CN114384937B - Tower and automatic marking method of key points thereof - Google Patents
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Abstract
The invention belongs to the technical field of power inspection, and discloses a tower and an automatic marking method of key points of the tower, which comprises the following steps of firstly, acquiring tower suspension layer data and tower head layer data according to tower point cloud data; separating the data from the tower suspension layer into an independent cross arm structure according to the geometrical structure characteristics of the suspension layer; separating the tower head layer data from the tower head layer data into a tower head structure according to the tower geometric structure characteristics; matching with a preset tower model according to the cross arm structure and the tower head structure of the tower to obtain the corresponding tower type; and fourthly, positioning and marking key points of the tower point cloud data according to the preset structural information of the tower model. The invention effectively solves the problems that the type of the tower is identified and key points of the type of the tower need to be manually marked.
Description
Technical Field
The invention relates to the technical field of power inspection, in particular to a tower and an automatic marking method of key points of the tower.
Background
Electric energy is one of the energy sources mainly used at present, and a power transmission system formed by constructing power cables, towers and the like is a physical foundation for ensuring normal power utilization and safety. The power grid operation and maintenance department needs to periodically inspect the power transmission system to avoid the occurrence of power grid safety accidents.
Along with the development progress of unmanned aerial vehicle technology, the existing electric power inspection basically adopts unmanned aerial vehicle inspection to replace the traditional manual inspection. The unmanned aerial vehicle-based platform utilizes the laser radar scanning system to dynamically and massively acquire three-dimensional high-precision point cloud data and rich image information on a power transmission line channel in real time.
However, the current unmanned aerial vehicle patrol still has some inevitable problems, and in the specific patrol process, various patrol task requirements exist, such as: the method has the advantages of being capable of scanning laser to analyze the terrain, and being capable of photographing the pole tower body and the accessory facilities (such as key components including hanging points, insulators, ground wires, vibration dampers and the like) on the inspection line. However, the unmanned aerial vehicle equipment in the prior art is low in automatic inspection degree, generally flies ahead to plan a route, and manually selects and determines a photographing point, so that the unmanned aerial vehicle equipment cannot automatically perform fine inspection on the photographing point and fine route path planning on each tower body and attached facilities on the tower bodies.
Meanwhile, the power transmission channel has complex and various scenes, a plurality of tower types may exist, and how to ensure that safe and reliable route planning can be rapidly carried out under the mixed condition of various tower types and complex terrain is the most important, the route planning can only depend on manual marking planning, the efficiency is low, and the safety of the route planning is difficult to ensure. One of the core difficulties in automated route planning is the automatic identification and marking of towers and their key points.
At present, for the marking of the key points of the towers, the types of the towers basically need to be manually selected, and then the preset marking points on the types of the towers can be copied and marked on each tower of the same type, so that the whole operation is complex, manual identification and selection are needed, and the marking efficiency is not high.
Disclosure of Invention
The invention aims to provide a tower and a method for automatically identifying key points of the tower, which can be automatically identified and marked.
The automatic marking method of the pole tower and the key points thereof comprises the following steps,
step one, acquiring tower suspension layer data and tower head layer data according to tower point cloud data;
separating the data from the tower suspension layer into an independent cross arm structure according to the geometrical structure characteristics of the suspension layer; separating the tower head layer data from the tower head layer data into a tower head structure according to the tower geometric structure characteristics;
matching with a preset tower model according to the cross arm structure and the tower head structure of the tower to obtain a corresponding tower type;
and fourthly, positioning and marking key points of the tower point cloud data according to the preset structural information of the tower model.
The method has the advantages that:
according to the invention, the tower point cloud data is separated into an independent cross arm structure and a tower head structure according to geometric structure characteristics, the tower model is matched, and after the matching is successful, key point positioning and marking can be carried out through the structural information preset by the tower model.
Further, before the second step, the geometrical structural characteristics of the tower suspension layer are obtained in a rotating mode: and (4) calculating the main direction of each tower on the horizontal plane through projection, and rotating the main direction of the tower point cloud data into an X coordinate axis.
