CN115841487B - Hidden danger positioning method and terminal along power transmission line - Google Patents
Hidden danger positioning method and terminal along power transmission line Download PDFInfo
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- CN115841487B CN115841487B CN202310134685.8A CN202310134685A CN115841487B CN 115841487 B CN115841487 B CN 115841487B CN 202310134685 A CN202310134685 A CN 202310134685A CN 115841487 B CN115841487 B CN 115841487B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
According to the hidden danger positioning method and terminal along the power transmission line, the mapping relation between the initial image and the point cloud three-dimensional data in the target area is established through the point cloud ranging algorithm, the depth map is generated, when the coordinates of the hidden danger in the image to be detected are known, the distance between the hidden danger and the monitoring device corresponding to the image to be detected can be obtained through the depth map, the distance positioning of the hidden danger is achieved, and finally the geographic position of the hidden danger is calculated by combining the source position information of the monitoring device, the target position information in the image to be detected and the distance. The ranging mode based on the monitoring device is high in accuracy, simple in algorithm and high in calculation efficiency, hidden danger position information can be obtained in the first time of finding hidden danger, and timeliness of fire disaster assessment and rescue is improved.
Description
Technical Field
The invention relates to the technical field of monitoring, in particular to a hidden danger positioning method and a terminal along a power transmission line.
Background
At present, two main ranging methods for hidden danger positions around a power transmission line exist. One is that the unmanned aerial vehicle carries a visible light or infrared camera device to carry out inspection, and then a picture or a video is identified manually or by a computer to judge hidden danger; however, the inspection of the unmanned aerial vehicle cannot be monitored in real time in all weather, and the existing hidden danger is difficult to timely and effectively early-warn. The other is to install a visible light or infrared camera monitoring device on the tower of the line, the technology can collect real-time images of the surrounding environment of the transmission line all the time, and the hidden danger level is judged through a ranging technology. Existing camera ranging techniques are typically based on the principle of binocular ranging, implemented in combination with one visible camera and one infrared camera or two infrared cameras: after two cameras recognize hidden danger at the same time, the hidden danger distance is calculated through parallax of hidden danger in the pictures of the two cameras and internal and external parameters of the cameras. However, the application limitation of the method is that the binocular distance requires the lens center distance of the two cameras to be 80 cm-120 cm, and the distance between the two cameras of the single anti-forest fire holder which is commonly used at present is limited by the installation position and is generally within 50 cm. Therefore, the hidden danger positioning method based on the principle of binocular range cannot be applied to the single anti-forest fire holder. In addition, most of the current anti-forest fire holders can only monitor fire occurrence, but cannot determine the physical position of hidden danger fire points, so that certain blindness is caused to maintenance and rescue and influence degree judgment of hidden danger on a power transmission line.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: the hidden danger positioning method and terminal along the power transmission line are used in a cradle head of a single monitoring device, and the timeliness of hidden danger assessment and maintenance rescue is improved.
In order to solve the technical problems, the invention adopts the following technical scheme:
a hidden danger positioning method along a power transmission line comprises the following steps:
acquiring point cloud data and an initial image of a target area, establishing a mapping relation between the point cloud data and the initial image, and generating a depth map;
acquiring an image to be detected, and obtaining target position information of effective hidden danger information in the image to be detected;
and acquiring source position information of a monitoring device corresponding to the image to be detected, and acquiring hidden danger position information according to the depth map, the target position information and the source position information.
In order to solve the technical problems, the invention adopts another technical scheme that:
the hidden danger locating terminal along the power transmission line comprises a memory, a processor and a computer program stored in the memory and running on the processor, wherein the processor realizes the steps of the hidden danger locating method along the power transmission line when executing the computer program.
The invention has the beneficial effects that: and establishing a mapping relation between the initial image and the point cloud three-dimensional data in the target area through a point cloud ranging algorithm, generating a depth map, obtaining the distance between the hidden danger and a monitoring device corresponding to the image to be detected through the depth map when the coordinates of the hidden danger in the image to be detected are known, realizing the distance positioning of the hidden danger, and finally calculating the geographic position of the hidden danger by combining the source position information of the monitoring device, the target position information and the distance in the image to be detected. The ranging mode based on the monitoring device is high in accuracy, simple in algorithm and high in calculation efficiency, hidden danger position information can be obtained in the first time of finding hidden danger, and timeliness of hidden danger assessment and maintenance rescue is improved.
