CN112669444A - Rapid construction method and system for typical scene of distribution network line unmanned aerial vehicle routing inspection - Google Patents
Rapid construction method and system for typical scene of distribution network line unmanned aerial vehicle routing inspection Download PDFInfo
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Abstract
The invention provides a method and a system for quickly constructing a typical scene of distribution network line unmanned aerial vehicle routing inspection, and relates to the field of distribution networks. According to the invention, the three-dimensional model of the distribution network line under the typical scene is constructed through the image data of the distribution network line, the accurate representation of the equipment details under the typical scene is realized through the construction method of the fine model of the distribution network line, the building identification in the distribution network line scene is realized through the division method of the distribution network line scene area, the three-dimensional model base of the distribution network line under the typical scene is constructed, and the high-precision real three-dimensional scene can be quickly generated. And a necessary basis is provided for the subsequent path planning of the unmanned aerial vehicle.
Description
Technical Field
The invention relates to the technical field of distribution networks, in particular to a method and a system for quickly constructing a typical scene of routing inspection of an unmanned aerial vehicle on a distribution network line.
Background
Through practice and application in recent years, the service area of the unmanned aerial vehicle power inspection service is further expanded, and the services mainly developed by the small unmanned helicopter include daily inspection operation, line acceptance, line maintenance safety supervision, capital construction inspection and reinspection after comprehensive maintenance; the main services developed by the fixed-wing unmanned aerial vehicle include channel patrol, mountain fire prevention special patrol, pole tower icing special patrol, capital construction patrol, disaster general survey and the like. The deployment and the wide application of the intelligent inspection of the unmanned aerial vehicle have solid practical foundation and basis.
In the unmanned aerial vehicle inspection process, firstly, image data of a distribution network line needs to be acquired, and a three-dimensional fine model of the distribution line under three typical application scenes is constructed by using a nonparametric three-dimensional modeling method. The development of the three-dimensional power application system in China starts late, but certain achievements are achieved in the field of power GIS after years of learning, exploration and practice.
However, in the face of a complex distribution network line scene, the existing three-dimensional modeling method may cause errors between the constructed three-dimensional model and the actual model, that is, the existing modeling method is not high in accuracy.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides a method and a system for quickly constructing a typical scene of the unmanned aerial vehicle routing inspection of a distribution network line, and solves the technical problem of low precision of the existing modeling method.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme:
the invention provides a rapid construction method of a typical scene of distribution network line unmanned aerial vehicle routing inspection, which comprises the following steps:
acquiring image data of a distribution network route;
and constructing a three-dimensional model of the distribution network line under a typical scene based on the image data of the distribution network line.
Preferably, the method for constructing a three-dimensional model of the distribution network line in a typical scene based on the image data of the distribution network line includes:
constructing an environmental three-dimensional model based on the image data;
constructing a tower three-dimensional model based on the image data;
constructing a three-dimensional model of the key component based on the image data;
and inputting component information.
Preferably, the constructing an environmental three-dimensional model based on the image data includes:
and automatically generating a three-dimensional environment model file by adopting image identification, multi-side texture extraction and automatic characteristic ground object extraction, and manufacturing an environment three-dimensional model according to image data acquired by unmanned aerial vehicle inspection.
Preferably, the three-dimensional model of the environment includes: a terrain model and a ground object model;
wherein:
the terrain model construction method comprises the following steps:
on the basis of a high-precision digital earth surface model DSM, extracting three-dimensional information of the ground object by adopting contour extraction, surface patch fitting and roof reconstruction through an image identification technology, and simultaneously carrying out image segmentation, edge extraction and texture clustering on a multi-view image to obtain all-directional texture information of the ground object; and establishing a corresponding relation between geometric information and texture information of the ground features, and simultaneously performing integral uniform light and color carding to realize orthographic processing of multi-view images and construct a terrain model.
Preferably, the constructing a tower three-dimensional model based on the image data includes:
carrying out external operation scanning on different types of towers in a typical scene to generate point cloud data;
performing rough model line drawing and feature point extraction on point cloud data through internal operation processing to generate a rough three-dimensional model of the tower;
and processing and generating refined models of all types of towers by drawing a toughened structure and rendering the models.
