CN112683244A - Cable channel positioning method and system based on panoramic photo - Google Patents
Cable channel positioning method and system based on panoramic photo Download PDFInfo
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Abstract
The invention discloses a cable channel positioning method and a cable channel positioning system based on panoramic photos, which can realize the comparison of a cable channel construction state image and a cable channel completion state image by ensuring that position information and shooting information of a panoramic camera shooting the cable channel for two times are the same, thereby analyzing the change of road surface conditions on the cable channel, finally determining the position of the cable channel on the image, providing a visual positioning mode and improving the accuracy of cable channel positioning.
Description
Technical Field
The invention relates to the technical field of cable channel positioning, in particular to a cable channel positioning method and system based on panoramic photos.
Background
The cable engineering belongs to hidden engineering, the actual position of a cable channel can be seen by excavating a road surface during construction, the actual position of the cable channel cannot be seen even during construction due to the fact that a part of cables laid by jacking pipes are adopted, and the approximate position of the cable channel can be obtained only through detection. After the cable is finished, the actual position of the cable channel cannot be known on the road surface, and the cable channel can be positioned only by a reference object such as a ground cable mark. However, when the road surface state changes greatly, the reference objects such as the cable marks and the like are damaged, people cannot position the accurate position of the cable channel, and if the construction such as piling, drilling and the like is performed, the possibility of damaging the cable is also generated, and serious consequences such as personnel electric shock, line tripping and the like are caused.
At present, the following methods are available for positioning the cable channel:
positioning is realized by using drawings
The method mainly comprises a completion drawing reflecting the 'original appearance' of the cable engineering, a path diagram (1:500 precision), an edge layout used by an operator for daily inspection, and the like. Through the drawing, the cable operation personnel can know important information such as the geographical position, the length, the depth, the section shape and the like of the cable channel and the relative position relation between the cable channel and the building structure of the road surface.
However, the method has obvious defects, and the first problem is that the drawing file is static, and the information in the drawing only reflects the state of the drawing manufacturing time and cannot reflect subsequent changes. However, urban road surfaces are constantly changing, roads may be changed, and road surfaces may be heightened, when the road surface condition changes, the relative relationship between the cable channel and the roads and other building structures also changes, and the drawing file loses reference value, even causes misguidance. Therefore, in order to keep the drawing accurate, the drawing must be updated and maintained in time after the road surface changes, and the drawing maintenance workload faced by the cable operation department is very large; secondly, the cable as-built drawings made by construction units are often of low quality, and some construction units are less dry and alive for the purpose of driving, and even directly change the construction design drawings into as-built drawings, which causes errors of drawing files.
(II) positioning by using cable detecting instrument
Cable operators adopt instruments such as a guide instrument, a path instrument and the like, and calculate the position of a cable channel by receiving and analyzing electromagnetic wave signals sent by an underground cable according to the principle of electromagnetic induction. However, as an indirect positioning method, the detecting instrument is susceptible to interference from other electromagnetic wave signals, so that the positioning accuracy is not high, and the maximum deviation reaches several meters.
(III) positioning for on-site excavation
And excavating the ground until the cable channel body is seen, and determining the position and the depth of the cable channel in an 'eye-to-eye' mode. However, the method needs a lot of time and manpower, and can be seen when a cable trench and a cable duct are excavated, but the top pipe section is buried three meters and four meters in depth when being shallow and more than ten meters in depth, and the construction needs to be carried out by adopting an open caisson method, so that the excavation difficulty is large, and the personal risk in the construction process is very large. Therefore, the field-based operation management mode is inefficient, and is only applicable to a small area on the cable channel, but not applicable to a large-scale cable channel operation management.
