CN109000621A - A kind of power grid screen of trees detection method - Google Patents
A kind of power grid screen of trees detection method Download PDFInfo
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- CN109000621A CN109000621A CN201810298603.2A CN201810298603A CN109000621A CN 109000621 A CN109000621 A CN 109000621A CN 201810298603 A CN201810298603 A CN 201810298603A CN 109000621 A CN109000621 A CN 109000621A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
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Abstract
The present invention relates to a kind of power grid screen of trees detection methods.Detection method includes the following steps for power grid screen of trees of the present invention: the image on ground where obtaining power grid；It is corresponding Three Dimensional Ground point cloud by the video conversion on the ground；Simulate the lead model under the conducting wire time of day on ground；Calculate the distance of each point on described cloud to the lead model；By the line tree safe distance standard of setting compared with the distance, the defect point for not meeting safe distance standard is obtained.Power grid screen of trees detection method of the present invention has the advantages that simplified screen of trees search operation process, economic cost and technical threshold accurate to the lookup of screen of trees and defect analysis result and reduction screen of trees inspection.
Description
Technical field
The present invention relates to power grid inspection fields, more particularly to a kind of power grid screen of trees detection method.
Background technique
In mountain area, patrol officer frequently encounters screen of trees problem for overhead power transmission power grid many places.Safety of the screen of trees to power network line
Operation causes damages, for example makes line tripping, or even rupture of line or shaft tower is made to collapse, and causes the power failure of larger area.
Current screen of trees is searched means and is analyzed mainly by artificial eye judgement or laser point cloud data, and naked eyes judgement has very
A possibility that big, causes to judge incorrectly, and laser point cloud data acquisition equipment is expensive, and data analysis difficulty is big, wants to technical staff
It asks high, therefore, it is necessary to a set of easy to operate, handle convenient method, can be derived that defect and location point.
Summary of the invention
Based on this, the object of the present invention is to provide a kind of power grid screen of trees detection methods, based on cloud and solid
Surveying & mapping has the advantages that easy to operate, processing is convenient and reduces the Technological Economy threshold of screen of trees hidden danger prevention.
A kind of power grid screen of trees detection method, which comprises the following steps:
The image on ground where obtaining power grid；
It is the three-dimensional point cloud of corresponding ground by the video conversion on the ground；
Simulate the lead model under the conducting wire time of day on ground；
Calculate the distance of each point on the three-dimensional point cloud to the lead model；
The line tree safe distance standard and the distance for comparing setting, filter out the defect for not meeting safe distance standard
Point.
A kind of power grid screen of trees detection method of the present invention has and simplifies screen of trees search operation process, looks into screen of trees
It looks for and the accurate technical effect with the economic cost and technical threshold that reduce screen of trees inspection of defect analysis result.
Further, the image for obtaining power grid place ground, is to carry phase using fixed-wing or multi-rotor unmanned aerial vehicle
Machine carries out shooting to ground where power grid and obtains picture images.
Further, the video conversion by the ground is corresponding ground three-dimensional point cloud, comprising the following steps:
Matching turning point is carried out to the image, wherein the matching turning point is by adjacent image is special between air strips in air strips
Sign point extracts and a Feature Points Matching, to obtain enough same places, the same place be on ground the same point in difference
Imaging point on image；
Adjustment resolving is carried out to the image, wherein the adjustment resolve be the image that will input intrinsic parameter with
Outer parameter coarse value and the obtained identical point coordinates of matching turning point, the intrinsic parameter include camera focus, Pixel size and
Distortion, the outer parameter includes spatial position and the posture at phase filming image moment, described to be changed repeatedly using collinearity equation
In generation, calculates, and calculates the best inside and outside parameter of every image and the corresponding topocentric coordinates of a large amount of same places；
The best inside and outside parameter and a large amount of identical point coordinates for handling the image, obtain the Three Dimensional Ground point cloud.
Further, the best inside and outside parameter and a large amount of identical point coordinates of the processing image, obtains described
Three Dimensional Ground point cloud is the method using dense Stereo Matching pixel-by-pixel.
Further, the lead model under the conducting wire time of day simulated on ground, be using collinearity equation and
Catenary formula simulates the lead location and sag condition of the conducting wire under time of day.
Further, it obtains not meeting safety compared with the distance in the line tree safe distance standard setting
Before the step of defect point of criterion distance, including to the point cloud classifications, the classification of point cloud classifications includes landform, vegetation, bar
Tower, conducting wire.
Different types of object on ground can be identified preferably to point cloud classifications, it is convenient that the conducting wire is found in cloud
Simultaneously compare distance in position.