Preferably, the building of the three-dimensional model of the key component based on the image data includes:
obtaining a high-quality three-dimensional model library of key components of the distribution network line by adopting an analysis method and an operation mode of high-precision acquisition, component measurement and fine modification;
performing digital differential correction by using the generated digital elevation model through regional color correction to generate a photo digital orthophoto image;
and inspecting the quality of the digital ortho-image of the photo, and processing the problems and phenomena of image blurring, dislocation, distortion, deformation and leak to obtain a three-dimensional model of the key component.
Preferably, the entry component information includes:
the SQLite database is adopted to store the type, position, size, serial number and brand information of the distribution network tower, and the type, position, size, serial number and brand information of all key components.
The invention also provides a rapid construction method of the distribution network line unmanned aerial vehicle inspection typical scene, which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the steps of the method are realized when the processor executes the computer program.
(III) advantageous effects
The invention provides a method and a system for quickly constructing a typical scene of distribution network line unmanned aerial vehicle routing inspection. Compared with the prior art, the method has the following beneficial effects:
according to the invention, the three-dimensional model of the distribution network line under the typical scene is constructed through the image data of the distribution network line, the accurate representation of the equipment details under the typical scene is realized through the construction method of the fine model of the distribution network line, the building identification in the distribution network line scene is realized through the division method of the distribution network line scene area, the three-dimensional model base of the distribution network line under the typical scene is constructed, and the high-precision real three-dimensional scene can be quickly generated. And a necessary basis is provided for the subsequent path planning of the unmanned aerial vehicle.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a block diagram of a rapid construction method of a typical scene of distribution network line unmanned aerial vehicle routing inspection;
FIG. 2 is a diagram of an example terrain model;
FIG. 3 is a schematic diagram of a rough three-dimensional model of a tower;
FIG. 4 is a schematic diagram of a refined model of a tower;
FIG. 5 is a schematic diagram of a three-dimensional model of a key component.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are clearly and completely described, and it is obvious that the described embodiments are a part of the embodiments of the present invention, but not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the application provides a rapid construction method for the distribution network line unmanned aerial vehicle inspection typical scene, solves the technical problem that the existing modeling method is low in precision, realizes construction of the high-precision unmanned aerial vehicle inspection typical scene, and provides an accurate basis for subsequent path planning of unmanned aerial vehicle inspection.
In order to solve the technical problems, the general idea of the embodiment of the application is as follows:
the three-dimensional visualization technology is a comprehensive front-edge technology which is born in the middle of the 80 th generation of the 20 th century and integrates computer data processing and image display. A visualization technology capable of reproducing objects in a three-dimensional world and representing complex information of the three-dimensional objects so as to enable the three-dimensional objects to have real-time interaction capability is a real reproduction of the real world. The visualization technology is to convert the data describing the physical phenomena into figures and images, and to use the visual expression forms of color, perspective, animation, real-time change of observation viewpoint, etc. to make people observe invisible objects and to gain insight into the internal structure of things. In the technology of unmanned aerial vehicle routing inspection of a distribution network line, a high-precision three-dimensional model of a typical scene for unmanned aerial vehicle routing inspection is established, which is the basis of unmanned aerial vehicle path planning, and if the three-dimensional model has errors, the path planning of the unmanned aerial vehicle also has errors.
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.
The embodiment of the invention provides a method for quickly constructing a typical scene of distribution network line unmanned aerial vehicle routing inspection, which comprises the steps of S1-S2 as shown in FIG. 1.
And S1, acquiring the image data of the distribution network route.
And S2, constructing a three-dimensional model of the distribution network line in a typical scene based on the image data of the distribution network line.
According to the distribution network line three-dimensional model building method and device, the distribution network line three-dimensional model under the typical scene is built through the image data of the distribution network line, the accurate representation of the device details under the typical scene is achieved through the distribution network line fine model building method, the building identification in the distribution network line scene is achieved through the distribution network line scene area dividing method, the distribution network line three-dimensional model base under the typical scene is built, and the real three-dimensional scene can be generated quickly. And a necessary basis is provided for the subsequent path planning of the unmanned aerial vehicle.