The invention corrects the position of the tower in a main direction rotating mode, avoids the influence of the position of the tower, and ensures that the towers in different directions and angles can be accurately identified.
Further, before the second step, after the X coordinate axis is determined, pole tower point cloud data are layered according to a certain height distance to form a pole tower layered structure, wherein the pole tower layered structure comprises a plurality of layered units which are layered from top to bottom; all the layered units correspond to the tower head, the tower body and the tower foundation in sequence; acquiring a tower head layer of the tower through the geometrical characteristics of the tower head of the tower and the corresponding layering units; and acquiring a tower suspension layer through the geometric characteristics of the tower body of the tower and the corresponding layering units.
Through the layered arrangement of the point cloud data of the tower, the tower head layer, the tower suspension layer and the tower base layer of the tower can be accurately extracted, and the premise is provided for the later model matching and key point marking.
Further, the length-width ratio characteristics of each layered unit in the tower suspension layer and the tower head layer of the tower and the length-width changes of the adjacent layered units are calculated respectively to identify the tower suspension layer and the tower head layer of the tower.
The geometrical structural characteristics of the tower suspension layer and the tower head layer of the tower comprise the length-width ratio characteristic and the length-width change, and the geometrical structural characteristics can be identified more accurately.
And further, the tower models of all classes comprise model suspension layers and model tower heads, in the third step, the tower types corresponding to the matching degrees are obtained by respectively calculating the matching degrees of the tower suspension layers and the model suspension layers and the matching degrees of the tower heads and the model tower heads, and the matching of the tower models is completed.
By matching the suspension layer and the tower head, accurate matching can be performed under the condition that the calculated data volume is minimum.
Further, after the pole tower model matching is completed, the three-dimensional coordinates of the key points are obtained by analyzing the pole tower structure characteristics and the attached facility structure characteristics of the corresponding area.
And after the model matching is finished, corresponding the three-dimensional coordinates of the tower point cloud data which corresponds to the layering according to the tower model, and carrying out one-to-one correspondence on the three-dimensional coordinates of the accessory facility structure characteristics.
Further, when the key point marking is carried out, the key points of the same type in the same route section are marked by the same color.
And marking the identified key points of the same type in the preset same route segment by the same color, so as to facilitate the subsequent centralized processing.
Furthermore, the accessory facilities comprise hanging points, insulators, vibration dampers and drainage wires.
These subsidiary facilities are objects that need to be marked for inspection and inspection, and the installation positions and the like thereof are places that need to be marked.
Further, the key point is the point of shooing that unmanned aerial vehicle took a picture for need meticulous patrol and examine the affiliated facilities, perhaps, the key point is the point of shooing that unmanned aerial vehicle took a picture for need meticulous patrol and examine the affiliated facilities and shaft tower structure.
The key points may not only be the appurtenance but also include the tower-related structures in connection with the installation of the appurtenance.
Further, the key points are classified according to different types of corresponding attached facilities, or the key points are classified according to different types of tower structures and corresponding attached facilities.
The classification is carried out according to the types of the auxiliary facilities, or the key points are classified according to the tower structure and the auxiliary facilities, so that the classification of the key points can be more refined, and the refined marking is facilitated.
The method carries out type classification of the tower through hierarchical calculation of cross arm characteristics, and can also obtain the accessory facility data of the suspension layer according to the structural characteristics of the suspension layer when determining the type of the tower; the tower type classification method carries out the type classification of the towers by calculating the cross arm characteristics in a layering way, and carries out the same marking on the tower bodies of the same type, thereby being convenient for checking. And the accessory facilities arranged on each tower body acquire the positions of the accessory facilities through the geometrical characteristics of the suspension layer, so that key points are positioned and marked. Different key points can be distinguished more accurately through different marks on the premise of distinguishing the pole tower body. The invention effectively solves the problem that the pole tower body and key points thereof need to be manually marked.
