CN113686240B - Positioning method and device based on electric power pole tower, computer equipment and storage medium - Google Patents
Positioning method and device based on electric power pole tower, computer equipment and storage medium Download PDFInfo
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Abstract
The application relates to a positioning method, a positioning device, computer equipment and a storage medium based on an electric power pole tower. The method comprises the following steps: acquiring a target tower image corresponding to the target moment; the target tower image is obtained by shooting a tower object when the mobile acquisition equipment moves; determining a first pylon profile value in the target pylon image; and if the first tower profile value meets the trigger positioning condition, 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. The method can be used for realizing low-cost and high-feasibility positioning of the middle-low voltage power towers, acquiring the target tower image by the mobile acquisition equipment, and judging the trigger positioning condition of the tower object to be positioned 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, thereby greatly reducing the cost of acquiring the positioning coordinates of the massive middle-low voltage power towers and improving the timeliness.
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 power tower, a computer device, and a storage medium.
Background
At present, when the middle-low voltage power towers are positioned, because the number of the middle-low voltage power towers is large and the targets are smaller, if a GPS chip is installed for each middle-low voltage power tower, the realization cost is higher, the middle-low voltage power towers are usually positioned in dense areas of buildings and trees and are easily shielded by the buildings and the trees, and the middle-low voltage power towers cannot be positioned in an aerial photographing mode, so that the position information of the middle-low voltage power towers is difficult to acquire.
Therefore, the related art has the problem that the position information of the medium-voltage power tower cannot be obtained by a low-cost and high-feasibility method.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a positioning method, apparatus, computer device, and storage medium based on a power tower, which can solve the foregoing problems.
A power tower-based positioning method, the method comprising:
Acquiring a target tower image corresponding to the target moment; the target tower image is obtained by shooting a tower object when the mobile acquisition equipment moves;
Determining a first pylon profile value in the target pylon image;
And if the first tower profile value meets the trigger positioning condition, 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.
In one embodiment, before the step of acquiring the target tower image corresponding to the target moment, the method further includes:
Determining a tower object to be positioned according to the historical tower image corresponding to the historical moment; wherein the historical time is the time of the last time point of the target time.
In one embodiment, the determining the tower object to be located according to the historical tower image corresponding to the historical moment includes:
acquiring a historical tower image corresponding to the historical moment;
determining a reference pylon profile value in the historical pylon image; each tower profile value corresponds to a tower object;
and taking the tower object corresponding to the reference tower profile value as the tower object to be positioned.
In one embodiment, the determining reference pylon profile values in the historical pylon images comprises:
determining a maximum pylon profile value from one or more pylon profile values of the historical pylon images as the reference pylon profile value.
In one embodiment, prior to the step of determining the first tower profile value in the target tower image, the method further comprises:
performing image recognition on the target tower image;
And when one or more tower objects in the target tower image are identified, executing the step of determining a first tower profile value in the target tower image.
In one embodiment, the determining a first pylon profile value in the target pylon image comprises:
acquiring tower profile 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 respectively, and taking the maximum tower profile value 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 pole tower profile value meets a trigger positioning condition or not;
when the first tower profile value is smaller than the reference tower profile value, judging that the first tower profile value meets a trigger positioning condition;
The method further comprises the steps of:
And if the first tower profile value does not meet the trigger positioning condition, taking the first tower profile value as the reference tower profile value.
A power tower-based positioning device, the device comprising:
The target tower image acquisition module is used for acquiring a target tower image corresponding to the target moment; the target tower image is obtained by shooting a tower object when the mobile acquisition equipment moves;
The first tower profile value determining module is used for determining a first tower profile 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 profile value meets the trigger positioning condition.
A computer device 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 executed by a processor implements the steps of a 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 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 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, the low-cost and high-feasibility low-voltage electric power tower in positioning is realized, the target tower image is obtained through the mobile acquisition equipment, and the trigger 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 cost of acquiring the positioning coordinates of the electric power tower in mass is greatly reduced, and the timeliness is improved.