In one embodiment, S1, the image data of the distribution network route is obtained. The method specifically comprises the following steps:
in the embodiment of the invention, in order to realize autonomous intelligent inspection of the unmanned aerial vehicle, firstly, image data of a distribution network line is required to be acquired, basic information of the distribution network line is acquired from the image data, and a three-dimensional fine model of the distribution line under three typical application scenes of the distribution network line of an urban and rural junction, the distribution network line of a hilly area around the city and a plain area and the distribution network line is constructed by using a nonparametric three-dimensional modeling method and the basic information. The characteristics of different scenes are different and need to be analyzed separately. Wherein: the environment of the urban and rural junction is relatively complex, and various environmental factors such as green belts, road construction, vehicle and road environment and the like need to be considered when modeling the distribution network line; the terrain of hilly lands in the peri-urban mountain areas is uneven, and terrain features need to be considered and reflected when the distribution network lines are modeled; the environment of plain areas is relatively simple compared with the former two scenes, and only the environmental factors such as tree obstacles need to be considered when the distribution network line is modeled.
And S2, constructing a three-dimensional model of the distribution network line in a typical scene based on the image data of the distribution network line. The specific implementation process is as follows:
the distribution network line mainly comprises distribution equipment such as an overhead line, a pole tower, a cable, a distribution transformer and the like and accessory facilities, so that when the three-dimensional abstract modeling of the distribution line is carried out, all parts of the distribution line are decomposed according to the construction standard based on a non-parametric modeling method, the functional relationship among all parts is utilized for combination, the flexible three-dimensional reconstruction of the three-dimensional pole tower and the accessory parts of the distribution line is realized, and the construction of the three-dimensional model of the distribution network line can be divided into the following four steps:
s201, constructing an environment three-dimensional model, specifically:
the three-dimensional environment three-dimensional model file is automatically generated by adopting the technologies of image identification, multi-side texture extraction, automatic characteristic ground object extraction and the like, and the three-dimensional environment three-dimensional model containing the real scene of the terrain ground object is rapidly manufactured according to the image data acquired by the unmanned aerial vehicle inspection. The terrain, ground object and scene three-dimensional modeling is that three-dimensional information of ground objects is extracted by adopting methods of contour extraction, surface patch fitting, roof reconstruction and the like on the basis of a high-precision digital ground model DSM through an image recognition technology, and meanwhile, omnibearing texture information of the ground objects is obtained by carrying out methods of image segmentation, edge extraction, texture clustering and the like on multi-view images. And finally, establishing a corresponding relation between geometric information and texture information of the ground features, and simultaneously performing integral uniform light and color carding to realize the orthographic processing of the multi-view image. The three-dimensional environment model comprises a terrain model and a ground feature model, and an example of the terrain model is shown in FIG. 2.
According to three typical application scenarios of the distribution line, buildings which may exist in all scenarios are analyzed and classified into the following five categories: urban public buildings, residential buildings, educational/sports/cultural buildings, industrial buildings, traffic hubs, according to different environments.
The urban public building comprises: urban complex, office building/office building, special building, hotel and other model types.
The residential area building comprises: high-rise buildings, low-rise buildings, commercial and residential buildings, shops, kindergartens, primary and secondary schools, hospitals, administrative offices and the like.
③ education/sports/culture building comprising: model types such as experimental buildings, libraries, stadiums, gymnasiums, student apartments and playgrounds.
The industrial building comprises: model types such as factory buildings, warehouses, scientific research buildings, industrial parks and the like.
The crossing hinge comprises: model types of airports, train stations, bus stations, etc.
S202, constructing a tower three-dimensional model, specifically:
firstly, carrying out external operation scanning on different types of towers in a typical scene to generate point cloud data, secondly, carrying out rough model line drawing and characteristic point extraction on the point cloud data through internal operation processing to further generate a rough three-dimensional model of the towers as shown in fig. 3, and finally, processing and generating refined models of all types of towers through drawing a toughened structure, model rendering and the like as shown in fig. 4.