Drawings
Fig. 1 is a flowchart of a first embodiment of the present invention.
Fig. 2 is a schematic diagram of matching between tower point cloud data and a tower model in an embodiment of the present invention.
Fig. 3 is a schematic diagram illustrating the location division of the auxiliary facilities in the tower-mounted layer according to an embodiment of the present invention.
FIG. 4 is a schematic illustration of an indication of an auxiliary facility in a tower crane according to an embodiment of the present invention.
Detailed Description
The following is further detailed by way of specific embodiments:
the embodiment is basically as shown in the attached figure 1: the automatic marking method for the tower and the key points thereof in the embodiment completes the automatic marking of the tower and the key points thereof according to the three-dimensional point cloud data acquired by the existing acquisition device, and specifically comprises the following operation steps:
the method comprises the steps of firstly, preprocessing data, separating the received three-dimensional point cloud data into tower point cloud data corresponding to towers in the prior art, and acquiring tower body structure characteristics of the towers in a rotating and projecting mode for each group of the tower point cloud data to acquire tower suspension layer data and tower head layer data.
The tower point cloud data comprises tower head data, tower body data and tower foundation data; after the tower is layered, tower head layer data can be obtained from the tower head data, tower suspension layer data can be obtained from the tower body data, and tower foundation layer data can be obtained from the tower foundation data.
As shown in fig. 2, the tower is layered according to the tower structure, and correspondingly, the obtained tower point cloud data is also layered, so that the tower head layer, the tower suspension layer and the tower base layer of the tower all include at least one equal-height layered unit. Specifically, in this embodiment, the height of the hierarchical unit is more than one half of the height of the minimum attached facility or more than fifty-one of the overall height of the tower, and the minimum height of the two heights is used as the minimum height of the hierarchical unit. By the arrangement, the calculated amount can be ensured to be the minimum on the premise of calculation accuracy.
As shown in fig. 3, from left to right, for three different tower types, regions with identifiable geometric structural features can be divided. The first tower type is provided with a one-layer cross arm structure, width areas STA1 and STA3 on two sides of a tower head of a tower and a middle width area STA2 of the tower head of the tower can be obtained according to the tower structure, and the change of the length-width ratio and the shape of the tower head of the tower can be accurately obtained through marks of the width areas STA1 and STA 3. The second tower type is provided with a two-layer cross arm structure, and three-dimensional point cloud division and comparison can be facilitated through geometrical structural features by dividing a tower head height area TPAW and suspension layer areas TPAU1 and TPAU2 with auxiliary facilities on two sides. The third type of tower comprises three layers of cross arm structures, wherein two sides of each layer of cross arm structure from top to bottom are divided into suspension layer areas with auxiliary facilities, and the suspension layer areas are TPAU1, TPAU2, TPAU3, TPAU4, TPAU5 and TPAU6 respectively. As shown in fig. 4, after the area division is performed according to the geometric structure characteristics in fig. 3, the position coordinates of the specific attached facility can be accurately identified and marked in comparison with the preset tower model, so as to form the marked key points.
The tower suspension layer data comprise a suspension layer and three-dimensional point cloud data of loads mounted on the suspension layer, namely the tower suspension layer data comprise suspension layer point cloud data and load point cloud data.
The tower body structure is characterized by comprising the width of a tower footing, the height of the tower footing, the width of a tower body, the height of the tower body, the width of a tower head, the height of the tower head, and the connection structure and the shape of each part of the tower.
The geometrical structural characteristics of the tower suspension layer are obtained through a rotating mode: and (4) calculating the main direction of each tower on the horizontal plane through projection, and rotating the main direction of the tower point cloud data into an X coordinate axis. After the X coordinate axis is determined, layering the tower according to a certain height distance to form a tower layered structure, wherein the tower layered structure comprises a plurality of layered units which are layered from top to bottom; all the layering units sequentially correspond to the tower head, the tower body and the tower foundation of the tower; acquiring a tower head layer of the tower through the geometrical characteristics of the tower head of the tower and the corresponding layering units; and acquiring a tower suspension layer through the geometrical characteristics of the tower body of the tower and the corresponding layering units. The length-width ratio characteristics of each layered unit in the tower suspension layer and the tower head layer of the tower and the length-width changes of the adjacent layered units are calculated respectively to identify the tower suspension layer and the tower head layer of the tower.
