CN113686240A - Positioning method and device based on electric power tower, computer equipment and storage medium - Google Patents
Positioning method and device based on electric power tower, computer equipment and storage medium Download PDFInfo
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- G01—MEASURING; TESTING
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- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
Abstract
The application relates to a positioning method and device based on an electric power tower, computer equipment and a storage medium. The method comprises the following steps: acquiring a target tower image corresponding to a target moment; the target tower image is obtained by shooting a tower object when the mobile acquisition equipment moves; determining a first tower contour value in the target tower image; and if the first tower contour value meets the triggering and positioning conditions, using the coordinate information of the mobile acquisition equipment corresponding to the target moment as the coordinate information of the tower object to be positioned. By the method, the middle and low voltage electric power towers with low cost and high feasibility can be positioned, the target tower image is obtained through the mobile acquisition equipment, and then the triggering positioning condition of the tower object to be positioned is judged based on the tower contour value in the target tower image so as to determine the coordinate information of the tower object to be positioned, so that the cost for obtaining the positioning coordinates of a large number of middle and low voltage electric power towers is greatly reduced, and the timeliness is improved.
Description
Technical Field
The present application relates to the field of computer technologies, and in particular, to a positioning method and apparatus based on an electric tower, a computer device, and a storage medium.
Background
At present, when the middle-low voltage electric power towers are positioned, due to the fact that the number of the middle-low voltage electric power towers is large and the target is small, if a GPS chip is installed on each middle-low voltage electric power tower, the implementation cost is high, the middle-low voltage electric power towers are usually located in areas with dense buildings and trees, the middle-low voltage electric power towers are easily sheltered by the buildings and the trees, positioning cannot be performed in an aerial photography mode, and therefore position information of the middle-low voltage electric power towers is difficult to obtain.
Therefore, the problem that the position information of the medium and low voltage power tower cannot be acquired by a low-cost and high-feasibility method exists in the related technology.
Disclosure of Invention
In view of the above, it is necessary to provide a positioning method, apparatus, computer device and storage medium based on electric power tower, which can solve the above problems.
A method for positioning based on an electric tower, the method comprising:
acquiring a target tower image corresponding to a target moment; the target tower image is obtained by shooting a tower object when the mobile acquisition equipment moves;
determining a first tower contour value in the target tower image;
and if the first tower contour value meets the triggering and positioning conditions, using the coordinate information of the mobile acquisition equipment corresponding to the target moment as the coordinate information of the tower object to be positioned.
In one embodiment, before the step of acquiring the target tower image corresponding to the target time, the method further includes:
determining a tower object to be positioned according to the historical tower image corresponding to the historical moment; and the historical time is the last time point of the target time.
In an embodiment, the determining a tower object to be positioned according to a historical tower image corresponding to a historical time includes:
acquiring a historical tower image corresponding to a historical moment;
determining a reference tower profile value in the historical tower image; each tower contour value corresponds to a tower object;
and taking the tower object corresponding to the reference tower contour value as a tower object to be positioned.
In one embodiment, the determining the reference tower profile value in the historical tower image includes:
and determining the maximum tower profile value from one or more tower profile values of the historical tower image as the reference tower profile value.
In one embodiment, before the step of determining the first tower profile value in the target tower image, the method further comprises:
carrying out image recognition on the target tower image;
and when one or more tower objects exist in the target tower image, executing the step of determining a first tower profile value in the target tower image.
In one embodiment, the determining a first tower profile value in the target tower image includes:
acquiring tower contour values corresponding to one or more tower objects in the target tower image;
and determining the maximum tower profile value from the tower profile values corresponding to the one or more tower objects as the first tower profile value.
In one embodiment, after the step of determining the first tower profile value in the target tower image, the method further comprises:
judging whether the first tower profile value meets a trigger positioning condition;
when the first tower contour value is smaller than the reference tower contour value, judging that the first tower contour value meets a trigger positioning condition;
the method further comprises the following steps:
and if the first tower profile value does not meet the triggering and positioning conditions, taking the first tower profile value as the reference tower profile value.
