CN115810012B - Transmission tower inclination detection method, device, equipment and storage medium - Google Patents
Transmission tower inclination detection method, device, equipment and storage medium Download PDFInfo
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Abstract
The application relates to a transmission tower inclination detection method, a transmission tower inclination detection device, transmission tower inclination detection equipment and a storage medium. The method comprises the following steps: acquiring a plurality of initial point cloud data aiming at 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; carrying out 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; acquiring 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 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. By adopting the method, the inclination detection of the transmission tower can be efficiently carried out.
Description
Technical Field
The present disclosure relates to the field of power technologies, and in particular, to a transmission tower inclination detection method, apparatus, device, and storage medium.
Background
With the development of the power technology field, a transmission tower inclination detection technology has emerged, which performs inclination detection on a transmission tower by vertically measuring an inclination angle to which the transmission tower is attached.
In the technical scheme, the tower climbing operation of the staff is required, the operation is very unsafe, the operation process is very complicated, and a large amount of manpower and material resources are required to be consumed, so that the inclination detection process of the transmission tower is very low-efficiency.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a transmission tower inclination detection method, apparatus, computer device, computer-readable storage medium, and computer program product that are capable of efficiently detecting an inclination of a transmission tower.
In a first aspect, the present application provides a transmission tower tilt detection method. The method comprises the following steps:
acquiring a plurality of initial point cloud data aiming at 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;
carrying out 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;
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 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 performing geometric feature solving 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 respectively corresponding to a plurality of adjacent measurement points, and the plurality of adjacent measurement points are a plurality of measurement points with the distance between the current measurement points corresponding to the current initial point cloud data being smaller than a preset distance; and acquiring a target straight line corresponding to the current initial point cloud data, slope information and intercept information corresponding to the target straight line based on the plurality of adjacent measurement 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, based on the plurality of adjacent measurement points, a target straight line corresponding to the current initial point cloud data includes: acquiring a current adjacent measurement point combination from the plurality of adjacent measurement points, and acquiring a current straight line corresponding to the current adjacent measurement point combination; the current adjacent measurement point combination comprises two adjacent measurement points; acquiring a plurality of pieces of first distance information between the plurality of adjacent measurement 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, based on the transmission tower point cloud data and the ground point cloud data, a tilt detection result corresponding to the transmission tower includes: 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; and obtaining a corresponding inclination detection result of the transmission tower by utilizing 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, the inclination degree corresponding to the transmission tower and the height information of the transmission tower includes:
According to the transmission tower point cloud data, obtaining corresponding orientation information of the transmission tower, and according to the ground point cloud data, obtaining the plane characteristics of the ground where the transmission tower is located; 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 transmission tower point cloud data and the plane characteristics.
In one embodiment, the ground point cloud data is a plurality of; the obtaining 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 measurement point combination from a plurality of ground measurement points respectively corresponding to a plurality of ground point cloud data, and acquiring a current plane corresponding to the current ground measurement point combination; the current ground measurement point combination comprises three ground measurement points; acquiring a plurality of pieces of second distance information between the ground measurement points and the current plane respectively; and if the plurality of second distance information accords with a second preset condition, acquiring 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 the inclination detection result corresponding to the transmission tower by using the inclination degree and the height information includes: 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 larger than the preset height threshold, if the inclination degree is larger than or equal to a second preset inclination threshold, the inclination detection result is abnormal inclination, and if the inclination degree is smaller than the second preset inclination threshold, the inclination detection result is normal inclination.
In a second aspect, the present application further provides a transmission tower tilt detection apparatus. The device comprises:
the system comprises an initial point cloud data acquisition module, a detection module and a detection module, wherein the initial point cloud data acquisition module is used for acquiring a plurality of initial point cloud data aiming at 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 target point cloud data acquisition module is used for carrying out 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;
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 present application also provides a computer device. The computer device comprises a memory storing a computer program and a processor which when executing the computer program performs the steps of:
acquiring a plurality of initial point cloud data aiming at 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;
carrying out 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;
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 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 also provides a computer-readable storage medium. The computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of:
acquiring a plurality of initial point cloud data aiming at 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;
carrying out 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;
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 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 also provides a computer program product. The computer program product comprises a computer program which, when executed by a processor, implements the steps of:
Acquiring a plurality of initial point cloud data aiming at 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;
carrying out 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;
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 an inclination detection result corresponding to the transmission tower based on the transmission tower point cloud data and the ground point cloud data.