(IV) positioning using RTK
By using a space measurement technology, the cable channel is measured by a GNSS device or RTK and is recorded in a coordinate mode, and the coordinate represents the only fixed position of the cable channel on the earth and cannot change along with the change of the ground. If the cable channel needs to be found in the future, the cable channel can be positioned only by putting points on the coordinates of the cable channel through RTK, the positioning accuracy is related according to performance parameters of RTK and GNSS, and the deviation is 10 mm-100 mm. The method has the advantages of the highest positioning accuracy, but also has certain disadvantages, firstly, a large amount of cable channel coordinate data needs to be acquired in the cable construction period, and the operation cost is higher; secondly, there is a technical threshold, and the operators need to have certain measurement professional knowledge and corresponding skills to complete the measurement, point placement and other work; thirdly, the positioning is not intuitive enough, only a certain point of the cable channel can be positioned each time, and the position of a section of the cable channel under the road surface cannot be intuitively reflected.
In the prior art, the chinese patent publication No. CN110988791A discloses a positioning system and a positioning method for a cable channel spherical robot in 10/04/2020, which includes a spherical robot, a plurality of UWB base stations capable of receiving and transmitting UWB signals, a WIFI base station, and an upper computer communicating with the spherical robot through WIFI, the spherical robot and the UWB base stations are both located in a cable channel, the spherical robot is provided with a power module, a WIFI intensity sensing module, UWB tags capable of receiving and transmitting UWB signals, an MCU control module, and a motion control module, the upper computer is provided with a UWB positioning algorithm module, a line-of-sight and non-line-of-sight judgment algorithm module, and a WIFI intensity fingerprint matching positioning algorithm module, and the upper computer is in wireless communication with the spherical robot and the UWB base stations through the WIFI base stations. Although this scheme has promoted the positioning accuracy of spherical robot in cable channel to a certain extent, but fail to solve the not high problem of visual mode and the rate of accuracy of cable channel's location among the above-mentioned prior art completely. Therefore, a cable channel positioning method and system based on panoramic photos are urgently needed.
Disclosure of Invention
The invention provides a cable channel positioning method and system based on panoramic photos, and aims to solve the problems that a visualization mode is lacked and the accuracy rate is low in the positioning of a cable channel in the prior art.
The primary objective of the present invention is to solve the above technical problems, and the technical solution of the present invention is as follows:
firstly, a cable channel positioning method based on panoramic photos comprises the following steps: s1: in a construction state, a panoramic camera is used for shooting a cable channel in excavation for the first time, and position information and shooting information of the panoramic camera are recorded; s2: when the cable channel needs to be positioned in a finished state, the panoramic camera is set in the same way according to the position information and the shooting information recorded in the first shooting, and the buried cable channel is shot for the second time by the panoramic camera after the setting is finished; s3: correcting the images shot twice to enable shot objects on the images to be overlapped; s4: the positioning of the cable channel is done on the image taken the second time by comparing the image taken the first time.
In the above scheme, the position information and the shooting information of the cable channel shot twice by the panoramic camera are ensured to be the same, the cable channel image in the construction state and the cable channel image in the finished state are compared (manually and directly compared) after the images are corrected (namely, the cable channel shot twice and the road surface environment are overlapped), so that the change of the road surface condition on the cable channel can be analyzed, and the position of the cable channel can be determined on the images.
Preferably, in the step S1, a GNSS positioning module supporting an RTK algorithm is used to record the position information of the panoramic camera.
In the scheme, the GNSS positioning module supporting the RTK algorithm can realize a high-precision positioning function, is anti-interference, anti-ionization layer and anti-multipath, and has high data reliability.
Preferably, in the step S1, shooting information of the panoramic camera is recorded using a three-dimensional electronic compass.
In the scheme, the three-dimensional electronic compass can accurately measure the angle.
Preferably, in the step S1, the position information of the panoramic camera includes plane coordinates and an elevation; the shooting information of the panoramic camera comprises a direction and an inclination angle.
In the scheme, the position information of the panoramic camera during the first shooting is recorded, and the panoramic camera can be positioned at the same plane position and height and set in the same direction and inclination angle during the second shooting.