Drawings
FIG. 1 is a flow chart of a positioning method based on a power tower according to an embodiment;
FIG. 2a is a schematic diagram of a mobile acquisition device in one embodiment;
FIG. 2b is a schematic diagram of an image recognition process according to one embodiment;
FIG. 3 is a flowchart illustrating a first turret profile value determination step according to one embodiment;
FIG. 4 is a schematic illustration of contour values in a tower image in one embodiment;
FIG. 5 is a schematic diagram of a tower image identification and tower positioning process in one embodiment;
FIG. 6 is a block diagram of a power tower based positioning device in one embodiment;
FIG. 7 is an internal block diagram of a computer device in one embodiment.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
In one 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, where it is 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 implemented through interaction between the terminal and the server. In this embodiment, the method includes the steps of:
Step 101, 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;
In practical application, a tower image of a certain moment obtained by shooting a tower object when the mobile acquisition equipment moves can be obtained, and the tower image can be used as a target tower image to be identified so as to position a tower.
Specifically, the mobile acquisition equipment shoots a tower object when moving, so that a tower image at a certain moment and current position coordinate information of the mobile acquisition equipment can be obtained, and further, the tower image acquired by the mobile acquisition equipment in real time can be acquired for image recognition so as to position a middle-low pressure tower shot in the tower image.
In an alternative embodiment, the mobile acquisition device may be composed of a mobile image acquisition vehicle, a wide-angle camera, and a GPS positioning device, where the wide-angle camera may be mounted on the top end of the mobile image acquisition vehicle, and the acquisition angle of the wide-angle camera may be greater than 90 degrees, so that when the mobile acquisition device moves, an image in a sector area directly in front of the mobile acquisition device may be acquired, and the GPS positioning device may be mounted near the camera or in the mobile image acquisition vehicle.
In an example, as shown in fig. 2a, the mobile image capturing vehicle (1 in fig. 2 a) of the mobile capturing device may travel at a low speed along a road, for example, at a travel speed of 40-60 km/h, the wide-angle camera (2 in fig. 2 a) of the mobile capturing device may capture image data in real time, and the GPS positioning device (3 in fig. 2 a) may record the current position coordinate information of the mobile capturing device at a certain frequency.
Step 102, determining a first pole and tower profile value in the target pole and tower image;
After the target tower image is acquired, the image recognition system can be used for carrying out image recognition and analysis on the target tower image, so that a first tower contour value in the target tower image can be determined based on one or more tower contour values in the target tower image, and the first tower contour value can be the maximum tower contour value in the target tower image.
Specifically, because a plurality of tower objects appear in the same tower image, by adopting the area occupied by the tower objects in the image as the evaluation basis of the outline size, only the tower object closest to the mobile acquisition device in the target tower image, namely the tower object corresponding to the maximum tower outline value in the target tower image, can be analyzed for the target tower image.
And step 103, if the first tower profile value meets the trigger positioning condition, 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.
As an example, the trigger positioning condition may be a trigger condition for positioning a tower object to be positioned, and the tower positioning analysis may be performed on the tower object to be positioned according to the image recognition result of the target tower image.
After the first tower profile value is determined, whether the first tower profile value meets the trigger positioning condition or not can be judged, and then when the first tower profile value meets the trigger positioning condition, 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.
Specifically, when it is determined that the first tower profile value meets the trigger positioning condition, the tower object to be positioned is positioned, and then the coordinate information of the mobile acquisition device 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 that the positioning of the tower is completed.
Because in the process of acquiring the tower images, the same tower object may appear in a plurality of tower images, in order to avoid that the same tower object is marked with positions for a plurality of times, the moment of positioning marks of the same tower object can be determined according to the outline size of the tower object in the tower images, namely, when the first tower outline value meets the trigger positioning condition, the acquisition moment (namely, the target moment) corresponding to the target tower image where the first tower outline value is located is taken as the positioning mark moment of the tower object to be positioned, and then the positioning coordinates (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 equipment corresponding to the target moment.
For example, when the mobile acquisition device moves towards the tower, the outline of the tower in the image becomes larger gradually, so that 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, further, 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 post-positioning tower object can be numbered in a self-defining manner.
In one example, when positioning the power towers, it is easier to construct position information for each power tower for high voltage power towers because the number is relatively small and the positions are relatively fixed. However, aiming at the middle-low voltage power towers, because the number of the towers is large and the targets are smaller, and the towers are usually positioned in dense areas of 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 a manual 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 also only suitable for positioning large-scale open-air equipment, and has high realization cost.
