CN115661357B - Spatial model construction method and system based on fusion point cloud data - Google Patents
Spatial model construction method and system based on fusion point cloud data Download PDFInfo
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Abstract
The application relates to a method and a system for constructing a power transmission line space model based on fusion point cloud data, wherein the method comprises the steps of responding to a plurality of acquired point cloud data sets, and transferring each point cloud data set into the same coordinate system; screening two sets of point cloud data in one set of point cloud data set to obtain two sets of characteristic points; generating a characteristic curve segment based on a set of characteristic points; and comparing the lengths of the two characteristic curve sections belonging to the same group, when the lengths of the two characteristic curve sections belonging to the same group are equal or within an error range, obtaining a standard base point, generating a guide curve based on the obtained standard base point, and generating a three-dimensional model of the power transmission line according to the guide curve. According to the method and the system for constructing the spatial model of the power transmission line based on the fusion point cloud data, the power transmission line in motion is modeled in a new data acquisition mode and a modeling mode, so that an accurate spatial three-dimensional model is obtained.
Description
Technical Field
The application relates to the technical field of data processing, in particular to a method and a system for constructing a power transmission line space model based on fusion point cloud data.
Background
At present, the sag measurement of the power transmission line is mainly based on an observation method, particularly an equal length method and an angle method are applied relatively more, and the total station or the theodolite is used for observation. The method is complex in calculation, high in calculation requirement on personnel, and severe in certain environments, so that the instrument is difficult to erect and measure, for example, three areas or mountain areas are involved, and the safety of measuring personnel is threatened.
At present, an unmanned aerial vehicle detection mode is adopted, a space three-dimensional model is generated by means of data acquired by the unmanned aerial vehicle, but a transmission line can shake under the action of wind power in a field environment, so that the finally obtained space three-dimensional model can be distorted, and accurate detection data cannot be obtained.
Disclosure of Invention
The application provides a method and a system for constructing a power transmission line space model based on fusion point cloud data, which model a power transmission line in motion in a new data acquisition mode and a modeling mode so as to obtain an accurate space three-dimensional model.
The above object of the present application is achieved by the following technical solutions:
in a first aspect, the present application provides a method for constructing a power transmission line space model based on fusion point cloud data, including:
in response to the acquired multiple sets of point cloud data sets, each set of point cloud data set is transferred to the same coordinate system, one set of point cloud data set comprises two sets of point cloud data, and the two sets of point cloud data in the same set are generated by two terminals based on one power transmission line;
screening two sets of point cloud data in one set of point cloud data set to obtain two sets of characteristic points;
generating a characteristic curve segment based on a set of characteristic points;
comparing the lengths of two characteristic curve sections belonging to the same group, and obtaining a standard base point when the lengths of the two characteristic curve sections belonging to the same group are equal or within an error range; and
and generating a guide curve based on the obtained standard base points and generating a three-dimensional model of the power transmission line according to the guide curve.
In a possible implementation manner of the first aspect, the screening a set of point cloud data includes:
ordering the point cloud data points in the group of point cloud data according to the generation time;
calculating the distance between adjacent point cloud data points; and
and grouping the point cloud data points according to the dispersion of the distance to obtain a group of characteristic points.
In a possible implementation manner of the first aspect, obtaining the standard base point includes:
drawing an ellipse so that the minimum linear distance between a plurality of points on two characteristic curve sections belonging to the same group and the ellipse is smaller than a distance threshold;
drawing a long axis and a short axis of the ellipse; and
the intersection point of the major axis and the minor axis is taken as a standard base point.
In a possible implementation manner of the first aspect, the method further includes:
connecting standard base points according to a sequence to obtain a first folding line;
carrying out smoothing treatment on the non-conductive point on the first folding line to obtain a second folding line;
generating a line model according to the shape of the second fold line, wherein the second fold line is positioned in the line model;
reducing the section diameter of the line model to the minimum; and
and using the axis of the line model as a guide curve and generating a three-dimensional model of the transmission line according to the guide curve.
In a possible implementation manner of the first aspect, the two terminals are located at two sides of one power transmission line.
In a possible implementation manner of the first aspect, during the movement of the terminal, a distance from the power transmission line in a vertical direction is calculated and is calculated as a vertical direction reference distance, and when the vertical direction reference distance is smaller than a reference threshold value, the two terminals move in a direction approaching the power transmission line in the vertical direction synchronously.
