CN107564111A - Power line space safety analysis method based on computer vision - Google Patents
Power line space safety analysis method based on computer vision Download PDFInfo
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- CN107564111A CN107564111A CN201710395606.3A CN201710395606A CN107564111A CN 107564111 A CN107564111 A CN 107564111A CN 201710395606 A CN201710395606 A CN 201710395606A CN 107564111 A CN107564111 A CN 107564111A
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Abstract
The invention discloses a kind of power line space safety analysis method based on computer vision, this method includes：Using quick picture mosaic technology, determine the locus of power line and trend is gone forward side by side line flight course planning；Three-dimensional reconstruction is carried out to electric power line passage using computer vision technique；Power line semi-automatic measuring is realized using corresponding epipolar line and catenary model；Ground dense three-dimensional point cloud classification is realized by a cloud filtering algorithm and interactive function；Based on the power line and classified ground dense three-dimensional point cloud measured, space safety analysis is carried out to power line using GIS spacial analytical methods.The present invention realizes that power line space safety is analyzed using computer vision technique and unmanned plane, can improve the efficiency and reliability of electric power line passage inspection, while can reduce the cost and risk of electric power line passage inspection.
Description
Technical field
The invention belongs to computer vision and photogrammetric field, more particularly to the three-dimensional reconstruction of unmanned plane image,
Power line measurement technology and GIS Spatial Data Analysis under non-cubic environment.
Background technology
As unmanned air vehicle technique is ripe all the more, using unmanned plane carry out power circuit polling, can not only reduce inspection into
This, also improves the efficiency of electric inspection process work.The relevant departments such as national grid and south electric network put forth effort to promote nothing at present
Man-machine Team Construction, all kinds of guarantee support systems are improved, comprehensive preparation is carried out in the extensive use of power industry for unmanned plane
Work.
Unmanned plane electric inspection process is broadly divided into three classes at present：Artificial judgment, airborne laser LIDAR quantitative analysis, be based on
The quantitative analysis of photogrammetric technology.Artificial judgment is the method by human eye observation's unmanned plane filmed image analyzing defect.But
It is that this method lacks quantitative analysis, and operating efficiency is low.According to the photo or video of unmanned plane shooting, patrol officer can be with
Intuitively power line channel case is qualitatively analyzed, but geological information can not be obtained and carry out quantitative analysis, such as can not
Obtain the space length between power line and ground barrier (trees, house etc.).And simple manual identified interpretation, simply by original
This workload performed in the wild has been shared a part and completed to interior industry, does not improve operating efficiency from substantial.
Electric power line passage inspection is carried out using UAV flight's laser LIDAR.Although this method can carry out quantitative analysis,
And operating efficiency is high.But the problem of hardware device is expensive and O＆M is costly be present.At present, LIDAR unmanned plane can be carried
Need larger fuselage bearing capacity and higher flight stability, thus supporting unmanned plane also can cost it is higher.Laser LIDAR
Scheme can not possibly turn into power-line patrolling first choice.
Relative to first two method, the aerophotogrammetry technology of camera is carried while relatively low cost is ensured, also
Three-dimensional visualization observation can be carried out to power line.For this method in the application of electric inspection process industry, Some Enterprises progress
Deep exploration, and gradually formed a set of scheme for automatically extracting power line.
But these automatically extract scheme and certain application limitation in itself be present.Especially (rotor is minimized in current unmanned plane
Unmanned plane), carry under the background in camera generalization and flight low latitude, traditional power line automatically extracts scheme and has two very
The problem of big：
(1) as rotor wing unmanned aerial vehicle is increasingly becoming the main flight hardware of electric power line inspection, the camera that it is carried is also by passing
The expensive measurement camera of system evolves as that cheap list is anti-or even micro- one camera.The decrease of camera properties, can be to the nothing of acquisition
Man-machine image causes directly to influence.Simultaneously as unmanned plane minimizes, certain decrease also occurs in its stability, therefore
The unmanned plane image finally obtained easily occur it is fuzzy, shake phenomena such as.This characteristic, not only directly affect individual power line
Extraction, the power line of continuous volume extraction originally can more cut off, influences follow-up automatically process.
(2) due to leadingization of rotor wing unmanned aerial vehicle, the feature in low latitude is gradually presented in the flying height of patrol UAV.With
Spacing between unmanned plane and power line to reduce, unmanned plane during flying course line is inconsistent with power line direction and the power line that triggers
The change of relative position is serious all the more.The dislocation of power line, the overall of following needs line will be directly affected and linked, cause last electricity
The three-dimensional reconstruction failure of the line of force.