S203, constructing a three-dimensional model of the key component, which specifically comprises the following steps:
the key parts of the distribution network line comprise an insulation hanging point, an iron tower mark, a flange plate bolt, a wire clamp, a lightning rod, a vibration damper and the like. By adopting advanced analysis methods and operation modes such as high-precision acquisition, component measurement, fine modification and the like, a high-quality three-dimensional model library of key components of the distribution network line can be obtained, and the accuracy of mapping results can reach centimeter level. And finally, performing digital differential correction by using the generated digital elevation model through regional color correction to generate a photo digital ortho-image map (DOM). After the production of the fast jigsaw is completed, the quality of the digital ortho images of the picture is checked, the problems and phenomena of image blurring, dislocation, distortion, deformation, loopholes and the like are processed, and a three-dimensional model of a key part is obtained, as shown in fig. 5.
S204, component information entry, specifically:
the SQLite database is adopted to store information such as types, positions, sizes and numbers of distribution network towers, information such as types, positions, sizes, numbers and brands of all key components, and database files support display and information update of a PC (personal computer) end and a mobile end at the same time.
It should be noted that, in the above process, an environment three-dimensional model is first constructed, then a tower three-dimensional model is constructed on the basis of the environment three-dimensional model, a key component three-dimensional model is superimposed on the environment three-dimensional model and the tower three-dimensional model, and then component information is entered, that is, the next step in the above steps S201 to S204 is performed on the basis of the previous step.
The method for constructing the model in steps S201 to S203 mainly includes: the method comprises a three-dimensional modeling method of an object based on triangular texture mapping and a three-dimensional real-time modeling method based on auxiliary marks.
(1) The object three-dimensional modeling method based on the triangular texture mapping is mainly divided into five parts:
firstly, scanning an object placed on a turntable by using a Kinect v2, and rotating the turntable for one circle to obtain 30 frames of color point clouds;
secondly, the object is divided from the turntable and preprocessed, and abnormal values and noise are eliminated;
thirdly, aiming at the characteristic of partial overlap between adjacent point clouds, firstly, carrying out primary registration on the preprocessed adjacent frame point clouds by using a point-to-surface ICP algorithm, and deleting the misaligned parts for fine registration again;
fourthly, global optimization is carried out to eliminate accumulated errors, and a color three-dimensional point cloud model of the object is obtained after smooth filtering is carried out;
and finally, forming a grid by using a greedy triangulation algorithm, establishing a grid model of the object, and mapping the RGB texture of the object onto the surface of the object model to obtain a final model.
(2) A three-dimensional real-time modeling method based on auxiliary marks mainly comprises five steps:
firstly, scanning an object placed on a turntable by using a Kinect v2, and collecting point clouds once every 2 seconds for processing;
secondly, the object is divided from the turntable and preprocessed, and abnormal values and noise are eliminated;
and thirdly, extracting the mark points on the flat plate, dividing each mark point once, calculating the circle center coordinate of each mark point, and classifying the mark points to form a rigid body. In order to solve the problem that the calculation of the center coordinates is inaccurate due to uneven density of point clouds of the mark points, the center coordinates are more accurately calculated by a partition compensation method of a three-dimensional real-time modeling method based on auxiliary marks;
and fourthly, registering the rigid bodies constructed in the third step. Aiming at the registration problem of a rigid body formed by three points, a coordinate system algorithm is provided for calculating a rotation translation matrix;
and fifthly, fusing the object point clouds after each pretreatment into the global point clouds, and repeating the steps from the first step to the fourth step until the turntable is rotated for a circle, so as to generate a final object three-dimensional model.
The embodiment of the invention also provides a system for quickly constructing the typical scene of the routing inspection of the unmanned aerial vehicle on the distribution network line, which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the steps of the method are realized when the processor executes the computer program.
It can be understood that the rapid construction system for the distribution network line unmanned aerial vehicle inspection typical scene provided by the embodiment of the invention corresponds to the rapid construction method for the distribution network line unmanned aerial vehicle inspection typical scene, and the explanation, the example, the beneficial effects and the like of the relevant contents can refer to the corresponding contents in the rapid construction method for the distribution network line unmanned aerial vehicle inspection typical scene, and the details are not repeated here.
In summary, compared with the prior art, the method has the following beneficial effects:
1. the embodiment of the invention aims at the three-dimensional modeling technology of the distribution network line, realizes the three-dimensional data acquisition of related ground objects, provides a method for separating the ground object data such as vegetation, electric power facilities and the like from the earth surface data, realizes the extraction of the earth surface data, and provides data support for the construction of the three-dimensional model of the distribution network line.
