CN112884723B - Insulator string detection method in three-dimensional laser point cloud data - Google Patents
Insulator string detection method in three-dimensional laser point cloud data Download PDFInfo
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Abstract
The invention discloses a method for detecting an insulator string in three-dimensional laser point cloud data, which comprises the steps of forming a cuboid region point cloud C containing an insulator string point cloud, wherein the point cloud C comprises an insulator string point cloud, a part of power line point cloud and a part of transmission tower point cloud; and detecting the insulator string point cloud in the point cloud C by using an insulator string point cloud detection method based on a hybrid voxel network. Compared with the prior art, the invention obtains a better voxel characteristic coding method by the point-level mixed scale voxel characteristic coder, thereby improving the detection speed and precision of the insulator string.
Description
Technical Field
The invention relates to the technical field of power equipment detection, in particular to a method for detecting an insulator string in three-dimensional laser point cloud data.
Background
The accurate and automatic extraction of the insulator string point cloud from the three-dimensional laser point cloud data of the transmission channel is an important premise for insulator string fault detection, and the insulator string point cloud is classified into the transmission tower point cloud when the transmission channel point cloud is classified because an insulator string point cloud target is small and is adjacent to the transmission tower point cloud. At present, few methods for automatically extracting insulator strings from point clouds of transmission towers exist, and the existing methods are low in extraction speed and accuracy.
Disclosure of Invention
In view of the above, one of the objectives of the present invention is to provide a method for detecting an insulator string in three-dimensional laser point cloud data, which can improve the speed and accuracy of extracting the insulator string point cloud in the three-dimensional laser point cloud data of a power transmission channel.
The purpose of the invention is realized by the following technical scheme:
the method for detecting the insulator string in the three-dimensional laser point cloud data comprises the following steps:
step S1: projecting an XOY plane on the tower point cloud T and the power line point cloud L in the power transmission channel to respectively form a projected tower point cloud T 'and a projected power line point cloud L', wherein the projected tower point cloud T 'and the projected power line point cloud L' can be fitted into a straight line under the windless effect;
step S2: extracting a superposition area Z of the tower point cloud T 'and the power line point cloud L';
step S3: expanding the overlapping region Z for 1 meter along the horizontal direction perpendicular to the line, for m meters along the direction parallel to the line and for n meters along the vertical direction perpendicular to the line by taking the center of the overlapping region Z as a central point to form a cuboid region point cloud C containing an insulator string point cloud, wherein the point cloud C comprises the insulator string point cloud, a part of power line point cloud and a part of transmission tower point cloud;
step S4: and detecting the insulator string point cloud in the point cloud C by using an insulator string point cloud detection method based on a hybrid voxel network.
Specifically, in step S4, the insulator string point cloud detection method based on the hybrid voxel network includes the steps of:
step S41: constructing a mixed voxel characteristic extraction layer:
step S42: and (3) two-dimensional convolution calculation:
step S43: insulator string point cloud detection: and (3) predicting corresponding anchor box designed for different layers by utilizing the characteristics of different characteristic map receptive fields of different layers.
Specifically, the step S41 includes the following specific steps:
step S411: performing multi-scale pre-voxelization on an X-Y plane;
step S412: encoding multi-scale point cloud features by using a parallel multi-stream attention mechanism voxel feature encoding layer;
step S413: aggregating the coding features;
step S414: and performing dynamic feature projection by utilizing an attention mechanism voxel feature coding output layer in combination with the aggregation features and the target scale information, wherein the attention mechanism voxel feature coding output layer is used for mapping the features of different scales to a fixed scale through an attention mechanism.
In particular, step S42 includes the following sub-steps:
step S421, carrying out shallow layer fusion on the multi-scale feature map M extracted by the mixed voxel feature extraction layer in a backbone network;
step S422: and carrying out depth fusion on the multi-scale feature map M in the scale fusion pyramid network.
In particular, in step S43, for the feature maps of different layers, only the categories of the corresponding scale are predicted in the insulator string point cloud detection part, so as to effectively reduce confusion among the categories.
It is another object of the present invention to provide a computer apparatus, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the computer program to implement the method as described above.
It is a further object of the present invention to provide a computer readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, carries out the method as set forth above.
Compared with the prior art, the insulator string detection method in the three-dimensional laser point cloud data has the beneficial effects that: a better voxel characteristic coding method is obtained through a mixed scale voxel characteristic coder on a point level, so that the detection speed and the detection precision of an insulator string are improved, and the utilization efficiency of point cloud is improved.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the present invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings, in which:
FIG. 1 is a flow chart of the method of the present invention.
Detailed Description
Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. It should be understood that the preferred embodiments are illustrative of the invention only and are not limiting upon the scope of the invention.
As shown in fig. 1, the method for detecting an insulator string in three-dimensional laser point cloud data of the present invention includes the following steps:
step S1: projecting an XOY plane on the tower point cloud T and the power line point cloud L in the power transmission channel to respectively form a projected tower point cloud T 'and a projected power line point cloud L', wherein the projected tower point cloud T 'and the projected power line point cloud L' can be fitted into a straight line under the windless effect;
step S2: extracting a superposition area Z of the tower point cloud T 'and the power line point cloud L';
step S3: expanding the overlapping region Z for 1 meter along the horizontal direction perpendicular to the line, for m meters along the direction parallel to the line and for n meters along the vertical direction perpendicular to the line by taking the center of the overlapping region Z as a central point to form a cuboid region point cloud C containing an insulator string point cloud, wherein the point cloud C comprises the insulator string point cloud, a part of power line point cloud and a part of transmission tower point cloud; in this embodiment, m and n are both 5 meters, and certainly in practical application, the numerical value can be set according to actual needs.