The transmission tower inclination detection method, the transmission tower inclination detection device, the computer equipment, the storage medium and the computer program product are 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; carrying out 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; acquiring 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 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 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 can be efficiently carried out on the transmission tower.
Drawings
FIG. 1 is a flow chart of a transmission tower tilt detection method in one embodiment;
FIG. 2 is a flow diagram of obtaining geometric feature information in one embodiment;
FIG. 3 is a flow diagram of a process for obtaining a target line in one embodiment;
FIG. 4 is a flowchart of a method for obtaining transmission tower tilt detection results according to an embodiment;
FIG. 5 is a schematic diagram of a network structure of a semantic segmentation model in one embodiment;
FIG. 6 is a block diagram of a transmission tower tilt detection apparatus according to one embodiment;
fig. 7 is an internal structural diagram of a computer device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
It should be noted that, the term "first\second" related to the embodiment of the present invention is merely to distinguish similar objects, and does not represent a specific order for the objects, it is to be understood that "first\second" may interchange a specific order or precedence where allowed. It is to be understood that the "first\second" distinguishing aspects may be interchanged where appropriate to enable embodiments of the invention described herein to be implemented in sequences other than those illustrated or described.
In one embodiment, as shown in fig. 1, a transmission tower inclination detection method is provided, and this embodiment is applied to a terminal for illustration by using the method, it is 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 implemented through 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 aiming at 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 transmission tower to be detected is a transmission tower pole to be detected for whether inclination defects exist or not, the transmission tower pole can be a wooden tower pole or a transmission tower, a space where the transmission tower is located is a transmission tower and a space around 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, color data and the like of a plurality of preset acquisition points acquired in advance in the space where the transmission tower is located, and the initial point cloud data include but are not limited to ground initial point cloud data corresponding to ground acquisition points, transmission tower initial point cloud data corresponding to the acquisition points of the transmission tower and the like.
Specifically, a plurality of initial point cloud data corresponding to preset acquisition points in a space where a plurality of transmission towers to be detected are located are acquired in advance.
Step S102, carrying out 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 a measuring point corresponding to each initial point cloud data is located, and the target point cloud data is the point cloud data obtained after the initial point cloud data and the geometric characteristic information are combined.
Specifically, a straight line corresponding to a current measurement point is calculated through position information in initial point cloud data of the current measurement point, slope and intercept of the straight line are obtained to serve as geometric feature information corresponding to the current measurement point, the geometric feature information is combined with the initial point cloud data corresponding to the current measurement point, target point cloud data corresponding to the current measurement point are obtained, and target point cloud data corresponding to each initial point cloud data are obtained.
Step S103, 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.
The transmission tower point cloud data are point cloud data corresponding to measurement points on the transmission tower, and the ground point cloud data are point cloud data corresponding to the measurement points 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 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 are distinguished from the plurality of target point cloud data through the semantic segmentation model.
And step S104, obtaining an inclination 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 or not.
Specifically, based on the transmission tower point cloud data and the ground point cloud data, calculating an inclination angle of the transmission tower relative to the ground, and judging whether the transmission tower has an inclination defect or not based on the inclination angle, thereby obtaining an inclination detection result corresponding to the transmission tower.
In the transmission tower inclination detection method, 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; carrying out 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; acquiring 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 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 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 can be efficiently carried out on the transmission tower.
In one embodiment, as shown in fig. 2, the geometric feature solving is performed on each initial point cloud data to obtain geometric feature information corresponding to each initial point cloud data, including the following steps:
step S201, acquiring a plurality of adjacent point cloud data corresponding to the 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 measurement points respectively, and the plurality of adjacent measurement points are a plurality of measurement points with a distance between current measurement points corresponding to the current initial point cloud data smaller than a preset distance.
The neighboring point cloud data are a plurality of initial point cloud data corresponding to neighboring measurement points within a preset distance range of a current measurement point corresponding to the current initial point cloud data, and the neighboring measurement points are measurement points within the preset distance range of the current measurement point, and the preset distance may be 5 meters.