Compared with the traditional power tower positioning mode, the method can be based on mobile acquisition equipment, and can comprise a mobile image acquisition vehicle, a wide-angle camera, GPS positioning equipment and an image recognition system, so that continuous positioning can be performed on a plurality of middle-low voltage power towers, and the positioning coordinates of a large number of middle-low voltage power towers can be acquired, so that 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 the first tower profile value in the target tower image is determined, if the first tower profile 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, the low-cost and high-feasibility middle-low-voltage power tower in positioning is realized, the target tower image is obtained by the mobile acquisition equipment, and the trigger positioning condition of the tower object to be positioned is 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, the cost of acquiring the positioning coordinates of the low-voltage power towers in mass is greatly reduced, and the timeliness is improved.
In one embodiment, before the step of acquiring the target tower image corresponding to the target moment, the method may include the following steps:
Determining a tower object to be positioned according to the historical tower image corresponding to the historical moment; wherein the historical time is the time of the last time point of the target time.
As an example, by presetting the time point interval, image data can be acquired with a certain frequency based on the preset time point interval, and the current position coordinate information of the mobile acquisition device at the same moment is recorded, for example, the preset time point interval is 1, and when the target moment is t moment, the history moment is t-1 moment.
In practical application, a historical tower image corresponding to the historical moment can be acquired aiming at the historical moment, namely the moment of the last time point of the target moment, and then the tower object to be positioned can be determined according to the historical tower image so as to further acquire the positioned coordinate information aiming at the tower object to be positioned.
Specifically, by acquiring a historical tower image corresponding to the historical moment, a tower object to be positioned can be determined based on a tower contour value in the historical tower image, and then whether a trigger 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 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 moment of the last time point of the target moment, the tower object to be positioned can be obtained based on the historical tower image, and when a plurality of medium-voltage power towers are continuously positioned, the target tower object can be determined for each positioning tower, so that timeliness is improved.
In one embodiment, the determining the tower object to be located according to the historical tower image corresponding to the historical moment may include the following steps:
Acquiring a historical tower image corresponding to the historical moment; determining a reference pylon profile value in the historical pylon image; each tower profile value corresponds to a tower object; and taking the tower object corresponding to the reference tower profile value as the tower object to be positioned.
In a specific implementation, a historical tower image corresponding to the 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 as each tower profile value corresponds to a tower object, a tower object corresponding to the reference tower profile value can be used as a tower object to be positioned.
According to the embodiment, the historical tower images corresponding to the historical moment are obtained, the reference tower profile value in the historical tower images is determined, each tower profile value corresponds to one tower object, and then the tower object corresponding to the reference tower profile value is used as the tower object to be positioned, the tower object to be positioned can be obtained by determining the reference tower profile value in the historical tower images, and when a plurality of medium-low voltage power towers are continuously positioned, the target tower object is determined for each positioning tower, so that timeliness is improved.
In one embodiment, the determining the reference pylon profile value in the historical pylon image may comprise the steps of:
determining a maximum pylon profile value from one or more pylon profile values of the historical pylon images as the reference pylon profile value.
In an alternative embodiment, because a plurality of tower objects appear in the same tower image, by adopting the area occupied by the tower objects in the image as the evaluation basis of the contour size, and also adopting the information such as the side length corresponding to the tower objects in the image as the evaluation basis of the contour size, the application is not limited, and the maximum tower contour value can be selected as the reference tower contour value from one or more tower contour values of the historical tower image aiming at the historical tower image, so that the tower object corresponding to the reference tower contour value can be determined as the tower object to be positioned, namely the tower object closest to the mobile acquisition equipment in the historical tower image.
By the embodiment, the maximum tower profile value is determined from one or more tower profile values of the historical tower images and used as the reference tower profile value, the reference tower profile value can be acquired based on 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 steps of:
performing image recognition on the target tower image; and when one or more tower objects in the target tower image are identified, executing the step of determining a first tower profile value in the target tower image.
After the target tower image is acquired, 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 required 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 can be detected by performing artificial intelligent recognition on the target tower image.
In an alternative embodiment, the image recognition process of the target tower image can be performed in real time, or after the image data acquisition is completed, the coordinate information of the tower image and the mobile acquisition device at the same moment can be acquired through the wide-angle camera and the GPS positioning device in the mobile acquisition device, and then whether the real-time positioning is performed can be judged, and under the condition of the real-time positioning, the real-time image recognition and the tower positioning can be realized by configuring a local high-performance image recognition hardware and software system for the mobile acquisition device or a remote communication system for interacting with a remote image recognition and positioning system; under the condition of off-line processing, the acquired image data and GPS positioning data can be stored, and then after the acquisition process is finished, the image recognition and positioning system is adopted for processing so as to realize off-line image recognition and tower positioning.