Preferably, in the step S2, the same setting is performed on the panoramic camera according to the position information and the shooting information recorded at the first shooting; the method specifically comprises the following steps: calculating Δ x ═ x2-x1, Δ y ═ y2-y1, Δ z ═ z2-z1, and then moving the panoramic camera so that Δ x → 0, Δ y → 0, Δ z → 0; calculating delta a-a 2-a1 and delta b-b 2-b 1; then adjusting the panoramic camera to enable delta a → 0 and delta b → 0; wherein x1 and y1 represent plane coordinates of the panoramic camera in the first shooting; z1 represents the elevation of the panoramic camera at the first shot; a1 represents the direction of the panoramic camera at the first shooting; b1 represents the inclination angle of the panoramic camera in the first shooting; x2 and y2 represent plane coordinates of the panoramic camera before the second shooting; z2 represents the elevation of the panoramic camera before the second shot; a2 represents the direction of the panoramic camera before the second shooting; b2 represents the tilt angle of the panoramic camera before the second shot.
In the above scheme, according to the position information and the shooting information of the panoramic camera in the first shooting, the current panoramic camera is set in the same way and adjusted to be basically consistent.
Preferably, in the step S3, the correction is performed by fine-tuning the plane angle of the image; when the shooting objects of the two shot images coincide, finishing fine adjustment; otherwise, the fine tuning is continued.
In the scheme, the two shot objects are overlapped after correction, so that comparison is facilitated, and the positioning accuracy is improved.
Secondly, a cable channel positioning system based on panoramic photos comprises a control module, a processing module, a shooting module, a positioning module, a measuring module and a display module; wherein: the output end of the control module is connected with the input end of the processing module, the input end of the shooting module, the input end of the positioning module, the input end of the measuring module and the input end of the display module; the output end of the positioning module, the output end of the measuring module and the output end of the shooting module are connected with the input end of the processing module; the output end of the processing module is connected with the input end of the display module; the control module transmits instructions to the processing module, the shooting module, the positioning module, the measuring module and the display module, and the processing module, the shooting module, the positioning module, the measuring module and the display module are controlled to start and stop through the transmitted instructions; the shooting module is used for shooting a panoramic photo of the cable channel, transferring a real-time picture in the shooting process through the processing module, and finally transmitting the real-time picture to the display module for displaying; the positioning module is used for recording the position information of the shooting module and transmitting the recorded position information to the processing module for storage; the measuring module is used for recording the shooting information of the shooting module and transmitting the recorded shooting information to the processing module for storage.
Preferably, the shooting module is a panoramic camera.
Preferably, the positioning module is a GNSS positioning module supporting an RTK algorithm.
Preferably, the measuring module is a three-dimensional electronic compass.
Compared with the prior art, the technical scheme of the invention has the beneficial effects that:
according to the invention, the panoramic camera is used for ensuring that the position information and the shooting information of the cable channel shot twice are the same, so that the comparison between the construction state image and the completion state image of the cable channel is realized, the change of road surface conditions on the cable channel can be analyzed, the position of the cable channel is finally determined on the image, a visual positioning mode is provided, and the accuracy of cable channel positioning is improved.
Drawings
FIG. 1 is a schematic flow diagram of the process of the present invention;
FIG. 2 is a schematic diagram of the system of the present invention;
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
As shown in fig. 1, a cable channel positioning method based on a panoramic photo includes the following steps: s1: in a construction state, a panoramic camera is used for shooting a cable channel in excavation for the first time, and position information and shooting information of the panoramic camera are recorded; s2: when the cable channel needs to be positioned in a finished state, the panoramic camera is set in the same way according to the position information and the shooting information recorded in the first shooting, and the buried cable channel is shot for the second time by the panoramic camera after the setting is finished; s3: correcting the images shot twice to enable shot objects on the images to be overlapped; s4: the positioning of the cable channel is done on the image taken the second time by comparing the image taken the first time.
