CN114972672B - Method, device, equipment and storage medium for constructing live-action three-dimensional model of power transmission line - Google Patents
Method, device, equipment and storage medium for constructing live-action three-dimensional model of power transmission line Download PDFInfo
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Abstract
The application discloses a method, a device, equipment and a storage medium for constructing a live-action three-dimensional model of a power transmission line. The construction method comprises the following steps: acquiring laser radar point cloud data and oblique photography data; processing the laser radar point cloud data to obtain transmission line body data and transmission line ground feature data, and simultaneously generating DEM and accurate tower information data; reverse modeling is carried out on the basis of the power transmission line body data to generate a power transmission line body model; generating a transmission line ground feature model based on the transmission line ground feature data, the accurate tower information data and the oblique photography data; generating a digital surface model based on the DEM and oblique photography data; and fusing the power transmission line body model, the power transmission line ground object model and the digital surface model to construct a power transmission line live-action three-dimensional model. Therefore, the laser radar, the three-dimensional solid modeling and the oblique photography technology can be combined, a good three-dimensional live-action model construction effect of the power transmission line is achieved, and a three-dimensional data display effect of a corridor of the power transmission line is enhanced.
Description
Technical Field
The application relates to the technical field of live-action three-dimensional modeling of power transmission lines, in particular to a method, a device, equipment and a storage medium for constructing a live-action three-dimensional model of a power transmission line.
Background
Along with the advancement of digital power grid construction plans, the demands for large-scale, large-scale and high-definition live-action three-dimensional models of power transmission lines are increasing, and various methods for live-action three-dimensional modeling exist at present. However, it is difficult to obtain a three-dimensional model of the live-action of the power transmission line, which gives consideration to reality, integrity and data precision, by performing three-dimensional modeling of the live-action only by a single technology. For example, the data acquisition methods of two technologies of oblique photogrammetry and laser radar are relatively rapid, the degree of automation of three-dimensional model formation is high, and the method is suitable for large-scale rapid modeling. However, although the geometric precision of the three-dimensional point cloud data of the ground object obtained by the laser radar is high, texture information of the ground object cannot be obtained; the geometrical accuracy of oblique photography is slightly low, but the visual effect of the three-dimensional model is better. The oblique photogrammetry and laser radar technology have poor modeling effect on small objects such as towers, ground wires, insulators, hardware fittings and the like, and the laser radar has insufficient cloud density at the parts or has point cloud loss caused by shielding and the like; oblique photography has the problems that a tower is distorted, a power line is lost, modeling cannot be achieved, and the like. The three-dimensional solid modeling has good modeling effect on the fine objects, but has complex working procedures and low efficiency on the three-dimensional environment modeling of power transmission lines such as buildings, vegetation, rivers, highways and the like.
Therefore, how to utilize and integrate multiple technologies to realize rapid and automatic production of the live-action three-dimensional model of the power transmission line, and meanwhile, considering sense of reality, integrity and data precision becomes a problem to be solved.
Disclosure of Invention
The embodiment of the application provides a method, a device, equipment and a storage medium for constructing a live-action three-dimensional model of a power transmission line.
The method for constructing the live-action three-dimensional model of the power transmission line comprises the following steps:
acquiring laser radar point cloud data and oblique photography data;
processing the laser radar point cloud data to obtain transmission line body data and transmission line ground feature data, and simultaneously generating DEM and accurate tower information data;
reverse modeling is carried out on the basis of the power transmission line body data to generate a power transmission line body model;
generating a transmission line ground feature model based on the transmission line ground feature data, the accurate tower information data and the oblique photography data;
generating a digital surface model based on the DEM and the oblique photography data;
and fusing the transmission line body model, the transmission line ground feature model and the digital surface model to construct a transmission line live-action three-dimensional model.
Therefore, the laser radar, the three-dimensional solid modeling and the oblique photography technology can be combined, a good three-dimensional live-action model construction effect of the power transmission line is achieved, and a three-dimensional data display effect of a corridor of the power transmission line is enhanced.
In some embodiments, the processing the lidar point cloud data to obtain transmission line body data and transmission line ground feature data, and generating DEM and precision tower information data simultaneously, includes:
separating the laser radar point cloud data by adopting a TIN progressive encryption filtering algorithm to obtain the transmission line body data and the transmission line ground feature data;
generating the DEM based on the transmission line ground feature data;
and generating the accurate pole information data based on the transmission line body data.
In some embodiments, the generating the transmission line body model based on the transmission line body data by reverse modeling includes:
classifying and extracting the tower point cloud data, the earth wire and drainage wire point cloud data, the insulator point cloud data, the hardware point cloud data and the like from the power transmission line body data by adopting a preset algorithm;
and (3) carrying out reverse modeling based on the classified and extracted data, and respectively constructing corresponding three-dimensional entity models.
In some embodiments, the generating a transmission line feature model based on the transmission line feature data, the precision tower information data, and the oblique photography data comprises:
Processing the oblique photography data to obtain oblique image data and orthographic image data;
performing automatic cropping of the oblique photography tower based on the accurate tower information data and the oblique image data;
and generating the transmission line ground object model by combining the transmission line ground object data based on the cut inclined image data.
In some embodiments, the performing automatic cropping of the oblique photography tower based on the accurate tower information data and the oblique image data comprises:
constructing a directed bounding box of the tiles and the towers according to the tile set files in the preset format in the inclined image data and the accurate tower information data;
executing intersection judgment of the tile directed bounding box and the tower directed bounding box;
and after the intersection judgment is finished, sequentially and automatically cutting tiles to be cut according to the directed bounding box of the tower to obtain an inclined image three-dimensional model of the transmission line channel environment.
In some embodiments, the generating the transmission line feature model based on the cropped oblique image data in combination with the transmission line feature data includes:
and reconstructing and repairing the inclined image three-dimensional model of the transmission line channel environment by using the transmission line ground feature data through a poisson three-dimensional modeling algorithm to obtain the transmission line ground feature model.