Further, it obtains not meeting safety compared with the distance in the line tree safe distance standard setting
Before the step of defect point of criterion distance, including manually delete a cloud noise.
The artificial deletion point cloud noise can eliminate the three-dimensional point cloud to peel off in transmission pressure, reduce to transmission pressure section
Figure draws the interference of useless point, improves the precision etc. of point cloud post-processing.
Further, judge including the information to the defect point, if correctly, the information of the defect point received
Collect in a report, forms screen of trees examining report.
The screen of trees examining report can intuitively point out existing defect point, be conducive to fast and effeciently check defect point band
The risk come.
A kind of computer-readable storage media, stores computer program thereon, which is characterized in that the computer program quilt
The step of processor realizes a kind of power grid screen of trees detection method as described in any one of the above embodiments when executing.
A kind of computer equipment, including reservoir, processor and be stored in the reservoir and can be by the processing
The computer program that device executes, the processor realize a kind of electricity as described in any one of the above embodiments when executing the computer program
The step of net screen of trees detection method.
In order to better understand and implement, the invention will now be described in detail with reference to the accompanying drawings.
Detailed description of the invention
Fig. 1 is power grid screen of trees detection method flow chart；
Fig. 2 is that video conversion is a cloud flow chart；
Fig. 3 is unmanned plane image-forming principle schematic diagram；
Fig. 4 is space coordinate schematic illustration；
Fig. 5 is core line schematic illustration.
Specific embodiment
The present invention is described in more detail in explanation and embodiment with reference to the accompanying drawing.
As shown in Fig. 1, a kind of power grid screen of trees detection method of the invention, comprising the following steps:
The image on ground where S101 obtains power grid；
It is general that the acquisition source of ground image can be the UAV flights such as visible data source, such as fixed-wing, more rotors
Logical the absorbed image of Visible Light Camera or helicopter and large-scale fixed-wing etc. have the carrying profession measurement camera such as man-machine to be absorbed
Photo.When using unmanned plane filmed image, to guarantee that shooting operation covers enough ground regions, unmanned plane needs are being planned
Region in fly according to certain rule, while carry-on camera is taken pictures according to certain rule, realizes multiple video recording analysis.
The video conversion on the ground is the three-dimensional point cloud of corresponding ground by S102；
Described cloud, for the point data set on the product appearance surface obtained in reverse-engineering by measuring instrument.It is logical
It is often used obtained small number of three dimensional coordinate measuring machine, the spacing of point and point is also bigger, is sparse cloud；And make
The point cloud obtained with three-dimensional laser scanner or photographic-type scanner, point quantity is bigger and than comparatively dense, is point off density cloud.
In the present embodiment, described cloud is point off density cloud.
As shown in Fig. 2, by the video conversion on the ground be corresponding ground three-dimensional point cloud the following steps are included:
S201 carries out matching turning point to the image；
Wherein, the matching turning point be by adjacent image feature point extracts and Feature Points Matching between air strips in air strips, from
And enough same places are obtained, the same place is imaging point of the same point on different images on ground；
S202 carries out adjustment resolving to the image；
Wherein, the adjustment resolve be the image that will input intrinsic parameter and outer parameter coarse value and the matching turn
The identical point coordinates that point obtains, the intrinsic parameter includes camera focus, Pixel size and distortion, and the outer parameter includes phase image
The spatial position of shooting time and posture, it is described to carry out the calculating that iterates using collinearity equation, calculate every image most
The corresponding topocentric coordinates of good inside and outside parameter and a large amount of same places；
S203 handles the best inside and outside parameter and a large amount of identical point coordinates of the image, obtains the Three Dimensional Ground point
Cloud.
Obtained point cloud data is integrated to obtain a project file.
S103 simulates the lead model under the conducting wire time of day on ground；
Wherein, the conducting wire is the electric power transmission lead of power grid.
As shown in Fig. 3, wherein S represents the aerial surveying camera of the unmanned plane, and A represents certain point on ground, and a represents A and navigating
Take the photograph the image on instrument.According to the image-forming principle of unmanned plane photo, ground object is by ray cast to image, meeting center throwing
Shadow principle.Therefore coordinate transformation relation of the ground object coordinate to image pixel, collinearity equation can be described by collinearity equation
It is as follows:
P matrix is made of the intrinsic parameter of image and outer parameter.Intrinsic parameter refers to camera focus, Pixel size and distortion；Outside
Parameter refers to spatial position and the posture at phase filming image moment.
