (1), and the rotation matrix and the translation vector are calculated;
after the rotation matrix and the translation vector are obtained through calculation, according to the coordinate transformation relation (1), the three-dimensional point coordinates corresponding to the background point cloud in each pixel coordinate in the two-dimensional background image can be calculated, and therefore 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 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 a 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 the target object appears in the real-time two-dimensional image can be determined by an image semantic segmentation algorithm.
In some embodiments, in S6, after the target object is present, further comprising:
and selecting any pixel of the target object, and searching the three-dimensional point coordinate corresponding to the pixel coordinate according to the mapping relation.
And taking the three-dimensional point coordinates corresponding to any one pixel in the target object as a seed point, searching the three-dimensional point coordinates of the power transmission line nearest to the target object, and calculating the Euclidean distance according to the seed point and the three-dimensional point coordinates of the power transmission line, so that the distance between the power transmission line and the target object can be calculated and obtained from the image.
In some embodiments, in S6, after the target object is present, further comprising:
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 base angle pixels, and searching three-dimensional point coordinates corresponding to the base angle pixel coordinates according to the mapping relation;
adding the Z-axis coordinates of the three-dimensional point coordinates of each base angle to the space distance to obtain three-dimensional point coordinates of each vertex angle;
calculating Euclidean distances 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.
The method for calculating the space distance from the top corner of the square frame to the bottom corner on the same side comprises the following steps:
selecting any two diagonal angles of the square frame, and calculating the pixel coordinate of the other base angle at the bottom end of the square frame according to the pixel coordinate of the diagonal angle;
according to the mapping relation, searching three-dimensional point coordinates corresponding to the two base angles;
according to the three-dimensional point coordinates of the two base angles, calculating the Euclidean distance between the two base angles;
dividing the Euclidean distance between two bottom corners by the pixel distance between the two corners to obtain a pixel space size value corresponding to each pixel in the square frame;
and calculating the space distance from the vertex angle to the same side base angle according to the pixel space size value and the pixel coordinates of the vertex angle and the base angle.
Specifically, for a target object with a larger volume, the frame selection is performed on the target object, and because the frame is two-dimensional, if the distance between the pixels of the top angle of the frame and the power transmission line is calculated by directly selecting the pixels of the top angle of the frame, the space distance between the top angle of the frame and the bottom angle on the same side is calculated, and the coordinates of the three-dimensional point of the top angle are calculated according to the space distance, so that the calculated result is more accurate.
Further, the euclidean distance described in the present embodiment is calculated by the following formula:
；（2）
wherein,and->Two three-dimensional point coordinates are respectively adopted, and d is the Euclidean distance.
The distance measurement between the power transmission line and the target object is realized, and the ground safety distances of 500kV, 220kV and 110kV voltage levels are managed according to different voltage levels of the power transmission line so as to judge the distance between the dangerous source and the lead.
The distance measuring method for the power transmission line and the target object provided by the embodiment at least comprises the following beneficial effects:
(1) By establishing a mapping relation from two-dimensional pixel coordinates to three-dimensional point coordinates, the distance between a target object and the power transmission line is calculated from the image, the accuracy of distance calculation can be effectively improved, and all-weather monitoring of the power transmission line is realized;
(2) Selecting a target object in a frame, and calculating the three-dimensional point coordinates of the vertex angle according to the space distance from the vertex angle of the square frame to the bottom angle at the same side by calculating the space distance, so that the subsequent calculation result is more accurate;
(3) After the mapping relation from the two-dimensional pixel coordinates to the three-dimensional point coordinates is established, the distance measurement between the power transmission line and the target object can be realized through the real-time two-dimensional image acquired 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 distance measuring apparatus of a power transmission line from a target object, including:
the receiving module 1 is used for receiving a background point cloud and a two-dimensional background image of a power transmission line corridor scene;
the coordinate transformation module 2 is used for constructing a coordinate transformation relation between the background point cloud and the two-dimensional background image;
a selecting module 3, configured to select feature points from the background point cloud and the two-dimensional background image;
the relation construction module 4 is used for 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 according to the coordinates of the characteristic points and the coordinate transformation relation;
the judging module 5 is used for receiving a 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 coordinate of the target object in the background point cloud according to the pixel coordinate of the target object and the mapping relation when the target object appears, and searching the three-dimensional point coordinate of the power transmission line nearest 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 collected by the unmanned aerial vehicle laser radar scanning system and the two-dimensional background image collected by the monocular camera, and the scanning range of the unmanned aerial vehicle laser radar scanning system and the range of the image collected by the monocular camera refer to the above method embodiments, which are not described herein.
The coordinate transformation relation between the background point cloud constructed by the coordinate transformation module 2 and the two-dimensional background image is shown in formula (1).
The characteristic points selected by the selecting module 3 are at least 3 groups, the selected characteristic points need to exist in the two-dimensional background image returned by the monocular camera and the background point cloud scanned by the unmanned aerial vehicle laser radar at the same time, and the position and the shape of the characteristic points in the scene are not changed; the selected characteristic points should ensure uniqueness and be uniformly distributed in the whole scene; it can be understood that, in order to ensure the accuracy of the mapping relationship, as many feature points uniformly distributed in the scene should be selected as possible.