In a possible implementation manner of the first aspect, the terminal moves only in the vertical direction when moving in the vertical direction in a direction approaching the transmission line.
In a second aspect, the present application provides a power transmission line space model construction device based on fusion point cloud data, including:
the data processing unit is used for responding to the acquired multiple groups of point cloud data groups, converting each group of point cloud data group into the same coordinate system, wherein one group of point cloud data group comprises two groups of point cloud data, and the two groups of point cloud data in the same group are generated by two terminals based on one power transmission line;
the screening unit is used for screening two sets of point cloud data in one set of point cloud data set to obtain two sets of characteristic points;
a first generation unit for generating a characteristic curve segment based on a set of characteristic points;
the second generating unit is used for comparing the lengths of the two characteristic curve sections belonging to the same group, and obtaining a standard base point when the lengths of the two characteristic curve sections belonging to the same group are equal or within an error range; and
and the third generation unit is used for generating a guide curve based on the obtained standard base points and generating a three-dimensional model of the power transmission line according to the guide curve.
In a third aspect, the present application provides a power transmission line space model building system based on fusion point cloud data, where the system includes:
one or more memories for storing instructions; and
one or more processors configured to invoke and execute the instructions from the memory, to perform the method as described in the first aspect and any possible implementation of the first aspect.
In a fourth aspect, the present application provides a computer-readable storage medium comprising:
a program which, when executed by a processor, performs a method as described in the first aspect and any possible implementation of the first aspect.
In a fifth aspect, the present application provides a computer program product comprising program instructions which, when executed by a computing device, perform a method as described in the first aspect and any possible implementation manner of the first aspect.
In a sixth aspect, the present application provides a chip system comprising a processor for implementing the functions involved in the above aspects, e.g. generating, receiving, transmitting, or processing data and/or information involved in the above methods.
The chip system can be composed of chips, and can also comprise chips and other discrete devices.
In one possible design, the system on a chip also includes memory to hold the necessary program instructions and data. The processor and the memory may be decoupled, provided on different devices, respectively, connected by wire or wirelessly, or the processor and the memory may be coupled on the same device.
In the whole, the method for constructing the spatial model of the power transmission line based on the fusion point cloud data can acquire data of a dynamic power transmission line and perform three-dimensional modeling according to the acquired data, the three-dimensional model obtained by modeling is a state of the power transmission line under a static state, and it is understood that in a field environment, if the power transmission line is in a continuous shaking state, the obtained data are scattered or missing, the scattered or missing data cannot obtain a complete three-dimensional model, and the technical scheme of the method can model the shaking power transmission line so as to obtain more accurate measurement data.
Drawings
Fig. 1 is a schematic step flow diagram of a method for constructing a power transmission line space model based on fusion point cloud data.
Fig. 2 is a schematic diagram of a relative position of an unmanned aerial vehicle and a power transmission line provided by the application.
Fig. 3 is a schematic diagram of a feature point obtained by screening provided in the present application.
Fig. 4 is a schematic diagram of a data in a dispersed state provided in the present application.
Fig. 5 is a schematic diagram of a data missing state provided in the present application.
FIG. 6 is a schematic diagram of a point cloud data point grouping according to the dispersion provided herein.
Fig. 7 is a schematic diagram of a standard base point obtaining process provided in the present application.
Fig. 8 is a schematic diagram of a process for obtaining a guiding curve provided in the present application.
Detailed Description
The technical solutions in the present application are described in further detail below with reference to the accompanying drawings.
The method for constructing the power transmission line space model based on the fusion point cloud data is applied to an unmanned aerial vehicle or a data analysis platform carrying the unmanned aerial vehicle, the unmanned aerial vehicle can synchronously analyze data in the process of collecting the data, the collected data can also be sent to the data analysis platform, and the data analysis platform analyzes the data.
After the data analysis is completed, the overhead power transmission line is subjected to three-dimensional modeling in a three-dimensional coordinate system according to the analysis result, and the modeling is to model the overhead power transmission line in a static state, but in the data acquisition process, the unmanned aerial vehicle acquires data of the overhead power transmission line when shaking (under the action of wind force), the data analysis process comprises correcting the data, and after the correction is completed, the overhead power transmission line is subjected to three-dimensional modeling in the three-dimensional coordinate system according to the correction result, so that the maximum sag of the overhead power transmission line can be obtained.
