CN115810012A - Method, device and equipment for detecting inclination of transmission tower and storage medium - Google Patents
Method, device and equipment for detecting inclination of transmission tower and storage medium Download PDFInfo
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Abstract
The application relates to a method, a device, equipment and a storage medium for detecting the inclination of a transmission tower. The method comprises the following steps: acquiring a plurality of initial point cloud data for a space where a transmission tower to be detected is located; the space where the transmission tower is located comprises the transmission tower and the ground where the transmission tower is located; performing geometric feature solution on each initial point cloud data to obtain geometric feature information corresponding to each initial point cloud data, and obtaining target point cloud data corresponding to each initial point cloud data based on the geometric feature information; acquiring transmission tower point cloud data corresponding to the transmission tower and ground point cloud data corresponding to the ground where the transmission tower is located from the target point cloud data; and obtaining the inclination detection result corresponding to the transmission tower based on the transmission tower point cloud data and the ground point cloud data. By adopting the method, the inclination of the transmission tower can be efficiently detected.
Description
Technical Field
The application relates to the technical field of electric power, in particular to a transmission tower inclination detection method, device, equipment and storage medium.
Background
With the development of the power technology field, a transmission tower inclination detection technology appears, and the technology detects the inclination of the transmission tower by vertically measuring the inclination angle of the transmission tower.
In the technical scheme, the operation of climbing the tower by workers is very unsafe, the operation process is very complicated, and a large amount of manpower and material resources are consumed, so that the inclination detection process of the transmission tower is very inefficient.
Disclosure of Invention
In view of the above, it is necessary to provide a transmission tower inclination detection method, an apparatus, a computer device, a computer readable storage medium, and a computer program product capable of efficiently performing inclination detection on a transmission tower.
In a first aspect, the application provides a method for detecting the inclination of a transmission tower. The method comprises the following steps:
acquiring a plurality of initial point cloud data for a space where a transmission tower to be detected is located; the space where the transmission tower is located comprises the transmission tower and the ground where the transmission tower is located;
performing geometric feature solution on each initial point cloud data to obtain geometric feature information corresponding to each initial point cloud data, and obtaining target point cloud data corresponding to each initial point cloud data based on the geometric feature information;
acquiring point cloud data of the transmission tower corresponding to the transmission tower and ground point cloud data corresponding to the ground where the transmission tower is located from the target point cloud data;
and obtaining an inclination detection result corresponding to the transmission tower based on the point cloud data of the transmission tower and the ground point cloud data.
In one embodiment, the performing geometric feature solution on each initial point cloud data to obtain geometric feature information corresponding to each initial point cloud data includes: acquiring a plurality of adjacent point cloud data corresponding to the current initial point cloud data from the plurality of initial point cloud data; the plurality of adjacent point cloud data are a plurality of initial point cloud data corresponding to a plurality of adjacent measuring points respectively, and the plurality of adjacent measuring points are a plurality of measuring points of which the distance between the current measuring points corresponding to the current initial point cloud data is smaller than a preset distance; and acquiring a target straight line corresponding to the current initial point cloud data, and slope information and intercept information corresponding to the target straight line based on the plurality of adjacent measuring points, and taking the slope information and the intercept information as geometric characteristic information corresponding to the current initial point cloud data.
In one embodiment, the obtaining a target straight line corresponding to the current initial point cloud data based on the plurality of adjacent measurement points includes: acquiring a current adjacent measuring point combination from the plurality of adjacent measuring points, and acquiring a current straight line corresponding to the current adjacent measuring point combination; the current neighboring measurement point combination includes two neighboring measurement points; acquiring a plurality of pieces of first distance information between the plurality of adjacent measuring points and the current straight line respectively; and if the plurality of first distance information accords with a first preset condition, taking the current straight line as the target straight line.
In one embodiment, the obtaining of the inclination detection result corresponding to the transmission tower based on the transmission tower point cloud data and the ground point cloud data includes: obtaining the corresponding inclination degree of the transmission tower and the height information of the transmission tower according to the point cloud data of the transmission tower and the ground point cloud data; and obtaining an inclination detection result corresponding to the transmission tower by using the inclination degree and the height information.
In one embodiment, the obtaining, according to the transmission tower point cloud data and the ground point cloud data, an inclination degree corresponding to the transmission tower and height information of the transmission tower includes:
obtaining orientation information corresponding to the transmission tower according to the point cloud data of the transmission tower, and obtaining plane characteristics of the ground where the transmission tower is located according to the ground point cloud data; obtaining the corresponding inclination degree of the transmission tower based on the orientation information and the plane characteristics; and obtaining the height information of the transmission tower based on the point cloud data of the transmission tower and the plane characteristics.
In one embodiment, the ground point cloud data is a plurality; the obtaining of the plane characteristics of the ground where the transmission tower is located according to the ground point cloud data comprises the following steps: acquiring a current ground measuring point combination from a plurality of ground measuring points respectively corresponding to a plurality of ground point cloud data, and acquiring a current plane corresponding to the current ground measuring point combination; the current ground measurement point combination comprises three ground measurement points; acquiring a plurality of pieces of second distance information between the plurality of ground measurement points and the current plane respectively; if the plurality of second distance information accords with a second preset condition, obtaining normal vector information and position information corresponding to the current plane, and taking the normal vector information and the position information as plane characteristics of the ground where the transmission tower is located.