Specifically, point cloud data corresponding to neighboring measurement points within a range of 5 meters of a current measurement point corresponding to the current initial point cloud data are obtained as neighboring point cloud data.
Step S202, based on a plurality of adjacent measurement points, acquiring a target straight line corresponding to the current initial point cloud data, slope information and intercept information corresponding to the target straight line, and taking the slope information and the intercept information as geometric feature information corresponding to the current initial point cloud data.
The target straight line is a straight line corresponding to a current measurement point corresponding to the current initial point cloud data, and the slope information and the intercept information are respectively the slope and the straight line of the target straight line.
Specifically, based on a plurality of adjacent measurement points corresponding to a plurality of adjacent point cloud data, calculating to obtain a straight line where the extending direction of the current measurement point is located, and acquiring slope information and intercept information corresponding to a target straight line, wherein the slope information and the intercept information are geometric feature information corresponding to the current initial point cloud data.
In this embodiment, by acquiring 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, the geometric feature information corresponding to the current initial point cloud data can be accurately obtained.
In one embodiment, as shown in fig. 3, based on a plurality of adjacent measurement points, a target straight line corresponding to current initial point cloud data is obtained, which includes the following steps:
step S301, obtaining a current adjacent measurement point combination from a plurality of adjacent measurement points, and obtaining a current straight line corresponding to the current adjacent measurement point combination; the current combination of neighboring measurement points includes two neighboring measurement points.
The current adjacent measurement point combination is a combination of any two adjacent measurement points, and the current straight line is a straight line where the two adjacent measurement points of the combination are connected.
Specifically, two adjacent measurement points are arbitrarily acquired from a plurality of adjacent measurement points as a current adjacent measurement point combination, and a straight line where a connecting line of the two adjacent measurement points of the combination is located is acquired as a current straight line.
In step S302, a plurality of first distance information between a plurality of neighboring measurement points and a current straight line is obtained.
The first distance information is the distance between each of the plurality of adjacent measuring points and the current straight line.
Specifically, a plurality of first distance information between a plurality of adjacent measurement points and a current straight line is calculated through a distance calculation formula.
In step S303, if the plurality of first distance information meets the first preset condition, the current straight line is taken as the 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 among 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, by acquiring a plurality of pieces of first distance information between a 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, it is possible to accurately determine whether the current straight line is a target straight line.
In one embodiment, as shown in fig. 4, based on the transmission tower point cloud data and the ground point cloud data, a tilt detection result corresponding to the transmission tower is obtained, which includes the following steps:
and S401, 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.
The inclination degree is the 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, according to the transmission tower point cloud data, a linear equation of a line where the transmission tower is located is obtained, according to the ground point cloud data, a plane equation of the ground where the transmission tower is located is obtained, and based on the linear equation and the plane equation, the inclination degree corresponding to the transmission tower and the height information of the transmission tower are calculated.
And step S402, obtaining a corresponding inclination detection result of the transmission tower by utilizing the inclination degree and the height information.
Specifically, if the height information of the transmission tower meets the 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, by acquiring the inclination degree corresponding to the transmission tower and the height information of the transmission tower, the inclination detection result corresponding to the transmission tower can be accurately obtained.
In one embodiment, according to the transmission tower point cloud data and the ground point cloud data, the inclination degree corresponding to the transmission tower and the height information of the transmission tower are obtained, and the method comprises the following steps:
according to the transmission tower point cloud data, obtaining corresponding orientation information of the transmission tower, and according to the ground point cloud data, obtaining the plane characteristics of the ground where the transmission tower is located; based on the orientation information and the plane characteristics, obtaining the corresponding inclination degree of the transmission tower; and obtaining the height information of the transmission tower based on the transmission tower point cloud data and the plane characteristics.