Drawings
Fig. 1 is a step flowchart of a method for locating hidden danger along a power transmission line according to an embodiment of the present invention;
fig. 2 is a positioning effect diagram of a hidden danger positioning method along a power transmission line according to an embodiment of the present invention;
FIG. 3 is a program flow chart of a hidden danger monitoring device according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a hidden danger positioning terminal along a power transmission line according to an embodiment of the present invention;
description of the reference numerals:
1. a hidden danger positioning terminal along a power transmission line; 2. a memory; 3. a processor.
Detailed Description
In order to describe the technical contents, the achieved objects and effects of the present invention in detail, the following description will be made with reference to the embodiments in conjunction with the accompanying drawings.
Referring to fig. 1, an embodiment of the present invention provides a method for locating hidden trouble along a power transmission line, including the steps of:
acquiring point cloud data and an initial image of a target area, establishing a mapping relation between the point cloud data and the initial image, and generating a depth map;
acquiring an image to be detected, and obtaining target position information of effective hidden danger information in the image to be detected;
and acquiring source position information of a monitoring device corresponding to the image to be detected, and acquiring hidden danger position information according to the depth map, the target position information and the source position information.
From the above description, the beneficial effects of the invention are as follows: and establishing a mapping relation between the initial image and the point cloud three-dimensional data in the target area through a point cloud ranging algorithm, generating a depth map, obtaining the distance between the hidden danger and a monitoring device corresponding to the image to be detected through the depth map when the coordinates of the hidden danger in the image to be detected are known, realizing the distance positioning of the hidden danger, and finally calculating the geographic position of the hidden danger by combining the source position information of the monitoring device, the target position information and the distance in the image to be detected. The ranging mode based on the monitoring device is high in accuracy, simple in algorithm and high in calculation efficiency, hidden danger position information can be obtained in the first time of finding hidden danger, and timeliness of hidden danger assessment and maintenance rescue is improved.
Further, the obtaining the point cloud data and the initial image of the target area, establishing a mapping relationship between the point cloud data and the initial image, and generating the depth map includes:
acquiring point cloud data of a target area;
acquiring an initial image of a target area through the monitoring device;
selecting the characteristic points of the initial image and recording the two-dimensional coordinates of the characteristic points;
acquiring three-dimensional coordinates of the feature points from the point cloud data;
acquiring an internal reference matrix preset by the monitoring device, and solving a pose rotation matrix and a translation vector of the monitoring device according to the two-dimensional coordinates, the three-dimensional coordinates and the internal reference matrix;
and establishing a mapping relation between the point cloud data and the initial image according to the internal reference matrix, the pose rotation matrix and the translation vector, and generating a depth map.
As can be seen from the above description, the unmanned aerial vehicle acquires point cloud data of the surrounding environment in which the monitoring device is installed, and simultaneously acquires an initial image of the surrounding environment through the monitoring device, and determines a mapping relationship between the initial image and the point cloud data through the feature points, thereby generating a depth map; and the distance relation between the corresponding coordinate point in the initial image and the monitoring device can be obtained according to the depth map, namely, how far the hidden danger is from the current monitoring device can be obtained as long as the coordinate point of the hidden danger in the image to be detected is obtained, so that the geographic position of the hidden danger can be calculated. The hidden danger positioning mode combines the image characteristics of the monitoring device, so that the detection and positioning functions are in place in one step, and the timeliness of maintenance and rescue is improved.
Further, the establishing a mapping relationship between the point cloud data and the initial image according to the internal reference matrix, the pose rotation matrix and the translation vector, and the generating a depth map specifically includes:
d is the depth value of one point A in the point cloud data; (x, y, z) is the three-dimensional coordinates of the point a; (u, v) is the two-dimensional coordinates of the point a; s is a scale factor; m is an internal reference matrix; r is a pose rotation matrix; t is a translation vector.
As can be seen from the above description, based on the parameter relationship inside the monitoring device, the mapping relationship of the pixel point coordinates between the point cloud data and the initial image is established, so that the three-dimensional data of the point cloud data is written into the image, and then the depth value can be obtained through the initial image obtained by the monitoring device.
Further, the generating the depth map further includes:
and obtaining pixel points of which the depth values are not generated by the depth map, and carrying out interpolation processing on the pixel points.
As can be seen from the above description, since the point density of the point cloud data is not matched with the point density of the initial image, after mapping of all the point cloud data is completed, some pixels still have no corresponding depth value in the initial image, and at this time, the depth map is in a hollowed state, so that interpolation processing is required to be performed on the depth map, so that each pixel in the depth map has a corresponding depth value, thereby ensuring the accuracy of the hidden danger positioning algorithm.