Further, the relationship construction module 4 is further configured to bring two-dimensional pixel coordinates of the feature points in the two-dimensional background image and three-dimensional point coordinates in the background point cloud into the coordinate transformation relationship, and calculate the rotation matrix and the translation vector; and calculating 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 transformation relation, wherein each pixel coordinate in the two-dimensional background image corresponds to the 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 find the three-dimensional point coordinate corresponding to the pixel coordinate according to the mapping relationship. The distance calculating module 7 is further configured to calculate, according to the three-dimensional point coordinate corresponding to the pixel and the three-dimensional point coordinate of the power transmission line, the euclidean distance between the target object and the power transmission line according to formula (2).
Further, the coordinate calculation module 6 is further configured to perform frame selection on 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 base angle pixels, and searching three-dimensional point coordinates corresponding to the base angle pixel coordinates according to the mapping relation; and adding the Z-axis coordinates of the three-dimensional point coordinates of each base angle to the space distance to obtain the three-dimensional point coordinates of each vertex angle. The distance calculation module 7 is also 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 calculating module 6 is further configured to select any two diagonal angles of the square frame, and calculate a pixel coordinate of another base angle at the bottom end of the square frame according to the pixel coordinate of the diagonal angle; according to the mapping relation, searching three-dimensional point coordinates corresponding to the two base angles; according to the three-dimensional point coordinates of the two base angles, calculating the Euclidean distance between the two base angles; dividing the Euclidean distance between two bottom corners by the pixel distance between the two corners to obtain a pixel space size value corresponding to each pixel in the square frame; and calculating the space distance from the vertex angle to the same side base angle according to the pixel space size value and the pixel coordinates of the vertex angle and the base angle.
The distance measuring device for the transmission line and the target object provided by the embodiment at least comprises the following beneficial effects:
(1) By establishing a mapping relation from two-dimensional pixel coordinates to three-dimensional point coordinates, the distance between a target object and the power transmission line is calculated from the image, the accuracy of distance calculation can be effectively improved, and all-weather monitoring of the power transmission line is realized;
(2) Selecting a target object in a frame, and calculating the three-dimensional point coordinates of the vertex angle according to the space distance from the vertex angle of the square frame to the bottom angle at the same side by calculating the space distance, so that the subsequent calculation result is more accurate;
(3) After the mapping relation from the two-dimensional pixel coordinates to the three-dimensional point coordinates is established, the distance measurement between the power transmission line and the target object can be realized through the real-time two-dimensional image acquired 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 distance measurement method between the power transmission line and the target object, for example, including: receiving a 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; 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; 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 three-dimensional point coordinates of the target object in a background point cloud according to pixel coordinates of the target object and the mapping relation, and searching three-dimensional point coordinates of a power transmission line nearest 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 further provided a computer readable storage medium storing a plurality of instructions readable by a processor and performing the above-described distance measurement method of a power transmission line from a target object, for example, including: receiving a 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; 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; 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 three-dimensional point coordinates of the target object in a background point cloud according to pixel coordinates of the target object and the mapping relation, and searching three-dimensional point coordinates of a power transmission line nearest 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 distance measurement system for a transmission line and a target object is further provided, including an electronic device 100, an unmanned aerial vehicle laser radar scanning system 200, and a monocular camera 300, where the electronic device 100 is an execution subject of the distance measurement method for a transmission line and a target object, and the unmanned aerial vehicle laser radar scanning system 200 and the monocular camera 300 are communicatively connected to the electronic device 100.
In addition, the system further comprises a display module 400 connected with the electronic device 100, wherein the display module displays the real-time two-dimensional image acquired by the monocular camera and displays the background point cloud; in addition, the distance measurement results are 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. It is therefore intended that the following claims be interpreted as including the 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 modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (10)
1. The distance measurement method for the power transmission line and the target object is characterized by comprising the following steps of:
receiving a 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;
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;
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 three-dimensional point coordinates of the target object in a background point cloud according to pixel coordinates of the target object and the mapping relation, and searching three-dimensional point coordinates of a power transmission line nearest 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;
after the target is present, 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 base angle pixels, and searching three-dimensional point coordinates corresponding to the base angle pixel coordinates according to the mapping relation;
adding the Z-axis coordinates of the three-dimensional point coordinates of each base angle to the space distance to obtain three-dimensional point coordinates of each vertex angle;
calculating Euclidean distances 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;
selecting the shortest Euclidean distance obtained by calculation as the distance between the target object and the power transmission line;
calculating the spatial distance from the top corner of the square frame to the bottom corner on the same side, comprising:
selecting any two diagonal angles of the square frame, and calculating the pixel coordinate of the other base angle at the bottom end of the square frame according to the pixel coordinate of the diagonal angle;
according to the mapping relation, searching three-dimensional point coordinates corresponding to the two base angles;
according to the three-dimensional point coordinates of the two base angles, calculating the Euclidean distance between the two base angles;
dividing the Euclidean distance between two bottom corners by the pixel distance between the two corners to obtain a pixel space size value corresponding to each pixel in the square frame;
and calculating the space distance from the vertex angle to the same side base angle according to the pixel space size value and the pixel coordinates of the vertex angle and the base angle.