An electric tower based positioning device, the device comprising:
the target tower image acquisition module is used for acquiring a target tower image corresponding to a target moment; the target tower image is obtained by shooting a tower object when the mobile acquisition equipment moves;
the first tower contour value determining module is used for determining a first tower contour value in the target tower image;
and the tower positioning module is used for taking the coordinate information of the mobile acquisition equipment corresponding to the target moment as the coordinate information of the tower object to be positioned if the first tower contour value meets the trigger positioning condition.
A computer arrangement comprising a memory storing a computer program and a processor implementing the steps of the power tower based positioning method as described above when the computer program is executed.
A computer-readable storage medium, having stored thereon a computer program which, when being executed by a processor, carries out the steps of the power tower based positioning method as described above.
According to the positioning method, the positioning device, the computer equipment and the storage medium based on the electric power tower, the target tower image corresponding to the target moment is obtained, the target tower image is obtained by shooting the tower object when the mobile acquisition equipment moves, the first tower profile value in the target tower image is further determined, if the first tower profile value meets the triggering positioning condition, the coordinate information of the mobile acquisition equipment corresponding to the target moment is used as the coordinate information of the tower object to be positioned, the low-cost and high-feasibility positioning medium and low voltage electric power tower is realized, the target tower image is obtained through the mobile acquisition equipment, the triggering positioning condition of the tower object to be positioned is further determined based on the tower profile value in the target tower image, so that the coordinate information of the tower object to be positioned is determined, and the cost for obtaining the positioning coordinates of a mass of medium and low voltage electric power towers is greatly reduced, the timeliness is improved.
Drawings
Fig. 1 is a schematic flow chart of a positioning method based on an electric tower in an embodiment;
FIG. 2a is a schematic diagram of a mobile acquisition device in one embodiment;
FIG. 2b is a diagram illustrating the flow of an image recognition process, in accordance with one embodiment;
FIG. 3 is a schematic flow chart illustrating a first tower profile value determining step according to an embodiment;
FIG. 4 is a schematic diagram of contour values in a tower image according to an embodiment;
FIG. 5 is a schematic diagram of a tower image identification and tower positioning process according to an embodiment;
FIG. 6 is a block diagram of an embodiment of a positioning device based on an electric tower;
FIG. 7 is a diagram of the internal structure of a computer device, in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In an embodiment, as shown in fig. 1, a positioning method based on a power tower is provided, and this embodiment is illustrated by applying the method to a server, it is to be understood that the method may also be applied to a terminal, and may also be applied to a system including a terminal and a server, and is implemented by interaction between the terminal and the server. In this embodiment, the method includes the steps of:
in practical application, a tower image at a certain moment obtained by shooting a tower object by the mobile acquisition equipment during moving can be obtained, and the tower image can be used as a target tower image to be subjected to image recognition to position a tower.
Specifically, the tower object is shot by the mobile acquisition equipment when the mobile acquisition equipment moves, so that a tower image at a certain moment and the current position coordinate information of the mobile acquisition equipment can be obtained, and then the tower image acquired by the mobile acquisition equipment in real time can be obtained for image recognition so as to position the medium and low voltage tower shot in the tower image.
In an alternative embodiment, the mobile capturing device may be composed of a mobile image capturing car, a wide-angle camera, and a GPS positioning device, wherein the wide-angle camera may be mounted on the top end of the mobile image capturing car, the capturing angle of the wide-angle camera may be greater than 90 degrees, so that the image in the sector area right in front of the mobile capturing device may be captured when the mobile capturing device is moved, and the GPS positioning device may be mounted near the camera or in the mobile image capturing car.