As shown in Fig. 4, wherein S1And S2The aerial surveying camera of the unmanned plane is respectively represented in two different locations, A is represented
Certain point on ground, a1And a2A is respectively represented in S1And S2On image.In order to extract the space coordinate of place's object, use
The pixel that double image analysis mode, i.e. ground object are projected to respectively on two images and ground object meet the coplanar item in space
Part.Therefore under two image inside and outside parameter known cases, it can calculate ground by the same place pixel coordinate on two images
Face object space coordinate.The spatial coordinates calculation formula of object is as follows:
Metzler matrix is made of the intrinsic parameter of two images and outer parameter.
As shown in Fig. 5, A is certain point on ground, S1And S2For the unmanned plane aerial surveying camera in different location and A
The same position on line.The face that the pixel that object is projected to respectively on two images is constituted with 3 points of ground object is known as
Core face, core face are intersected with two images, and obtained line is known as core line, and two core lines are corresponding epipolar line.Any one point on core line
Same place on adjacent image, one is scheduled on corresponding corresponding epipolar line, and it is three-dimensional which is similar to the observation of human eye binocular.?
In situation known to two image inside and outside parameters, can resampling go out core line image.
After measuring 3 or 3 or more points on a section lead, can according to approximate catenary formula to conducting wire into
Row fitting, obtains the continuous 3 d space coordinate of conducting wire.Catenary formula is as follows:
Y'=ax'-4kbx' × (l-x')
Wherein, x' is the X axis coordinate put on conducting wire, and y' is the Y axis coordinate put on conducting wire, and l is the X-axis of two endpoints of conducting wire
Distance, a, k, b are constant.
The conducting wire come is fitted as lead model.
S104 calculates the distance of each point on the three-dimensional point cloud to the lead model；
The line tree safe distance standard of setting compared with the distance, is obtained not meeting lacking for safe distance standard by S105
Trapping spot.
The distance for obtaining ground each point to conducting wire obtains different grades of further according to the line tree safe distance standard of setting
The line tree horizontal distance of defect point and defect point, vertical range, the position range of clearance and defect point, away from trumpet
The distance of shaft tower, and can be with position of the preview defect point on aerial images.
In the present embodiment, the standard of the line tree safe distance standard and the defect point is based on southern net/state's net
Standard.
In one embodiment, the present invention is obtained in the line tree safe distance standard setting compared with the distance
Before the step of to the defect point for not meeting safe distance standard, including to the point cloud classifications.
The point cloud classifications, for marking ground point cloud, and deletion noise.The classification of point cloud classifications includes landform, plants
Quilt, shaft tower, conducting wire.The point cloud classifications include that a brush smears point cloud classifications, draws point classification, the frame choosing on Line To Line or under line
Region point cloud classifications and four kinds of polygonal region point cloud classifications, to meet different engineering demands.
In another embodiment, the present invention in the line tree safe distance standard setting compared with the distance,
Before obtaining the step of not meeting the defect point of safe distance standard, including manually delete a cloud noise.
The artificial deletion point cloud noise can eliminate the three-dimensional point cloud to peel off in transmission pressure, reduce to transmission pressure section
Figure draws the interference of useless point, improves the precision etc. of point cloud post-processing.
In another embodiment, the present invention include the information of the defect point is judged, if correctly, will be described
The information of defect point is collected into a report, forms screen of trees examining report.
The screen of trees examining report can intuitively point out existing defect point, be conducive to fast and effeciently check defect point band
The risk come.
The screen of trees examining report includes hazard analysis.The hazard analysis is based on the lead model and classification being fitted
Point cloud to conducting wire carry out over the ground safe distance analyze.The conducting wire of pickup point cloud point and fitting can be engaged in section window simultaneously
Upper closest approach, and repeatedly continuous measurement.
The invention also includes a kind of computer-readable storage medias, store computer program thereon, which is characterized in that should
The step of a kind of power grid screen of trees detection method as described in any one of the above embodiments is realized when computer program is executed by processor.
A kind of computer equipment of the present invention, including reservoir, processor and be stored in the reservoir and can be by institute
The computer program of processor execution is stated, the processor is realized as described in any one of the above embodiments when executing the computer program
A kind of the step of power grid screen of trees detection method.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.
Claims (10)
1. a kind of power grid screen of trees detection method, which comprises the following steps:
The image on ground where obtaining power grid；
It is the three-dimensional point cloud of corresponding ground by the video conversion on the ground；
Simulate the lead model under the conducting wire time of day on ground；
Calculate the distance of each point on the three-dimensional point cloud to the lead model；
Compare the line tree safe distance standard of setting and calculate the distance obtained, filters out and do not meet safe distance standard
Defect point.