It should be noted that, including two unmanned aerial vehicles in the unmanned aerial vehicle that this application adopted, carry linear laser signal sensor and infrared signal sensor on the unmanned aerial vehicle, linear laser signal sensor's effect is scanning unsettled transmission line, can produce a large amount of point data in the scanning process, and these points use (x, y, z) to represent in three-dimensional coordinate system.
The effect of infrared signal sensor is that two unmanned aerial vehicle are used for confirming relative position, in actual use, and infrared signal sensor on two unmanned aerial vehicle all sends the signal, when the signal that infrared signal sensor sent is detected to the unmanned aerial vehicle of opposite, indicates that two unmanned aerial vehicle's relative position can satisfy linear laser signal sensor's work requirement. In the process of flying along the transmission line, the two unmanned aerial vehicles can also synchronously correct the relative positions.
Referring to fig. 1, a method for constructing a power transmission line space model based on fusion point cloud data disclosed in the present application includes the following steps:
s101, each group of point cloud data sets are transferred to the same coordinate system in response to the acquired multiple groups of point cloud data sets, one group of point cloud data sets comprise two groups of point cloud data, and the two groups of point cloud data in the same group are generated by two terminals based on one power transmission line;
s102, screening two sets of point cloud data in a set of point cloud data sets to obtain two sets of characteristic points;
s103, generating a characteristic curve segment based on a group of characteristic points;
s104, comparing the lengths of two characteristic curve sections belonging to the same group, and obtaining a standard base point when the lengths of the two characteristic curve sections belonging to the same group are equal or within an error range; and
s105, generating a guide curve based on the obtained standard base points and generating a three-dimensional model of the power transmission line according to the guide curve.
As shown in fig. 2, in the flight process of two unmanned aerial vehicles, the linear laser signal sensors can continuously generate data, the data generated by the linear laser signal sensors at one position is referred to as a group of point cloud data, the point cloud data generated by the two linear laser signal sensors belonging to the two unmanned aerial vehicles at one position is referred to as a group of point cloud data, and in the complete flight process of the two unmanned aerial vehicles, multiple groups of point cloud data are generated.
Two unmanned aerial vehicles (terminals) are located in the both sides of a transmission line (transmission line), and in the moving process, the relative positions of the two unmanned aerial vehicles remain unchanged.
However, considering the arc shape of the transmission line, two unmanned aerial vehicles (terminals) need to fly a distance in the horizontal direction and then move a distance in the vertical direction, so that the distance between the unmanned aerial vehicle (terminal) and the transmission line is controlled within a proper range.
The specific mode is as follows: in the moving process of the unmanned aerial vehicle (terminal), the distance between the unmanned aerial vehicle and the power transmission line (power transmission line) in the vertical direction is calculated and is calculated as a vertical direction reference distance, and when the vertical direction reference distance is smaller than a reference threshold value, the two terminals synchronously move in the vertical direction in the direction close to the power transmission line.
For two sets of point cloud data in one set of point cloud data set, the two sets of point cloud data need to be transferred to the same coordinate system for calculation.
It should be understood that, when the unmanned plane is started, for convenience of calculation, the starting point of the unmanned plane may be marked as (0, 0), and the point cloud data generated subsequently is obtained according to the coordinate point of (0, 0), which means that the use coordinate systems of two sets of point cloud data in one set of point cloud data are different.
For this case, it is necessary to transfer two (0, 0) coordinate points belonging to two unmanned aerial vehicles into a unified coordinate system for subsequent data screening and calculation, specifically, the method may be to use the (0, 0) coordinate point of which the linear laser signal sensor generates a data reference on one unmanned aerial vehicle as the (0, 0) point of the coordinate system, and use the (0, 0) coordinate point of which the linear laser signal sensor generates a data reference on the other unmanned aerial vehicle as the reference to perform conversion of the coordinate points based on the distance between the two unmanned aerial vehicles, that is, the content in step S101.
In a possible implementation manner of the first aspect, the terminal moves only in the vertical direction when moving in the vertical direction in a direction approaching the transmission line.