In one example, as shown in fig. 2a, a mobile image capturing vehicle (e.g. 1 in fig. 2 a) of the mobile image capturing device may travel along a road at a low speed, e.g. a travel speed of 40-60 km/h, a wide-angle camera (e.g. 2 in fig. 2 a) of the mobile image capturing device may capture image data in real time, and a GPS positioning device (e.g. 3 in fig. 2 a) may record current position coordinate information of the mobile image capturing device with a certain frequency.
after the target tower image is obtained, image recognition and analysis can be performed on the target tower image through an image recognition system, and then a first tower profile value in the target tower image can be determined based on one or more tower profile values in the target tower image, wherein the first tower profile value can be the maximum tower profile value in the target tower image.
Specifically, because a plurality of tower objects appear in the same tower image, by using the area occupied by the tower objects in the image as the evaluation basis of the profile size, only the tower object closest to the mobile acquisition device in the target tower image, that is, the tower object corresponding to the maximum tower profile value in the target tower image, can be analyzed for the target tower image.
And 103, if the first tower contour value meets the trigger positioning condition, using the coordinate information of the mobile acquisition equipment corresponding to the target moment as the coordinate information of the tower object to be positioned.
As an example, the triggering and positioning condition may be a triggering condition for positioning a tower object to be positioned, and for the tower object to be positioned, tower positioning analysis may be performed according to an image recognition result of a target tower image.
After the first tower contour value is determined, whether the first tower contour value meets the triggering and positioning conditions or not can be judged, and then the coordinate information of the mobile acquisition equipment corresponding to the target moment can be used as the coordinate information of the tower object to be positioned when the first tower contour value meets the triggering and positioning conditions.
Specifically, when the first tower contour value is judged to meet the triggering positioning condition, the tower object to be positioned is positioned, and then the coordinate information of the mobile acquisition equipment, which is acquired at the same time as the target tower image, can be used as the coordinate information of the tower object to be positioned, so as to complete tower positioning.
In the tower image acquisition process, the same tower object may appear in a plurality of tower images, and in order to avoid marking the position of the same tower object for a plurality of times, the time of the positioning mark of the same tower object can be determined according to the size of the profile of the tower object in the tower image, that is, when the first tower profile value meets the triggering positioning condition, the acquisition time (namely, the target time) corresponding to the target tower image where the first tower profile value is located can be used as the positioning mark time of the tower object to be positioned, and then the positioning coordinate (namely, the coordinate information of the tower object to be positioned) of the tower object to be positioned can be obtained based on the coordinate information of the mobile acquisition device corresponding to the target time.
For example, when the mobile acquisition equipment moves towards the tower, the profile of the tower in the image gradually increases, the positioning mark time of the tower object to be positioned can be determined according to a plurality of tower images including the tower object to be positioned, then the GPS positioning data corresponding to the positioning mark time can be used as the positioning information of the tower object to be positioned, and the tower object after positioning can be subjected to user-defined numbering.
In an example, when positioning the power towers, for the high-voltage power towers, the number of the high-voltage power towers is relatively small, and the positions of the high-voltage power towers are relatively fixed, so that the position information of each power tower is relatively easy to construct. However, for medium and low voltage power towers, because the number of the towers is huge and the targets are small, and the towers are usually located in areas with dense buildings and trees, if a method of installing a GPS positioning chip for each tower is adopted, the problems of high cost and difficulty in popularization and application exist; if the manual surveying and mapping method is adopted, the efficiency is low, and a large amount of manpower and material resources are consumed; the method for positioning by combining aerial photography with GPS is only suitable for positioning large-scale open-air equipment and has high implementation cost.
Compared with the traditional electric power tower positioning mode, the positioning method and the positioning system have the advantages that the positioning method and the positioning system are based on the mobile acquisition equipment, the mobile acquisition equipment can comprise the mobile image acquisition vehicle, the wide-angle camera and the GPS positioning equipment, and the image recognition system can be used for continuously positioning a plurality of medium and low voltage electric power towers, so that the positioning coordinate of the mass medium and low voltage electric power towers is obtained, the cost is greatly reduced, and the timeliness is improved.