It should be emphasized that, although the specific means for preprocessing the three-dimensional point cloud data is the prior art, in the field, when data is preprocessed, only the data part of each tower needs to be identified, therefore, only the tower head data, the tower body data and the tower foundation data of the tower need to be identified and acquired, and the tower suspension layer data cannot be considered.
Secondly, separating the tower suspension layer into a plurality of independent actual cross arm structures according to the geometrical structure characteristics of the suspension layer; the suspension layer geometric structural characteristics in the embodiment include the aspect ratio of the suspension layer, the gradual change shape formed by each actual cross arm structure in the suspension layer, and the like.
And thirdly, in the tower models stored in advance, each type of tower model comprises a model suspension layer and a model tower head, and the tower type corresponding to the matching degree is obtained by respectively calculating the matching degree of the tower suspension layer and the model suspension layer and the matching degree of the tower head and the model tower head, so as to complete the matching of the tower models. And after the pole tower model matching is completed, acquiring the three-dimensional coordinates of the key points by analyzing the structural characteristics of the pole tower and the structural characteristics of the attached facilities in the corresponding area. And (3) corresponding the tower point cloud data to a specific tower model, carrying out tower structure three-dimensional coordinate correspondence on each part of the layered tower from the tower point cloud data according to the relative position relation of various model accessory facilities on the tower structure on the tower model, and carrying out three-dimensional coordinate correspondence on the accessory facilities.
Specifically, according to tower head data of each tower extracted from the three-dimensional point cloud data, the tower head structure of each tower can be corresponded; according to the actual cross arm structure and the tower head structure of the tower, matching with a tower model in the intelligent terminal to obtain a corresponding tower type;
the tower suspension layer and the model suspension layer are mainly matched in comparison of an actual cross arm structure and a model cross arm structure when matched and compared.
The actual cross arm structure and the tower head structure are compared with the model cross arm structure and the model tower head respectively, when the actual cross arm structure is matched with the model cross arm structure and the tower head structure is matched with the model tower head, the tower models of the corresponding type of the actual tower are matched, and then the actual tower can be judged to be the tower model conforming to the type, and the corresponding type of the tower is obtained.
Fourthly, positioning and marking key points of the tower point cloud data according to the structural information of tower models of different tower types; and after the pole tower model matching is completed, acquiring the three-dimensional coordinates of the key points by analyzing the structural characteristics of the pole tower and the structural characteristics of the attached facilities in the corresponding area. And after the template matching is completed, the key points of the same type in the same route segment are marked by the same color. The accessory facilities comprise hanging points, insulators, vibration dampers and drainage wires. In this embodiment, the structural information of the tower is preset, that is, according to the structural characteristics of different tower models, the position on the tower model that can be used for marking the position of the key point is set as the preset key point to form the structural information.
Fifthly, the key point marks of all the suspension layers of the tower point cloud data corresponding to the same tower model are the same.
When the key point marking is carried out, the key points of the same type in the same route segment are marked by the same color. The present embodiment adopts the prior art for the division of the flight segments.
The key point in this embodiment is the point of shooing that unmanned aerial vehicle took a picture need meticulously patrolling and examining to the affiliated facilities, perhaps, the key point is the point of shooing that unmanned aerial vehicle took a picture need meticulously patrolling and examining to affiliated facilities and shaft tower structure.
The heights of different accessory facilities on the same layer in the tower suspension layer are similar. In this embodiment, the auxiliary facilities with the altitude difference within 10% are divided into the same layered unit in the tower suspension layer, and one tower suspension layer includes at least one layered unit with the same height, so that the tower body data can be accurately divided into a plurality of tower suspension layers, and the tower point cloud data and the tower model can be accurately matched.
