CN113763325B - Method for measuring height of tower and height of hanging wire point in non-three-dimensional environment - Google Patents
Method for measuring height of tower and height of hanging wire point in non-three-dimensional environment Download PDFInfo
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Abstract
The invention provides a method for measuring the height of a tower and the height space of a hanging point in a non-three-dimensional environment, which comprises the steps of planning a route area and a route according to the path of a power transmission line, acquiring images of a power transmission line channel corridor by using an unmanned aerial vehicle, and measuring the three-dimensional coordinates of the image control point according to the position of the pre-arranged image control point; extracting characteristic points from the acquired image data of the transmission line channel, matching the image pairs with overlapping degree, determining ground surface elevation information by combining the three-dimensional coordinates of the image control points, and performing secondary processing on the images to obtain a holographic image in the transmission line channel; and (3) drawing the transmission line path on the hologram, determining the space trend of the transmission line path, determining the position of the tower along the trend, calling an image pair in a certain area range, calculating a real-time horizontal epipolar line of the image pair, and calculating the height of the tower and the height space of the hanging point by using computer vision based on the real-time horizontal epipolar line. The invention has accurate calculation result.
Description
Technical Field
The invention belongs to the technical field of measurement of the height of a transmission line engineering pole and the height of a hanging wire point, and particularly relates to a pole height and hanging wire point height space measurement method in a non-three-dimensional environment.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
At present, the work of measuring the height of a power transmission line engineering pole tower and the height of a hanging wire point mainly adopts the following two modes:
firstly, equipment such as total powerstation, range finder is adopted to carry out field measurement: this approach is a widely used method of obtaining the tower height and the hook point height. Firstly, field measurement personnel are required to find a tower in a passageway corridor in the field, then find a proper field to erect a measuring instrument, and aim the instrument at the top of the tower or the position of a hanging line point so as to acquire corresponding height information; in addition, if the route is rerouted in the later period, the measurement is needed to be carried out by turning over the mountain again, and the defects of high time cost, low field work efficiency, limitation on weather conditions, high professional requirements of technicians and the like exist;
secondly, based on aerial image data, the photogrammetric stereo model is restored through air-to-air encryption processing, and meanwhile, the internal observation and collection are carried out by means of stereo observation hardware equipment (a computer, stereo glasses and a hand wheel foot plate). Compared with the first mode, the method can reduce the workload of field measurement, but is based on a three-dimensional measurement mode, has complex data processing flow and requires professional hardware equipment support, an operator needs to wear three-dimensional glasses to carry out three-dimensional observation and judgment, and the same name point (the precision of the same name point selection and the precision of the determined height measurement) is determined, so that the professional quality requirement on the operator is extremely high; the measurement accuracy is excessively dependent on the stereoscopic impression and image resolution of the technician.
With the development of unmanned aerial vehicle technology, the design of carrying out transmission line engineering survey by utilizing high-resolution optical images acquired by unmanned aerial vehicles has become one of conventional technical means, however, with the continuous improvement of image resolution, clear textures and position information of towers in a corridor along the line can be acquired, but geometric information of the towers cannot be acquired for quantitative analysis, for example, high-resolution images cannot be utilized, and the height of the towers and the vertical space distance of a hanging point to the ground can be quickly and conveniently acquired.
Disclosure of Invention
In order to solve the problems, the invention provides a space measurement method for the height of a pole tower and the height of a hanging wire point in a non-three-dimensional environment, and the invention does not need to measure each pole tower and each crossing point in the field by a measuring instrument, thereby greatly solving the problems of low working efficiency of field measurement and difficult field measurement; meanwhile, the requirements of aerial survey on high professional quality, strong stereoscopic impression and high image resolution of operators can be met, and the height of a pole tower and the height of a line hanging point can be accurately measured in a non-stereoscopic environment.
According to some embodiments, the present invention employs the following technical solutions:
a method for measuring the height of a tower and the height of a hanging wire point in a non-three-dimensional environment comprises the following steps:
after a route area and a route are planned according to the path of the power transmission line, acquiring images of a power transmission line channel corridor by using an unmanned aerial vehicle, and measuring three-dimensional coordinates of the image control points according to the positions of the pre-arranged image control points;
extracting characteristic points from the acquired image data of the transmission line channel, matching the image pairs with overlapping degree, determining ground surface elevation information by combining the three-dimensional coordinates of the image control points, and performing secondary processing on the images to obtain a holographic image in the transmission line channel;
and (3) drawing the transmission line path on the hologram, determining the space trend of the transmission line path, determining the position of the tower along the trend, calling an image pair in a certain area range, calculating a real-time horizontal epipolar line of the image pair, and calculating the height of the tower and the height space of the hanging point by using computer vision based on the real-time horizontal epipolar line.