In the embodiment of the application, the target tower image corresponding to the target moment is obtained by shooting the tower object when the mobile acquisition equipment moves, so that a first tower contour value in the target tower image is determined, if the first tower contour value meets the trigger positioning condition, the coordinate information of the mobile acquisition equipment corresponding to the target moment is used as the coordinate information of the tower object to be positioned, so that the low-cost and high-feasibility positioning medium and low-voltage electric power tower is realized, the target tower image is obtained through the mobile acquisition equipment, and then the trigger positioning condition of the tower object to be positioned is determined based on the tower contour value in the target tower image so as to determine the coordinate information of the tower object to be positioned, so that the cost for obtaining the positioning coordinates of massive medium and low-voltage electric power towers is greatly reduced, and the timeliness is improved.
In an embodiment, before the step of acquiring the target tower image corresponding to the target time, the following steps may be included:
determining a tower object to be positioned according to the historical tower image corresponding to the historical moment; and the historical time is the last time point of the target time.
As an example, by presetting the time point interval, image data may be acquired at a certain frequency and current position coordinate information of the mobile acquisition device at the same time may be recorded based on the preset time point interval, where the preset time point interval is 1, and when the target time is t time, the historical time is t-1 time.
In practical application, a historical tower image corresponding to a historical moment can be acquired aiming at the historical moment, namely the last time point moment of a target moment, and then a tower object to be positioned can be determined according to the historical tower image so as to further acquire the coordinate information of positioning aiming at the tower object to be positioned.
Specifically, the tower object to be positioned can be determined based on the tower contour value in the historical tower image by acquiring the historical tower image corresponding to the historical moment, and then whether the triggering positioning condition is met or not can be judged by combining the tower contour value in the historical tower image and the tower contour value of the target tower image, so as to determine the coordinate information of the tower object to be positioned.
According to the embodiment, the tower object to be positioned is determined according to the historical tower image corresponding to the historical moment, the historical moment is the last time point moment of the target moment, the tower object to be positioned can be obtained based on the historical tower image, the target tower object can be determined for positioning the tower every time when a plurality of middle and low voltage power towers are continuously positioned, and timeliness is improved.
In an embodiment, the determining a tower object to be positioned according to the historical tower image corresponding to the historical time may include the following steps:
acquiring a historical tower image corresponding to a historical moment; determining a reference tower profile value in the historical tower image; each tower contour value corresponds to a tower object; and taking the tower object corresponding to the reference tower contour value as a tower object to be positioned.
In specific implementation, a historical tower image corresponding to a historical moment can be obtained, then a reference tower profile value can be determined based on one or more tower profile values in the historical tower image, and since each tower profile value corresponds to a tower object, the tower object corresponding to the reference tower profile value can be used as the tower object to be positioned.
According to the embodiment, the historical tower image corresponding to the historical moment is obtained, the reference tower contour value in the historical tower image is determined, each tower contour value corresponds to one tower object, then the tower object corresponding to the reference tower contour value is used as the tower object to be positioned, the tower object to be positioned can be obtained by determining the reference tower contour value in the historical tower image, the target tower object can be determined for positioning the tower every time when a plurality of medium and low voltage power towers are continuously positioned, and the timeliness is improved.
In one embodiment, the determining the reference tower profile value in the historical tower image may include:
and determining the maximum tower profile value from one or more tower profile values of the historical tower image as the reference tower profile value.
In an optional embodiment, because a plurality of tower objects appear in the same tower image, the area occupied by the tower objects in the image is used as the evaluation basis of the profile size, and information such as the side length corresponding to the tower objects in the image can also be used as the evaluation basis of the profile size.