Through the embodiment, the image recognition is performed on the target tower image, and when one or more tower objects exist in the target tower image, the step of determining the first tower profile value in the target tower image is executed, and whether the tower objects exist in the target tower image or not can be detected through image recognition so as to determine the subsequent tower positioning step, so that 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 steps of:
Step 301, obtaining a tower profile value corresponding to each of one or more tower objects in the target tower image;
In a specific implementation, because one or more tower objects can exist in the target tower image, based on the adoption of the occupied area of the tower objects in the image as the evaluation basis of the outline size, the corresponding tower outline values of the one or more tower objects can be acquired for further carrying out tower positioning analysis according to the tower outline values.
And 302, determining the maximum tower profile value from the tower profile values corresponding to the one or more tower objects, and taking the maximum tower profile value as the first tower profile value.
After the tower profile values corresponding to the one or more tower objects are obtained, the largest tower profile value can be selected from the tower profile values corresponding to the one or more tower objects as a first tower profile value, and the tower object corresponding to the first tower profile value is the tower object closest to the mobile acquisition device in the target tower image.
According to the embodiment, the tower profile value corresponding to one or more tower objects in the target tower image is obtained, the maximum tower profile value is determined from the tower profile values corresponding to one or more tower objects, the first tower profile value in the target tower image can be determined based on tower profile value comparison as the first tower profile value, and data support is provided for determining the coordinate information of the tower object to be positioned by combining the reference tower profile value in the historical tower image and the first tower profile 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 steps of:
Judging whether the first pole tower profile value meets a trigger positioning condition or not; when the first tower profile value is smaller than the reference tower profile value, judging that the first tower profile value meets a trigger positioning condition;
After the first tower profile value is obtained, whether the first tower profile value meets the trigger positioning condition or not can be judged based on the reference tower profile value, and then when the first tower profile value is smaller than the reference tower profile value, the first tower profile value is judged to meet the trigger positioning condition, namely the tower object to be positioned is triggered to be positioned.
The method may further comprise the steps of:
And if the first tower profile value does not meet the trigger positioning condition, 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 may be determined that the first tower profile value does not meet the trigger positioning condition, and then when the first tower profile value does not meet the trigger positioning condition, the first tower profile value may be used as the reference tower profile value to continuously position the tower object to be positioned.
In an example, as shown in fig. 4, a tower with a largest contour in the tower image corresponding to the time t in fig. 4 is identified, and the tower with the largest contour in the tower image corresponding to the time t may be used as the tower with the largest history, that is, the tower g0 in fig. 4 (1), whose occupied area (that is, the tower contour value) Sg0 t is Sgmax t, sg0 t may be used as the reference tower contour value, and g0 may be used as the tower to be positioned this time.
When the mobile acquisition equipment moves forwards, the contour corresponding to the g0 pole tower is enlarged, such as a pole tower image corresponding to the t+1 time in (2) of fig. 4, at this time, sg0 t+1 is Sgmax t+1, sg0 t+1 is greater than Sg0 t, the triggering positioning condition is not met, and further, the reference pole tower contour value can be updated to be Sg0 t+1, and the image corresponding to the next time at the t+1 time can be continuously identified.
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 time t+2 in the step (3) of fig. 4, at this time, the image recognition may not recognize the residual image of the g0 tower as a tower, the maximum contour tower in the image is g1, sg1 t+2 is Sgmax t+2, and since Sg1 t+2 is smaller than Sg0 t+1, that is, the maximum tower contour value in the current time is smaller than the historical maximum tower contour value, the triggering positioning condition is satisfied, the positioning of the tower object to be positioned is triggered, further, the positioning work of the tower g0 can be completed by taking the GPS positioning data corresponding to the time t+2 as the positioning coordinate of the tower g0, and the historical maximum tower contour value can be updated to be Sg1 t+2, so that the tower g1 is the next tower to be positioned in the continuous positioning process.
In yet another example, since 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 slow, the error of the coordinate information of the tower object obtained by adopting the positioning method in the application is negligible for GIS map construction.