2. a kind of power grid screen of trees detection method according to claim 1, which is characterized in that ground where the acquisition power grid
Image, be the image for carrying camera using fixed-wing or multi-rotor unmanned aerial vehicle and carrying out shooting acquisition to ground where power grid.
3. a kind of power grid screen of trees detection method according to claim 1, which is characterized in that the shadow by the ground
Three-dimensional point cloud as being converted to corresponding ground, comprising the following steps:
Matching turning point is carried out to the image, wherein the matching turning point be by air strips between air strips adjacent image feature point
Extract and Feature Points Matching, to obtain multiple same places, the same place be on ground the same point on different images
Imaging point；
Adjustment resolving is carried out to the image, wherein the adjustment resolves the intrinsic parameter for being the image that will be inputted and outer ginseng
The identical point coordinates that number coarse value and the matching turning point obtain, carry out the calculating that iterates using collinearity equation, calculate every
The inside and outside parameter of image optimum and the corresponding topocentric coordinates of a large amount of same places, the intrinsic parameter include camera focus, as
First size and distortion, the outer parameter include spatial position and the posture at phase filming image moment；
The best inside and outside parameter and the identical point coordinates for handling the image obtain the Three Dimensional Ground point cloud.
4. a kind of power grid screen of trees detection method according to claim 3, which is characterized in that the processing image is most
Good inside and outside parameter and the identical point coordinates obtain the Three Dimensional Ground point cloud, are the methods using dense Stereo Matching pixel-by-pixel.
5. a kind of power grid screen of trees detection method according to claim 1, which is characterized in that described to simulate leading on ground
Lead model under line time of day is that the conducting wire under time of day is simulated using collinearity equation and catenary formula
Lead location and sag condition.
6. a kind of power grid screen of trees detection method according to claim 1, which is characterized in that pacify in the line tree setting
Full distance standard is compared with the distance, before obtaining the step of not meeting the defect point of safe distance standard, including to described
Point cloud classifications, the classification of point cloud classifications include landform, vegetation, shaft tower and conducting wire.
7. a kind of power grid screen of trees detection method according to claim 6, which is characterized in that pacify in the line tree setting
Full distance standard is compared with the distance, before obtaining the step of not meeting the defect point of safe distance standard, including manually deletes
Except a cloud noise.
8. a kind of power grid screen of trees detection method according to claim 1, which is characterized in that including the letter to the defect point
Breath is judged, if correctly, the information of the defect point being collected into a report, screen of trees examining report is formed.
9. a kind of computer-readable storage media, stores computer program thereon, which is characterized in that the computer program is located
Manage the step of realizing a kind of power grid screen of trees detection method as described in claim 1 to 8 any one when device executes.
10. a kind of computer equipment, including reservoir, processor and it is stored in the reservoir and can be by the processor
The computer program of execution, the processor are realized as described in claim 1 to 8 any one when executing the computer program
A kind of power grid screen of trees detection method the step of.
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| CN110044336A (en) * | 2019-03-04 | 2019-07-23 | 中国南方电网有限责任公司超高压输电公司天生桥局 | A kind of contactless transmission line icing measurement method based on unmanned plane |
| 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 |
| CN111553881A (en) * | 2020-03-27 | 2020-08-18 | 武汉地大信息工程股份有限公司 | Method and system for detecting iron tower deformation based on three-dimensional point cloud identification |
| CN111578861A (en) * | 2020-05-25 | 2020-08-25 | 广东电网有限责任公司 | Power distribution network tree obstacle detection method and system |
| CN113537180A (en) * | 2021-09-16 | 2021-10-22 | 南方电网数字电网研究院有限公司 | Tree obstacle identification method and device, computer equipment and storage medium |
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| CN107564111A (en) * | 2017-05-31 | 2018-01-09 | 武汉圆桌智慧科技有限公司 | Power line space safety analysis method based on computer vision |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110044336A (en) * | 2019-03-04 | 2019-07-23 | 中国南方电网有限责任公司超高压输电公司天生桥局 | A kind of contactless transmission line icing measurement method based on unmanned plane |
| 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 |
| CN111553881A (en) * | 2020-03-27 | 2020-08-18 | 武汉地大信息工程股份有限公司 | Method and system for detecting iron tower deformation based on three-dimensional point cloud identification |
| CN111578861A (en) * | 2020-05-25 | 2020-08-25 | 广东电网有限责任公司 | Power distribution network tree obstacle detection method and system |
| CN113537180A (en) * | 2021-09-16 | 2021-10-22 | 南方电网数字电网研究院有限公司 | Tree obstacle identification method and device, computer equipment and storage medium |
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Application publication date: 20181214 |