The key points are classified according to different types of corresponding auxiliary facilities, or the key points are classified according to different types of tower structures and corresponding auxiliary facilities; and marking different types of key points through different color points, and marking the coordinate positions of the key points. Attribute parameters of the affiliated facilities to which the key points belong are marked beside the corresponding affiliated facilities, and the attribute parameters comprise photographing time and wear degree. In this embodiment, the accessory facilities include hanging points, insulators, vibration dampers and drainage wires.
Specifically, firstly, collecting all three-dimensional point cloud data related to a standard tower body and accessory facilities, dividing the tower bodies with the same cross arm width and tower height into one type, and marking the same; the three-dimensional point cloud data of the attached facilities on each tower body are identified in installation height position and volume size, the attached facilities with the same installation height position and the same volume size are used as key points of the same type to be marked in the same way, the three-dimensional coordinate position corresponding to each attached facility is used as the position of a key point to be positioned and marked, and the key point is a photographing point of the attached facilities.
In this embodiment, when the photographing points of the auxiliary facilities on the standard tower body are selected and marked, the route paths of the auxiliary facilities on the standard tower body and the standard tower body are subdivided to obtain a plurality of subdivided regions, and then the waypoints are calculated in each subdivided region to generate the subdivided region routes.
When selecting and marking the photographing points of the auxiliary facilities on the standard tower body, subdividing the standard tower body and the route paths of the auxiliary facilities on the standard tower body to obtain a plurality of subdivided regions, and calculating the route points in each subdivided region to generate the route of the subdivided region, specifically comprising the following operation steps: marking a standard tower body in the three-dimensional point cloud data as a first color body, marking a power line on the standard tower body in the three-dimensional point cloud data as a second color body, then marking an accessory facility on the standard tower body in the three-dimensional point cloud data as a third color body, and setting the third color body in the three-dimensional point cloud data as a photographing point; then determining the height positions of all photographing points of the standard tower body; carrying out area subdivision on all photographing points on the standard tower body according to the height positions, wherein the photographing points in the same height range are the same-layer photographing points, and the same subdivided area where the same-layer photographing points are located is a high-degree layered area; in the same-height hierarchical region, arranging the same-layer photographed points to calculate the positions of the waypoints, and connecting the waypoints in the same-height hierarchical region in series to obtain the routes in the same-height hierarchical region; when the positions of the navigation points are calculated, ensuring that each navigation point and a third color body where a photographing point is located are out of a safe distance, ensuring that each navigation point and a first color body where a pole tower body is located and a second color body where a power line is located are out of a safe distance, ensuring that each navigation point is out of a middle area range, determining the navigation points in the same height layering area in series, and finally determining a route in the current height layering area through a spatial shortest path algorithm; wherein, when each waypoint is ensured to be out of the range of the middle area, the following operation steps are executed: judging whether the middle position of the current standard tower body has a photographing point, if so, calculating the middle area range and flying to the middle area range to photograph when the unmanned aerial vehicle photographs the photographing point of the middle position of the standard tower body.
Through this embodiment, can be on the accurate shaft tower model basis of prestore, extract and the layering obtains the obvious layering data of geometric structure characteristic differences such as shaft tower suspension layer and pole tower head layer through shaft tower point cloud data, through contrasting these layers and shaft tower model, come to carry out shaft tower classification matching with shaft tower model with individual shaft tower point cloud data fast accurately, can directly come from carrying out the three-dimensional coordinate location and the mark of key point on the shaft tower point cloud data from the predetermined structural information on the shaft tower model that corresponds the classification after the matching succeeds, through this embodiment, can realize the automatic marking to shaft tower and its key point, the problem that needs artifical mark has effectively been solved.