In an alternative embodiment, the specific process of matching the image pairs with overlapping degree includes: and calculating the image pairs with possible overlapping degree according to the initial positioning information of the images and the course overlapping degree and the side overlapping degree set during the flight, and carrying out homonymy point matching on the images with possible overlapping degree.
As an alternative implementation mode, the specific process for determining the elevation information of the ground surface by combining the three-dimensional coordinates of the image control point comprises the following steps: acquiring accurate positioning information, accurate camera parameters and three-dimensional coordinates of homonymous points of the image through calculation by using the initial positioning information, the matched homonymous point information, the initial camera parameters and the three-dimensional coordinates of the image control points of the image; and obtaining the ground surface elevation information in the corridor of the covered transmission line channel by utilizing the matched homonymy point three-dimensional coordinates through elevation point interpolation and grid regularization.
In an alternative embodiment, the specific process of performing secondary processing on the image includes: carrying out digital differential correction on the unmanned aerial vehicle image data by using the acquired unmanned aerial vehicle image data, the acquired ground surface elevation information, the acquired accurate positioning information of the image and the accurate camera parameters to acquire all corrected images; and performing full-automatic splicing and cutting on the obtained corrected images to obtain the hologram in the corridor of the transmission line.
In an alternative embodiment, the specific process of calculating the real-time horizontal epipolar line of the image pair includes: and calling the image pair within a certain distance according to the tower position, calculating a real-time horizontal epipolar line of the image pair according to the accurate positioning information of the image, the accurate camera parameters and the original image, and simultaneously displaying two real-time horizontal epipolar lines of the image pair in a tiling mode.
As an alternative embodiment, the specific process of calculating the height space of the pole tower and the hanging wire point by utilizing computer vision comprises the following steps: according to the principle and the characteristics of the horizontal epipolar lines, after the top point position or the hanging point position of the pole is selected on one of the two real-time horizontal epipolar lines, the homonymous point position on the other horizontal epipolar line is automatically matched with the homonymous point position by using a computer vision algorithm, and the real three-dimensional coordinates of the point are calculated according to the homonymous point, the accurate positioning information of the two images and the accurate camera parameters.
As a further limitation, three-dimensional coordinates of ground points below the tower are sequentially determined, and the obtained three-dimensional coordinates of the tower top point or the hanging line point are combined, so that the difference of the heights of the two points is the height of the tower or the height of the hanging line point.
A pole height and line point height spatial measurement system in a non-stereoscopic environment, comprising:
the image acquisition module is configured to acquire images of a power transmission line channel corridor by using an unmanned aerial vehicle after planning a route area and a route according to a path of the power transmission line, and measure three-dimensional coordinates of the image control points according to the positions of the pre-arranged image control points;
the image processing module is configured to extract characteristic points of the acquired image data of the transmission line channel, match the image pairs with overlapping degree, determine ground surface elevation information by combining the three-dimensional coordinates of the image control points, and perform secondary processing on the images to obtain a holographic image in the transmission line channel corridor;
the parameter calculation module is configured to draw the transmission line path on the hologram, determine the space trend of the transmission line path, determine the position of the tower along the trend, call the image pair in a certain area range, calculate the real-time horizontal epipolar line of the image pair, and calculate the height space of the tower and the hanging point by utilizing computer vision based on the real-time horizontal epipolar line.
A computer readable storage medium storing computer instructions which, when executed by a processor, perform the steps of the above method.
An electronic device comprising a memory and a processor and computer instructions stored on the memory and running on the processor, which when executed by the processor, perform the steps of the above method.
Compared with the prior art, the invention has the beneficial effects that:
the invention does not need to measure by means of measuring instruments in the field, does not need professional personnel to wear stereoscopic glasses to judge and measure in a stereoscopic way, and solves the problems of low measuring efficiency, high time cost, high requirement on professional quality of operators based on stereoscopic measurement and the like in the field of measuring the heights of the transmission line towers and the heights of the hanging points.
In order to make the above objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
FIG. 1 is a schematic flow chart of the present embodiment;
fig. 2 is a schematic view of the application effect of the present embodiment.
The specific embodiment is as follows:
the invention will be further described with reference to the drawings and examples.