In order to solve to automatically extract the deficiency of power line scheme in existing unmanned plane passage inspection, this programme for rotor without
The characteristics of man-machine electric inspection process, it is proposed that a set of power line space safety analysis method based on computer vision.The program is led to
More than half automatic electric power line drawings, avoid the electric power line drawing failure occurred during rotor wing unmanned aerial vehicle inspection and power line is wrong
The situation of position, power line threedimensional model is constructed with the cost of minimum and power line carried out based on GIS Spatial Data Analysis
Space safety is analyzed.Obtain the barrier in the range of power line three dimensions, including trees, the architecture against regulations and spanning the transmission line
Deng.
The content of the invention
Present invention aim to address conventional powerline automatically extract scheme for during rotor wing unmanned aerial vehicle inspection not
Adapt to, propose to carry out high efficiency and high-precision processing to the unmanned plane image of power line using the technology of computer vision
And analysis, the method for realizing the space safety analysis of power line.
The invention provides a kind of power line space safety analysis method based on computer vision, comprise the following steps：
Step 1, quick picture mosaic technology, the orthography of Fast Drawing region of patrolling and examining are utilized.Based on spliced orthogonal projection
Picture, determine locus and the trend of power line to be inspected.
Step 2, the trend according to power line carries out wire flight course planning to rotor wing unmanned aerial vehicle, and obtains along power line direction
Double air strips unmanned plane images.It is required that arbitrary neighborhood three opens image and must have overlapping, and adjacent two images between air strips in air strips
Overlay region must cover power line.
Step 3, electric power line passage three-dimensional reconstruction, including following sub-step,
Step 3.1, feature point extraction is carried out to all unmanned plane images；
Step 3.2, superimposed image pair may be had according to image GPS information and overall intensity feature, statistics, to it is all can
There can be superimposed image to carrying out Feature Points Matching；
Step 3.3, adjustment solution is carried out using the characteristic point of matching, initial camera inside and outside parameter and initial camera GPS location
Calculate, obtain accurate camera inside and outside parameter；
Step 3.4, using accurate camera inside and outside parameter and matching characteristic point to aerial images just penetrated correction with
Splicing, obtains fast picture mosaic；
Step 3.5, intensive point cloud matching is carried out to the image taken photo by plane using accurate camera inside and outside parameter, it is close obtains ground
Collect three-dimensional point cloud.
Step 3.6, the region division such as carry out to the power line between electric tower, it is clear between power line and background atural object
Degree, contrast are that basic principle selection is optimal as right.And based on the adjustment result in step 3.3, adjacent two shadows air strips
As carrying out core line resampling；.
Step 3.7, using the principle and core line and the approximately perpendicular feature of power line of corresponding epipolar line, in a certain power line
The upper point for measuring 5 and the above；
Step 3.8, using the power line same place that step 3.7 is extracted as input, power line is realized according to catenary model
Threedimensional model is built.
Step 3.9, using indirect addressing technology, by the power line threedimensional model back projection that step 3.8 is extracted to original shadow
As to carrying out power line contrast, optimization extraction result.
Step 4, electric wire space safety is analyzed, including following sub-step,
Step 4.1, put cloud to filter and classify to ground dense three-dimensional point cloud, from all Three Dimensional Ground point off density clouds
In, Jiang electricity Ta, power line and noise are extracted and and are marked.
Step 4.2, power line space safety is analyzed, using power line holonmic space three-dimensional coordinate, Three Dimensional Ground point cloud (no
Include electric tower, power line and noise) and GIS algorithm for space analysis, space safety analysis is carried out to power line, obtains power line
It whether there is barrier, including trees, the architecture against regulations and spanning the transmission line etc. in the range of three dimensions.
Brief description of the drawings：
Fig. 1 is to utilize quick picture mosaic technology, determines locus and the trend of power line to be inspected.
Fig. 2 is the flow chart that the automatic three-dimensional reconstruction processing of computer vision is carried out to unmanned plane image.
Power lines of the Fig. 3 between electric tower such as carries out at the region division.
Power line method for measurement schematic diagram under the non-cubic environment of Fig. 4.
Fig. 5 extracts the image back projection of power line.