In step S102, two sets of point cloud data in a set of point cloud data sets are filtered to obtain two sets of feature points, and each set of point cloud data is filtered to obtain a set of feature points. It will be appreciated that the linear laser signal sensor will generate a large number of discrete data points during the scanning process, some of which are generated based on the transmission line and some of which are generated based on the transmission line's surroundings, the purpose of the screening being to screen out this part of the data points generated based on the transmission line's surroundings, as shown in fig. 3.
In step S103, a characteristic curve segment is generated based on a set of characteristic points, where the characteristic curve segment represents a portion of the outline of the transmission line at the location. It should be understood that the linear laser signal sensor may be understood as scanning a section of the power transmission line, and the section of the power transmission line at any position is circular or elliptical, and the section of the power transmission line is elliptical in most cases.
But is limited by the scanning range, the linear laser signal sensor can only obtain a part of the section shape of the power transmission line, namely the characteristic curve section, in one scanning process, but can obtain the complete section shape of the power transmission line at the position through the reverse derivation of the characteristic curve section.
In step S104, the lengths of two characteristic curve segments belonging to the same group are compared, and the purpose of the two characteristic curve segment lengths is to determine whether the minimum point of the transmission line is present. It should be appreciated that when the transmission line is located between two unmanned aerial vehicles and is equidistant from the two unmanned aerial vehicles in the horizontal direction, the lowest point when the transmission line is in a stationary state at this time is illustrated.
When two unmanned aerial vehicles obtain data of the lowest point when the power transmission line is in a static state at one position, the two unmanned aerial vehicles continue to fly forwards along the power transmission line, a plurality of lowest points of the power transmission line can be obtained in the mode, the posture of one power transmission line in the static state can be obtained through the lowest points, accurate detection data are further obtained, the content of the part is in step S105, a guide curve is generated based on the obtained standard base points, and a three-dimensional model of the power transmission line is generated according to the guide curve in step S105.
In general, the method for constructing the spatial model of the power transmission line based on fusion point cloud data can acquire data of a dynamic power transmission line and perform three-dimensional modeling according to the acquired data, the three-dimensional model obtained by modeling is a state of the power transmission line under static state, and it is understood that in a field environment, if the power transmission line is in a continuous shaking state, the obtained data are scattered or missing, as shown in fig. 4 and 5, the scattered or missing data cannot obtain a complete three-dimensional model, and the technical scheme of the method can model the shaking power transmission line to obtain more accurate measurement data.
Screening a set of point cloud data comprises the following steps:
s201, sorting point cloud data points in a group of point cloud data according to the generation time;
s202, calculating the distance between adjacent point cloud data points; and
s203, grouping the point cloud data points according to the dispersion of the distance to obtain a group of characteristic points.
Specifically, in step S201, the point cloud data points in the set of point cloud data are ordered according to the generation time, and the ordered point cloud data points are sequentially arranged on a straight line, where the distances between adjacent point cloud data points may be the same or different.
Referring to fig. 6, the distances between adjacent point cloud data points are calculated and the point cloud data points in the group of point cloud data are grouped according to the dispersion of the distances, so as to screen the point cloud data points obtained based on the power transmission line from the group of point cloud data.
It should be appreciated that the linear laser signal sensor rotates within a fixed angular range during operation to scan power lines within its coverage area, both power lines and non-power lines, and therefore needs to be distinguished. The specific mode of distinguishing is to group the point cloud data points according to the dispersion of the distance, and the point cloud data points generated based on one power transmission line have aggregation on the spatial distribution.
In this case, a plurality of sets of characteristic points may be obtained, and in this case, further differentiation is required according to the shape, because the cross-sectional shape of the power transmission line is circular or elliptical, and the diameter thereof is also within a certain range, so that further differentiation can be performed using the shape and the radius of curvature of the curve in which a set of characteristic points are located.
Referring to fig. 7, the process of obtaining the standard base point is as follows:
s301, drawing an ellipse so that the minimum linear distance between a plurality of points on two characteristic curve segments belonging to the same group and the ellipse is smaller than a distance threshold;
s302, drawing a long axis and a short axis of an ellipse; and
s303, taking the intersection point of the long axis and the short axis as a standard base point.