Example two
The present embodiment differs from the first embodiment in that the degree of wear of the accessory facility corresponding to the key point is marked by a percentage. The wear degree of the accessory facilities corresponding to the key points is intuitively displayed in a percentage mode, so that the key points can be replaced or maintained in time. Specifically, when three-dimensional point cloud data is acquired, an existing acquisition device with a preset image identification method is adopted, an accessory facility image formed by shooting points is shot, the appearance wear degree of the accessory facility is identified and evaluated according to the image identification method, the wear degree expressed by percentage is formed, and the wear degree is marked behind the coordinate position of a key point in a digital form. Therefore, the difficulty of identifying and marking the key points can be reduced by wear marking, and the wear degree can be used as a new attribute parameter to mark the key points.
The foregoing is merely an example of the present invention, and common general knowledge in the field of known specific structures and characteristics is not described herein in any greater extent than that known in the art at the filing date or prior to the priority date of the application, so that those skilled in the art can now appreciate that all of the above-described techniques in this field and have the ability to apply routine experimentation before this date can be combined with one or more of the present teachings to complete and implement the present invention, and that certain typical known structures or known methods do not pose any impediments to the implementation of the present invention by those skilled in the art. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be defined by the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (5)
1. The automatic marking method of the pole tower and the key points thereof is characterized by comprising the following steps,
step one, acquiring tower suspension layer data and tower head layer data according to tower point cloud data;
separating the data from the tower suspension layer into an independent cross arm structure according to the geometrical structure characteristics of the suspension layer; separating the tower head layer data from the tower head layer data into a tower head structure according to the tower geometric structure characteristics;
matching with a preset tower model according to the cross arm structure and the tower head structure of the tower to obtain the corresponding tower type;
fourthly, positioning and marking key points of the tower point cloud data according to structural information preset by the tower model;
before the second step, obtaining the geometrical structural characteristics of the tower suspension layer in a rotating mode: calculating the main direction of each tower on a horizontal plane by projection, and rotating the main direction of the tower point cloud data into an X coordinate axis;
before the second step, after an X coordinate axis is determined, pole tower point cloud data are layered according to a certain height distance to form a pole tower layered structure, wherein the pole tower layered structure comprises a plurality of layered units which are stacked from top to bottom; all the layered units correspond to the tower head, the tower body and the tower foundation in sequence; acquiring a tower head layer of the tower through the geometrical characteristics of the tower head of the tower and the corresponding layering units; acquiring a tower suspension layer through the geometrical characteristics of the tower body of the tower and the corresponding layering units;
in the third step, the matching degrees of the tower suspension layer and the model suspension layer and the tower head and the model tower head are respectively calculated to obtain the type of the tower corresponding to the matching degree, and the matching of the tower model is completed;
after the pole tower model matching is completed, acquiring three-dimensional coordinates of key points by analyzing pole tower structure characteristics and accessory facility structure characteristics of corresponding areas;
the accessory facilities comprise hanging points, insulators, vibration dampers and drainage wires;
the height of the layering unit is more than one half of the height of the minimum attached facility in volume or more than fifty-one of the whole height of the tower, and the minimum height of the two compared is used as the minimum height of the layering unit.
2. The tower and the automatic marking method of the key points of the tower as claimed in claim 1, wherein the aspect ratio characteristics of each layered unit in the tower suspension layer and the tower head layer of the tower and the length and width variation of the adjacent layered units are calculated respectively to identify the tower suspension layer and the tower head layer of the tower.
3. The tower and the automatic marking method of the key points thereof as claimed in claim 1, wherein the key points of the same type in the same route segment are marked with the same color when the key points are marked.
4. The tower and the automatic marking method of the key points of the tower according to claim 1, wherein the key points are photographing points at which the unmanned aerial vehicle needs to be carefully patrolled and examined to photograph the attached facility, or the key points are photographing points at which the unmanned aerial vehicle needs to be carefully patrolled and examined to photograph the attached facility and the tower structure.
5. The tower and the automatic marking method of the key points thereof as claimed in claim 3, wherein the key points are classified differently according to the type of the corresponding attached facility, or the key points are classified differently according to the type of the tower structure and the corresponding attached facility.
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