According to the embodiment, the maximum tower profile value is determined from one or more tower profile values of the historical tower image and is used as the reference tower profile value, the reference tower profile value can be obtained based on the comparison of the tower profile values, and data support is provided for determining the target tower object to be positioned.
In one embodiment, before the step of determining the first tower profile value in the target tower image, the following steps may be included:
carrying out image recognition on the target tower image; and when one or more tower objects exist in the target tower image, executing the step of determining a first tower profile value in the target tower image.
After the target tower image is obtained, image recognition can be performed on the target tower image to detect whether a tower object exists in the target tower image, and then when one or more tower objects exist in the target tower image, a first tower profile value in the target tower image can be further determined.
In an example, in order to perform tower positioning based on a target tower image, it is necessary to determine whether a tower exists beside a current road shot by the target tower image through image recognition, that is, whether a tower object exists in the target tower image, and whether the tower object exists in the target tower image may be detected through artificial intelligence recognition of the target tower image.
In an optional embodiment, the image recognition process of the target tower image can be performed in real time, or offline processing can be performed after the image data is acquired, as shown in fig. 2b, the tower image and the coordinate information of the mobile acquisition device at the same time can be acquired through a wide-angle camera and a GPS positioning device in the mobile acquisition device, and then whether real-time positioning is performed or not can be judged, and under the condition of real-time positioning, real-time image recognition and tower positioning can be realized by configuring a local high-performance image recognition hard software system for the mobile acquisition device, or a remote communication system for interacting with a remote image recognition positioning system; under the condition of off-line processing, the acquired image data and the GPS positioning data can be stored, and then after the acquisition process is finished, an image recognition and positioning system is adopted for processing so as to realize off-line image recognition and tower positioning.
By the embodiment, the image recognition is carried out on the target tower image, and then when one or more tower objects exist in the target tower image, the step of determining the first tower contour value in the target tower image is executed, whether the tower object exists in the target tower image can be detected through the image recognition, so that the subsequent tower positioning step is determined, and the positioning timeliness is improved.
In one embodiment, as shown in fig. 3, the determining the first tower profile value in the target tower image may include the following steps:
301, obtaining tower contour values corresponding to one or more tower objects in the target tower image;
in the specific implementation, one or more tower objects may exist in the target tower image, and based on the fact that the area occupied by the tower objects in the image is used as the evaluation basis of the profile size, the tower profile values corresponding to the one or more tower objects can be obtained for the one or more tower objects, so that tower positioning analysis is further performed according to the tower profile values.
After tower contour values corresponding to one or more tower objects are obtained, the maximum tower contour value can be selected from the tower contour values corresponding to the one or more tower objects as a first tower contour value, and the tower object corresponding to the first tower contour value is the tower object closest to the mobile acquisition device in the target tower image.
The tower contour values corresponding to one or more tower objects in the target tower image are obtained through the embodiment, then the maximum tower contour value is determined from the tower contour values corresponding to the one or more tower objects, the maximum tower contour value is used as the first tower contour value, the first tower contour value in the target tower image can be determined based on tower contour value comparison, and data support is provided for determining the coordinate information of the tower object to be positioned by combining the reference tower contour value in the historical tower image and the first tower contour value of the target tower image.
In one embodiment, after the step of determining the first tower profile value in the target tower image, the following steps may be included:
judging whether the first tower profile value meets a trigger positioning condition; when the first tower contour value is smaller than the reference tower contour value, judging that the first tower contour value meets a trigger positioning condition;
after the first tower contour value is obtained, whether the first tower contour value meets the triggering and positioning conditions or not can be judged based on the reference tower contour value, and then when the first tower contour value is smaller than the reference tower contour value, the first tower contour value is judged to meet the triggering and positioning conditions, namely, the positioning of the tower object to be positioned is triggered.
The method may further comprise the steps of:
and if the first tower profile value does not meet the triggering and positioning conditions, taking the first tower profile value as the reference tower profile value.