It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
As shown in FIG. 1, a method for measuring the height of a tower and the height of a hanging wire point in a non-three-dimensional environment comprises the following steps:
1.1, after a route area and a route are planned according to a route of a power transmission line, acquiring a high-resolution image of a power transmission line channel by using an unmanned aerial vehicle, and measuring three-dimensional coordinates of an image control point according to the approximate position of the pre-arranged image control point;
1.2, processing the corridor image of the transmission line channel, comprising the following steps:
1.2.1, extracting characteristic points of all acquired image data of the transmission line channels;
1.2.2, calculating an image pair with possible overlapping degree according to the initial positioning information of the image and the course overlapping degree and the side overlapping degree set during the flight, and carrying out homonymy point matching on the images with possible overlapping degree;
1.2.3 obtaining accurate positioning information, accurate camera parameters and three-dimensional coordinates of homonymous points of the image by calculating by using the initial positioning information, the matched homonymous point information, the initial camera parameters and the three-dimensional coordinates of the image control points of the image;
1.2.4, obtaining the ground surface elevation information in the corridor of the covered transmission line by utilizing the matched homonymous point three-dimensional coordinates and through elevation point interpolation and grid regularization;
1.2.5 carrying out digital differential correction on the unmanned aerial vehicle image data by using the acquired unmanned aerial vehicle image data, the ground surface elevation information acquired in 1.2.4, the accurate positioning information of the images acquired in 1.2.3 and the accurate camera parameters, and acquiring all corrected images;
1.2.6, carrying out full-automatic splicing and cutting on the corrected image obtained in the step 1.2.5 to obtain a hologram in a power transmission line passage corridor;
1.3 spatial measurement of the height of the tower and the height of the hanging wire point based on computer vision mainly comprises the following steps:
1.3.1, the transmission line path is drawn on the hologram to determine the space trend of the transmission line path;
1.3.2, operators search and confirm the positions of towers along the transmission line path (instead of confirming the positions of towers in the field in the traditional first mode, thereby reducing the workload of the field);
1.3.3 automatically calling the nearby image pairs according to the positions of the towers, calculating real-time horizontal epipolar lines of the image pairs according to the accurate positioning information of the images, the accurate camera parameters and the original images, and simultaneously displaying two real-time horizontal epipolar lines of the image pairs in a tiling mode;
1.3.4 according to the principle and characteristic of the horizontal epipolar line, after selecting the top point position or the line hanging point position of the pole on one of the two real-time horizontal epipolar lines, the homonymous point position on the other horizontal epipolar line does not need an operator to search for a brute force, the operator only needs to roll a mouse wheel, the program automatically matches the homonymous point position by utilizing a computer vision algorithm, the precision of homonymous point selection is ensured (the traditional second mode that the operator needs to wear stereoscopic glasses is replaced, and the human eyes distinguish the possible deviation of the homonymous point position), and according to the homonymous point, the accurate positioning information of the two images and the accurate camera parameters, the true three-dimensional coordinates of the corresponding points can be automatically calculated;
1.3.5, determining the three-dimensional coordinates of the ground point below the tower, and obtaining the three-dimensional coordinates of the tower top point or the hanging line point through 1.3.4, wherein the difference of the heights of the two points is the height of the tower or the height of the hanging line point.
As shown in fig. 2, by the method, automatic matching of the positions of the same-name points of the hanging wire points can be realized, the precision of selecting the positions of the same-name points is ensured, and the accuracy of height measurement is ensured.
The invention also provides the following product examples:
a pole height and line point height spatial measurement system in a non-stereoscopic environment, comprising:
the image acquisition module is configured to acquire images of a power transmission line channel corridor by using an unmanned aerial vehicle after planning a route area and a route according to a path of the power transmission line, and measure three-dimensional coordinates of the image control points according to the positions of the pre-arranged image control points;
the image processing module is configured to extract characteristic points of the acquired image data of the transmission line channel, match the image pairs with overlapping degree, determine ground surface elevation information by combining the three-dimensional coordinates of the image control points, and perform secondary processing on the images to obtain a holographic image in the transmission line channel corridor;
the parameter calculation module is configured to draw the transmission line path on the hologram, determine the space trend of the transmission line path, determine the position of the tower along the trend, call the image pair in a certain area range, calculate the real-time horizontal epipolar line of the image pair, and calculate the height space of the tower and the hanging point by utilizing computer vision based on the real-time horizontal epipolar line.
A computer readable storage medium storing computer instructions which, when executed by a processor, perform steps in a method provided by the present embodiment.
An electronic device comprising a memory and a processor and computer instructions stored on the memory and running on the processor, which when executed by the processor, perform the steps in the method provided by the present embodiment.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which do not require the inventive effort by those skilled in the art, are intended to be included within the scope of the present invention.
Claims (10)
1. A method for measuring the height of a tower and the height of a hanging wire point in a non-three-dimensional environment is characterized by comprising the following steps: the method comprises the following steps:
after a route area and a route are planned according to the path of the power transmission line, acquiring images of a power transmission line channel corridor by using an unmanned aerial vehicle, and measuring three-dimensional coordinates of the image control points according to the positions of the pre-arranged image control points;
extracting characteristic points from the acquired image data of the transmission line channel, matching the image pairs with overlapping degree, determining ground surface elevation information by combining the three-dimensional coordinates of the image control points, and performing secondary processing on the images to obtain a holographic image in the transmission line channel;
and (3) drawing the transmission line path on the hologram, determining the space trend of the transmission line path, determining the position of the tower along the trend, calling an image pair in a certain area range, calculating a real-time horizontal epipolar line of the image pair, and calculating the height of the tower and the height space of the hanging point by using computer vision based on the real-time horizontal epipolar line.