Fig. 6 is power line safety analysis result.
Fig. 7 is the process chart of the power line space safety analysis method based on computer vision.
Embodiment：
The present invention is described in further detail with reference to the accompanying drawings and examples.
Embodiments of the invention include four steps：
Step 1, quick picture mosaic technology, the orthography of Fast Drawing region of patrolling and examining are utilized.Based on spliced orthogonal projection
Picture, determine locus and the trend of power line to be inspected.Referring to Fig. 1.
Step 2, the trend according to power line carries out wire flight course planning to rotor wing unmanned aerial vehicle, and obtains along power line direction
Double air strips unmanned plane images.It is required that arbitrary neighborhood three opens image and must have overlapping, and adjacent two images between air strips in air strips
Overlay region must cover power line.
Require that three degree overlapping in aerial images air strips and require overlapping covering power line between air strips, be to ensure shadow of taking photo by plane
As Computerized 3 D visual reconstructed results reliability and meet power line measure basic demand.
Step 3, the reconstruction of unmanned plane image computer 3 D visual is handled, referring to Fig. 2：
Step 3.1, SIFT feature extraction is carried out to all aerial images, each characteristic point possesses 128 dimensional vectors
Feature, in order to improve operational efficiency, the parallel processing of SIFT feature extraction is realized using the parallel acceleration techniques of GPU；
Step 3.2, superimposed image pair may be had according to image GPS information and overall intensity feature, statistics, to it is all can
There can be superimposed image to carrying out SIFT feature Point matching, the method for matching is according between the dimensional vector of SIFT feature 128
Correlation determines whether same place；
Step 3.3, adjustment solution is carried out using the characteristic point of matching, initial camera inside and outside parameter and initial camera GPS location
Calculate, obtain accurate camera inside and outside parameter, the mathematical modeling that adjustment resolves is to describe the collinearity equation of image objects geometrical principle：
In formula：
X, y are the image plane coordinate of picture point；
x0,y0, f is the elements of interior orientation of image；
Dx, dy are the camera distortion corrected value of the picture point of picture point；
XS,YS,ZSTo take the photograph the object space coordinate of website；
X, Y, Z are the object space coordinate of object space point；
For the spin matrix of three angle element compositions of camera posture；
Adjustment resolving is the process of the complicated calculating that iterates, and adjustment resolves realization and calculated in accurate camera
Outer parameter, the rough error point in matching characteristic point is rejected, and export the object space three-dimensional coordinate for being left relatively reliable matching characteristic point；
Because adjustment resolves the participation at no control point, therefore the Camera extrinsic number calculated is free net relative value, and
It is not absolute value, but relative value meets the requirement of space safety analysis.
Step 3.4, using accurate camera inside and outside parameter and matching characteristic point to aerial images just penetrated correction with
Splicing, obtains fast picture mosaic, embodiment is：
First, the relatively reliable matching characteristic point of the known object coordinates after adjustment is resolved forms ground sparse three-dimensional point
Cloud, and denoising and filtered classification processing are carried out to a cloud, noise and skyscraper are extracted from ground point cloud as far as possible,
Respectively as single layer, remaining point is ground floor, builds the triangulation network to the point of ground floor, and obtained with the method for interpolation
Region is spaced larger DEM；
Then, the interval in region larger DEM, aerial images and camera inside and outside parameter are utilized, you can using collinearity equation
Principle is just being penetrated correction to every aerial images, obtains orthography corresponding to every aerial images；
Finally, individual all orthography are spliced into a complete orthography using the theory of Thiessen polygon,
As fast picture mosaic.
Step 3.5, intensive point cloud matching is carried out to the image taken photo by plane using accurate camera inside and outside parameter, it is close obtains ground
Collect three-dimensional point cloud, the basic skills of dense Stereo Matching is the global registration algorithms of SGM half, and specific implementation is as follows：
First, the aerial images pair that all adjacent and degree of overlapping meets certain condition are counted, and to these images to carrying out
Core line resampling, the method for core line resampling is the method for sampling of severity core line, will two aerial images along baseline
Direction projection is on the mean water level of ground；
Secondly, the global registrations of SGM half being carried out to the core line image of above-mentioned image pair, same place is inevitable on corresponding epipolar line,
Therefore the process that the global registrations of SGM half are substantially one-dimensional matching is carried out to core line image, speed is relatively fast, it can in addition contain
The method calculated using multi-core parallel concurrent integrally improves matching efficiency；
Finally, the image of all statistics is merged to the core line image SGM results matched, blending algorithm can be as far as possible
Excluding gross error point, and a cloud precision is integrally improved using error compensation method, the result of fusion is ground dense three-dimensional point cloud.