Further, the monitoring device comprises a panoramic monitoring device and a cradle head monitoring device; the initial image and the image to be detected are obtained through the panoramic monitoring device;
the obtaining the image to be detected, and obtaining the target position information of the effective hidden danger information in the image to be detected comprises:
adjusting the pan-tilt angle of the pan-tilt monitoring device according to the effective hidden danger information so that the hidden danger position is located in the monitoring range of the pan-tilt monitoring device, marking the pan-tilt angle as first position information, and acquiring an image to be detected according to the first position information;
and obtaining target position information of the effective hidden danger information in the image to be detected according to the mapping relation between the panoramic monitoring device and the holder monitoring device.
As can be seen from the above description, when the monitoring device obtains the effective hidden danger signal through the hidden danger detection algorithm, the cradle head monitoring device is rotated, so that the effective hidden danger target is located in the monitoring range of the cradle head monitoring device, the monitoring direction of the cradle head monitoring device is used as the first position information of the hidden danger, then the monitoring direction corresponding to the panoramic monitoring device is obtained through conversion through the coordinate mapping relationship between the cradle head monitoring device and the panoramic monitoring device, and the corresponding position of the hidden danger in the image to be detected is obtained through the monitoring direction of the panoramic monitoring device. According to the invention, the original complicated hidden danger positioning calculation is simplified into coordinate conversion between the cradle head monitoring device and the panoramic monitoring device, so that the operation difficulty of an algorithm is reduced, and the operation efficiency is improved. In addition, the distance measurement mode is not limited by the distance of the lens in the binocular distance principle, and the range measurement mode is applicable to wider scenes.
Further, the panoramic monitoring device comprises a plurality of monitoring ports; the image to be detected comprises a plurality of sub-images, and each sub-image corresponds to one monitoring port;
the obtaining the image to be detected, and the obtaining the target position information of the effective hidden danger information in the image to be detected specifically comprises the following steps:
performing linkage calibration on the monitoring ports and the holder monitoring device, and establishing a mapping relation between the monitoring ports and the holder monitoring device;
adjusting the pan-tilt angle of the pan-tilt monitoring device according to the effective hidden danger information, so that the hidden danger position is located in the monitoring range of the pan-tilt monitoring device, and marking the pan-tilt angle as first position information;
determining a monitoring port corresponding to the effective hidden danger information according to the horizontal coordinate of the first position information, and selecting a corresponding sub-image according to the monitoring port;
and acquiring target position information of the effective hidden danger information in the sub-image according to the mapping relation between the monitoring port and the holder monitoring device.
As can be seen from the above description, the image to be detected is generally generated by stitching multiple sub-images, and each sub-image corresponds to a shooting direction with different angles, after a mapping relationship is established between a monitoring port of the shot sub-image and the pan-tilt monitoring device, the monitoring port corresponding to the monitoring direction can be quickly locked through the monitoring direction of the pan-tilt monitoring device, so as to obtain the sub-image thereof, realize quick positioning of hidden danger in the image to be detected, reduce interference factors in a picture in a pattern positioning manner, and improve hidden danger positioning accuracy.
Further, the target location information includes a horizontal azimuth; the hidden danger position information comprises longitude and latitude;
the obtaining the source position information of the monitoring device corresponding to the image to be detected, and obtaining hidden danger position information according to the depth map, the target position information and the source position information includes:
acquiring a depth value corresponding to the target position information according to the depth map;
acquiring source position information of a monitoring device corresponding to the image to be detected;
obtaining hidden danger position information according to the depth value, the horizontal azimuth angle and the source position information:
wherein lng is the longitude of the hidden danger position information; lat is latitude of hidden danger position information; (lng) 0 ，lat 0 ) For the source location information; angle is the horizontal azimuth; d is the depth value.
From the above description, based on the longitude and latitude position information of the monitoring device, the current hidden danger geographic position can be calculated by combining the azimuth angle obtained when the cradle head monitoring device captures the effective hidden danger target and the depth value of the image to be detected. The hidden danger positioning mode adopted by the invention is based on the shooting characteristic of the monitoring device, the images to be detected acquired by the cradle head monitoring device and the panoramic monitoring device are used as media for positioning, and the hidden danger positioning method is not limited by the distance of a binocular range principle, so that the difficulty of a hidden danger positioning algorithm can be reduced, and the positioning precision can be ensured.
Further, the monitoring range for locating the hidden trouble position in the pan-tilt monitoring device is specifically:
and the hidden danger position is positioned at the center or the corner point of the monitoring range of the holder monitoring device.