Through the embodiment, when the first tower profile value is smaller than the reference tower profile value, the first tower profile value is judged to meet the trigger positioning condition, and if the first tower profile value does not meet the trigger positioning condition, the first tower profile value is used as the reference tower profile value, so that the positioning mark moment of the tower object can be determined according to the trigger positioning condition, and the coordinate information of the tower object to be positioned can be accurately acquired.
In order that those skilled in the art may better understand the above steps, an embodiment of the present application will be exemplarily described below by way of an example with reference to fig. 5, but it should be understood that the embodiment of the present application is not limited thereto.
The method comprises the following steps of carrying out image recognition and tower positioning analysis on a tower image shot at the moment t:
1. When in initialization, the historic maximum pole and tower profile value (namely the reference pole and tower profile value) sh can be preset to be 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 a target time) so as to perform image recognition;
3. Aiming at a tower image corresponding to the moment t, judging whether a tower is detected in the tower image through image recognition, and further calculating the maximum tower profile value in the tower image when the tower is detected (namely, one or more tower objects in the target tower image are recognized);
4. Based on the adoption of the occupied area of the tower object in the image as an evaluation basis of the contour size, the maximum tower contour value s (namely a first tower contour value) of the tower image corresponding to the moment t can be calculated;
5. If s is greater than or equal to sh, that is, s does not meet the triggering positioning condition, updating the historic maximum pole outline value sh to s, wherein the historic moment is t (that is, the moment of the last time point of the target moment), taking the moment t+1 as the target moment, and continuously identifying the pole and tower image corresponding to the moment t+1;
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 then GPS positioning data corresponding to the time t can be marked as the position of the tower object to be positioned (namely, 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 continuous positioning process of a plurality of medium-high voltage power towers, whether to stop image recognition and tower positioning analysis can be judged so as to finish the tower positioning work.
It should be understood that, although the steps in the flowcharts of fig. 1-5 are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in fig. 1-5 may include multiple steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor do the order in which the steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of the steps or stages in other steps or other steps.
In one embodiment, as shown in fig. 6, there is provided a positioning device based on a power tower, including:
the target tower image acquisition module 601 is configured to acquire 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;
A first pylon profile determination module 602 for determining a first pylon profile in the target pylon image;
And the tower positioning module 603 is configured to take the coordinate information of the mobile acquisition device corresponding to the target moment as the coordinate information of the tower object to be positioned if the first tower profile value meets the trigger positioning condition.
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; wherein the historical time is the time of the last time point of the target time.
In one embodiment, the tower object to be positioned determination module includes:
The historical tower image acquisition sub-module is used for acquiring historical tower images corresponding to the historical moment;
A reference tower profile determination submodule for determining a reference tower profile in the historical tower image; each tower profile 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 profile value as the tower object to be positioned.
In one embodiment, the reference pole 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 images 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 profile value in the target tower image when one or more tower objects exist in the target tower image.
In one embodiment, the first pole profile value determination module 602 includes:
The tower contour value acquisition sub-module is used for acquiring tower contour values corresponding to one or more tower objects in the target tower image;
and the first tower profile value determining submodule is used for determining the maximum tower profile value from the tower profile values corresponding to the one or more tower objects respectively and taking the maximum tower profile value as the first tower profile value.
In one embodiment, the apparatus further comprises:
The judging module is used for judging whether the first tower profile value meets the trigger positioning condition or not;
The trigger judging module is used for judging that the first tower profile value meets the trigger positioning condition when the first tower profile value is smaller than the reference tower profile value;
The apparatus further comprises:
and the non-triggering module is used for taking the first tower profile value as the reference tower profile value if the first tower profile value does not meet the triggering positioning condition.
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 the first tower profile value in the target tower image is determined, if the first tower profile 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, the low-cost and high-feasibility middle-low-voltage power tower in positioning is realized, the target tower image is obtained by the mobile acquisition equipment, and the trigger positioning condition of the tower object to be positioned is 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, the cost of acquiring the positioning coordinates of the low-voltage power towers in mass is greatly reduced, and the timeliness is improved.
For a specific limitation of a positioning device based on an electric power tower, reference may be made to the limitation of a positioning method based on an electric power tower hereinabove, and the description thereof will not be repeated here. Each of the modules in the above-described power tower-based positioning device may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above 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 includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database of the computer device is used to store positioning data based on the power towers. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program, when executed by the processor, implements a power tower based positioning method.