2. The embodiment of the invention realizes accurate representation of equipment details in a typical scene, constructs a three-dimensional model of a non-parametric component distribution network line, and determines the global and local relative position relation between each component and a tower and between the components.
3. According to the distribution network line scene area dividing method, building identification in the distribution network line scene is achieved, a distribution network line three-dimensional model base under a typical scene is built, and a high-precision real three-dimensional scene can be generated rapidly. And a necessary basis is provided for the subsequent path planning of the unmanned aerial vehicle.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. A rapid construction method for a typical scene of distribution network line unmanned aerial vehicle routing inspection is characterized by comprising the following steps:
acquiring image data of a distribution network route;
and constructing a three-dimensional model of the distribution network line under a typical scene based on the image data of the distribution network line.
2. The method for rapidly constructing the typical scene of the distribution network line unmanned aerial vehicle inspection tour according to claim 1, wherein the construction of the three-dimensional model of the distribution network line under the typical scene based on the image data of the distribution network line comprises:
constructing an environmental three-dimensional model based on the image data;
constructing a tower three-dimensional model based on the image data;
constructing a three-dimensional model of the key component based on the image data;
and inputting component information.
3. The method for rapidly constructing the distribution network line unmanned aerial vehicle inspection typical scene according to claim 2, wherein the constructing the three-dimensional model of the environment based on the image data comprises:
and automatically generating a three-dimensional environment model file by adopting image identification, multi-side texture extraction and automatic characteristic ground object extraction, and manufacturing an environment three-dimensional model according to image data acquired by unmanned aerial vehicle inspection.
4. The method for rapidly constructing the distribution network line unmanned aerial vehicle inspection typical scene according to claim 3, wherein the environment three-dimensional model comprises: a terrain model and a ground object model;
wherein:
the terrain model construction method comprises the following steps:
on the basis of a high-precision digital earth surface model DSM, extracting three-dimensional information of the ground object by adopting contour extraction, surface patch fitting and roof reconstruction through an image identification technology, and simultaneously carrying out image segmentation, edge extraction and texture clustering on a multi-view image to obtain all-directional texture information of the ground object; and establishing a corresponding relation between geometric information and texture information of the ground features, and simultaneously performing integral uniform light and color carding to realize orthographic processing of multi-view images and construct a terrain model.
5. The method for rapidly constructing the distribution network line unmanned aerial vehicle inspection typical scene according to claim 2, wherein the constructing of the tower three-dimensional model based on the image data comprises:
carrying out external operation scanning on different types of towers in a typical scene to generate point cloud data;
performing rough model line drawing and feature point extraction on point cloud data through internal operation processing to generate a rough three-dimensional model of the tower;
and processing and generating refined models of all types of towers by drawing a toughened structure and rendering the models.
6. The method for rapidly constructing the distribution network line unmanned aerial vehicle inspection typical scene according to claim 2, wherein the constructing of the three-dimensional model of the key component based on the image data comprises:
obtaining a high-quality three-dimensional model library of key components of the distribution network line by adopting an analysis method and an operation mode of high-precision acquisition, component measurement and fine modification;
performing digital differential correction by using the generated digital elevation model through regional color correction to generate a photo digital orthophoto image;
and inspecting the quality of the digital ortho-image of the photo, and processing the problems and phenomena of image blurring, dislocation, distortion, deformation and leak to obtain a three-dimensional model of the key component.
7. The method for rapidly constructing the distribution network line unmanned aerial vehicle inspection typical scene according to claim 2, wherein the recording component information comprises:
the SQLite database is adopted to store the type, position, size, serial number and brand information of the distribution network tower, and the type, position, size, serial number and brand information of all key components.
8. A method for quickly constructing a typical scene of unmanned aerial vehicle inspection of a distribution network line is characterized by comprising a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the steps of the method of any one of claims 1 to 7 are realized when the computer program is executed by the processor.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113554595A (en) * | 2021-06-21 | 2021-10-26 | 国网山西省电力公司电力科学研究院 | Unmanned aerial vehicle laser radar point cloud tower head deformation detection device and method |
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