From the above description, the hidden trouble is adjusted to a fixed position of the monitoring range, so as to be convenient for capturing the accurate position of the hidden trouble.
Further, the establishing a mapping relationship between the point cloud data and the initial image specifically includes:
and mapping the point cloud data into the initial image.
As can be seen from the above description, mapping the point cloud data to the initial image facilitates the conversion between the pan-tilt monitoring device and the image coordinates and the calculation of the depth value.
Referring to fig. 4, another embodiment of the present invention provides a terminal for locating a hidden danger along a power transmission line, which includes a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor implements each step of the method for locating a hidden danger along a power transmission line when executing the computer program.
The embodiment of the invention provides a hidden danger positioning method and a terminal along a power transmission line, which can be applied to double-light (an infrared camera and a visible camera) monitoring holder equipment with a panoramic monitoring device, and can be used for monitoring abnormal events in a target environment, such as monitoring the operation of parts of the power transmission line and whether fire disaster occurs or not, and improving the timeliness of hidden danger assessment and maintenance rescue, and the method is described by the following specific embodiment:
referring to fig. 1, a first embodiment of the present invention is as follows:
a hidden danger positioning method along a power transmission line comprises the following steps:
s1, acquiring point cloud data and an initial image of a target area, establishing a mapping relation between the point cloud data and the initial image, and generating a depth map.
Wherein, the S1 comprises:
s11, acquiring point cloud data of a target area;
s12, acquiring an initial image of a target area through the monitoring device;
s13, selecting characteristic points of the initial image and recording two-dimensional coordinates of the characteristic points;
s14, acquiring three-dimensional coordinates of the feature points in the point cloud data;
s15, acquiring an internal reference matrix preset by the monitoring device, and solving a pose rotation matrix and a translation vector of the monitoring device according to the two-dimensional coordinates, the three-dimensional coordinates and the internal reference matrix;
s16, establishing a mapping relation between the point cloud data and the initial image according to the internal reference matrix, the pose rotation matrix and the translation vector, and generating a depth map.
Specifically, the S16 specifically includes:
d is the depth value of one point A in the point cloud data; (x, y, z) is the three-dimensional coordinates of the point a; (u, v) is the two-dimensional coordinates of the point a; s is a scale factor; m is an internal reference matrix; r is a pose rotation matrix; t is a translation vector.
The step S16 further includes:
s17, obtaining pixel points of the depth map, which do not generate depth values, and carrying out interpolation processing on the pixel points.
S2, acquiring an image to be detected, and obtaining target position information of effective hidden danger information in the image to be detected.
And S3, acquiring source position information of the monitoring device corresponding to the image to be detected, and acquiring hidden danger position information according to the depth map, the target position information and the source position information.
The monitoring device comprises a panoramic monitoring device and a cradle head monitoring device; and the initial image and the image to be detected are obtained through the panoramic monitoring device. The initial image is a normalized detection image which does not contain hidden danger targets; the image to be detected is an initial image containing hidden danger targets.
The step S2 comprises the following steps:
s21, adjusting the pan-tilt angle of the pan-tilt monitoring device according to the effective hidden danger information so that the hidden danger position is located in the monitoring range of the pan-tilt monitoring device, marking the pan-tilt angle as first position information, and acquiring an image to be detected according to the first position information;
namely, the first position information is the longitude and latitude of the monitoring direction of the cradle head monitoring device. And adjusting the hidden danger position to a specific position in the monitoring range of the holder monitoring device according to the effective hidden danger information, wherein the specific position comprises but is not limited to a picture center of the monitoring range, a corner point of the monitoring range and the like.
S22, obtaining target position information of the effective hidden danger information in the image to be detected according to the mapping relation between the panoramic monitoring device and the cradle head monitoring device.
The target position information is coordinates of pixel points in the image to be detected.
Specifically, the panoramic monitoring device comprises a plurality of monitoring ports; the image to be measured comprises a plurality of sub-images, and each sub-image corresponds to one monitoring port.
The S22 includes:
s221, carrying out linkage calibration on a plurality of monitoring ports and the holder monitoring device, and establishing a mapping relation between the plurality of monitoring ports and the holder monitoring device;
s222, adjusting the holder angle of the holder monitoring device according to the effective hidden danger information, so that the hidden danger position is located in the monitoring range of the holder monitoring device, and marking the holder angle as first position information;
s223, determining a monitoring port corresponding to the effective hidden trouble information according to the horizontal coordinate of the first position information, and selecting a corresponding sub-image according to the monitoring port;
s224, acquiring target position information of the effective hidden danger information in the sub-image according to the mapping relation between the monitoring port and the holder monitoring device.