The application provides a three-dimensional model construction device of transmission line live-action, include:
the acquisition module is used for acquiring laser radar point cloud data and oblique photographic data;
the processing module is used for processing the laser radar point cloud data to obtain transmission line body data and transmission line ground feature data, and simultaneously generating DEM and accurate tower information data;
the first construction module is used for carrying out reverse modeling based on the transmission line body data to generate a transmission line body model;
the second construction module is used for generating a transmission line ground object model based on the transmission line ground object data, the accurate tower information data and the oblique photography data;
a third building module for generating a digital surface model based on the DEM and the oblique photography data;
and the fusion module is used for fusing the transmission line body model, the transmission line ground object model and the digital surface model to construct a transmission line live-action three-dimensional model.
The application provides equipment for constructing a live-action three-dimensional model of a power transmission line, which comprises a processor and a memory connected with the processor, wherein the memory is used for storing a computer program, and the processor is used for calling the computer program to realize the construction method according to any one of the embodiments.
In some embodiments, the apparatus further comprises a sensing module and a flying platform, the sensing module comprising a lidar module and a oblique photography camera for acquiring the lidar point cloud data and the oblique photography data; the flying platform is used for carrying the memory, the processor and the sensing module to carry out aerial survey flying.
Embodiments of the present application provide a non-transitory computer-readable storage medium of computer-executable instructions that, when executed by one or more processors, cause the processors to perform the construction method of any of the embodiments described above.
Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
fig. 1 is a schematic flow chart of a method for constructing a live-action three-dimensional model of a power transmission line in an embodiment of the present application;
fig. 2 is a schematic block diagram of a device for constructing a live-action three-dimensional model of a power transmission line in an embodiment of the present application;
Fig. 3 is a schematic structural diagram of a power transmission line live-action three-dimensional model building device in an embodiment of the present application;
fig. 4 is a schematic diagram of a hardware acquisition module of a power transmission line live-action three-dimensional model building device in an embodiment of the present application;
fig. 5 is a flow chart of a method for constructing a live-action three-dimensional model of a power transmission line in an embodiment of the present application;
fig. 6 is a flow chart of a method for constructing a live-action three-dimensional model of a power transmission line in an embodiment of the present application;
fig. 7 is a flow chart of a method for constructing a live-action three-dimensional model of a power transmission line in an embodiment of the present application;
fig. 8 is a flow chart of a method for constructing a live-action three-dimensional model of a power transmission line in an embodiment of the present application;
fig. 9 is a flow chart of a method for constructing a live-action three-dimensional model of a power transmission line in an embodiment of the present application;
fig. 10 is a schematic diagram of the basic principle of oblique photography data processing contents in the embodiment of the present application;
fig. 11 is a flow chart of a method for constructing a live-action three-dimensional model of a power transmission line in an embodiment of the present application;
fig. 12 is a flow chart of a method for constructing a real three-dimensional model of a power transmission line in an embodiment of the present application.
Description of main reference numerals:
the three-dimensional model construction device 100 for the live-action of the power transmission line, the flying platform 11, the sensing module 12, the processor 13, the memory 14, the three-dimensional model construction device 200 for the live-action of the power transmission line, the acquisition module 21, the processing module 22, the first construction module 23, the second construction module 24, the third construction module 25 and the fusion module 26.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application.
In the description of the present application, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," etc. indicate or are based on the orientation or positional relationship shown in the drawings, merely for convenience of description and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more of the described features. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the description of the present application, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically connected, electrically connected or can be communicated with each other; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.
In this application, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, and may also include the first and second features not being in direct contact but being in contact with each other by way of additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.
The following disclosure provides many different embodiments or examples for implementing different structures of the present application. In order to simplify the disclosure of the present application, the components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present application. Furthermore, the present application may repeat reference numerals and/or letters in the various examples, which are for the purpose of brevity and clarity, and which do not in themselves indicate the relationship between the various embodiments and/or arrangements discussed. In addition, the present application provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize the application of other processes and/or the use of other materials.
Referring to fig. 1, an embodiment of the present application provides a method for constructing a live-action three-dimensional model of a power transmission line, where the method includes:
step S10: acquiring laser radar point cloud data and oblique photography data;
step S20: processing the laser radar point cloud data to obtain transmission line body data and transmission line ground feature data, and simultaneously generating DEM and accurate tower information data;
step S30: reverse modeling is carried out on the basis of the power transmission line body data to generate a power transmission line body model;
Step S40: generating a transmission line ground feature model based on the transmission line ground feature data, the accurate tower information data and the oblique photography data;
step S50: generating a digital surface model based on the DEM and oblique photography data;
step S60: and fusing the power transmission line body model, the power transmission line ground object model and the digital surface model to construct a power transmission line live-action three-dimensional model.
Referring to fig. 2, an embodiment of the present application provides a device 200 for constructing a live-action three-dimensional model of a power transmission line, where the construction device 200 includes an acquisition module 21, a processing module 22, a first construction module 23, a second construction module 24, a third construction module 25, and a fusion module 26.
Wherein, the acquisition module 21 is used for acquiring laser radar point cloud data and oblique photography data; the processing module 22 is configured to process the laser radar point cloud data to obtain transmission line body data and transmission line ground feature data, and generate DEM and accurate tower information data at the same time; the first construction module 23 is configured to perform reverse modeling based on transmission line ontology data to generate a transmission line ontology model; the second construction module 24 is configured to generate a transmission line ground object model based on the transmission line ground object data, the accurate tower information data, and the oblique photography data; a third construction module 25 for generating a digital surface model based on the DEM and oblique photography data; the fusion module 26 is configured to fuse the transmission line body model, the transmission line ground object model, and the digital surface model to construct a transmission line live-action three-dimensional model.
Referring to fig. 3, an embodiment of the present application provides a device 100 for constructing a three-dimensional model of a live-action of a power transmission line, where the device 100 includes a processor 13 and a memory 14 connected to the processor 13, the memory 14 is used for storing a computer program, and the processor 13 is used for calling the computer program to implement a construction method in the present application.
In some embodiments, the apparatus 100 further comprises a sensing module 12 and a flight platform 11, wherein the sensing module 12 comprises a laser radar module and a tilt camera for acquiring laser radar point cloud data and tilt camera data, and the flight platform 11 is configured to carry the memory 14, the processor 13 and the sensing module 12 for aerial survey flight.