In practical application, when the first tower profile value is greater than or equal to the reference tower profile value, it is determined that the first tower profile value does not satisfy the trigger positioning condition, and then when the first tower profile value does not satisfy the trigger positioning condition, the first tower profile value is used as the reference tower profile value to continue positioning the tower object to be positioned.
In an example, as shown in fig. 4, a tower is identified to exist in the tower image corresponding to the time t in fig. 4, and the tower with the largest profile in the tower image corresponding to the time t may be taken as the tower with the largest history, that is, the tower g0 in (1) in fig. 4, and the area occupied by the tower (that is, the tower profile value) Sg0tIs SgmaxtSg0 can be usedtAnd taking g0 as the tower to be positioned at this time as a reference tower profile value.
When the mobile acquisition equipment moves forwards, the corresponding profile of the g0 tower becomes larger, such as the tower image corresponding to the t +1 moment in (2) of fig. 4, at this time, Sg0t+1Is Sgmaxt+1And Sg0t+1Greater than Sg0tAnd if the triggering positioning condition is not met, the reference tower profile value Sg0 can be updatedt+1And continuously identifying the image corresponding to the next moment of the t +1 moment.
When the mobile acquisition equipment continues to move forwards, only part of the g0 tower remains in the image, such as the tower image corresponding to the t +2 time in (3) of fig. 4, at this time, the image identification may no longer identify the residual image of the g0 tower as the tower, and the tower with the maximum contour in the image is g1 and Sg1t+2Is Sgmaxt+2Due to Sg1t+2Less than Sg0t+1Namely, the maximum tower contour value in the current graph is smaller than the historical maximum tower contour value, the triggering positioning condition is met, the tower object to be positioned is triggered to be positioned, the GPS positioning data corresponding to the t +2 moment can be used as the positioning coordinate of the tower g0, the positioning work of the tower g0 is completed, and the historical maximum tower contour value can be updated to be Sg1t+2And taking g1 as the tower to be positioned next in the continuous positioning process.
In another example, because the frame rate of the images acquired by the camera in the mobile acquisition device is high and the moving speed in the acquisition process is low, the error of the coordinate information of the tower object obtained by the positioning method in the application can be ignored for the construction of the GIS map.
According to the embodiment, when the first tower contour value is smaller than the reference tower contour value, the first tower contour value is judged to meet the trigger positioning condition, if the first tower contour value does not meet the trigger positioning condition, the first tower contour value is used as the reference tower contour value, the positioning mark time of the tower object can be determined according to the trigger positioning condition, and therefore the coordinate information of the tower object to be positioned can be accurately obtained.
In order to enable those skilled in the art to better understand the above steps, the following description is provided by way of example with reference to fig. 5, but it should be understood that the embodiments of the present application are not limited thereto.
The following steps are explained by carrying out image recognition and tower positioning analysis on tower images shot at the time t:
1. during initialization, the historical maximum tower profile value (namely, the reference tower profile value) sh can be preset as 0;
2. acquiring a tower image (namely a target tower image) and GPS positioning data (namely coordinate information of mobile acquisition equipment) corresponding to the time t (namely the target time) so as to perform image identification;
3. for the tower image corresponding to the time t, whether a tower is detected in the tower image can be judged through image recognition, and then the maximum tower profile value in the tower image can be further calculated when the tower is detected (namely, one or more tower objects exist in the target tower image is recognized);
4. based on the area occupied by the tower object in the image as the evaluation basis of the profile size, the maximum tower profile value s (namely the first tower profile value) of the tower image corresponding to the time t can be calculated;
5. if s is larger than or equal to sh, namely s does not meet the trigger positioning condition, updating the historical maximum tower profile value sh to be s, the historical time to be t (namely the last time point time of the target time), and taking the t +1 time as the target time to continuously identify the tower image corresponding to the t +1 time;
6. if s is smaller than sh, that is, s meets the trigger positioning condition, the time t can be determined as the positioning marking time of the tower object to be positioned, and further the GPS positioning data corresponding to the time t can be marked as the position of the tower object to be positioned (that is, the coordinate information of the mobile acquisition equipment corresponding to the target time is used as the coordinate information of the tower object to be positioned);
7. in the process of continuously positioning a plurality of medium-high voltage electric power towers, whether image recognition and tower positioning analysis are stopped can be judged to end tower positioning work.