In one embodiment, the obtaining, by using the inclination degree and the height information, an inclination detection result corresponding to the transmission tower includes: when the height information is smaller than or equal to a preset height threshold value, if the inclination degree is larger than or equal to a first preset inclination threshold value, the inclination detection result is abnormal inclination, and if the inclination degree is smaller than the first preset inclination threshold value, the inclination detection result is normal inclination; when the height information is greater than the preset height threshold value, if the inclination degree is greater than or equal to a second preset inclination threshold value, the inclination detection result is abnormal inclination, and if the inclination degree is less than the second preset inclination threshold value, the inclination detection result is normal inclination.
In a second aspect, the application further provides a transmission tower inclination detection device. The device comprises:
the initial point cloud data acquisition module is used for acquiring a plurality of initial point cloud data aiming at the space where the transmission tower to be detected is located; the space where the transmission tower is located comprises the transmission tower and the ground where the transmission tower is located;
the target point cloud data acquisition module is used for solving the geometric characteristics of each initial point cloud data to obtain the geometric characteristic information corresponding to each initial point cloud data, and obtaining the target point cloud data corresponding to each initial point cloud data based on the geometric characteristic information;
the ground and tower point cloud data acquisition module is used for acquiring the transmission tower point cloud data corresponding to the transmission tower and the ground point cloud data corresponding to the ground where the transmission tower is located from the target point cloud data;
and the inclination detection result acquisition module is used for acquiring an inclination detection result corresponding to the transmission tower based on the transmission tower point cloud data and the ground point cloud data.
In a third aspect, the application also provides a computer device. The computer device comprises a memory storing a computer program and a processor implementing the following steps when executing the computer program:
acquiring a plurality of initial point cloud data for a space where a transmission tower to be detected is located; the space where the transmission tower is located comprises the transmission tower and the ground where the transmission tower is located;
performing geometric feature solution on each initial point cloud data to obtain geometric feature information corresponding to each initial point cloud data, and obtaining target point cloud data corresponding to each initial point cloud data based on the geometric feature information;
acquiring point cloud data of the transmission tower corresponding to the transmission tower and ground point cloud data corresponding to the ground where the transmission tower is located from the target point cloud data;
and obtaining an inclination detection result corresponding to the transmission tower based on the transmission tower point cloud data and the ground point cloud data.
In a fourth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
acquiring a plurality of initial point cloud data for a space where a transmission tower to be detected is located; the space where the transmission tower is located comprises the transmission tower and the ground where the transmission tower is located;
performing geometric feature solution on each initial point cloud data to obtain geometric feature information corresponding to each initial point cloud data, and obtaining target point cloud data corresponding to each initial point cloud data based on the geometric feature information;
acquiring point cloud data of the transmission tower corresponding to the transmission tower and ground point cloud data corresponding to the ground where the transmission tower is located from the target point cloud data;
and obtaining an inclination detection result corresponding to the transmission tower based on the transmission tower point cloud data and the ground point cloud data.
In a fifth aspect, the present application further provides a computer program product. The computer program product comprising a computer program which when executed by a processor performs the steps of:
acquiring a plurality of initial point cloud data for a space where a transmission tower to be detected is located; the space where the transmission tower is located comprises the transmission tower and the ground where the transmission tower is located;
performing geometric feature solution on each initial point cloud data to obtain geometric feature information corresponding to each initial point cloud data, and obtaining target point cloud data corresponding to each initial point cloud data based on the geometric feature information;
acquiring point cloud data of the transmission tower corresponding to the transmission tower and ground point cloud data corresponding to the ground where the transmission tower is located from the target point cloud data;
and obtaining an inclination detection result corresponding to the transmission tower based on the transmission tower point cloud data and the ground point cloud data.
According to the method, the device, the computer equipment, the storage medium and the computer program product for detecting the inclination of the transmission tower, a plurality of initial point cloud data aiming at the space where the transmission tower to be detected is located are obtained; the space where the transmission tower is located comprises the transmission tower and the ground where the transmission tower is located; performing geometric feature solution on each initial point cloud data to obtain geometric feature information corresponding to each initial point cloud data, and obtaining target point cloud data corresponding to each initial point cloud data based on the geometric feature information; acquiring transmission tower point cloud data corresponding to the transmission tower and ground point cloud data corresponding to the ground where the transmission tower is located from the target point cloud data; and obtaining the inclination detection result corresponding to the transmission tower based on the transmission tower point cloud data and the ground point cloud data. According to the method and the device, the geometrical characteristic information corresponding to the point cloud data of the space where the transmission tower is located is obtained, the point cloud data are automatically classified based on the point cloud data and the geometrical characteristic information, the point cloud data of the transmission tower and the ground point cloud data are obtained, the inclination detection result corresponding to the transmission tower is further obtained, and the inclination detection of the transmission tower can be efficiently carried out.