Specifically, the target position information includes a horizontal azimuth; the hidden trouble location information includes longitude and latitude.
The step S3 comprises the following steps:
s31, acquiring a depth value corresponding to the target position information according to the depth map;
s32, acquiring source position information of a monitoring device corresponding to the image to be detected;
the source position information is geographic position information of the monitoring device.
S33, obtaining hidden danger position information according to the depth value, the horizontal azimuth angle and the source position information:
wherein lng is the longitude of the hidden danger position information; lat is latitude of hidden danger position information; (lng) 0 ，lat 0 ) For the source location information; angle is the horizontal azimuth; d is the depth value.
Specifically, the establishing a mapping relationship between the point cloud data and the initial image specifically includes:
and mapping the point cloud data into the initial image.
Referring to fig. 2 to 3, a second embodiment of the present invention is as follows:
the hidden danger positioning method along the power transmission line is applied to fire point monitoring equipment comprising a panoramic monitoring device and a cradle head monitoring device, so that the fire point positioning along the power transmission line is realized:
installing fire point monitoring equipment comprising a panoramic monitoring device and a cradle head monitoring device at a high place;
the panoramic monitoring device comprises a plurality of monitoring ports; in an alternative embodiment, the panorama monitoring device comprises 6 monitoring ports, the monitoring ports are marked as C0, C1, C2, C3, C4 and C5 in sequence along the clockwise direction, the monitoring corresponding to each monitoring port of the six monitoring ports can achieve 360-degree panorama image acquisition only by acquiring a view with an angle of 60 degrees, and inaccuracy in image positioning caused by edge distortion of a large-angle camera is avoided.
S101, acquiring laser point cloud data in 3km around the fire point monitoring equipment through an unmanned aerial vehicle. The manner of acquiring the point cloud data of the target area includes, but is not limited to, acquiring the point cloud data by an intelligent device erected at a fixed location; radar data and/or image data of the target area is acquired, for example by a radar device and/or a vision device, to generate point cloud data of the target area.
S102, capturing surrounding areas of the fire point monitoring equipment through the monitoring ports, and respectively obtaining sub-images P0, P1, P2, P3, P4 and P5 corresponding to each monitoring port.
S103, loading the laser point cloud data in point cloud calibration software, and opening a sub-image P0; at least 4 characteristic points which can be identified in the laser point cloud data are manually selected on the sub-image P0, and two-dimensional coordinates of the characteristic points are recorded and recorded.
S104, acquiring three-dimensional coordinates corresponding to the feature points in the step S103 from the laser point cloud data.
S105, acquiring an internal reference matrix M preset by a monitoring port C0:
wherein f x To monitor the focal length of port C0 in the x-direction, f y To monitor the focal length of port C0 in the y-direction, C x 、c y The optical center coordinates of the monitoring port C0;
and solving a pose rotation matrix R and a translation vector t of the monitoring device through a PnP algorithm according to the two-dimensional coordinates, the three-dimensional coordinates and the internal reference matrix.
S106, establishing a mapping relation between the point cloud data and the initial image according to the internal reference matrix, the pose rotation matrix and the translation vector, and generating a depth map:
d is the depth value of one point A in the point cloud data; (x, y, z) is the three-dimensional coordinates of the point a; (u, v) is the two-dimensional coordinates of the point a; s is a scale factor; m is an internal reference matrix; r is a pose rotation matrix; t is a translation vector.
S107, after the traversal of the laser point cloud data is calculated in the step S106, the laser point cloud data in the corresponding range is mapped to the sub-image P0; obtaining pixel points which do not generate depth values in a depth map, and carrying out interpolation processing on the pixel points; here, the pixel points to be subjected to interpolation processing are referred to as interpolation points; the interpolation processing is based on a minimum pixel distance principle, a depth value of a pixel nearest to the interpolation point is obtained, and the depth value is used as the depth value of the interpolation point.
S108, returning to the execution of the step S103 until the sub-images P1-P5 generate corresponding depth maps, and importing the 6 depth maps into the fire point monitoring device.
In an alternative embodiment, in step S102, after obtaining sub-images P0-P5, stitching the sub-images to generate a complete panoramic image; taking the panoramic image as a processing object, executing steps S103 to S107, and generating a complete depth map.