According to the power transmission line three-dimensional model construction method, the device 200 and the equipment 100, the laser radar, the three-dimensional solid modeling and the oblique photography technology can be combined, so that sense of reality, integrity and data precision are considered, the problem that a perfect three-dimensional real model cannot be obtained only by a single technology is solved, a good power transmission line three-dimensional real model construction effect is achieved, and a power transmission line corridor three-dimensional data display effect is enhanced.
Along with the advancement of digital power grid construction plans, the requirements for large-scale, large-scale and high-definition live-action three-dimensional models of power transmission lines are increasing, and various methods for live-action three-dimensional modeling exist at present. For example, data acquisition is performed using oblique photogrammetry or lidar techniques and then a three-dimensional model is constructed.
The data acquisition of the two methods is rapid, the automation degree of the three-dimensional model construction is high, and the method is suitable for large-scale rapid modeling. However, the geometric precision of the three-dimensional point cloud of the ground object obtained by the laser radar technology is high, but the texture information of the ground object cannot be obtained; the three-dimensional model in the oblique photography technology has better visual effect, but the geometric accuracy is slightly lower.
Moreover, the modeling effect of the tilt photogrammetry and the laser radar technology on small objects such as towers, ground wires, insulators, hardware fittings and the like is poor, and the laser radar has insufficient point cloud density at the positions or has point cloud loss caused by shielding and the like; the oblique photography has the problems that the tower is distorted, the power line is lost, modeling cannot be performed, and the like. In addition, in the three-dimensional solid modeling technology, the modeling effect on the fine objects such as the insulators and hardware fittings mentioned above is good, but the modeling process for the three-dimensional environment of the transmission line such as buildings, vegetation, rivers and highways is complex, and the modeling efficiency is low.
It can be easily obtained that a perfect three-dimensional live-action model is difficult to obtain by only relying on point cloud data obtained by a laser radar technology, oblique images obtained by oblique photogrammetry or three-dimensional solid modeling. In view of this, the application provides a three-dimensional live-action model construction method of a power transmission line, which combines laser radar, three-dimensional modeling and oblique photography technologies, fuses laser scanning point cloud, a three-dimensional solid model and oblique photography images, efficiently constructs the three-dimensional model of the power transmission line, achieves rapid and automatic production of the three-dimensional model, and can give consideration to reality, integrity and data precision due to fusion of various technologies.
Specifically, in one embodiment, the power transmission line live-action three-dimensional model construction device 100 in the present application is applied with a construction method, and the sensing module 12 is installed on the device 100, and includes a laser radar module and an oblique photography camera. In addition, the device 100 may also include an inertial measurement module, a time synchronization module, an integrated control module, and the like. It will be appreciated that the choice of hardware sensors on the device 100 may be based on a combination of component specifications, electrical characteristics, etc., and product accuracy and price to achieve relative optimization.
The device 100 may receive navigation data sent by a ground platform or the like to collect raw laser radar point cloud data and raw oblique photography data for aerial survey flights in a defined area. The flight platform 11 of the device 100 may be equipped with a plurality of sensors, so that images of the target object may be acquired from a plurality of different angles, such as one vertical angle, a plurality of inclined angles, etc., and the user is introduced into the real visual world conforming to the human vision. By combining the oblique photography technology, the real and complete topographic and geomorphic data can be obtained, and the data comprehensiveness and the data display effect are improved.
Specifically, in one embodiment, the device 100 uses an IMX6 industrial-level chip as a main processor, and the periphery provides 4G, SATA, USB, RS232 interfaces, so as to support an internal (LORA) and external data radio station, electric quantity detection, a camera, a video camera and the like, and can implement a WIFI AP mode.
As shown in fig. 4, in one embodiment, the hardware acquisition modules of the apparatus 100 include a power module, a laser scanner/camera, a time synchronization module, an attitude and position subsystem, and a control and storage subsystem. After ground data sent by the ground GPS base station are processed in the peripheral data processing subsystem, test data are received and stored by the control and storage subsystem. Data transmission can be carried out between the control and storage subsystem and the attitude position measurement subsystem, and messages can be synchronized between the time synchronization module, the laser scanner/camera and the like and the attitude position measurement subsystem.
Alternatively, it will be appreciated that the system hardware sensors of the apparatus 100 mainly include a laser head, an inertial measurement module, an oblique photography camera, an integrated control module, and the like. The selection mainly considers the technical index, the electrical characteristics and the like of each component, and comprehensively considers the product precision and the price to achieve relative optimization. The integrated control module can synchronize the navigation data to the inertial measurement module and the time synchronization module so that the device 100 flies in a preset flight area according to the navigation data, and further, the integrated control module is used for controlling the laser radar module, the inertial measurement module and the oblique photography camera, keeping the synchronicity of the laser radar module, the inertial measurement module and the oblique photography camera, completing the data storage of the laser radar module, the inertial measurement module and the oblique photography, and realizing the compatibility of different image devices, external mounting and electrical interfaces.
Referring to fig. 5 and 6, an airborne laser radar system (Lidar) is a laser radar system installed on an aircraft, and is a system integrating three technologies of laser ranging, a Global Positioning System (GPS), and an Inertial Navigation System (INS), for obtaining data and generating accurate three-dimensional terrain (DEM). The method has the advantages that the Lidar can be used for rapidly acquiring elevation data in a large range and high precision, especially in mountain areas, the Lidar can penetrate vegetation, and the ground elevation can be directly acquired.
In step S10, the device 100 is equipped with an airborne laser radar system, a laser radar module in the system can obtain original laser radar point cloud data of a preset flight area, an inertial measurement module can obtain inertial measurement data, the system further includes a GPS module to obtain airborne real-time GPS data, the device 100 also receives base station GPS data sent by a ground GPS base station, and the processor 13 can obtain GPS data according to the airborne real-time GPS data and the base station GPS data through GPS differential solution, then performs joint solution according to the GPS data and the inertial measurement data, and combines the original laser radar point cloud data to obtain laser radar point cloud data.
The oblique photography camera can obtain a high-resolution digital image of a preset flight area, and the oblique photography data is obtained after the GPS data subjected to GPS difference decomposition is subjected to image correction. The oblique photography data may include oblique models and digital images, or oblique images and orthographic images.