It will be appreciated by those skilled in the art that the structure shown in FIG. 7 is merely a block diagram of some of the structures associated with the present inventive arrangements and is not limiting of the computer device to which the present inventive arrangements may be applied, and that a particular computer device may include more or fewer components than shown, or may combine some of the 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 stored therein a computer program, the processor when executing the computer program performing the steps of:
Acquiring a target tower image corresponding to the target moment; the target tower image is obtained by shooting a tower object when the mobile acquisition equipment moves;
Determining a first pylon profile value in the target pylon image;
And if the first tower profile value meets the trigger positioning condition, 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.
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 the target moment; the target tower image is obtained by shooting a tower object when the mobile acquisition equipment moves;
Determining a first pylon profile value in the target pylon image;
And if the first tower profile value meets the trigger positioning condition, 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.
In one embodiment, the computer program when executed by the processor also implements the steps of the power tower-based positioning method of the other embodiments described above.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, or the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory. By way of illustration, and not limitation, RAM can be in various forms such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), etc.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
Claims (9)
1. A positioning method based on an electric power tower, the method comprising:
Acquiring a target tower image corresponding to the target moment; the target tower image is obtained by shooting a tower object when the mobile acquisition equipment moves;
Determining a first pylon profile value in the target pylon image; comprising the following steps: acquiring tower profile values corresponding to one or more tower objects in the target tower image; determining a maximum tower profile value from the tower profile values corresponding to the one or more tower objects, wherein the maximum tower profile value is used as the first tower profile value;
If the first tower profile value meets the trigger positioning condition, taking the coordinate information of the mobile acquisition equipment corresponding to the target moment as the coordinate information of a tower object to be positioned;
wherein, after the step of determining the first tower profile value in the target tower image, the method further comprises:
Judging whether the first pole tower profile value meets a trigger positioning condition or not;
When the first tower profile value is smaller than the reference tower profile value, judging that the first tower profile value meets a trigger positioning condition; the reference tower profile value is determined based on historical tower images corresponding to the historical moments.
2. The method of claim 1, wherein prior to the step of acquiring the target tower image corresponding to the target time, the method further comprises:
Determining a tower object to be positioned according to the historical tower image corresponding to the historical moment; wherein the historical time is the time of the last time point of the target time.
3. The method according to claim 2, wherein determining the tower object to be positioned according to the historical tower image corresponding to the historical moment comprises:
acquiring a historical tower image corresponding to the historical moment;
determining a reference pylon profile value in the historical pylon image; each tower profile value corresponds to a tower object;
and taking the tower object corresponding to the reference tower profile value as the tower object to be positioned.
4. A method according to claim 3, wherein said determining reference pylon profile values in the historical pylon images comprises:
determining a maximum pylon profile value from one or more pylon profile values of the historical pylon images as the reference pylon profile value.
5. The method of claim 1, wherein prior to the step of determining a first tower profile value in the target tower image, the method further comprises:
performing image recognition on the target tower image;
And when one or more tower objects in the target tower image are identified, executing the step of determining a first tower profile value in the target tower image.
6. The method according to any one of claims 1 to 5, further comprising:
And if the first tower profile value does not meet the trigger positioning condition, taking the first tower profile value as the reference tower profile value.
7. A positioning device based on an electric power pole tower, the device comprising:
The target tower image acquisition module is used for acquiring a target tower image corresponding to the target moment; the target tower image is obtained by shooting a tower object when the mobile acquisition equipment moves;
The first tower profile value determining module is used for determining a first tower profile value in the target tower image;
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 a tower object to be positioned if the first tower profile value meets the trigger positioning condition;
Wherein the apparatus further comprises:
The judging module is used for judging whether the first tower profile value meets the trigger positioning condition or not;
the trigger judging module is used for judging that the first tower profile value meets the trigger positioning condition when the first tower profile value is smaller than the reference tower profile value; the reference tower profile value is determined based on a historical tower image corresponding to the historical moment;
the first pole cap profile value determination module includes:
The tower contour value acquisition sub-module is used for acquiring tower contour values corresponding to one or more tower objects in the target tower image;
and the first tower profile value determining submodule is used for determining the maximum tower profile value from the tower profile values corresponding to the one or more tower objects respectively and taking the maximum tower profile value as the first tower profile value.
8. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the power tower based positioning method of any of claims 1 to 6.
9. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the power tower based positioning method of any of claims 1 to 6.
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