Drawings
Fig. 1 is a schematic flow chart of a transmission tower inclination detection method in one embodiment;
FIG. 2 is a schematic diagram of a process for obtaining geometric feature information according to one embodiment;
FIG. 3 is a schematic flow chart illustrating the process of obtaining a target line according to one embodiment;
fig. 4 is a schematic flow chart illustrating a process of obtaining a detection result of the inclination of the transmission tower in one embodiment;
FIG. 5 is a diagram of a network structure of a semantic segmentation model in one embodiment;
FIG. 6 is a block diagram of an embodiment of a transmission tower inclination detection apparatus;
FIG. 7 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
It should be noted that the term "first \ second" referred to in the embodiments of the present invention only distinguishes similar objects, and does not represent a specific ordering for the objects, and it should be understood that "first \ second" may exchange a specific order or sequence when allowed. It should be understood that "first \ second" distinct objects may be interchanged under appropriate circumstances such that embodiments of the invention described herein may be practiced in sequences other than those illustrated or described herein.
In an embodiment, as shown in fig. 1, a method for detecting a tilt of a transmission tower is provided, and this embodiment is illustrated by applying the method to a terminal, and it is to be understood that the method may also be applied to a server, and may also be applied to a system including the terminal and the server, and is implemented by interaction between the terminal and the server. In this embodiment, the method includes the steps of:
step S101, acquiring a plurality of initial point cloud data for a space where a transmission tower to be detected is located; the space where the transmission tower is located comprises the transmission tower and the ground where the transmission tower is located.
The method comprises the steps that a transmission tower to be detected is a transmission tower pole to be detected whether the transmission tower has an inclination defect or not, the transmission tower pole can be a wooden tower pole or a transmission tower, the space where the transmission tower is located is the space around the transmission tower and the transmission tower, the space where the transmission tower is located comprises the transmission tower and the ground where the transmission tower is located, initial point cloud data refer to coordinate data and color data and the like of a plurality of preset acquisition points acquired in the space where the transmission tower is located in advance, and the initial point cloud data comprise but are not limited to ground initial point cloud data corresponding to the ground acquisition points, transmission tower initial point cloud data corresponding to the transmission tower acquisition points and the like.
Specifically, a plurality of initial point cloud data corresponding to a preset acquisition point in a space where a plurality of transmission towers to be detected are located are acquired in advance.
And S102, performing geometric feature solving on each initial point cloud data to obtain geometric feature information corresponding to each initial point cloud data, and obtaining target point cloud data corresponding to each initial point cloud data based on the geometric feature information.
The geometric characteristic information is the slope and intercept of a straight line where the measuring point corresponding to each initial point cloud data is located, and the target point cloud data is point cloud data obtained after the initial point cloud data and the geometric characteristic information are combined.
Specifically, a straight line corresponding to the current measuring point is calculated according to position information in the initial point cloud data of the current measuring point, the slope and the intercept of the straight line are obtained as geometrical characteristic information corresponding to the current measuring point, and then the geometrical characteristic information and the initial point cloud data corresponding to the current measuring point are combined to obtain target point cloud data corresponding to the current measuring point, namely target point cloud data corresponding to each initial point cloud data.
Step S103, acquiring the point cloud data of the transmission tower corresponding to the transmission tower and the ground point cloud data corresponding to the ground where the transmission tower is located from the target point cloud data.
The point cloud data of the transmission tower is point cloud data corresponding to a measuring point on the transmission tower, and the ground point cloud data is point cloud data corresponding to a measuring point on the ground where the transmission tower is located.
Specifically, a plurality of target point cloud data are input into a semantic segmentation model obtained in advance, and transmission tower point cloud data corresponding to a transmission tower and ground point cloud data corresponding to the ground where the transmission tower is located are distinguished from the plurality of target point cloud data through the semantic segmentation model.
And step S104, obtaining a tilt detection result corresponding to the transmission tower based on the transmission tower point cloud data and the ground point cloud data.
The inclination detection result is a detection result of whether the transmission tower has an inclination defect.
Specifically, based on the point cloud data of the transmission tower and the point cloud data of the ground, the inclination angle of the transmission tower relative to the ground is obtained through calculation, and whether the transmission tower has an inclination defect or not is judged based on the inclination angle, so that an inclination detection result corresponding to the transmission tower is obtained.
In the method for detecting the inclination of the transmission tower, a plurality of initial point cloud data aiming at the space where the transmission tower to be detected is located are obtained; the space where the transmission tower is located comprises the transmission tower and the ground where the transmission tower is located; performing geometric feature solution on each initial point cloud data to obtain geometric feature information corresponding to each initial point cloud data, and obtaining target point cloud data corresponding to each initial point cloud data based on the geometric feature information; acquiring transmission tower point cloud data corresponding to the transmission tower and ground point cloud data corresponding to the ground where the transmission tower is located from the target point cloud data; and obtaining the inclination detection result corresponding to the transmission tower based on the transmission tower point cloud data and the ground point cloud data. According to the method and the device, the geometrical characteristic information corresponding to the point cloud data of the space where the transmission tower is located is obtained, the point cloud data are automatically classified based on the point cloud data and the geometrical characteristic information, the point cloud data of the transmission tower and the ground point cloud data are obtained, the inclination detection result corresponding to the transmission tower is further obtained, and the inclination detection of the transmission tower can be efficiently carried out.