Further, in step S1, a GNSS positioning module supporting an RTK algorithm is used to record the position information of the panoramic camera.
Further, in the step S1, shooting information of the panoramic camera is recorded using a three-dimensional electronic compass.
Further, in step S1, the position information of the panoramic camera includes a plane coordinate and an elevation.
Further, in step S1, the shooting information of the panoramic camera includes a direction and an inclination angle.
Further, in the step S3, correction is performed by fine-tuning the plane angle of the image; when the shooting objects of the two shot images coincide, finishing fine adjustment; otherwise, the fine tuning is continued.
As shown in fig. 2, a cable channel positioning system based on panoramic photos includes a control module, a processing module, a shooting module, a positioning module, a measuring module, and a display module; wherein: the output end of the control module is connected with the input end of the processing module, the input end of the shooting module, the input end of the positioning module, the input end of the measuring module and the input end of the display module; the output end of the positioning module, the output end of the measuring module and the output end of the shooting module are connected with the input end of the processing module; the output end of the processing module is connected with the input end of the display module; the control module transmits instructions to the processing module, the shooting module, the positioning module, the measuring module and the display module, and the processing module, the shooting module, the positioning module, the measuring module and the display module are controlled to start and stop through the transmitted instructions; the shooting module is used for shooting a panoramic photo of the cable channel, transferring a real-time picture in the shooting process through the processing module, and finally transmitting the real-time picture to the display module for displaying; the positioning module is used for recording the position information of the shooting module and transmitting the recorded position information to the processing module for storage; the measuring module is used for recording the shooting information of the shooting module and transmitting the recorded shooting information to the processing module for storage.
Furthermore, the shooting module is a panoramic camera.
Further, the positioning module is a GNSS positioning module supporting an RTK algorithm.
Further, the measuring module is a three-dimensional electronic compass.
Example 1
In the present embodiment, the positioning process of the cable channel is divided into the following two stages:
first shooting phase (acquisition phase):
1) shooting a cable channel in excavation by using a panoramic camera, and recording a shot image as 1. jpg;
2) acquiring a plane coordinate and an elevation of a panoramic camera when shooting by using a GNSS positioning module supporting an RTK algorithm, wherein the plane coordinate is recorded as x1 and y1, and the elevation is recorded as z 1;
3) acquiring the direction and the inclination angle of the panoramic camera during shooting by using a three-dimensional electronic compass, wherein the direction is recorded as a1, and the inclination angle is recorded as b 1;
second shooting stage (positioning stage):
3) calling out plane coordinates x1, y1 and elevation z1 of the first shooting stage;
4) acquiring the current plane coordinates and the elevation of the panoramic camera by using a GNSS positioning module supporting an RTK algorithm, wherein the plane coordinates are recorded as x2 and y2, and the elevation is recorded as z 2;
5) calculating delta x-x 2-x1, delta y-y 2-y1 and delta z-z 2-z1, and combining the prompt of a real-time picture in a display module, moving the panoramic camera so that the delta x → 0, the delta y → 0 and the delta z → 0;
6) the direction a1 and the inclination angle b1 of the first shooting stage are adjusted;
7) acquiring the current direction and the inclination angle of the panoramic camera by using a three-dimensional electronic compass, wherein the direction is recorded as a2, and the inclination angle is recorded as b 2;
8) calculating delta a-a 2-a1 and delta b-b 2-b 1; combining the prompt of a real-time picture in the display module, and adjusting the panoramic camera to enable delta a → 0 and delta b → 0;
9) shooting the cable channel filled with the soil by using a panoramic camera, and recording a shot image as 2. jpg;
10) calling the image 1.jpg shot for the first time; and comparing the 1.jpg and the 2.jpg, and finally determining the position of the cable channel.