The direction information is the direction 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 transmission tower point cloud data, carrying out principal component analysis on the transmission tower, calculating a third-order covariance matrix of the transmission tower, and then calculating 3 eigenvectors and corresponding eigenvalues of the transmission tower point cloud data through singular value decomposition, wherein the eigenvector corresponding to the largest eigenvalue is the direction of the transmission tower; meanwhile, according to the ground point cloud data, the position, the extending direction and the normal vector of the plane where the ground is located are calculated, namely the plane characteristics of the ground where the transmission tower is located, according to the direction of the transmission tower and the extending direction of the plane where the ground is located, the inclination degree of the transmission tower corresponding to the ground is calculated, finally, the measuring point which is farthest from the ground in the transmission tower measuring points corresponding to the transmission tower point cloud data is obtained, and the distance from the farthest measuring point to the ground is calculated, so that the height information of the transmission tower is obtained.
In this embodiment, by acquiring the orientation information corresponding to the transmission tower and the plane characteristics of the ground where the transmission tower is located, the inclination degree corresponding to the transmission tower and the height information of the transmission tower can be accurately obtained.
In one embodiment, the ground point cloud data is a plurality; according to the ground point cloud data, obtaining the plane characteristics of the ground where the transmission tower is located, comprising the following steps:
acquiring a current ground measurement point combination from a plurality of ground measurement points respectively corresponding to the plurality of ground point cloud data, and acquiring a current plane corresponding to the current ground measurement point combination; the current ground measurement point combination contains three ground measurement points.
The ground measuring points are the measuring points of the ground where the transmission tower is located, the current ground measuring point combination is any three ground measuring point combinations, and the current plane is the plane where the three ground measuring points are combined.
Specifically, three ground measurement points are randomly acquired from a plurality of ground measurement points to be used 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 to be used as a current plane.
Acquiring a plurality of pieces of second distance information between a plurality of ground measurement points and a current plane respectively; and if the plurality of second distance information accords with the second preset condition, acquiring 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 the ground measurement points and the current plane respectively, the second preset condition is that the number of the second distance information smaller than 1 meter corresponding 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 system respectively.
Specifically, a plurality of second distance information between a plurality of ground measurement points and a current plane is obtained through calculation, if 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, normal vector information and position information which correspond to the current plane are obtained through calculation, and the normal vector information and the position information are used as plane characteristics 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 a plurality of pieces of second distance information and second preset conditions between a plurality of ground measurement points and the current plane respectively.
In one embodiment, the inclination detection result corresponding to the transmission tower is obtained by using the inclination degree and the height information, and the method comprises the following steps:
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.
The preset height threshold is a preset transmission tower height value, and the first preset inclination threshold is a preset transmission tower inclination value.
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 abnormal inclination, and if the degree of inclination is less than the threshold B, the inclination detection result is normal inclination.
When the height information is larger than the preset height threshold, if the inclination degree is larger than or equal to a second preset inclination threshold, the inclination detection result is abnormal inclination, and if the inclination degree is smaller than the second preset inclination threshold, the inclination detection result is normal inclination.
The second preset inclination threshold value is a preset transmission tower inclination value.
Specifically, for example, when the height information is greater than the threshold a, if the degree of inclination is greater than or equal to the threshold C, the inclination detection result is abnormal inclination, and if the degree of inclination is less than the threshold C, the inclination detection result is normal inclination.
In this embodiment, by using the inclination degree and the height information, the inclination detection result corresponding to the transmission tower can be accurately obtained.
In an application embodiment, the application provides a transmission tower inclination defect detection method, which includes the following steps:
1. Transmission line point cloud semantic segmentation
And building a transmission line point cloud semantic segmentation neural network, training a network model, and realizing 5-class point cloud semantic segmentation of towers, wires, floors, vegetation and buildings through the trained semantic segmentation neural network model. Since the final objective of the scheme is to analyze the gradient of the tower, the point cloud semantic segmentation should pay more attention to the segmentation results of the tower and the ground point cloud. In order to enhance the semantic segmentation result of the pole and tower point cloud, the scheme is used for point-to-point before the point cloud of the transmission line is input into the networkThe cloud performs geometric feature solving, for any one point cloud, all point clouds with the radius of 5 meters are taken as a point cloud set, and 2 points (x 1 ,y 1 ,z 1 )、(x 2 ,y 2 ,z 2 ) The following spatial linear equation is constructed:
calculating the distance between all the point clouds except 2 points forming a straight line and the straight line equation, and recording the point clouds if the distance is less than 1 meter, wherein the point cloud number of the recorded point cloud set is N n . The above steps are repeated 50 times when N n The corresponding space linear equation shown below when the maximum value is obtained is the geometrical characteristic of the point cloud.