Step 3.6, the region division such as carry out to the power line between electric tower, it is clear between power line and background atural object
Degree, contrast are that basic principle selection is optimal as right.Referring to Fig. 3.
Step 4, the power line carried out using camera inside and outside parameter and original aerial images under non-cubic environment is measured, including
Following sub-step：
Step 4.1, course-and-bearing and power line less parallel, core line weight is carried out adjacent two aerial images air strips
Sample, the power line near vertical on the core line image of acquisition, the method for core line resampling is the sampling side of severity core line
Method, will two aerial images projected to along base direction on the mean water level of ground.
Step 4.2, using the principle and core line and the approximately perpendicular feature of power line of corresponding epipolar line, in a certain power line
The upper point for measuring 5 and the above, the method put on power line is measured with specific reference to schematic diagram 4；
Step 4.3, according to the 3 d space coordinate of all measurement points on a certain power line, power line is reversely fitted
Catenary parameter, catenary formula is on section：
Wherein x0,y0For minimum point coordinates, A, a are catenary parameter.
Step 4.4, using indirect addressing technology, by the power line threedimensional model back projection that step 3.4 is extracted to original shadow
As to carrying out power line contrast, optimization extraction result.With reference to figure 5；
Step 5, the intensive point cloud classifications of Three Dimensional Ground, by automatic filter algorithm and on-line off-line classification interactive function, from
In all Three Dimensional Ground point off density clouds, Jiang electricity Ta, power line and noise are extracted labeled as a certain layer.
Step 6, power line space safety is analyzed, and specific implementation is as follows：
First, power line holonmic space three-dimensional coordinate is divided into some sections, can be carried out according to the actual requirements per segment length
Configuration；
Secondly, in units of a certain power line, the section of power line one fixed width is obtained, obtains ground dense three-dimensional point
Cloud is distributed in the ground point in section, that is, exclude outside electric tower, power line and noise institute a little；
Finally, using the ground point in GIS algorithm for space analysis and section, space safety point is carried out to every section of power line
Analysis, obtain the result of analysis.With reference to figure 6.
In summary, by the above-mentioned technical proposal of the present invention, can solve traditional scheme for rotor wing unmanned aerial vehicle electric power
The unworthiness of inspection, improves the efficiency and reliability of electric power line passage inspection, while reduces the cost of electric power line passage inspection
And risk.
Specific embodiment described above is only to spirit explanation for example of the invention, is not intended to limit the invention, all
Within the spirit and principles in the present invention, any modification, equivalent substitution and improvements done etc., it should be included in the bag of the present invention
Within the scope of containing.
Claims (5)
1. a kind of power line space safety analysis method based on computer vision, it is characterised in that comprise the following steps：
Step 1, quick picture mosaic technology, the orthography of Fast Drawing region of patrolling and examining are utilized.Based on spliced orthography, really
The locus of fixed power line to be inspected and trend.
Step 2, the trend according to power line carries out wire flight course planning to rotor wing unmanned aerial vehicle, and obtains along the double of power line direction
Air strips unmanned plane image.
Step 3, electric power line passage three-dimensional reconstruction, including following sub-step,
Step 3.1, adjustment, image joint and three-dimensional are carried out based on the unmanned plane image that computer vision technique obtains to step 2
Reconstruction is handled, and obtains orthography and ground dense three-dimensional point cloud along power line direction.
Step 3.2, the region division such as carry out to the power line between electric tower, definition between power line and background atural object,
Contrast is that basic principle selection is optimal as right.And based on the adjustment result in step 3.1, carry out the extraction of core line image.
Step 3.3, the characteristic intersected using core line with power line, to the picture in step 3.2 to extracting power line same place.
Step 3.4, using the power line same place that step 3.3 is extracted as input, the three-dimensional of power line is realized according to catenary model
Model construction.
Step 3.5, using indirect addressing technology, by the power line threedimensional model back projection that step 3.4 is extracted to raw video pair
Carry out power line contrast, optimization extraction result.