In step S20, different point cloud layering can be performed on the laser radar point cloud data by using a preset model according to actual requirements, so as to obtain transmission line body data and transmission line ground feature data, and simultaneously generate DEM (digital elevation model) and accurate pole tower information data. The transmission line body can comprise a pole tower, a ground wire, an insulator, a drainage wire, a hardware fitting and the like, and the transmission line ground feature can comprise vegetation, a building, a road, a river and the like. The DEM is a materialized ground model for expressing ground elevation in the form of a group of ordered value arrays by realizing the digital simulation of ground topography, namely the digital expression of topography surface morphology through limited topography elevation data.
The layering processing of the laser radar point cloud data is used for separating the transmission line body data and the transmission line ground feature data. This is because although the laser radar line inspection is widely used in the power grid, the point cloud accuracy is high, but the density of the laser point cloud obtained by a tower, an insulator, various hardware fittings and the like is not ideal.
After the transmission line body data are separated, fine reverse modeling is accurately performed on the transmission line body data according to the step S30, so that point cloud defects caused by insufficient point cloud density or shielding and the like can be overcome. The three-dimensional entity model generated based on the reverse automatic modeling technology of the laser point cloud has the advantages of high matching degree with the point cloud, high automation degree, no help of third-party software (3D) and the like. In step S30, the hierarchically obtained transmission line body data can be further processed in some embodiments using wire models, tower models, poisson three-dimensional modeling, and the like.
In step S40, the transmission line ground feature data includes vegetation, buildings, etc., the accurate tower information data may be obtained from the transmission line body data, and the oblique photography data may be processed to obtain an oblique model and a digital image. In the laser point cloud three-dimensional model, even if there is accurate coordinate data, the laser point cloud three-dimensional model is a hash contour which is integrated by points, a solid model cannot be obtained, and in the oblique model obtained by oblique photographing data, although the solid model can be seen, there is no accurate absolute coordinate, and the model is liable to have a certain deformation such as a tower distortion. Then the transmission line feature model may be generated in combination with the transmission line feature data, the accurate tower information data, and the oblique model in the oblique photography data, wherein the accurate tower information data is used to crop out the tower portion in the oblique photography data so that the obtained model remains consistent with the scene.
In step S50, the DEM is a virtual representation of the morphology of the landform, and the DEM may be acquired based on the laser radar point cloud data, where elevation information of the landform is included in the DEM, and other surface information is not included. As described above, the GPS data after the GPS differential calculation is subjected to image correction to obtain oblique photographing data, and the oblique photographing data can be processed to obtain an oblique image and an orthographic image, so that the digital surface model can be manufactured by using the DEM and the orthographic image, that is, the DOM digital orthographic image. Wherein the digital surface model, i.e. the DSM, further covers the elevation of other surface information than the ground in comparison to the DEM.
The digital orthophoto image is a plane image with kilometer grid, figure (inner and outer) finishing and annotation, which is formed by using DEM to carry out radiation correction, differential correction and mosaic on digital aerial image or remote sensing image after scanning treatment, and cutting the generated digital orthophoto image data set according to the range of the topographic map of the national basic scale.
The DOM has the map geometric precision and image characteristics, and has the advantages of high precision, rich information, intuitiveness, reality and short manufacturing period. The method can be used as background control information to evaluate the accuracy, reality and integrity of other data, and can also extract natural resources and socioeconomic development information from the information, thereby providing reliable basis for disaster prevention and control, public facility construction planning and other applications.
Thus, it can be understood that the power transmission line body model comprises a power transmission line tower body, an insulator, hardware fittings, a ground wire, a tower foundation, tower auxiliary facilities and the like; the power transmission line ground feature model comprises vegetation, buildings, structures, water bodies and other crossed power lines and communication lines in a power transmission line corridor; the digital surface model is data formed by fusion of digital elevation data of the surface of the transmission line corridor with absolute coordinates, which is established through laser radar scanning, and the shape of various objects on the surface, which is established through oblique photography acquisition.
In addition, the model established through laser radar scanning acquisition is a punctiform cloud integrated model outline with absolute coordinates, and the model established through oblique photography acquisition is object appearance real color and shape data with relative coordinates.
In step S60, the transmission line body model, the transmission line ground object model and the digital surface model are deeply fused, which is characterized in that a laser point cloud model with absolute coordinates is utilized to calibrate an oblique photography model with real form, and the real color of an object of the oblique photography model is attached to the laser point cloud model, so that a transmission line real-scene three-dimensional model consistent with the field reality is obtained, the equal-proportion and real restoration of the real object and the model are realized, and finally the construction of the transmission line real-scene three-dimensional model can be completed.
The transmission line body model can be represented by using a detachable three-dimensional entity model. As described above, the electric transmission line body model is formed by reversely modeling the electric transmission line body data in the laser radar point cloud data, it can be understood that the point cloud data is only formed with a contour, the three-dimensional solid model generated by reversely and automatically modeling the point cloud data has a certain precision, but does not have skin consistent with the scene, and then the electric transmission line body model can be corrected by combining the digital surface model and the oblique photographing data, that is, the electric transmission line body model is mapped, so that the electric transmission line body model is consistent with the actual color, shape and the like of the scene while ensuring the accuracy of absolute coordinates, and the information of the overhead line can be displayed and managed in an asset digital and component-based manner.
The transmission line ground feature model is combined with transmission line ground feature data, accurate tower information data and oblique photography data, and is represented by oblique model data corrected and simplified by the point cloud model, and the model representation is more accurate and simplified. It can be appreciated that in the building of the ground object model, the modeling of the photo obtained by the oblique photography technology is low in cost and high in efficiency, and has the advantage of being fit with a real object, and the defects are that the tower is distorted and deformed possibly and has no accurate absolute coordinates. Therefore, in the method, the laser point cloud model with absolute coordinates is subjected to coordinate positioning to form a frame of the ground object model of the transmission line, then the ground object model established in oblique photographing data can be combined to be subjected to mapping to form skin which is consistent with reality, and aiming at the problem of tower distortion, calibration is performed in the oblique photographing data through accurate tower information data.
Finally, the three models are overlapped, so that the accuracy and the componentization of the power transmission line body, the accuracy and the simplification of the ground feature of the power transmission line and the high-efficiency of the environment of the power transmission channel are ensured, the data attention of three different types is met, the simplification and the high-efficiency are ensured, and the high-efficiency three-dimensional rendering effect is supported.