S109, after the fire point monitoring equipment detects an effective fire point, adjusting the monitoring range of the cradle head monitoring device, and placing the effective fire point in the center of a picture of the cradle head monitoring device; the process is realized by using a 3D ball control algorithm, and the effective fire point can be positioned at the center of a picture of the cradle head monitoring device through multiple times of adjustment; and finally obtaining the horizontal coordinate of the cradle head monitoring device.
S1010, carrying out linkage calibration on the monitoring ports C0-C5 and the holder monitoring device, and establishing a mapping relation between the monitoring ports and the holder monitoring device:
the cloud deck monitoring device is defined as a ball machine in a gun-ball linkage mapping algorithm, and the monitoring ports C0-C5 are defined as gun machines in the gun-ball linkage mapping algorithm.
Setting an internal reference matrix of the fire point monitoring equipment as K, setting a rotation matrix as R, setting X as a point on a certain camera picture of a gun camera, and setting X as a holder angle of the dome camera; because x can be regarded as longitude and latitude, x can be converted into a point P on a unit sphere through a spherical coordinate conversion relation S; because the optical centers of the gun balls are approximately overlapped, the world coordinate system origin of the ball machine is overlapped with the camera coordinate system origin of the gun machine, so that p=sx and x=krp.
User input point (X, X), where X is the coordinates of the muzzle face point, X is the coordinates of the dome camera face point, x= (pan, tilt);
forward mapping relation: converting the gun camera coordinate X into a ball camera coordinate X, inputting X and outputting X;
x=S.inv*R.inv*K.inv*X；
wherein, S.inv represents the inverse relation of S, namely, converting the unit spherical point into longitude and latitude; r.inv, k.inv represent the inversion of the rotation matrix R and the reference matrix K, respectively.
Backward mapping relation: converting the coordinate X of the ball machine into the coordinate X of the gun machine, inputting X, and outputting X;
X=K*R*S*x；
wherein R is a rotation matrix, K is an internal reference matrix, and S is a spherical coordinate conversion relation.
S1011, determining a monitoring port corresponding to the effective fire point information according to the horizontal coordinate of the first position information, and selecting a corresponding sub-image according to the monitoring port.
In this embodiment, 6 monitor ports are uniformly distributed in a ring shape in the horizontal direction, and a single monitor port covers a monitor range of 60 ° in the horizontal direction. When the horizontal coordinate of the pan-tilt monitoring device corresponding to the center of the sub-image P1 is defined as H0, the horizontal coordinate range Rc0 of the pan-tilt monitoring device corresponding to the monitoring port C0 is H0±30°, the horizontal coordinate range Rc1 of the pan-tilt monitoring device corresponding to the monitoring port C1 is H0±30° +60°, and so on, the horizontal coordinate range Rcn of the pan-tilt monitoring device corresponding to the monitoring port Cn is H0±30° +n 60 °, n= [0,5]. Wherein, H0 can be obtained by controlling the coincidence of the monitoring range center of the cradle head monitoring device and the monitoring range center of the monitoring port.
Specifically, the horizontal coordinate range of the holder monitoring device is determined according to the horizontal coordinate of the holder monitoring device, so that the corresponding monitoring port is determined.
S1012, calculating target position information (u, v) of the effective fire point information in the sub-image according to the backward mapping relation between the monitoring port and the holder monitoring device.
S1013, obtaining a depth value d corresponding to the target position information (u, v) according to the depth map corresponding to the sub-image. Here, the depth value is the distance from the fire point to the fire point monitoring device, and the unit is m.
S1014, acquiring geographic position information (lng) of the fire monitoring equipment 0 ，lat 0 ）；
S1015, reading electronic compass data, and obtaining a horizontal azimuth angle of the cradle head monitoring device, namely an included angle between the azimuth of a fire point and the north direction, wherein the included angle is recorded as angle, and the unit is angle. Based on the depth value d, the azimuth angle and the geographic position information (lng 0 ，lat 0 ) Obtaining fire point position information (lng, lat):
in this embodiment, referring to fig. 3, the working steps of the fire positioning method along the power transmission line are as follows:
s201, the cradle head monitoring device performs inspection to judge whether an effective fire point is detected, if yes, the step S202 is executed; if not, the process returns to S201.
S202, adjusting the monitoring range of the cradle head monitoring device, and placing an effective fire point in the center of a picture of the cradle head monitoring device.
S203, determining a monitoring port corresponding to the effective fire point according to the first position information of the current holder monitoring device.
S204, acquiring target position information of the effective fire point in the image to be detected according to a backward mapping relation between the monitoring port and the holder monitoring device.
S205, acquiring the distance between the effective fire point and the monitoring device according to a pre-generated depth map.