Specifically, an ellipse is used instead of two characteristic curve segments belonging to the same group, and then the intersection point of the major axis and the minor axis of the ellipse is used as a standard base point. The specific mode is that firstly an ellipse is drawn, and then the ellipse is moved to coincide with two characteristic curve segments belonging to the same group.
In the overlapping process, a plurality of points are taken as reference points on the characteristic curve segments, then the minimum linear distance (dotted line in fig. 7) between the reference points and the ellipse is calculated, and when the minimum linear distance between all the reference points and the ellipse is smaller than a distance threshold value, the two characteristic curve segments are considered to be part of the ellipse, and the intersection point of the long axis and the short axis of the ellipse is used as a standard base point.
If the judging condition of the distance threshold is not met, replacing the next ellipse, or adjusting the length of the major axis and the length of the minor axis of the ellipse according to the comparison result.
Referring to fig. 8, after obtaining a plurality of standard base points, the following steps are used for processing:
s401, connecting standard base points according to a sequence to obtain a first folding line;
s402, performing smoothing treatment on the non-conductive points on the first folding line to obtain a second folding line;
s403, generating a line model according to the shape of the second folding line, wherein the second folding line is positioned in the line model;
s404, reducing the section diameter of the line model to the minimum; and
s405, generating a three-dimensional model of the transmission line from the guide curve using the axis of the line model as the guide curve.
Specifically, all standard base points are connected in sequence, a first folding line is obtained, a plurality of non-conductive points are arranged on the first folding line, and here, the influence of factors such as data acquisition precision, data processing precision and the like is mainly considered, and the first folding line cannot be conducted everywhere, so that the first folding line needs to be subjected to smoothing treatment, and a second folding line is obtained after the smoothing treatment.
And then a wire model is used for wrapping the second folding line, and the cross-section diameter of the wire model is reduced on the premise that the second folding line is completely wrapped, wherein the cross-section diameter of the wire model is circular, and the cross-section diameter refers to the diameter of the cross-section circular.
In the process of reducing the section diameter of the line model, the axis of the line model also moves along with the line model, and after the section diameter of the line model is reduced to the minimum, the axis of the line model is used as a guide curve, and a three-dimensional model of the power transmission line is generated according to the guide curve.
The application also provides a transmission line space model construction device based on fusion point cloud data, which comprises:
the data processing unit is used for responding to the acquired multiple groups of point cloud data groups, converting each group of point cloud data group into the same coordinate system, wherein one group of point cloud data group comprises two groups of point cloud data, and the two groups of point cloud data in the same group are generated by two terminals based on one power transmission line;
the screening unit is used for screening two sets of point cloud data in one set of point cloud data set to obtain two sets of characteristic points;
a first generation unit for generating a characteristic curve segment based on a set of characteristic points;
the second generating unit is used for comparing the lengths of the two characteristic curve sections belonging to the same group, and obtaining a standard base point when the lengths of the two characteristic curve sections belonging to the same group are equal or within an error range; and
and the third generation unit is used for generating a guide curve based on the obtained standard base points and generating a three-dimensional model of the power transmission line according to the guide curve.
Further, the method further comprises the following steps:
the ordering unit is used for ordering the point cloud data points in the group of point cloud data according to the generation time;
the computing unit is used for computing the distance between the adjacent point cloud data points; and
and the grouping unit is used for grouping the point cloud data points according to the dispersion of the distance to obtain a group of characteristic points.
Further, the method further comprises the following steps:
a first drawing unit for drawing an ellipse such that the minimum straight line distance between a plurality of points on two characteristic curve segments belonging to the same group and the ellipse is smaller than a distance threshold;
a second drawing unit for drawing a major axis and a minor axis of the ellipse; and
and the selecting unit is used for taking the intersection point of the long axis and the short axis as a standard base point.
Further, the method further comprises the following steps:
the first processing unit is used for connecting the standard base points according to the sequence to obtain a first broken line;
the second processing unit is used for carrying out smoothing treatment on the non-conductive point on the first folding line to obtain a second folding line;
the model generating unit is used for generating a line model according to the shape of the second folding line, and the second folding line is positioned in the line model;
the model processing unit is used for reducing the section diameter of the line model to the minimum; and
and the third processing unit is used for generating a three-dimensional model of the power transmission line according to the guide curve by using the axis of the line model as the guide curve.
Further, two terminals are located at both sides of one transmission line.