2. The method for measuring the height of a tower and the height of a hanging point in a non-three-dimensional environment according to claim 1, wherein: the specific process for matching the image pairs with overlapping degree comprises the following steps: and calculating the image pairs with possible overlapping degree according to the initial positioning information of the images and the course overlapping degree and the side overlapping degree set during the flight, and carrying out homonymy point matching on the images with possible overlapping degree.
3. The method for measuring the height of a tower and the height of a hanging point in a non-three-dimensional environment according to claim 1, wherein: the specific process for determining the elevation information of the ground surface by combining the three-dimensional coordinates of the image control points comprises the following steps: acquiring accurate positioning information, accurate camera parameters and three-dimensional coordinates of homonymous points of the image through calculation by using the initial positioning information, the matched homonymous point information, the initial camera parameters and the three-dimensional coordinates of the image control points of the image; and obtaining the ground surface elevation information in the corridor of the covered transmission line channel by utilizing the matched homonymy point three-dimensional coordinates through elevation point interpolation and grid regularization.
4. The method for measuring the height of a tower and the height of a hanging point in a non-three-dimensional environment according to claim 1, wherein: the specific process for carrying out secondary processing on the image comprises the following steps: carrying out digital differential correction on the unmanned aerial vehicle image data by using the acquired unmanned aerial vehicle image data, the acquired ground surface elevation information, the acquired accurate positioning information of the image and the accurate camera parameters to acquire all corrected images; and performing full-automatic splicing and cutting on the obtained corrected images to obtain the hologram in the corridor of the transmission line.
5. The method for measuring the height of a tower and the height of a hanging point in a non-three-dimensional environment according to claim 1, wherein: the specific process of computing the real-time horizontal epipolar line for an image pair includes: and calling the image pair within a certain distance according to the tower position, calculating a real-time horizontal epipolar line of the image pair according to the accurate positioning information of the image, the accurate camera parameters and the original image, and simultaneously displaying two real-time horizontal epipolar lines of the image pair in a tiling mode.
6. The method for measuring the height of a tower and the height of a hanging point in a non-three-dimensional environment according to claim 1, wherein: the concrete process for calculating the height space of the pole tower and the hanging wire point by utilizing computer vision comprises the following steps: according to the principle and the characteristics of the horizontal epipolar lines, after the top point position or the hanging point position of the pole is selected on one of the two real-time horizontal epipolar lines, the homonymous point position on the other horizontal epipolar line is automatically matched with the homonymous point position by using a computer vision algorithm, and the real three-dimensional coordinates of the point are calculated according to the homonymous point, the accurate positioning information of the two images and the accurate camera parameters.
7. The method for measuring the height of a tower and the height of a hanging point in a non-three-dimensional environment according to claim 6, wherein: and sequentially determining three-dimensional coordinates of ground points below the tower, and combining the three-dimensional coordinates of the acquired tower top points or the three-dimensional coordinates of the hanging points, wherein the difference value of the heights of the two points is the height of the tower or the height of the hanging points.
8. A system for measuring the height of a tower and the height space of a hanging wire point in a non-three-dimensional environment is characterized in that: comprising the following steps:
the image acquisition module is configured to acquire images of a power transmission line channel corridor by using an unmanned aerial vehicle after planning a route area and a route according to a path of the power transmission line, and measure three-dimensional coordinates of the image control points according to the positions of the pre-arranged image control points;
the image processing module is configured to extract characteristic points of the acquired image data of the transmission line channel, match the image pairs with overlapping degree, determine ground surface elevation information by combining the three-dimensional coordinates of the image control points, and perform secondary processing on the images to obtain a holographic image in the transmission line channel corridor;
the parameter calculation module is configured to draw the transmission line path on the hologram, determine the space trend of the transmission line path, determine the position of the tower along the trend, call the image pair in a certain area range, calculate the real-time horizontal epipolar line of the image pair, and calculate the height space of the tower and the hanging point by utilizing computer vision based on the real-time horizontal epipolar line.
9. A computer-readable storage medium, characterized by: for storing computer instructions which, when executed by a processor, perform the steps in the method of any of claims 1-7.
10. An electronic device comprising a memory and a processor and computer instructions stored on the memory and running on the processor, which when executed by the processor, perform the steps in the method of any one of claims 1-7.
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