S206, calculating the position information of the fire point according to the source position information of the holder monitoring device, the horizontal direction angle and the distance in the first position information.
S207, sending alarm information, and reporting the fire point picture and the position information.
The third embodiment of the invention is as follows:
the hidden danger positioning method along the transmission line is different from the first embodiment in that: the monitoring device comprises a cradle head monitoring device; and the initial image and the image to be detected are obtained through the cradle head monitoring device.
S301, acquiring initial images of a plurality of different scenes under a low-magnification state through the cradle head monitoring device.
S302, acquiring point cloud data corresponding to the multiple scenes, establishing a mapping relation between the point cloud data and an initial image corresponding to each scene, and generating a depth map.
And S303, after the effective hidden danger is identified, adjusting the holder monitoring device to position the effective hidden danger to the center of the monitoring range.
S304, calculating pixel coordinates of the effective hidden danger in the corresponding image to be detected according to the position information of the current holder monitoring device;
s305, calculating the distance between the effective hidden danger and the monitoring device according to the depth map;
s306, obtaining the geographic position, the pixel coordinates and the distance of the monitoring device, and calculating the geographic position of the effective hidden danger.
Referring to fig. 4, a fourth embodiment of the present invention is as follows:
the hidden danger locating terminal 1 along the power transmission line comprises a memory 2, a processor 3 and a computer program stored in the memory 2 and running on the processor 3, wherein the processor 3 realizes the steps in the first embodiment when executing the computer program.
In summary, according to the hidden danger positioning method and terminal along the power transmission line provided by the invention, on the single anti-mountain fire holder comprising the panoramic monitoring device and the holder monitoring device, the mapping relation between the panoramic monitoring device and the holder monitoring device is established by using the gun-ball linkage mapping algorithm, when the anti-mountain fire holder identifies a hidden danger target, the holder monitoring device captures the mountain fire position, and then the mapping relation between the panoramic monitoring device and the holder monitoring device is used for acquiring the position coordinate of the mountain fire in the image to be detected based on the position coordinate of the holder monitoring device, so that the positioning precision of the hidden danger target in the image to be detected is improved; simultaneously, a mapping relation between the image in the target area and the three-dimensional data of the point cloud is established by utilizing a point cloud ranging algorithm, and a depth map is generated; therefore, the three-dimensional point cloud data corresponding to the mountain fire target identified by the single mountain fire prevention holder can be calculated based on the position coordinates, and then the distance between the hidden danger target and the current single mountain fire prevention holder is calculated through the depth map. And finally, combining the geographical position information of the anti-forest fire holder, the coordinate position information of the hidden danger in the image to be detected and the distance between the hidden danger and the anti-forest fire holder, and calculating the geographical position of the hidden danger target. The image positioning method based on the mountain fire prevention holder has the advantages of high precision, simple algorithm and high calculation efficiency, and can acquire hidden danger position information in the first time of finding hidden danger, thereby improving the timeliness of fire evaluation and rescue.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent changes made by the specification and drawings of the present invention, or direct or indirect application in the relevant art, are included in the scope of the present invention.
Claims (8)
1. The hidden danger positioning method along the power transmission line is characterized by comprising the following steps:
acquiring point cloud data and an initial image of a target area, establishing a mapping relation between the point cloud data and the initial image, and generating a depth map;
acquiring an image to be detected, and obtaining target position information of effective hidden danger information in the image to be detected;
acquiring source position information of a monitoring device corresponding to the image to be detected, and acquiring hidden danger position information according to the depth map, the target position information and the source position information;
the monitoring device comprises a panoramic monitoring device and a cradle head monitoring device; the initial image and the image to be detected are obtained through the panoramic monitoring device;
the obtaining the image to be detected, and obtaining the target position information of the effective hidden danger information in the image to be detected comprises:
adjusting the pan-tilt angle of the pan-tilt monitoring device according to the effective hidden danger information so that the hidden danger position is located in the monitoring range of the pan-tilt monitoring device, marking the pan-tilt angle as first position information, and acquiring an image to be detected according to the first position information;
obtaining target position information of effective hidden danger information in the image to be detected according to the mapping relation between the panoramic monitoring device and the cradle head monitoring device;
the target location information includes a horizontal azimuth; the hidden danger position information comprises longitude and latitude;
the obtaining the source position information of the monitoring device corresponding to the image to be detected, and obtaining hidden danger position information according to the depth map, the target position information and the source position information includes:
acquiring a depth value corresponding to the target position information according to the depth map;
acquiring source position information of a monitoring device corresponding to the image to be detected;
obtaining hidden danger position information according to the depth value, the horizontal azimuth angle and the source position information:
wherein lng is the longitude of the hidden danger position information; lat is latitude of hidden danger position information; (lng 0, lat 0) is the source location information; angle is the horizontal azimuth; d is the depth value.