Further, in the moving process of the terminals, the distance between the terminals and the power transmission line in the vertical direction is calculated and is calculated as a vertical direction reference distance, and when the vertical direction reference distance is smaller than a reference threshold value, the two terminals synchronously move in the vertical direction in the direction close to the power transmission line.
Further, when the terminal moves in the vertical direction in a direction approaching the transmission line, it moves only in the vertical direction.
In one example, the unit in any of the above apparatuses may be one or more integrated circuits configured to implement the above methods, for example: one or more application specific integrated circuits (application specific integratedcircuit, ASIC), or one or more digital signal processors (digital signal processor, DSP), or one or more field programmable gate arrays (field programmable gate array, FPGA), or a combination of at least two of these integrated circuit forms.
For another example, when the units in the apparatus may be implemented in the form of a scheduler of processing elements, the processing elements may be general-purpose processors, such as a central processing unit (central processing unit, CPU) or other processor that may invoke the program. For another example, the units may be integrated together and implemented in the form of a system-on-a-chip (SOC).
Various objects such as various messages/information/devices/network elements/systems/devices/actions/operations/processes/concepts may be named in the present application, and it should be understood that these specific names do not constitute limitations on related objects, and that the named names may be changed according to the scenario, context, or usage habit, etc., and understanding of technical meaning of technical terms in the present application should be mainly determined from functions and technical effects that are embodied/performed in the technical solution.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein.
In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
It should also be understood that in various embodiments of the present application, first, second, etc. are merely intended to represent that a plurality of transmission lines are different. For example, the first time window and the second time window are only intended to represent different time windows. Without any effect on the time window itself, the first, second, etc. mentioned above should not impose any limitation on the embodiments of the present application.
It is also to be understood that in the various embodiments of the application, terms and/or descriptions of the various embodiments are consistent and may be referenced to one another in the absence of a particular explanation or logic conflict, and that the features of the various embodiments may be combined to form new embodiments in accordance with their inherent logic relationships.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a computer-readable storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned computer-readable storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The application also provides a transmission line space model construction system based on fusion point cloud data, which comprises:
one or more memories for storing instructions; and
one or more processors configured to invoke and execute the instructions from the memory to perform the method as described above.
The present application also provides a computer program product comprising instructions that, when executed, cause the spatial model construction system to perform operations of the spatial model construction system corresponding to the above-described method.
The present application also provides a chip system comprising a processor for implementing the functions involved in the above, e.g. generating, receiving, transmitting, or processing data and/or information involved in the above method.
The chip system can be composed of chips, and can also comprise chips and other discrete devices.
The processor referred to in any of the foregoing may be a CPU, microprocessor, ASIC, or integrated circuit that performs one or more of the procedures for controlling the transmission of feedback information described above.
In one possible design, the system on a chip also includes memory to hold the necessary program instructions and data. The processor and the memory may be decoupled, and disposed on different devices, respectively, and connected by wired or wireless means, so as to support the chip system to implement the various functions in the foregoing embodiments. In the alternative, the processor and the memory may be coupled to the same device.
Optionally, the computer instructions are stored in a memory.
Alternatively, the memory may be a storage unit in the chip, such as a register, a cache, etc., and the memory may also be a storage unit in the terminal located outside the chip, such as a ROM or other type of static storage device, a RAM, etc., that may store static information and instructions.
It is to be understood that the memory in this application may be either volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory.
The nonvolatile memory may be a ROM, a Programmable ROM (PROM), an Erasable Programmable ROM (EPROM), an electrically erasable programmable EPROM (EEPROM), or a flash memory.
The volatile memory may be RAM, which acts as external cache. There are many different types of RAM, such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (enhancedSDRAM, ESDRAM), synchronous Link DRAM (SLDRAM), and direct memory bus RAM.
The embodiments of the present invention are all preferred embodiments of the present application, and are not intended to limit the scope of the present application in this way, therefore: all equivalent changes in structure, shape and principle of this application should be covered in the protection scope of this application.