It should be understood that although the various steps in the flow charts of fig. 1-5 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 1-5 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed in turn or alternately with other steps or at least some of the other steps.
In one embodiment, as shown in fig. 6, there is provided a positioning device based on a power tower, including:
a target tower image obtaining module 601, configured to obtain a target tower image corresponding to a target time; the target tower image is obtained by shooting a tower object when the mobile acquisition equipment moves;
a first tower contour value determining module 602, configured to determine a first tower contour value in the target tower image;
and the tower positioning module 603 is configured to, if the first tower contour value meets a trigger positioning condition, use the coordinate information of the mobile acquisition device corresponding to the target time as the coordinate information of the tower object to be positioned.
In one embodiment, the apparatus further comprises:
the tower object to be positioned determining module is used for determining a tower object to be positioned according to the historical tower image corresponding to the historical moment; and the historical time is the last time point of the target time.
In one embodiment, the tower object to be positioned determining module includes:
the historical tower image acquisition submodule is used for acquiring a historical tower image corresponding to a historical moment;
a tower contour value reference determining submodule for determining a tower contour value reference in the historical tower image; each tower contour value corresponds to a tower object;
and the tower object to be positioned determining submodule is used for taking the tower object corresponding to the reference tower contour value as the tower object to be positioned.
In one embodiment, the reference tower profile value determination submodule includes:
and the reference tower profile value determining unit is used for determining the maximum tower profile value from one or more tower profile values of the historical tower image to serve as the reference tower profile value.
In one embodiment, the apparatus further comprises:
the image recognition module is used for carrying out image recognition on the target tower image;
and the tower object identification module is used for executing the step of determining the first tower contour value in the target tower image when one or more tower objects exist in the target tower image.
In one embodiment, the first tower profile value determining module 602 includes:
the tower contour value acquisition submodule is used for acquiring tower contour values corresponding to one or more tower objects in the target tower image;
and the first tower contour value determining submodule is used for determining the maximum tower contour value from tower contour values corresponding to the one or more tower objects, and the maximum tower contour value is used as the first tower contour value.
In one embodiment, the apparatus further comprises:
the judging module is used for judging whether the first tower contour value meets a trigger positioning condition;
the triggering determination module is used for determining that the first tower contour value meets the triggering positioning condition when the first tower contour value is smaller than the reference tower contour value;
the device further comprises:
and the non-triggering module is used for taking the first tower contour value as the reference tower contour value if the first tower contour value does not meet the triggering and positioning conditions.
In the embodiment of the application, the target tower image corresponding to the target moment is obtained by shooting the tower object when the mobile acquisition equipment moves, so that a first tower contour value in the target tower image is determined, if the first tower contour value meets the trigger positioning condition, the coordinate information of the mobile acquisition equipment corresponding to the target moment is used as the coordinate information of the tower object to be positioned, so that the low-cost and high-feasibility positioning medium and low-voltage electric power tower is realized, the target tower image is obtained through the mobile acquisition equipment, and then the trigger positioning condition of the tower object to be positioned is determined based on the tower contour value in the target tower image so as to determine the coordinate information of the tower object to be positioned, so that the cost for obtaining the positioning coordinates of massive medium and low-voltage electric power towers is greatly reduced, and the timeliness is improved.
For specific definition of the positioning device based on the electric power tower, reference may be made to the above definition of the positioning method based on the electric power tower, and details are not described here. All or part of each module in the positioning device based on the electric power tower can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 7. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing positioning data based on the electric power tower. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a power tower based positioning method.