In one embodiment, as shown in fig. 2, performing geometric feature solution on each initial point cloud data to obtain geometric feature information corresponding to each initial point cloud data includes the following steps:
step S201, acquiring a plurality of adjacent point cloud data corresponding to current initial point cloud data from a plurality of initial point cloud data; the plurality of adjacent point cloud data are a plurality of initial point cloud data corresponding to a plurality of adjacent measuring points respectively, and the plurality of adjacent measuring points are a plurality of measuring points of which the distance between the current measuring points corresponding to the current initial point cloud data is smaller than a preset distance.
The adjacent point cloud data is a plurality of initial point cloud data corresponding to adjacent measuring points within a preset distance range of a current measuring point corresponding to the current initial point cloud data, the adjacent measuring points are measuring points within the preset distance range of the current measuring point, and the preset distance can be 5 meters.
Specifically, point cloud data corresponding to a neighboring measurement point within 5 meters of a current measurement point corresponding to the current initial point cloud data is acquired as neighboring point cloud data.
Step S202, based on the plurality of adjacent measurement points, a target straight line corresponding to the current initial point cloud data, and slope information and intercept information corresponding to the target straight line are obtained, and the slope information and the intercept information are used as geometric characteristic information corresponding to the current initial point cloud data.
The target straight line is a straight line corresponding to a current measuring point corresponding to the current initial point cloud data, and the slope information and the intercept information are the slope and the straight line of the target straight line respectively.
Specifically, based on a plurality of adjacent measurement points corresponding to a plurality of adjacent point cloud data, a straight line where the extending direction of the current measurement point is located is obtained through calculation, and slope information and intercept information corresponding to the target straight line are obtained, wherein the slope information and the intercept information are geometric feature information corresponding to the current initial point cloud data.
In this embodiment, the geometric feature information corresponding to the current initial point cloud data can be accurately obtained by obtaining the target straight line corresponding to the current initial point cloud data, and the slope information and the intercept information corresponding to the target straight line.
In one embodiment, as shown in fig. 3, acquiring a target straight line corresponding to current initial point cloud data based on a plurality of adjacent measurement points includes the following steps:
step S301, acquiring a current adjacent measurement point combination from a plurality of adjacent measurement points, and acquiring a current straight line corresponding to the current adjacent measurement point combination; the current combination of neighboring measurement points comprises two neighboring measurement points.
The current adjacent measuring point combination is the combination of any two adjacent measuring points, and the current straight line is the straight line where the connecting line of the two adjacent measuring points of the combination is located.
Specifically, from the plurality of adjacent measurement points, two adjacent measurement points are arbitrarily acquired as a current adjacent measurement point combination, and a straight line on which a connection line of the two adjacent measurement points of the combination is located is acquired as a current straight line.
Step S302, a plurality of first distance information between the plurality of adjacent measurement points and the current straight line is obtained.
The first distance information is distances between the adjacent measuring points and the current straight line respectively.
Specifically, a plurality of pieces of first distance information between the plurality of adjacent measurement points and the current straight line are calculated through a distance calculation formula.
Step S303, if the plurality of first distance information matches a first preset condition, taking the current straight line as a target straight line.
The first preset condition is that the number of the first distance information smaller than 1 meter in the plurality of first distance information is the largest.
Specifically, the number of first distance information smaller than 1 meter in the plurality of first distance information corresponding to the current straight line is recorded, and if the number corresponding to the current straight line is the maximum value in all combinations, the current straight line is taken as the target straight line.
In this embodiment, whether the current straight line is the target straight line can be accurately determined by obtaining a plurality of pieces of first distance information between the plurality of adjacent measurement points and the current straight line, and determining whether the plurality of pieces of first distance information meet a first preset condition.
In one embodiment, as shown in fig. 4, obtaining a tilt detection result corresponding to a transmission tower based on transmission tower point cloud data and ground point cloud data includes the following steps:
step S401, obtaining the corresponding inclination degree of the transmission tower and the height information of the transmission tower according to the point cloud data of the transmission tower and the ground point cloud data.
The inclination degree is an included angle between the transmission tower and the ground, and the height information is the height from the highest point of the transmission tower to the ground.
Specifically, a linear equation of a straight line where the transmission tower is located is obtained according to the point cloud data of the transmission tower, a plane equation of the ground where the transmission tower is located is obtained according to the point cloud data of the ground, and the inclination degree corresponding to the transmission tower and the height information of the transmission tower are obtained through calculation based on the linear equation and the plane equation.
And S402, obtaining a tilt detection result corresponding to the transmission tower by using the tilt degree and the height information.
Specifically, if the height information of the transmission tower meets a preset value and the inclination degree also meets the preset value, the inclination detection result corresponding to the transmission tower is that the inclination is normal
In this embodiment, the inclination detection result corresponding to the transmission tower can be accurately obtained by obtaining the inclination degree corresponding to the transmission tower and the height information of the transmission tower.