The same or similar reference numerals correspond to the same or similar parts;
the terms describing positional relationships in the drawings are for illustrative purposes only and are not to be construed as limiting the patent;
it should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. A cable channel positioning method based on panoramic photos is characterized by comprising the following steps:
s1: in a construction state, a panoramic camera is used for shooting a cable channel in excavation for the first time, and position information and shooting information of the panoramic camera are recorded;
s2: when the cable channel needs to be positioned in a finished state, the panoramic camera is set in the same way according to the position information and the shooting information recorded in the first shooting, and the buried cable channel is shot for the second time by the panoramic camera after the setting is finished;
s3: correcting the images shot twice to enable shot objects on the images to be overlapped;
s4: the positioning of the cable channel is done on the image taken the second time by comparing the image taken the first time.
2. The method for cable channel positioning based on panoramic photographs of claim 1, wherein in the step S1, a GNSS positioning module supporting an RTK algorithm is used to record the position information of the panoramic camera.
3. The cable channel positioning method based on panoramic photos of claim 1, wherein in step S1, shooting information of the panoramic camera is recorded by using a three-dimensional electronic compass.
4. The cable channel positioning method based on panoramic photos, as claimed in claim 1, wherein in step S1, the position information of the panoramic camera includes plane coordinates, elevation; the shooting information of the panoramic camera comprises a direction and an inclination angle.
5. The cable channel positioning method based on panoramic photos, as claimed in claim 4, wherein in step S2, the panoramic camera is set identically according to the position information and the shooting information recorded at the first shooting; the method specifically comprises the following steps:
1) calculating Δ x ═ x2-x1, Δ y ═ y2-y1, Δ z ═ z2-z1, and then moving the panoramic camera so that Δ x → 0, Δ y → 0, Δ z → 0;
2) calculating delta a-a 2-a1 and delta b-b 2-b 1; then adjusting the panoramic camera to enable delta a → 0 and delta b → 0;
wherein x1 and y1 represent plane coordinates of the panoramic camera in the first shooting; z1 represents the elevation of the panoramic camera at the first shot; a1 represents the direction of the panoramic camera at the first shooting; b1 represents the inclination angle of the panoramic camera in the first shooting; x2 and y2 represent plane coordinates of the panoramic camera before the second shooting; z2 represents the elevation of the panoramic camera before the second shot; a2 represents the direction of the panoramic camera before the second shooting; b2 represents the tilt angle of the panoramic camera before the second shot.
6. The cable channel positioning method based on panoramic photo of claim 1, wherein in step S3, the correction is performed by fine-tuning the plane angle of the image; when the shooting objects of the two shot images coincide, finishing fine adjustment; otherwise, the fine tuning is continued.
7. The cable channel positioning system based on the panoramic photo is characterized by comprising a control module, a processing module, a shooting module, a positioning module, a measuring module and a display module; wherein:
the output end of the control module is connected with the input end of the processing module, the input end of the shooting module, the input end of the positioning module, the input end of the measuring module and the input end of the display module;
the output end of the positioning module, the output end of the measuring module and the output end of the shooting module are connected with the input end of the processing module;
the output end of the processing module is connected with the input end of the display module;
the control module transmits instructions to the processing module, the shooting module, the positioning module, the measuring module and the display module, and the processing module, the shooting module, the positioning module, the measuring module and the display module are controlled to start and stop through the transmitted instructions;
the shooting module is used for shooting a panoramic photo of the cable channel, transferring a real-time picture in the shooting process through the processing module, and finally transmitting the real-time picture to the display module for displaying;
the positioning module is used for recording the position information of the shooting module and transmitting the recorded position information to the processing module for storage;
the measuring module is used for recording the shooting information of the shooting module and transmitting the recorded shooting information to the processing module for storage.
8. The panoramic photo-based cable channel positioning system of claim 7, wherein the camera module is a panoramic camera.
9. The system of claim 7, wherein the positioning module is a GNSS positioning module supporting RTK algorithm.
10. The panoramic photo-based cable channel localization system of claim 7, wherein the measurement module is a three-dimensional electronic compass.
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