The three models of the power transmission line body, the ground object and the digital surface model are integrated with an absolute coordinate acquired by laser point cloud, a three-dimensional solid model reversely generated according to laser point cloud data and an oblique model established by oblique photographic data. In one embodiment, the general process of constructing the three-dimensional live-action model of the power transmission line by respectively obtaining the power transmission line body model, the ground object model and the digital ground model through fusing various technologies can be as follows: and positioning the environments of the power transmission line body, the ground object and the power transmission channel by using absolute coordinates, constructing a three-dimensional live-action frame of the power transmission line, then mapping by using the inclined model, keeping the environments of the power transmission line body, the ground object and the power transmission channel consistent with the live-action, and finally compensating and finely adjusting the deformed part in the inclined model by using the three-dimensional solid model.
According to the method, the laser scanning, the three-dimensional modeling and the oblique photography technology are fused, the high-precision power transmission line body data are obtained through the laser scanning, the three-dimensional entity model is generated through vectorization, so that the details of the components such as the pole tower and the insulator can be accurately and completely displayed, and the three-dimensional oblique model comprising power transmission line channels such as the ground, the building and the vegetation is generated through the cloud of the oblique photography combining points.
The data acquisition in this application is high-efficient nimble, and laser radar module and oblique photographic camera can carry on multiple flight platform, and flying height is nimble, can operate when cloudy weather and acquire data, carries out full industry operation after high efficiency acquires data, and the data result can be accurately measured, and data production efficiency is high, the time limit for a project is short. In addition, various data achievements, such as a three-dimensional model of a power transmission line body, a ground object model of the power transmission line (a three-dimensional inclined model of an environmental channel of the power transmission line), a high-precision DEM/DOM/DSM and the like, are obtained through processing of the obtained laser radar point cloud data and the obtained inclined photographic data.
And moreover, various data achievements are combined, such as fine reverse modeling is accurately carried out on transmission line bodies such as transmission line towers and tower foundations based on separated transmission line body data, so that the defect of insufficient point cloud density or point cloud deficiency caused by shielding and other reasons can be overcome, and the detail representation of the towers and insulators is more true and complete. And the three-dimensional modeling is carried out on the ground object of the power transmission line based on the separated ground object data of the power transmission line, the accurate tower information data and the oblique photography data, so that the characteristic of large-scale imaging of aerial photography can be utilized, and the modeling cost of the three-dimensional model is effectively reduced. And finally, realizing a fast and efficient automatic production model, and simultaneously giving consideration to sense of reality, integrity and data precision.
Referring to fig. 7, in some embodiments, processing the lidar point cloud data to obtain transmission line body data and transmission line ground feature data and generating DEM and precision tower information data simultaneously (step S20) includes:
step S21: separating the laser radar point cloud data by adopting a TIN progressive encryption filtering algorithm to obtain transmission line body data and transmission line ground feature data;
step S22: generating a DEM based on the transmission line ground feature data;
step S23: and generating accurate pole information data based on the transmission line body data.
In some embodiments, the processing module 22 is configured to separate the laser radar point cloud data by using a TIN progressive encryption filtering algorithm to obtain transmission line body data and transmission line ground feature data; the DEM is used for generating DEM based on the ground feature data of the power transmission line; and generating accurate tower information data based on the transmission line body data.
In some embodiments, the processor 13 is configured to separate the laser radar point cloud data by using a TIN progressive encryption filtering algorithm to obtain transmission line body data and transmission line ground feature data; the DEM is used for generating DEM based on the ground feature data of the power transmission line; and generating accurate tower information data based on the transmission line body data.
In this way, the laser radar point cloud data are separated into the transmission line body data and the transmission line ground feature data, so that the separated transmission line body data can be conveniently subjected to reverse modeling to obtain a fine transmission line body model, and the transmission line body can be more truly and completely represented; and the three-dimensional modeling of the ground object data of the power transmission line is conveniently carried out by combining oblique photographic data, the modeling cost of the three-dimensional model is effectively reduced, and the reality, the integrity and the data precision can be considered while the model is produced in a rapid and efficient automatic manner.
Specifically, in one embodiment, the TIN progressive encryption filtering algorithm is utilized to separate the laser radar point cloud data to obtain the transmission line body data and the transmission line ground feature data, and then the transmission line ground feature data can be utilized to generate the high-precision DEM, wherein the DEM comprises terrain elevations, other ground surface elevations are not included, namely, the DEM is generated by utilizing ground feature data except for vegetation, river and other ground surface data in the transmission line ground feature data. And meanwhile, obtaining accurate tower information data by utilizing the tower point cloud data in the body data of the power transmission line.
Referring to fig. 8, in some embodiments, generating a transmission line body model based on reverse modeling of transmission line body data (step S30) includes:
Step S31: classifying and extracting the tower point cloud data, the earth wire and drainage wire point cloud data, the insulator point cloud data, the hardware point cloud data and the like from the power transmission line body data by adopting a preset algorithm;
step S32: and (3) carrying out reverse modeling based on the classified and extracted data, and respectively constructing corresponding three-dimensional entity models.
In some embodiments, the first construction module 23 is configured to obtain, by using a preset algorithm, tower point cloud data, ground wire and drain wire point cloud data, insulator point cloud data, hardware point cloud data, and the like by performing classification extraction on the power transmission line body data; and the three-dimensional entity model is used for carrying out reverse modeling based on the classified and extracted data, and respectively constructing corresponding three-dimensional entity models.
In some embodiments, the processor 13 is configured to obtain tower point cloud data, ground wire and drain wire point cloud data, insulator point cloud data, hardware point cloud data, and the like by using a preset algorithm in the power transmission line body data in a classified manner; and the three-dimensional entity model is used for carrying out reverse modeling based on the classified and extracted data, and respectively constructing corresponding three-dimensional entity models.
Therefore, correct, complete and reasonable power transmission line body can be obtained through the ground wire, the drainage wire, the pole tower, the insulator, the hardware fitting point cloud data and the like, and the three-dimensional entity model can be accurately and completely displayed through vectorizing the power transmission line body data.