In one embodiment, obtaining the corresponding inclination degree of the transmission tower and the height information of the transmission tower according to the transmission tower point cloud data and the ground point cloud data comprises the following steps:
obtaining orientation information corresponding to the transmission tower according to the point cloud data of the transmission tower, and obtaining plane characteristics of the ground where the transmission tower is located according to the point cloud data of the ground; obtaining the corresponding inclination degree of the transmission tower based on the orientation information and the plane characteristics; and obtaining the height information of the transmission tower based on the point cloud data of the transmission tower and the plane characteristics.
The orientation information is the orientation of a straight line where the transmission tower is located, and the plane characteristics are the position, the extending direction and the normal vector of the plane where the ground is located.
Specifically, according to the point cloud data of the transmission tower, performing principal component analysis on the transmission tower, calculating a three-order covariance matrix of the transmission tower, and then calculating 3 eigenvectors and corresponding eigenvalues of the point cloud data of the transmission tower through singular value decomposition, wherein the eigenvector corresponding to the largest eigenvalue is the orientation of the transmission tower; and meanwhile, according to the point cloud data of the ground, calculating to obtain the position, the extending direction and the normal vector of the plane where the ground is located, namely the plane characteristics of the ground where the transmission tower is located, calculating to obtain the inclination degree of the transmission tower corresponding to the ground according to the orientation of the transmission tower and the extending direction of the plane where the ground is located, finally obtaining the measuring point which is farthest away from the ground in the transmission tower measuring points corresponding to the point cloud data of the transmission tower, and calculating the distance from the farthest measuring point to the ground to obtain the height information of the transmission tower.
In this embodiment, the inclination degree and the height information of the transmission tower corresponding to the transmission tower can be accurately obtained by obtaining the orientation information corresponding to the transmission tower and the plane characteristics of the ground where the transmission tower is located.
In one embodiment, the ground point cloud data is a plurality; according to the ground point cloud data, the plane characteristics of the ground where the transmission tower is located are obtained, and the method comprises the following steps:
acquiring a current ground measuring point combination and a current plane corresponding to the current ground measuring point combination from a plurality of ground measuring points respectively corresponding to a plurality of ground point cloud data; the current ground measurement point combination comprises three ground measurement points.
The ground measurement points are measurement points of the ground where the transmission tower is located, the current ground measurement point combination is a combination of any three ground measurement points, and the current plane is a plane where the current ground measurement point combination is located.
Specifically, from the plurality of ground measurement points, three ground measurement points are randomly acquired as a current ground measurement point combination, and a plane where the three ground measurement points of the current ground measurement point combination are located is acquired as a current plane.
Acquiring a plurality of pieces of second distance information between a plurality of ground measuring points and a current plane respectively; if the plurality of second distance information accords with a second preset condition, obtaining normal vector information and position information corresponding to the current plane, and taking the normal vector information and the position information as plane characteristics of the ground where the transmission tower is located.
The second distance information is the distance between each of the plurality of ground measurement points and the current plane, the second preset condition is that the number of the second distance information which is smaller than 1 meter and corresponds to the current plane is the largest in all plane combinations, and the normal vector information and the position information are the normal vector of the current plane and the position in a preset coordinate axis system respectively.
Specifically, a plurality of pieces of second distance information between the plurality of ground measurement points and the current plane are obtained through calculation, if the number of pieces of second distance information smaller than 1 meter corresponding to the current plane is the largest in all plane combinations, normal vector information and position information corresponding to the current plane are obtained through calculation, and the normal vector information and the position information are used as plane features of the ground where the transmission tower is located.
In this embodiment, the plane characteristics of the ground where the transmission tower is located can be accurately obtained through the second distance information between the ground measurement points and the current plane and the second preset condition.
In one embodiment, obtaining a tilt detection result corresponding to a transmission tower by using the tilt degree and the height information includes the following steps:
when the height information is smaller than or equal to the preset height threshold, if the inclination degree is larger than or equal to the first preset inclination threshold, the inclination detection result is abnormal inclination, and if the inclination degree is smaller than the first preset inclination threshold, the inclination detection result is normal inclination.
The preset height threshold value is a preset height value of the transmission tower, and the first preset inclination threshold value is a preset inclination value of the transmission tower.
Specifically, for example, when the height information is less than or equal to the threshold a, if the degree of inclination is greater than or equal to the threshold B, the inclination detection result is an abnormal inclination, and if the degree of inclination is less than the threshold B, the inclination detection result is a normal inclination.
And when the height information is greater than the preset height threshold, if the inclination degree is greater than or equal to a second preset inclination threshold, the inclination detection result is abnormal inclination, and if the inclination degree is less than the second preset inclination threshold, the inclination detection result is normal inclination.
And the second preset inclination threshold value is a preset inclination value of the transmission tower.
Specifically, for example, when the height information is larger than the threshold a, if the degree of inclination is larger than or equal to the threshold C, the inclination detection result is abnormal inclination, and if the degree of inclination is smaller than the threshold C, the inclination detection result is normal inclination.
In this embodiment, the inclination detection result corresponding to the transmission tower can be accurately obtained by using the inclination degree and the height information.