And constructing geometrical characteristics (a, B, c) of adjacent point clouds, training and reasoning by taking the geometrical characteristics (a, B, c) and the point cloud coordinate information (X, Y, Z) and the point cloud color information (R, G, B) as inputs 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 downsampling times are 4 times, and the basic network module is a point-voxel double-channel convolution module.
In order to enhance the semantic segmentation result of the ground point cloud, post-processing filtering is carried out on the segmentation result output by the network, specifically, constraint is carried out on the segmentation result of the ground point cloud output by the network by using a random sampling consistency algorithm, 3 point clouds are randomly selected each time within 300 iterations to determine a plane equation, all points are sequentially brought into the plane equation, judgment is carried out according to a set distance threshold value of 1 meter, if the points are within the threshold value range, the plane equation with the largest number of the internal points within the iterations is considered as the ground equation, the internal points under the ground equation are the ground point clouds, and the point clouds which do not belong to the internal points are filtered.
2. Tower point cloud instance segmentation
And (3) performing 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 by a density-based clustering algorithm with noise, 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 pole tower
And 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 main direction vector of the tower. The covariance matrix calculation formula is as follows:
wherein N is the number of pole tower point clouds, p i The numerical value of the point cloud coordinate in three directions of XYZ and p m Is the average value of the point cloud coordinates in three directions of XYZ.
4. Calculating ground normal vector of adjacent area of pole tower
The method comprises the steps of selecting a ground point cloud within a radius range of 25 meters of a pole tower, performing plane equation fitting, and calculating a normal vector beta of a plane equation.
5. Tower height calculation
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. Tower inclination calculation and defect level 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 the tower as a serious defect when q is more than 10% if h is less than 50; if h >50, when q >5%, the defect is determined to be a serious defect.
According to the 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 gradient between the transmission tower main direction vector and the ground normal vector is calculated based on the segmentation result, and the defect grade judgment is carried out by combining the transmission tower height, so that the transmission tower can be accurately subjected to inclination detection.
It should be understood that, although the steps in the flowcharts related to the embodiments described above are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.
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 of the solution provided by the device is similar to the implementation described in the above method, so the specific limitation in the embodiments of the transmission tower inclination detection device or devices provided below may be referred to the limitation of the transmission tower inclination detection method hereinabove, and will not be repeated herein.
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 a plurality of initial point cloud data for a space in which 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 target point cloud data acquisition module 602 is 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;
The ground and tower point cloud data acquisition module 603 is configured to acquire, 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 on which the transmission tower is located;
and 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 measurement points respectively, and the plurality of adjacent measurement points are a plurality of measurement points with the distance between the current measurement points corresponding to the current initial point cloud data smaller than a preset distance; and acquiring a target straight line corresponding to the current initial point cloud data, slope information and intercept information corresponding to the target straight line based on a plurality of adjacent measurement 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 a 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 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 the first preset condition, taking the current straight line as the target straight line.
In one embodiment, the inclination detection result obtaining module 604 is further configured to obtain the inclination degree corresponding to the transmission tower and the altitude information of the transmission tower according to the transmission tower point cloud data and the ground point cloud data; and obtaining the corresponding inclination detection result of the transmission tower by using the inclination 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; based on the orientation information and the plane characteristics, obtaining the corresponding inclination degree of the transmission tower; and obtaining the height information of the transmission tower based on the transmission tower point cloud data 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 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 measurement point combination comprises three ground measurement points; acquiring a plurality of pieces of second distance information between a plurality of ground measurement points and a current plane respectively; and if the plurality of second distance information accords with the second preset condition, acquiring 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 inclination detection result obtaining module 604 is further configured to, when the height information is less than or equal to the preset height threshold, determine that the inclination detection result is abnormal inclination if the inclination degree is greater than or equal to the first preset inclination threshold, and determine that the inclination detection result is normal inclination if the inclination degree is less than the first preset inclination threshold; when the height information is larger than the preset height threshold, if the inclination degree is larger than or equal to a second preset inclination threshold, the inclination detection result is abnormal inclination, and if the inclination degree is smaller than the second preset inclination threshold, the inclination detection result is normal inclination.