2. The method for locating hidden trouble along a power transmission line according to claim 1, wherein the step of obtaining point cloud data and an initial image of a target area, the step of establishing a mapping relationship between the point cloud data and the initial image, and the step of generating a depth map include:
acquiring point cloud data of a target area;
acquiring an initial image of a target area through the monitoring device;
selecting the characteristic points of the initial image and recording the two-dimensional coordinates of the characteristic points;
acquiring three-dimensional coordinates of the feature points from the point cloud data;
acquiring an internal reference matrix preset by the monitoring device, and solving a pose rotation matrix and a translation vector of the monitoring device according to the two-dimensional coordinates, the three-dimensional coordinates and the internal reference matrix;
and establishing a mapping relation between the point cloud data and the initial image according to the internal reference matrix, the pose rotation matrix and the translation vector, and generating a depth map.
3. The method for locating hidden trouble along a power transmission line according to claim 2, wherein the establishing a mapping relationship between the point cloud data and an initial image according to the internal reference matrix, the pose rotation matrix and the translation vector, and the generating a depth map specifically comprises:
d is the depth value of one point A in the point cloud data; (x, y, z) is the three-dimensional coordinates of the point a; (u, v) is the two-dimensional coordinates of the point a; s is a scale factor; m is an internal reference matrix; r is a pose rotation matrix; t is a translation vector.
4. The method for locating hidden trouble along a power transmission line according to claim 2, wherein the generating the depth map further comprises:
and obtaining pixel points of which the depth values are not generated by the depth map, and carrying out interpolation processing on the pixel points.
5. The method for locating hidden trouble along a transmission line according to claim 1, wherein the panoramic monitoring apparatus includes a plurality of monitoring ports; the image to be detected comprises a plurality of sub-images, and each sub-image corresponds to one monitoring port;
the obtaining the image to be detected, and the obtaining the target position information of the effective hidden danger information in the image to be detected specifically comprises the following steps:
performing linkage calibration on the monitoring ports and the holder monitoring device, and establishing a mapping relation between the monitoring ports and the holder monitoring device;
adjusting the pan-tilt angle of the pan-tilt monitoring device according to the effective hidden danger information, so that the hidden danger position is located in the monitoring range of the pan-tilt monitoring device, and marking the pan-tilt angle as first position information;
determining a monitoring port corresponding to the effective hidden danger information according to the horizontal coordinate of the first position information, and selecting a corresponding sub-image according to the monitoring port;
and acquiring target position information of the effective hidden danger information in the sub-image according to the mapping relation between the monitoring port and the holder monitoring device.
6. The method for locating hidden danger along a power transmission line according to claim 1, wherein the monitoring range of the pan-tilt monitoring device for locating the hidden danger is specifically:
and the hidden danger position is positioned at the center or the corner point of the monitoring range of the holder monitoring device.
7. A hidden danger locating method along a power transmission line according to any one of claims 1 to 3, wherein the establishing a mapping relationship between the point cloud data and an initial image is specifically:
and mapping the point cloud data into the initial image.
8. A terminal for locating a hidden trouble along a power transmission line, comprising a memory, a processor and a computer program stored in the memory and running on the processor, wherein the processor implements the steps of a method for locating a hidden trouble along a power transmission line according to any one of claims 1 to 7 when executing the computer program.
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| CN117314022A (en) * | 2023-11-29 | 2023-12-29 | 深圳金三立视频科技股份有限公司 | Method and device for analyzing hidden danger of power transmission line |
| CN117809440A (en) * | 2024-03-01 | 2024-04-02 | 江苏濠汉信息技术有限公司 | Tree obstacle mountain fire monitoring and early warning method and system applying three-dimensional ranging |
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| CN113990028A (en) * | 2021-10-22 | 2022-01-28 | 北京通成网联科技有限公司 | Novel panoramic intelligent infrared thermal image fire monitoring alarm device and image processing method |
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| CN114170535A (en) * | 2022-02-11 | 2022-03-11 | 北京卓翼智能科技有限公司 | Target detection positioning method, device, controller, storage medium and unmanned aerial vehicle |
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| WO2018103689A1 (en) * | 2016-12-07 | 2018-06-14 | 北京奇虎科技有限公司 | Relative azimuth control method and apparatus for unmanned aerial vehicle |
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