In an application embodiment, the application provides a method for detecting a tilt defect of a transmission tower, which comprises the following steps:
1. power transmission line point cloud semantic segmentation
And constructing a power transmission line point cloud semantic segmentation neural network, training a network model, and realizing 5-class point cloud semantic segmentation of towers, wires, the ground, vegetation and buildings through the trained semantic segmentation neural network model. The final purpose of the scheme is to analyze the inclination of the tower, so the point cloud semantic segmentation is more concerned with the segmentation results of the point clouds on the tower and the ground. In order to enhance the semantic segmentation result of the point cloud of the tower, the method carries out geometric feature solution on the point cloud before the point cloud of the power transmission line is input into a network, all the point clouds with the radius of 5 meters are taken as a point cloud collection for any one point cloud, and 2 points (x) in the point cloud collection are selected at will 1 ,y 1 ,z 1 )、(x 2 ,y 2 ,z 2 ) The following spatial line equation is constructed:
calculating the distance between all point clouds except 2 points forming a straight line and the straight line equation, recording the point clouds if the distance is less than 1 m, and recording the point clouds of the recorded point cloud collection as N n . Repeating the above steps for 50 times when N is reached n The following corresponding space linear equation when the maximum value is obtained is the geometrical characteristic of the point cloud.
And constructing geometric characteristics (a, B, c) of adjacent point clouds, and training and reasoning by taking point cloud coordinate information (X, Y, Z) and point cloud color information (R, G, B) as input of a semantic segmentation neural network model, wherein the target point cloud format of the input model is (X, Y, Z, R, G, B, a, B, c).
As shown in fig. 5, the semantic segmentation neural network model structure adopts a U-shaped structure, the down-sampling times are 4 times, and the basic network module is a point-voxel dual-channel convolution module.
In order to enhance the semantic segmentation result of the ground point cloud, post-processing and filtering the segmentation result output by the network, specifically, a random sampling consistency algorithm is used for constraining the segmentation result of the ground point cloud output by the network, 3 point clouds are randomly selected each time within 300 iteration times to determine a plane equation, all the points are sequentially introduced into the plane equation, judgment is carried out according to a set distance threshold value of 1 meter, if the distance threshold value is within a threshold value range, the point belongs to the plane, the plane equation with the largest number of the inner points within the iteration times is the ground equation, the inner points under the ground equation are a ground point cloud set, and point clouds which do not belong to the inner points are filtered.
2. Tower point cloud instance segmentation
And (3) carrying out example segmentation on the tower point clouds in the output result of the point cloud semantic segmentation neural network trained in the step (1), and clustering the tower point clouds through a noisy density-based clustering algorithm, wherein the maximum radius is set to be 10 meters, and the number of the minimum point clouds is set to be 500.
3. Calculating main direction vector of tower
And (3) carrying out principal component analysis on each tower example, wherein the specific method comprises the steps of firstly calculating a third-order covariance matrix, and then calculating 3 eigenvectors and corresponding eigenvalues of the tower point cloud through singular value decomposition, wherein the eigenvector alpha corresponding to the largest eigenvalue is the tower principal direction vector. The covariance matrix calculation formula is shown below:
wherein N is the number of point clouds of the pole tower, p i Is the value of point cloud coordinate in XYZ three directions, p m The point cloud coordinate is the average value of the point cloud coordinate in XYZ three directions.
4. Ground normal vector for calculating tower adjacent area
Selecting ground point clouds of a tower within a radius range of 25 meters, performing plane equation fitting, and calculating a normal vector beta of a plane equation.
5. Calculation of tower height
And selecting a point corresponding to the highest value of the Z axis of the tower point cloud, and calculating the distance between the point and the ground plane equation, namely the height h of the tower.
6. Calculation of tower inclination and defect grade judgment
Calculating the gradient q of the tower according to the following formula, judging the gradient q and the height h of the tower, and judging as a major defect when q is greater than 10% if h is less than 50; if h is more than 50, the defect is judged to be a major defect when q is more than 5%.
In this embodiment, the transmission tower point cloud and the ground point cloud are subjected to semantic segmentation through the semantic segmentation neural network model, the transmission tower inclination between the transmission tower main direction vector and the ground normal vector is calculated based on the segmentation result, the defect level judgment is performed by combining the transmission tower height, and the inclination detection of the transmission tower can be accurately performed.
It should be understood that, although the steps in the flowcharts related to the embodiments as described above are sequentially displayed as indicated by arrows, the steps are not necessarily performed sequentially as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a part of the steps in the flowcharts related to the embodiments described above may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the execution order of the steps or stages is not necessarily sequential, but may be rotated or alternated with other steps or at least a part of the steps or stages in other steps.
Based on the same inventive concept, the embodiment of the application also provides a transmission tower inclination detection device for realizing the transmission tower inclination detection method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the method, so that specific limitations in one or more embodiments of the transmission tower inclination detection device provided below can be referred to the limitations on the transmission tower inclination detection method in the foregoing, and details are not described herein again.