Specifically, referring to fig. 5 and 6, in step S31 and step S32, the conductive wire and the drainage wire point cloud data are collectively referred to as conductive wire point cloud data and ground wire point cloud data. The processor 13 can extract the tower point cloud data by using the tower coordinate point information and the geometric characteristics and adopting a Kd-tree clustering method for the separated transmission line body data; the three-dimensional model of the tower foundation and the spacer can be constructed by setting the size and the material parameters of the tower foundation and the size of the spacer according to a preset scheme, and the three-dimensional entity model of the tower is generated by structural decomposition, block reconstruction and model combination based on the classified tower point cloud.
And extracting a power line based on a center line fitting method by combining Hough transformation and least square, separating to obtain ground wire point cloud data and wire point cloud data, and constructing to obtain a vector model of the ground wire and the wire. When the three-dimensional solid model is constructed, the split conductors are segmented along the trend of the split conductors for the ground wires and the drainage wires, so that segmented management of the point cloud of the conductors is realized; then carrying out segment-by-segment cluster analysis on the point cloud, and separating the point cloud from different split wires; then, merging point clouds belonging to the same power line segment by segment according to a design criterion; and finally, fitting a second-order curve on each split conductor, thereby completing fine modeling of the split conductors.
For the actual insulator point cloud, such as the number of transmission wires near the insulator and the type of a power tower, a possible model of the insulator is firstly determined, then the best model of the insulator is determined by using a least square algorithm, and finally the wire hanging points and the insulator hanging points are referred to, so that the insulator is subjected to point cloud modeling.
Thus, the reverse automatic modeling based on the classified power transmission line body data is completed, and vector models of the pole tower, the insulator, the drainage wire, the ground wire, the lead wire, the hardware fitting and the like are respectively constructed.
Referring to fig. 9, 10 and 11, in some embodiments, generating a transmission line clutter model based on transmission line clutter data, precision tower information data and oblique photography data (step S40) includes:
step S41: processing the oblique photography data to obtain oblique image data and orthographic image data;
step S42: performing automatic cropping of the oblique photography tower based on the accurate tower information data and the oblique image data;
step S43: and generating a transmission line ground feature model based on the cut oblique image data and the combined transmission line ground feature data.
In some embodiments, the second construction module 24 is configured to process oblique photography data to obtain oblique image data and orthographic image data; the automatic cropping device is used for executing automatic cropping of the oblique photographing tower based on the accurate tower information data and the oblique image data; and the method is used for generating a transmission line ground feature model based on the cut oblique image data and the combined transmission line ground feature data.
In some embodiments, the processor 13 is configured to process oblique photography data to obtain oblique image data and orthographic image data; the automatic cropping device is used for executing automatic cropping of the oblique photographing tower based on the accurate tower information data and the oblique image data; and the method is used for generating a transmission line ground feature model based on the cut oblique image data and the combined transmission line ground feature data.
Thus, a three-dimensional inclined model comprising the power transmission line channel environments such as ground, buildings, vegetation and the like can be generated, and the three-dimensional inclined model is accurate in data and complete in model; meanwhile, as the automatic cutting of the oblique photographing tower is carried out, the problems of tower distortion, deformation and the like can be avoided, and the live-action three-dimensional model is more real.
Specifically, in step S41-step S43, please refer to fig. 5 and 6, in brief, the oblique photography camera can obtain a high resolution digital image of the preset flight area, and the GPS data obtained by the GPS difference is corrected to obtain oblique photography data. The oblique photography data may include oblique models and digital images, or oblique images and orthographic images.
Specifically, referring to fig. 10, fig. 10 illustrates the content and basic principles of oblique photography data processing, where the oblique photography data processing generally includes image preprocessing, regional network joint adjustment, multi-view image matching, DSM generation, true-to-emission correction, three-dimensional modeling, and other key contents.
In addition, since oblique photography has a problem in that a tower is distorted or the like, automatic cropping of the oblique photography tower may be performed based on the accurate tower information data and the oblique image data obtained as described above. After the cutting is completed, the obtained inclined image data comprise models such as buildings, vegetation and the like except the tower wires.
However, the obtained model may have vulnerability problems, particularly in water surfaces and sparse vegetation places, so that the transmission line feature data can be jointly utilized to generate a transmission line feature model, thereby obtaining a transmission line feature model with fine textures and integrity.
In particular, by means of rapid generation and automatic processing of images, namely, construction of a real space three-dimensional scene by applying vertical and side view images of ground features and a small number of ground control points, namely, related workflow of production of an oblique photography three-dimensional model can comprise the steps of designing an aerial photography scheme through an oblique photography platform, shooting at multiple angles to obtain multiple angle oblique images, then implementing automatic space three-encryption, dense image matching and texture mapping through a 3D Modeling Factory system, and finally realizing automatic production of the real three-dimensional model.
Referring to fig. 11, in some embodiments, performing automatic cropping of a tilt camera tower based on accurate tower information data and tilt image data (step S42), includes:
Step S420: constructing a directed bounding box of the tile and the tower according to the tile set file and the accurate tower information data in the preset format in the inclined image data;
step S421: executing intersection judgment of the tile directed bounding box and the tower directed bounding box;
step S422: and after the intersection judgment is finished, automatically cutting tiles to be cut according to the tower directed bounding box in sequence to obtain an inclined image three-dimensional model of the transmission line channel environment.
In some embodiments, the second construction module 24 is configured to construct a directed bounding box of tiles and towers based on the tile set file and the accurate tower information data in the preset format in the oblique image data; the method comprises the steps of executing intersection judgment of a tile directed bounding box and a tower directed bounding box; and after the intersecting judgment is finished, automatically cutting tiles to be cut according to the tower directed bounding box in sequence to obtain an inclined image three-dimensional model of the transmission line channel environment.
In some embodiments, the processor 13 is configured to construct a directed bounding box of tiles and towers according to the tile set file and the accurate tower information data in the preset format in the oblique image data; the method comprises the steps of executing intersection judgment of a tile directed bounding box and a tower directed bounding box; and after the intersecting judgment is finished, automatically cutting tiles to be cut according to the tower directed bounding box in sequence to obtain an inclined image three-dimensional model of the transmission line channel environment.