Claims (7)
1. The utility model provides a transmission line space model construction method based on fusion point cloud data, which is characterized by comprising the following steps:
in response to the acquired multiple sets of point cloud data sets, each set of point cloud data set is transferred to the same coordinate system, one set of point cloud data set comprises two sets of point cloud data, and the two sets of point cloud data in the same set are generated by two terminals based on one power transmission line;
screening two sets of point cloud data in one set of point cloud data set to obtain two sets of characteristic points;
generating a characteristic curve segment based on a set of characteristic points;
comparing the lengths of two characteristic curve sections belonging to the same group, and obtaining a standard base point when the lengths of the two characteristic curve sections belonging to the same group are equal or within an error range; and
generating a guide curve based on the obtained standard base points and generating a three-dimensional model of the power transmission line according to the guide curve;
wherein, two terminals are positioned at two sides of a transmission line, and the relative positions of the two terminals are kept unchanged;
in the moving process of the terminals, calculating the distance between the terminals and the power transmission line in the vertical direction, wherein the distance is calculated as a vertical direction reference distance, and when the vertical direction reference distance is smaller than a reference threshold value, the two terminals synchronously move in the direction close to the power transmission line in the vertical direction;
obtaining a standard base point includes:
drawing an ellipse so that the minimum linear distance between a plurality of points on two characteristic curve sections belonging to the same group and the ellipse is smaller than a distance threshold;
drawing a long axis and a short axis of the ellipse; and
the intersection point of the major axis and the minor axis is taken as a standard base point.
2. The method for constructing the spatial model of the power transmission line based on the fusion point cloud data according to claim 1, wherein the step of screening two sets of point cloud data in one set of point cloud data sets to obtain two sets of feature points comprises the steps of: screening a group of point cloud data:
ordering the point cloud data points in the group of point cloud data according to the generation time;
calculating the distance between adjacent point cloud data points; and
and grouping the point cloud data points according to the dispersion of the distance to obtain a group of characteristic points.
3. The method for constructing a spatial model of a transmission line based on fusion point cloud data according to claim 1, further comprising:
connecting standard base points according to a sequence to obtain a first folding line;
carrying out smoothing treatment on the non-conductive point on the first folding line to obtain a second folding line;
generating a line model according to the shape of the second fold line, wherein the second fold line is positioned in the line model;
reducing the section diameter of the line model to the minimum; and
and using the axis of the line model as a guide curve and generating a three-dimensional model of the transmission line according to the guide curve.
4. The fusion point cloud data-based transmission line space model construction method according to claim 1, wherein the terminal moves only in the vertical direction when moving in the direction approaching the transmission line in the vertical direction.
5. The utility model provides a transmission line space model construction device based on fusion point cloud data which characterized in that includes:
the data processing unit is used for responding to the acquired multiple groups of point cloud data groups, converting each group of point cloud data group into the same coordinate system, wherein one group of point cloud data group comprises two groups of point cloud data, and the two groups of point cloud data in the same group are generated by two terminals based on one power transmission line;
the screening unit is used for screening two sets of point cloud data in one set of point cloud data set to obtain two sets of characteristic points;
a first generation unit for generating a characteristic curve segment based on a set of characteristic points;
the second generating unit is used for comparing the lengths of the two characteristic curve sections belonging to the same group, and obtaining a standard base point when the lengths of the two characteristic curve sections belonging to the same group are equal or within an error range; and
the third generation unit is used for generating a guide curve based on the obtained standard base points and generating a three-dimensional model of the power transmission line according to the guide curve;
the two terminals are positioned at two sides of a power transmission line, and the relative positions of the two terminals are kept unchanged;
in the moving process of the terminals, calculating the distance between the terminals and the power transmission line in the vertical direction, wherein the distance is calculated as a vertical direction reference distance, and when the vertical direction reference distance is smaller than a reference threshold value, the two terminals synchronously move in the direction close to the power transmission line in the vertical direction;
obtaining a standard base point includes:
drawing an ellipse so that the minimum linear distance between a plurality of points on two characteristic curve sections belonging to the same group and the ellipse is smaller than a distance threshold;
drawing a long axis and a short axis of the ellipse; and
the intersection point of the major axis and the minor axis is taken as a standard base point.
6. A transmission line space model construction system based on fusion point cloud data, the system comprising:
one or more memories for storing instructions; and
one or more processors to invoke and execute the instructions from the memory to perform the method of any of claims 1-4.
7. A computer-readable storage medium, the computer-readable storage medium comprising:
program which, when executed by a processor, performs the method according to any one of claims 1 to 4.
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