In one embodiment, as shown in fig. 6, there is provided a transmission tower inclination detection apparatus, including: an initial point cloud data acquisition module 601, a target point cloud data acquisition module 602, a ground and tower point cloud data acquisition module 603, and an inclination detection result acquisition module 604, wherein:
an initial point cloud data acquisition module 601, configured to acquire multiple pieces of initial point cloud data for a space where a transmission tower to be detected is located; the space where the transmission tower is located comprises the transmission tower and the ground where the transmission tower is located;
a target point cloud data obtaining module 602, configured to perform geometric feature solution on each initial point cloud data to obtain geometric feature information corresponding to each initial point cloud data, and obtain target point cloud data corresponding to each initial point cloud data based on the geometric feature information;
a ground and tower point cloud data obtaining module 603, configured to obtain, from the target point cloud data, transmission tower point cloud data corresponding to a transmission tower and ground point cloud data corresponding to a ground where the transmission tower is located;
the inclination detection result obtaining module 604 is configured to obtain an inclination detection result corresponding to the transmission tower based on the transmission tower point cloud data and the ground point cloud data.
In one embodiment, the target point cloud data obtaining module 602 is further configured to obtain, from a plurality of initial point cloud data, a plurality of neighboring point cloud data corresponding to the current initial point cloud data; the plurality of adjacent point cloud data are a plurality of initial point cloud data corresponding to a plurality of adjacent measuring points respectively, and the plurality of adjacent measuring points are a plurality of measuring points of which the distance between the current measuring points corresponding to the current initial point cloud data is smaller than a preset distance; and acquiring a target straight line corresponding to the current initial point cloud data, and slope information and intercept information corresponding to the target straight line based on the plurality of adjacent measuring points, and taking the slope information and the intercept information as geometric characteristic information corresponding to the current initial point cloud data.
In one embodiment, the target point cloud data obtaining module 602 is further configured to obtain a current neighboring measurement point combination from the plurality of neighboring measurement points, and obtain a current straight line corresponding to the current neighboring measurement point combination; the current adjacent measurement point combination comprises two adjacent measurement points; acquiring a plurality of pieces of first distance information between a plurality of adjacent measuring points and a current straight line respectively; and if the plurality of first distance information accords with a first preset condition, taking the current straight line as a target straight line.
In one embodiment, the inclination detection result obtaining module 604 is further configured to obtain an inclination degree corresponding to the transmission tower and height information of the transmission tower according to the transmission tower point cloud data and the ground point cloud data; and obtaining a tilt detection result corresponding to the transmission tower by using the tilt degree and the height information.
In one embodiment, the inclination detection result obtaining module 604 is further configured to obtain orientation information corresponding to the transmission tower according to the transmission tower point cloud data, and obtain a plane feature of a ground where the transmission tower is located according to the ground point cloud data; obtaining the corresponding inclination degree of the transmission tower based on the orientation information and the plane characteristics; and obtaining the height information of the transmission tower based on the point cloud data of the transmission tower and the plane characteristics.
In one embodiment, the inclination detection result obtaining module 604 is further configured to obtain a current ground measurement point combination from a plurality of ground measurement points respectively corresponding to the plurality of ground point cloud data, and obtain a current plane corresponding to the current ground measurement point combination; the current ground measuring point combination comprises three ground measuring points; acquiring a plurality of pieces of second distance information between a plurality of ground measurement points and a current plane respectively; if the plurality of second distance information accords with a second preset condition, obtaining normal vector information and position information corresponding to the current plane, and taking the normal vector information and the position information as plane characteristics of the ground where the transmission tower is located.
In one embodiment, the tilt detection result obtaining module 604 is further configured to, when the height information is less than or equal to a preset height threshold, if the tilt degree is greater than or equal to a first preset tilt threshold, obtain an abnormal tilt, and if the tilt degree is less than the first preset tilt threshold, obtain a normal tilt; and when the height information is greater than the preset height threshold, if the inclination degree is greater than or equal to a second preset inclination threshold, the inclination detection result is abnormal inclination, and if the inclination degree is less than the second preset inclination threshold, the inclination detection result is normal inclination.
All or part of each module in the transmission tower inclination detection device can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 7. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a method of transmission tower tilt detection. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 7 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is further provided, which includes a memory and a processor, the memory stores a computer program, and the processor implements the steps of the above method embodiments when executing the computer program.
In an embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method embodiments.
In an embodiment, a computer program product is provided, comprising a computer program which, when being executed by a processor, carries out the steps of the above-mentioned method embodiments.
It should be noted that, the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, presented data, etc.) referred to in the present application are information and data authorized by the user or sufficiently authorized by each party.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above may be implemented by hardware instructions of a computer program, which may be stored in a non-volatile computer-readable storage medium, and when executed, may include the processes of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high-density embedded nonvolatile Memory, resistive Random Access Memory (ReRAM), magnetic Random Access Memory (MRAM), ferroelectric Random Access Memory (FRAM), phase Change Memory (PCM), graphene Memory, and the like. Volatile Memory can include Random Access Memory (RAM), external cache Memory, and the like. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others. The databases referred to in various embodiments provided herein may include at least one of relational and non-relational databases. The non-relational database may include, but is not limited to, a block chain based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, quantum computing based data processing logic devices, etc., without limitation.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.