Step S4: and detecting the insulator string point cloud in the point cloud C by using an insulator string point cloud detection method based on a hybrid voxel network. In this embodiment, the insulator string point cloud detection method based on the hybrid voxel network includes the steps of:
step S41: constructing a mixed voxel characteristic extraction layer:
step S42: performing two-dimensional convolution calculation:
step S43: insulator string point cloud detection: and (3) predicting corresponding anchor box designed for different layers by utilizing the characteristics of different characteristic map receptive fields of different layers.
The step S41 includes the following steps:
step S411: performing multi-scale pre-voxelization on an X-Y plane;
step S412: encoding multi-scale point cloud features by using a parallel multi-stream attention mechanism voxel feature encoding layer;
step S413: aggregating the coding features;
step S414: and performing dynamic feature projection by utilizing an attention mechanism voxel feature coding output layer in combination with the aggregation features and the target scale information, wherein the attention mechanism voxel feature coding output layer is used for mapping the features of different scales to a fixed scale through an attention mechanism.
In step S42, the method includes the following substeps:
step S421, carrying out shallow layer fusion on the multi-scale feature map M extracted by the mixed voxel feature extraction layer in a backbone network;
step S422: and carrying out depth fusion on the multi-scale feature map M in the scale fusion pyramid network.
In addition, in step S43, for the feature maps of different layers, the insulator string point cloud detection part only predicts the categories of the corresponding scales, so as to effectively reduce the confusion among the categories.
It should be noted that any process or method descriptions in flow charts of the present invention or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and that the scope of the preferred embodiments of the present invention includes additional implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
Finally, the above embodiments are only intended to illustrate the technical solutions of the present invention and not to limit the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all of them should be covered by the claims of the present invention.
Claims (7)
1. A method for detecting an insulator string in three-dimensional laser point cloud data is characterized by comprising the following steps: the method comprises the following steps:
step S1: projecting an XOY plane on the tower point cloud T and the power line point cloud L in the power transmission channel to respectively form a projected tower point cloud T 'and a projected power line point cloud L', wherein the projected tower point cloud T 'and the projected power line point cloud L' can be fitted into a straight line under the windless effect;
step S2: extracting a superposition area Z of the tower point cloud T 'and the power line point cloud L';
step S3: expanding the overlapping region Z for 1 meter along the horizontal direction perpendicular to the line, for m meters along the direction parallel to the line and for n meters along the vertical direction perpendicular to the line by taking the center of the overlapping region Z as a central point to form a cuboid region point cloud C containing an insulator string point cloud, wherein the point cloud C comprises the insulator string point cloud, a part of power line point cloud and a part of transmission tower point cloud;
step S4: detecting the insulator string point cloud in the point cloud C by using an insulator string point cloud detection method based on a hybrid voxel network, wherein the insulator string point cloud detection method based on the hybrid voxel network comprises the following steps:
step S41: constructing a mixed voxel characteristic extraction layer:
step S42: performing two-dimensional convolution calculation:
step S43: insulator string point cloud detection: and (3) predicting corresponding anchor box designed for different layers by utilizing different characteristics of characteristic map receptive fields of different layers.
2. The method for detecting the insulator string in the three-dimensional laser point cloud data according to claim 1, wherein the method comprises the following steps: the step S41 includes the following steps:
step S411: performing multi-scale pre-voxelization on an X-Y plane;
step S412: encoding multi-scale point cloud features by using a parallel multi-stream attention mechanism voxel feature encoding layer;
step S413: aggregating the coding features;
step S414: and performing dynamic feature projection by utilizing an attention mechanism voxel feature coding output layer in combination with the aggregation features and the target scale information, wherein the attention mechanism voxel feature coding output layer is used for mapping the features of different scales to a fixed scale through an attention mechanism.
3. The method for detecting the insulator string in the three-dimensional laser point cloud data according to claim 1, wherein the method comprises the following steps: step S42 includes the following substeps:
step S421, carrying out shallow layer fusion on the multi-scale feature map M extracted by the mixed voxel feature extraction layer in a backbone network;
step S422: and carrying out depth fusion on the multi-scale feature map M in the scale fusion pyramid network.
4. The method for detecting the insulator string in the three-dimensional laser point cloud data according to claim 1, wherein the method comprises the following steps: in step S43, for the feature maps of different layers, only the categories of the corresponding scales are predicted in the insulator string point cloud detection part, so as to effectively reduce confusion among the categories.
5. The method for detecting the insulator string in the three-dimensional laser point cloud data according to claim 1, wherein the method comprises the following steps: in step S3, m and n are both 5 meters.
6. A computer apparatus comprising a memory, a processor, and a computer program stored on the memory and capable of running on the processor, wherein: the processor, when executing the computer program, implements the method of any of claims 1-5.
7. A computer-readable storage medium having stored thereon a computer program, characterized in that: the computer program, when executed by a processor, implements the method of any one of claims 1-5.
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