The modules in the transmission tower inclination detection device can be all or partially realized by software, hardware and a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a computer device is provided, which may be a terminal, and the internal structure of which 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 includes a non-volatile 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 the operating system and computer programs in the non-volatile storage media. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless mode 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 transmission tower tilt detection method. 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, can also be keys, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.
It will be appreciated by those skilled in the art that the structure shown in fig. 7 is merely a block diagram of some of the structures associated with the present application and is not limiting of the computer device to which the present application may be applied, and that a particular computer device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.
In an embodiment, there is also provided a computer device comprising a memory and a processor, the memory having stored therein a computer program, the processor implementing the steps of the method embodiments described above when the computer program is executed.
In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when executed by a processor, carries out the steps of the method embodiments described above.
In an embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the steps of the method embodiments described above.
It should be noted that, user information (including but not limited to user equipment 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.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the various 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 (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (Phase Change Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as Static Random access memory (Static Random access memory AccessMemory, SRAM) or dynamic Random access memory (Dynamic Random Access Memory, DRAM), and the like. The databases referred to in the various embodiments provided herein may include at least one of relational databases and non-relational databases. The non-relational database may include, but is not limited to, a blockchain-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 units, quantum computing-based data processing logic units, etc., without being limited thereto.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples only represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the present application. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application shall be subject to the appended claims.
Claims (10)
1. A transmission tower tilt detection method, the method comprising:
acquiring a plurality of initial point cloud data aiming at 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;
carrying out geometric feature solving on each initial point cloud data to obtain geometric feature information corresponding to each initial point cloud data, and merging each initial point cloud data with the geometric feature information corresponding to each initial point cloud data to obtain target point cloud data corresponding to each initial point cloud data; comprising the following steps: 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 respectively corresponding to a plurality of adjacent measurement points, and the plurality of adjacent measurement points are a plurality of measurement points with the distance between the current measurement points corresponding to the current initial point cloud data being smaller than a preset distance; acquiring a target straight line corresponding to the current initial point cloud data, slope information and intercept information corresponding to the target straight line based on the plurality of adjacent measurement points, and taking the slope information and the intercept information as geometric characteristic information corresponding to the current initial point cloud data; acquiring a current adjacent measurement point combination from the plurality of adjacent measurement points, and acquiring a current straight line corresponding to the current adjacent measurement point combination; the current adjacent measurement point combination comprises two adjacent measurement points; acquiring a plurality of pieces of first distance information between the plurality of adjacent measurement points and the current straight line respectively; if the plurality of first distance information accords with a first preset condition, the current straight line is taken as the target straight line; the first preset condition is that the number of first distance information smaller than 1 meter in the plurality of first distance information is the largest;
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;
obtaining an inclination detection result corresponding to the transmission tower based on the transmission tower point cloud data and the ground point cloud data; comprising the following steps: according to the ground point cloud data, obtaining the plane characteristics of the ground where the transmission tower is located; acquiring a current ground measurement point combination from a plurality of ground measurement points respectively corresponding to a plurality of ground point cloud data, and acquiring a current plane corresponding to the current ground measurement point combination; the current ground measurement point combination comprises three ground measurement points; acquiring a plurality of pieces of second distance information between the ground measurement points and the current plane respectively; if the plurality of second distance information accords with a second preset condition, normal vector information and position information corresponding to the current plane are obtained, and the normal vector information and the position information are used as plane characteristics of the ground where the transmission tower is located; the second preset condition is that the number of second distance information smaller than 1 meter corresponding to the current plane is the largest in all planes.
2. The method according to claim 1, wherein the obtaining 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 transmission tower point cloud data and the ground point cloud data;
and obtaining a corresponding inclination detection result of the transmission tower by utilizing the inclination degree and the height information.
3. The method according to claim 2, wherein the obtaining the inclination degree corresponding to the transmission tower and the altitude information of the transmission tower according to the transmission tower point cloud data and the ground point cloud data includes:
according to the transmission tower point cloud data, obtaining corresponding orientation information of the transmission tower;
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 transmission tower point cloud data and the plane characteristics.