Claims (10)
1. A method for detecting the inclination of a transmission tower, the method comprising:
acquiring a plurality of initial point cloud data for a space where a transmission tower to be detected is located; the space where the transmission tower is located comprises the transmission tower and the ground where the transmission tower is located;
performing geometric feature solution on each initial point cloud data to obtain geometric feature information corresponding to each initial point cloud data, and obtaining target point cloud data corresponding to each initial point cloud data based on the geometric feature information;
acquiring point cloud data of the transmission tower corresponding to the transmission tower and ground point cloud data corresponding to the ground where the transmission tower is located from the target point cloud data;
and obtaining an inclination detection result corresponding to the transmission tower based on the transmission tower point cloud data and the ground point cloud data.
2. The method of claim 1, wherein the performing geometric feature solution on each initial point cloud data to obtain geometric feature information corresponding to each initial point cloud data comprises:
acquiring a plurality of adjacent point cloud data corresponding to the current initial point cloud data from the plurality of initial point cloud data; the plurality of adjacent point cloud data are a plurality of initial point cloud data corresponding to a plurality of adjacent measuring points respectively, and the plurality of adjacent measuring points are a plurality of measuring points of which the distance between the current measuring points corresponding to the current initial point cloud data is smaller than a preset distance;
and acquiring a target straight line corresponding to the current initial point cloud data, and slope information and intercept information corresponding to the target straight line based on the plurality of adjacent measuring points, and taking the slope information and the intercept information as geometric characteristic information corresponding to the current initial point cloud data.
3. The method of claim 2, wherein the obtaining a target straight line corresponding to the current initial point cloud data based on the plurality of neighboring measurement points comprises:
acquiring a current adjacent measuring point combination from the plurality of adjacent measuring points, and acquiring a current straight line corresponding to the current adjacent measuring point combination; the current combination of neighboring measurement points includes two neighboring measurement points;
acquiring a plurality of pieces of first distance information between the plurality of adjacent measuring points and the current straight line respectively;
and if the plurality of first distance information accords with a first preset condition, taking the current straight line as the target straight line.
4. The method according to claim 1, wherein obtaining the inclination detection result corresponding to the transmission tower based on the transmission tower point cloud data and the ground point cloud data comprises:
obtaining the corresponding inclination degree of the transmission tower and the height information of the transmission tower according to the point cloud data of the transmission tower and the ground point cloud data;
and obtaining an inclination detection result corresponding to the transmission tower by using the inclination degree and the height information.
5. The method according to claim 4, wherein the obtaining of the corresponding inclination degree of the transmission tower and the height information of the transmission tower according to the transmission tower point cloud data and the ground point cloud data comprises:
obtaining orientation information corresponding to the transmission tower according to the point cloud data of the transmission tower, and obtaining plane characteristics of the ground where the transmission tower is located according to the ground point cloud data;
obtaining the corresponding inclination degree of the transmission tower based on the orientation information and the plane characteristics;
and obtaining the height information of the transmission tower based on the point cloud data of the transmission tower and the plane characteristics.
6. The method of claim 5, wherein the ground point cloud data is a plurality; the obtaining of the plane characteristics of the ground where the transmission tower is located according to the ground point cloud data comprises the following steps:
acquiring a current ground measuring point combination from a plurality of ground measuring points respectively corresponding to a plurality of ground point cloud data, and acquiring a current plane corresponding to the current ground measuring point combination; the current ground measurement point combination comprises three ground measurement points;
acquiring a plurality of pieces of second distance information between the plurality of ground measurement points and the current plane respectively;
if the plurality of second distance information accords with a second preset condition, obtaining normal vector information and position information corresponding to the current plane, and taking the normal vector information and the position information as plane characteristics of the ground where the transmission tower is located.
7. The method according to claim 4, wherein obtaining the tilt detection result corresponding to the transmission tower by using the tilt degree and the height information comprises:
when the height information is smaller than or equal to a preset height threshold, if the inclination degree is larger than or equal to a first preset inclination threshold, the inclination detection result is abnormal inclination, and if the inclination degree is smaller than the first preset inclination threshold, the inclination detection result is normal inclination;
when the height information is greater than the preset height threshold value, if the inclination degree is greater than or equal to a second preset inclination threshold value, the inclination detection result is abnormal inclination, and if the inclination degree is less than the second preset inclination threshold value, the inclination detection result is normal inclination.
8. An apparatus for detecting the inclination of a transmission tower, the apparatus comprising:
the initial point cloud data acquisition module is used for acquiring a plurality of initial point cloud data aiming at the space where the transmission tower to be detected is located; the space where the transmission tower is located comprises the transmission tower and the ground where the transmission tower is located;
the target point cloud data acquisition module is used for solving the geometric characteristics of each initial point cloud data to obtain the geometric characteristic information corresponding to each initial point cloud data, and obtaining the target point cloud data corresponding to each initial point cloud data based on the geometric characteristic information;
the ground and tower point cloud data acquisition module is used for acquiring the transmission tower point cloud data corresponding to the transmission tower and the ground point cloud data corresponding to the ground where the transmission tower is located from the target point cloud data;
and the inclination detection result acquisition module is used for acquiring an inclination detection result corresponding to the transmission tower based on the transmission tower point cloud data and the ground point cloud data.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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