Thus, the problem of distortion and deformation of the tower model obtained in the oblique photography technology can be solved.
Specifically, in step S420-step S422, the tile set file with the predetermined format may be tile set. the tile set is stored as a json file, and each tile node mainly stores a bounding volume (bounding box), a geometry error (model error), a content (model corresponding to tile) and child information of the tile.
Using tileset. Json and accurate tower information data, a directed bounding box (OBB, oriented Bounding Box) of tiles and towers can be constructed. When the intersection judgment is executed, 6 faces of the tile are sequentially intersected with the directed bounding box of the tower, if the 6 faces are separated from the OBB, the containing relation between the 6 faces and the OBB is contained, and otherwise, the faces are intersected. When the intersection judgment is carried out, the tree structure of the tileset.json organization is utilized, if the father node is intersected with the bounding box of the tower, the child node is traversed, and if not, the traversal is terminated, and the process is an iterative process.
After the intersecting judging process is finished, 6 faces of the bounding box are constructed by utilizing the maximum and minimum points of the pole tower bounding box, tiles to be cut are sequentially cut, tile data outside the faces are reserved, after the tile set to be modified is traversed, the tile cutting process is finished, and an inclined image three-dimensional model of the power transmission line channel environment is obtained, wherein the model comprises models of buildings, vegetation and the like except pole tower wires.
Referring to fig. 12, in some embodiments, generating a transmission line feature model based on the cropped oblique image data in combination with transmission line feature data (step S43) includes:
step S430: and reconstructing and repairing the inclined image three-dimensional model of the transmission line channel environment by using transmission line ground feature data through a poisson three-dimensional modeling algorithm to obtain a transmission line ground feature model.
In some embodiments, the second construction module 24 is configured to reconstruct and repair the three-dimensional model of the oblique image of the transmission line channel environment by using the transmission line feature data through a poisson three-dimensional modeling algorithm to obtain the transmission line feature model.
In some embodiments, the processor 13 is configured to reconstruct and repair the three-dimensional model of the oblique image of the transmission line channel environment by using the transmission line feature data through a poisson three-dimensional modeling algorithm to obtain a transmission line feature model.
Specifically, it can be understood that the three-dimensional model of the oblique image of the transmission line channel environment obtained in step S430-step S431 may have a vulnerability problem, especially in the water surface and the sparse vegetation places, and then the three-dimensional model of the oblique image of the transmission line channel environment may be reconstructed and repaired by using the transmission ground feature data through the poisson three-dimensional modeling algorithm, so as to obtain the ground feature model of the transmission line with fine texture and integrity.
In summary, in the construction method of the application, the laser scanning, the three-dimensional modeling and the oblique photography technology are fused, the high-precision transmission line body data is obtained by utilizing the laser scanning, the three-dimensional entity model is generated through vectorization, the details of the components such as the pole tower, the insulator and the like are accurately and completely displayed, and the oblique image three-dimensional model of the transmission line channel including the ground, the building, the vegetation and the like is generated by combining the oblique photography data with the separated transmission line ground feature data. Finally, high-precision three-dimensional measurement and three-dimensional reconstruction are quickly carried out on the power transmission line corridor, so that a quicker, more efficient and more scientific means are provided for design, operation, maintenance, management enterprises and professionals of the power transmission line.
In the method, firstly, the data acquisition is efficient and flexible, and the measurement can be accurately performed. For example, the laser radar module and the oblique photographic camera can be carried on various flight platforms, the flight height is flexible, the operation can be performed to acquire data in cloudy weather, the data can be acquired rapidly and efficiently, then the full-internal operation is performed, the data result can be accurately measured, the data production efficiency is high, and the construction period is short.
Secondly, the data result is rich, and various result data such as laser point cloud, a local three-dimensional solid model of the transmission line, high-precision DEM/DOM/DSM, a transmission line channel inclination model, accurate tower information data and the like can be obtained.
Thirdly, fine reverse modeling can be accurately carried out on transmission line bodies such as a transmission line pole tower and a pole tower foundation based on laser radar point cloud data, so that the defect of point cloud density or point cloud deficiency caused by shielding and the like can be overcome, and the detailed representation of the pole tower and an insulator is more real and complete; and carrying out three-dimensional modeling on the ground object of the power transmission line based on the ground object data of the power transmission line, the accurate tower information data and the oblique photography data, and effectively reducing the modeling cost of the three-dimensional model by utilizing the characteristic of large-scale imaging of aerial photography. The model is produced fast and efficiently and automatically, and meanwhile, the sense of reality, the integrity and the data precision can be considered.
And finally, the network release is easy, the application of the data result is wide, for example, the acquired data format can be rapidly subjected to the network release by adopting a mature technology, and the sharing application is realized. Thereby realize obtaining the accurate three-dimensional space information of circuit corridor and peripheral topography, circuit facility equipment to and corridor ground object fast, including shaft tower, string point position, electric wire sag, trees, building etc. to provide high accuracy measurement data result for power line planning design, operation maintenance, significantly reduced field work load has improved design efficiency and result quality.
Further, in the application of the constructed live-action three-dimensional model of the transmission line, the live-action three-dimensional model of the transmission line with fine textures can perform real-time live-action three-dimensional simulation display on the transmission line, overall adjustment of the route and navigation point naming are performed based on model results, the route is integrally adjusted according to the actual requirements of tasks such as airplane types, camera parameters and imaging proportion, up-down, left-right translation of the route is achieved, and the central axis is rotated and the route is scaled up and down proportionally.
The navigation point names can be integrally exported from excel, edited and adaptively matched after being imported, so that the navigation point naming standardization is improved. The safety of the airlines is evaluated, adjustment is timely made, the clearance distance between each section of airlines and the three-dimensional point cloud is detected, the positions which do not meet the requirements are exposed at any time, the positions are timely modified, the operation safety is ensured, the model is combined, and dead angles are eliminated.
The realization of the common three-dimensional analysis function based on the data result comprises the following steps: three-dimensional measurement, influence domain, vision, astronomical line, general vision, insolation, in-building path analysis, and the like. Besides, a series of space analysis functions including filling, visibility analysis, section analysis and the like can be realized, and related management functions such as attribute inquiry, browsing roaming, statistics and summarization of height information of buildings and the like, output and the like can be realized.