4. The method according to claim 2, wherein the obtaining the inclination detection result corresponding to the transmission tower by using the inclination degree and the height information includes:
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 larger than the preset height threshold, if the inclination degree is larger than or equal to a second preset inclination threshold, the inclination detection result is abnormal inclination, and if the inclination degree is smaller than the second preset inclination threshold, the inclination detection result is normal inclination.
5. A transmission tower tilt detection apparatus, the apparatus comprising:
the system comprises an initial point cloud data acquisition module, a detection module and a detection module, wherein the initial point cloud data acquisition module is used for acquiring a plurality of initial point cloud data aiming at 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 target point cloud data acquisition module is used for carrying out geometric feature solution on each initial point cloud data to obtain geometric feature information corresponding to each initial point cloud data, and merging each initial point cloud data with the geometric feature information corresponding to each initial point cloud data to obtain target point cloud data corresponding to each initial point cloud data; the method is further used for 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 respectively corresponding to a plurality of adjacent measurement points, and the plurality of adjacent measurement points are a plurality of measurement points with the distance between the current measurement points corresponding to the current initial point cloud data being smaller than a preset distance; acquiring a target straight line corresponding to the current initial point cloud data, slope information and intercept information corresponding to the target straight line based on the plurality of adjacent measurement points, and taking the slope information and the intercept information as geometric characteristic information corresponding to the current initial point cloud data; acquiring a current adjacent measurement point combination from the plurality of adjacent measurement points, and acquiring a current straight line corresponding to the current adjacent measurement point combination; the current adjacent measurement point combination comprises two adjacent measurement points; acquiring a plurality of pieces of first distance information between the plurality of adjacent measurement points and the current straight line respectively; if the plurality of first distance information accords with a first preset condition, the current straight line is taken as the target straight line; the first preset condition is that the number of first distance information smaller than 1 meter in the plurality of first distance information is the largest;
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;
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; the method is further used for obtaining the plane characteristics of the ground where the transmission tower is located according to the ground point cloud data; acquiring a current ground measurement point combination from a plurality of ground measurement points respectively corresponding to a plurality of ground point cloud data, and acquiring a current plane corresponding to the current ground measurement point combination; the current ground measurement point combination comprises three ground measurement points; acquiring a plurality of pieces of second distance information between the ground measurement points and the current plane respectively; if the plurality of second distance information accords with a second preset condition, normal vector information and position information corresponding to the current plane are obtained, and the normal vector information and the position information are used as plane characteristics of the ground where the transmission tower is located; the second preset condition is that the number of second distance information smaller than 1 meter corresponding to the current plane is the largest in all planes.
6. The apparatus according to claim 5, wherein the inclination detection result obtaining module 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 corresponding inclination detection result of the transmission tower by utilizing the inclination degree and the height information.
7. The device according to claim 6, wherein the inclination detection result obtaining module is further configured to obtain, according to the transmission tower point cloud data, orientation information corresponding to the transmission tower; 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 transmission tower point cloud data and the plane characteristics.
8. The apparatus of claim 6, wherein the tilt detection result obtaining module is further configured to, when the height information is less than or equal to a preset height threshold, determine that the tilt detection result is abnormal tilt if the tilt level is greater than or equal to a first preset tilt threshold, and determine that the tilt detection result is normal tilt if the tilt level is less than the first preset tilt threshold; when the height information is larger than the preset height threshold, if the inclination degree is larger than or equal to a second preset inclination threshold, the inclination detection result is abnormal inclination, and if the inclination degree is smaller than the second preset inclination threshold, the inclination detection result is normal inclination.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 4 when the computer program is executed.
10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 4.
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| CN105333861B (en) * | 2015-12-02 | 2018-02-06 | 中国测绘科学研究院 | The method and device of shaft tower tilt detection based on laser point cloud |
| CN107633504A (en) * | 2017-08-07 | 2018-01-26 | 广东电网有限责任公司机巡作业中心 | Shaft tower inclined degree detection method and device |
| CN111830528A (en) * | 2020-06-29 | 2020-10-27 | 西安交通大学 | Tower characteristic point automatic identification and inclination parameter automatic measurement method based on laser point cloud |
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