Step 4, electric wire space safety is analyzed, including following sub-step,
Step 4.1, put cloud to filter and classify to ground dense three-dimensional point cloud, be divided into power line, ground point and the class of noise three；
Step 4.2, based on the power line and classified ground dense three-dimensional point cloud measured, GIS spacial analytical methods are utilized
Space safety analysis is carried out to power line.
2. a kind of power line space safety analysis method based on computer vision according to claim 1, its feature exist
In step 1 to the position and trend of electric tower and power line with step 2, using quick picture mosaic technology, having carried out quickly, accurately
Positioning, for power line characteristic, carried out wire flight course planning.
3. a kind of power line space safety analysis method based on computer vision according to claim 1, its feature exist
In in step 3, electric power caused by power line and background atural object abnormally flat is effectively avoided using semi-automatic electric power line drawing
Line extracts by mistake, and unmanned plane during flying course line misplaces with the inconsistent caused power line in power line direction.
4. a kind of power line space safety analysis method based on computer vision according to claim 1, its feature exist
In in step 3, using indirect addressing technology, by power line threedimensional model back projection to raw video, passing through back projection's power line
With the comparison of real power line in image, the electric power line model of extraction is checked and optimized.
5. a kind of power line space safety analysis method based on computer vision according to claim 1, its feature exist
In in step 4, based on power line threedimensional model, ground dense three-dimensional point cloud and GIS algorithm for space analysis, to power line progress
Space safety is analyzed, and obtains the barrier in the range of power line three dimensions, including trees, the architecture against regulations and spanning the transmission line
Deng.
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| CN109000621A (en) * | 2018-04-04 | 2018-12-14 | 广州优飞信息科技有限公司 | A kind of power grid screen of trees detection method |
| CN109032175A (en) * | 2018-07-13 | 2018-12-18 | 辽宁东科电力有限公司 | Unmanned plane electric inspection process path calculation method based on spiral of Archimedes |
| CN109191458A (en) * | 2018-09-30 | 2019-01-11 | 广东电网有限责任公司 | A kind of detection method and system of overhead transmission line dangerous point |
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| CN111473774A (en) * | 2020-02-28 | 2020-07-31 | 山东理工大学 | Unmanned aerial vehicle single-flight-zone oblique photography power line obstacle inspection method |
| CN111780725A (en) * | 2020-05-29 | 2020-10-16 | 武汉理工大学 | Homonymy point matching method applied to photogrammetry of mechanical structure |
| CN114266830A (en) * | 2021-12-28 | 2022-04-01 | 北京建筑大学 | Underground large-space high-precision positioning method |
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| CN108759788A (en) * | 2018-03-19 | 2018-11-06 | 深圳飞马机器人科技有限公司 | Unmanned plane image positioning and orientation method and unmanned plane |
| CN109000621A (en) * | 2018-04-04 | 2018-12-14 | 广州优飞信息科技有限公司 | A kind of power grid screen of trees detection method |
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| CN109032175A (en) * | 2018-07-13 | 2018-12-18 | 辽宁东科电力有限公司 | Unmanned plane electric inspection process path calculation method based on spiral of Archimedes |
| CN109191458A (en) * | 2018-09-30 | 2019-01-11 | 广东电网有限责任公司 | A kind of detection method and system of overhead transmission line dangerous point |
| WO2020082366A1 (en) * | 2018-10-26 | 2020-04-30 | 深圳市大疆创新科技有限公司 | Power line detection method and apparatus, unmanned aerial vehicle, and computer readable storage medium |
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| CN111780725A (en) * | 2020-05-29 | 2020-10-16 | 武汉理工大学 | Homonymy point matching method applied to photogrammetry of mechanical structure |
| CN111780725B (en) * | 2020-05-29 | 2022-05-13 | 武汉理工大学 | Homonymy point matching method applied to photogrammetry of mechanical structure |
| CN114266830A (en) * | 2021-12-28 | 2022-04-01 | 北京建筑大学 | Underground large-space high-precision positioning method |
| CN114266830B (en) * | 2021-12-28 | 2022-07-15 | 北京建筑大学 | Underground large space high-precision positioning method |
| CN117491142A (en) * | 2024-01-02 | 2024-02-02 | 西南科技大学 | Method for rapidly detecting surface crushing characteristics of granite particles |
| CN117491142B (en) * | 2024-01-02 | 2024-03-12 | 西南科技大学 | Method for rapidly detecting surface crushing characteristics of granite particles |
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Application publication date: 20180109 |