The present embodiments also provide a non-transitory computer-readable storage medium storing a computer program, which when executed by one or more processors 13, causes the processors 13 to perform the method for constructing a live-action three-dimensional model of an electric transmission line according to any of the above embodiments.
Specifically, in one embodiment, the processor 13 may be a central processing unit (Central Processing Unit, CPU). The processor 13 may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or a combination thereof.
The computer program may be stored in the memory 14, and the memory 14 may be a non-transitory computer readable storage medium, storing non-transitory software programs, non-transitory computer executable programs and modules, such as program instructions/modules corresponding to the methods in the above-described method embodiments. The processor 13 executes various functional applications of the processor 13 and data processing, i.e. implements the methods of the method embodiments described above, by running non-transitory software programs, instructions and modules stored in the memory 14.
It will be appreciated by those skilled in the art that implementing all or part of the above-described methods in the embodiments may be implemented by a computer program for instructing relevant hardware, and the implemented program may be stored in a computer readable storage medium, and the program may include the steps of the embodiments of the above-described methods when executed. The storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a Flash Memory (Flash Memory), a Hard Disk (HDD), or a Solid State Drive (SSD); the storage medium may also comprise a combination of memories of the kind described above.
In the description of the present specification, reference to the terms "one embodiment," "certain embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.
Claims (5)
1. The method for constructing the live-action three-dimensional model of the power transmission line is characterized by comprising the following steps of:
acquiring laser radar point cloud data and oblique photography data;
separating the laser radar point cloud data by adopting a TIN progressive encryption filtering algorithm to obtain the transmission line body data and the transmission line ground feature data;
reverse modeling is carried out on the basis of the power transmission line body data to generate a power transmission line body model; wherein,
classifying and extracting the tower point cloud data, the earth wire and drainage wire point cloud data, the insulator point cloud data and the hardware point cloud data from the power transmission line body data by adopting a preset algorithm;
vectorizing the tower point cloud data, the earth wire and drainage wire point cloud data, the insulator point cloud data and the hardware fitting point cloud data to generate a tower three-dimensional solid model, an earth wire and drainage wire three-dimensional solid model, an insulator three-dimensional solid model and a hardware fitting three-dimensional solid model; wherein,
When the three-dimensional solid model of the drainage wire and the ground wire is constructed: extracting point cloud data of a ground wire and a drainage wire by adopting a central line fitting method, wherein the ground wire and the drainage wire are collectively called as a power line, and the point cloud data of the ground wire and the drainage wire are collectively called as power line point cloud data; segmenting the split power line point cloud data along the trend of the power line point cloud data to realize segmented management of the power line point cloud data; performing segment-by-segment cluster analysis on the power line point cloud data, and separating the power line point cloud data from different splits; merging the same-root power line point cloud data segment by segment according to the design criterion; fitting a second-order curve to the point cloud data of each split power line, so as to complete the construction of a physical model of the power line, and further complete the construction of the three-dimensional physical model of the ground lead and the drainage lead;
when the three-dimensional solid model of the insulator is constructed: determining a possible model of the insulator according to the number of the power lines and the types of the towers; determining an optimal model of the insulator using a least squares algorithm; referencing the hanging point of the power line and the insulator hanging point, thereby completing the construction of the insulator three-dimensional entity model;
Constructing the hardware three-dimensional solid model by adopting three-dimensional solid modeling;
generating a transmission line ground feature model based on the transmission line ground feature data, the accurate tower information data and the oblique photography data; generating the accurate tower information data based on the transmission line body data;
processing the oblique photography data to obtain oblique image data and orthographic image data;
performing automatic cropping of the oblique photography tower based on the accurate tower information data and the oblique image data; wherein,
constructing a directed bounding box of the tiles and the towers according to the tile set files in the preset format in the inclined image data and the accurate tower information data; executing intersection judgment of the tile directed bounding box and the tower directed bounding box; after the intersection judgment is finished, sequentially and automatically cutting tiles to be cut according to the tower directed bounding box to obtain inclined image data of the transmission line channel environment, and reconstructing and repairing the inclined image data of the transmission line channel environment through a Poisson three-dimensional modeling algorithm;
generating the power transmission line ground feature model by combining the power transmission line ground feature data based on the oblique image data which is cut and reconstructed and repaired so as to realize mapping of the power transmission line ground feature model;
Correcting the power transmission line body model by combining the digital surface model and the oblique photographing data so as to realize mapping of the power transmission line body model; wherein,
generating a DEM (digital elevation model) based on the transmission line ground feature data, and generating the digital surface model through the DEM and the orthographic image data;
and fusing the transmission line body model, the transmission line ground feature model and the digital surface model to construct a transmission line live-action three-dimensional model.
2. The power transmission line live-action three-dimensional model construction device is characterized in that the power transmission line live-action three-dimensional model construction device is used for realizing the construction method according to claim 1, and comprises the following steps:
the acquisition module is used for acquiring laser radar point cloud data and oblique photographic data;
the processing module is used for processing the laser radar point cloud data to obtain transmission line body data and transmission line ground feature data, and simultaneously generating DEM and accurate tower information data;
the first construction module is used for carrying out reverse modeling based on the transmission line body data to generate a transmission line body model;
the second construction module is used for generating a transmission line ground object model based on the transmission line ground object data, the accurate tower information data and the oblique photography data;
A third building module for generating a digital surface model based on the DEM and the oblique photography data;
and the fusion module is used for fusing the transmission line body model, the transmission line ground object model and the digital surface model to construct a transmission line live-action three-dimensional model.
3. A live-action three-dimensional model construction device for an electric transmission line, characterized in that it comprises a processor and a memory connected to the processor, the memory being adapted to store a computer program, the processor being adapted to invoke the computer program to implement the construction method according to claim 1.
4. A device according to claim 3, characterized in that the device further comprises:
the sensing module comprises a laser radar module and an oblique photography camera and is used for acquiring the laser radar point cloud data and the oblique photography data; and the flight platform is used for carrying the memory, the processor and the sensing module to carry out aerial survey flight.
5. A non-transitory computer-readable storage medium of computer-executable instructions, which when executed by one or more processors, cause the processors to perform the build method of claim 1.
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