2. The distance measurement method of a power transmission line and a target object according to claim 1, wherein the coordinate transformation relationship is as follows:
wherein d x And d y Representing the physical dimensions of each pixel on the horizontal and vertical axes x and y of the image, respectively, (u) 0 ,v 0 ) For the pixel coordinates of the intersection point of the camera optical axis and the image plane, f represents the focal length of the camera, (u, v) is the pixel coordinates, (X) w ,Y W ,Z W ) Is a three-dimensional point coordinate; r represents a rotation matrix between the camera coordinate system and the point cloud three-dimensional space coordinate system, and T represents a translation vector from the camera coordinate system to the point cloud three-dimensional space coordinate system.
3. The method for measuring the distance between the power transmission line and the target object according to claim 2, wherein the characteristic points are at least three groups;
according to the coordinate of the feature point and the coordinate transformation relation, a mapping relation between each pixel coordinate in the two-dimensional background image and each three-dimensional point coordinate in the background point cloud is constructed, and the method comprises the following steps:
bringing 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 calculating 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 transformation relation, wherein each pixel coordinate in the two-dimensional background image corresponds to the three-dimensional point coordinate in the background point cloud.
4. The method for measuring the distance between a power transmission line and a target object according to claim 1, further comprising, after the presence of the target object:
and selecting any pixel of the target object, and searching the three-dimensional point coordinate corresponding to the pixel coordinate according to the mapping relation.
5. The distance measurement method of the power transmission line and the target object according to any one of claims 1 to 4, wherein the euclidean distance is calculated by the following formula:
wherein, (X w1 ,Y W1 ,Z W1 ) And (X) w2 ,Y W2 ,Z W2 ) Two three-dimensional point coordinates are respectively adopted, and d is the Euclidean distance.
6. A distance measuring device for a power transmission line and a target object, comprising:
the receiving module is used for receiving the background point cloud and the two-dimensional background image of the power transmission line corridor scene;
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 construction module is used for 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 according to the coordinates of the characteristic points and the coordinate transformation relation;
the judging module is used for receiving a 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 is used for 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 when the target object appears, and searching the three-dimensional point coordinate of the power transmission line nearest to the target object;
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;
the coordinate calculation module is also used for carrying out frame selection on 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 base angle pixels, and searching three-dimensional point coordinates corresponding to the base angle pixel coordinates according to the mapping relation; adding the Z-axis coordinates of the three-dimensional point coordinates of each base angle to the space distance to obtain three-dimensional point coordinates of each vertex angle; the distance calculation module is also 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; selecting the shortest Euclidean distance obtained by calculation as the distance between the target object and the power transmission line;
the coordinate calculation module is also used for selecting any two diagonal angles of the square frame and calculating the pixel coordinate of the other bottom angle at the bottom end of the square frame according to the pixel coordinate of the diagonal angle; according to the mapping relation, searching three-dimensional point coordinates corresponding to the two base angles; according to the three-dimensional point coordinates of the two base angles, calculating the Euclidean distance between the two base angles; dividing the Euclidean distance between two bottom corners by the pixel distance between the two corners to obtain a pixel space size value corresponding to each pixel in the square frame; and calculating the space distance from the vertex angle to the same side base angle according to the pixel space size value and the pixel coordinates of the vertex angle and the base angle.
7. The apparatus of claim 6, wherein the selection module selects at least 3 sets of feature points.
8. The apparatus of claim 6, wherein the relationship construction module is further configured to bring two-dimensional pixel coordinates of the feature points in the two-dimensional background image and three-dimensional point coordinates in the background point cloud into the coordinate transformation relationship, and calculate a rotation matrix and a translation vector; and calculating 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 transformation relation, wherein each pixel coordinate in the two-dimensional background image corresponds to the three-dimensional point coordinate in the background point cloud.
9. An electronic device comprising a processor and a memory, the memory storing a plurality of instructions, the processor configured to read the plurality of instructions and perform the method of measuring a distance between a power transmission line and a target object according to any one of claims 1 to 5.
10. A computer-readable storage medium storing a plurality of instructions readable by a processor and executable by the processor to perform the method of measuring the distance of a transmission line from a target object according to any one of claims 1 to 5.
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| CN113465522A (en) * | 2021-06-08 | 2021-10-01 | 智洋创新科技股份有限公司 | Point cloud-based method for measuring distance of hidden danger in power transmission channel |
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| CN115908338B (en) * | 2022-11-29 | 2023-08-29 | 北京数字绿土科技股份有限公司 | Three-dimensional point cloud-based electric power facility and intrusion object distance detection method and system |
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