Those skilled in the art will appreciate that the architecture shown in fig. 7 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
acquiring a target tower image corresponding to a target moment; the target tower image is obtained by shooting a tower object when the mobile acquisition equipment moves;
determining a first tower contour value in the target tower image;
and if the first tower contour value meets the triggering and positioning conditions, using the coordinate information of the mobile acquisition equipment corresponding to the target moment as the coordinate information of the tower object to be positioned.
In one embodiment, the processor, when executing the computer program, further implements the steps of the power tower-based positioning method in the other embodiments described above.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
acquiring a target tower image corresponding to a target moment; the target tower image is obtained by shooting a tower object when the mobile acquisition equipment moves;
determining a first tower contour value in the target tower image;
and if the first tower contour value meets the triggering and positioning conditions, using the coordinate information of the mobile acquisition equipment corresponding to the target moment as the coordinate information of the tower object to be positioned.
In one embodiment, the computer program, when executed by the processor, further performs the steps of the power tower based positioning method in the other embodiments described above.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A positioning method based on an electric power tower is characterized by comprising the following steps:
acquiring a target tower image corresponding to a target moment; the target tower image is obtained by shooting a tower object when the mobile acquisition equipment moves;
determining a first tower contour value in the target tower image;
and if the first tower contour value meets the triggering and positioning conditions, using the coordinate information of the mobile acquisition equipment corresponding to the target moment as the coordinate information of the tower object to be positioned.
2. The method according to claim 1, wherein before the step of obtaining the target tower image corresponding to the target moment, the method further comprises:
determining a tower object to be positioned according to the historical tower image corresponding to the historical moment; and the historical time is the last time point of the target time.
3. The method according to claim 2, wherein the determining the tower object to be positioned according to the historical tower image corresponding to the historical time comprises:
acquiring a historical tower image corresponding to a historical moment;
determining a reference tower profile value in the historical tower image; each tower contour value corresponds to a tower object;
and taking the tower object corresponding to the reference tower contour value as a tower object to be positioned.
4. The method of claim 3, wherein determining the reference tower profile value in the historical tower image comprises:
and determining the maximum tower profile value from one or more tower profile values of the historical tower image as the reference tower profile value.
5. The method of claim 1, wherein prior to the step of determining the first tower profile value in the target tower image, the method further comprises:
carrying out image recognition on the target tower image;
and when one or more tower objects exist in the target tower image, executing the step of determining a first tower profile value in the target tower image.
6. The method of claim 1, wherein determining the first tower profile value in the target tower image comprises:
acquiring tower contour values corresponding to one or more tower objects in the target tower image;
and determining the maximum tower profile value from the tower profile values corresponding to the one or more tower objects as the first tower profile value.
7. The method according to any one of claims 1 to 6, wherein after the step of determining the first tower profile value in the target tower image, the method further comprises:
judging whether the first tower profile value meets a trigger positioning condition;
when the first tower contour value is smaller than the reference tower contour value, judging that the first tower contour value meets a trigger positioning condition;
the method further comprises the following steps:
and if the first tower profile value does not meet the triggering and positioning conditions, taking the first tower profile value as the reference tower profile value.
8. A positioning device based on an electric tower, characterized in that the device comprises:
the target tower image acquisition module is used for acquiring a target tower image corresponding to a target moment; the target tower image is obtained by shooting a tower object when the mobile acquisition equipment moves;
the first tower contour value determining module is used for determining a first tower contour value in the target tower image;
and the tower positioning module is used for taking the coordinate information of the mobile acquisition equipment corresponding to the target moment as the coordinate information of the tower object to be positioned if the first tower contour value meets the trigger positioning condition.
9. A computer arrangement comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, performs the steps of the power tower based positioning method according to any of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the power tower-based positioning method according to any one of claims 1 to 7.
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