CN111288970A - Portable electrified distance measuring device - Google Patents
Portable electrified distance measuring device Download PDFInfo
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- CN111288970A CN111288970A CN202010119664.5A CN202010119664A CN111288970A CN 111288970 A CN111288970 A CN 111288970A CN 202010119664 A CN202010119664 A CN 202010119664A CN 111288970 A CN111288970 A CN 111288970A
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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
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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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 invention discloses a portable charged distance measuring device, which comprises a mobile phone end, a server end and Socket two-way communication between the mobile phone end and the server end, wherein the mobile phone end adopts a camera to shoot a picture of target equipment, selects a picture of the target equipment to be sent from the mobile phone end, and transmits the selected picture of the target equipment to the server end through the Socket two-way communication; the server side receives the picture of the target equipment from the mobile phone side, and carries out three-dimensional model reconstruction based on MVS to generate a PLY format three-dimensional model file; the server side transmits the reconstructed three-dimensional model file to the mobile phone side through Socket two-way communication; the mobile phone end receives a three-dimensional model file from the server end; and the mobile phone end controls the server end, and two points to be measured are selected from the obtained three-dimensional model file, so that the distance between the two points can be obtained.
Description
Technical Field
The present invention relates to a portable charged distance measuring device.
Background
The method comprises the following steps that (as well as between flexible conductors and neutral point equipment of a main transformer chamber and grounding equipment such as a wall body and a fire pipeline) main transformer on the 500kV and 220kV distribution device field, an upper-layer overline of a bus connection, an outgoing line of an overhead line and a lower-layer bus are usually crossed and arranged in a crossing manner, extension engineering is implemented in an operation station, ultrahigh-voltage strong-current live equipment is arranged around the extension engineering, and safety problems are always the greatest importance of project management; the distance between the extension project management system and the live equipment is required to be considered when a specific design change scheme, a large-scale equipment hoisting and equipment pressure resistance test scheme is established in the extension project management process, the measurement of the distance between the live equipment is an efficient and powerful technical measure, the design scheme can be optimized, rework is reduced, accompanying equipment is reduced when the equipment is hoisted and pressure resistant, more importantly, the installation and pressure resistance safety is ensured, the project management safety is ensured, and the project management work quality is improved. At present, no instrument or method for measuring the safe distance between two points (charged body and ground, charged body and charged body) in the air exists.
For the research on the distance between equipment in the construction of a power grid, particularly the distance between two electrified equipment, the research on the aspect of domestic and overseas is less at present, and especially, a remote measurement technology based on a visual sensor is basically absent. The measuring technology is widely applied to positioning control and direction control of machines, distance mapping in engineering and the like, so that the method has a wide application market. The current developed and mature measuring technologies include laser ranging, microwave radar ranging, ultrasonic ranging, infrared ranging and the like.
In the above several distance measurement technologies, the laser sensor can realize contactless remote measurement, and can achieve high speed, high progress, strong anti-interference capability, small weather influence and the like. The laser measurement technology has long distance measurement, the precision can reach the millimeter level, and simultaneously, the energy consumption is also large, so that the laser measurement technology is mainly used for geodetic measurement and partial engineering measurement, and can also be used for flaw detection and detection of atmospheric pollutants. The defects of the laser ranging technology are also obvious, the manufacturing difficulty of a laser sensor is high, the cost is high, a measuring system needs to be kept clean, and otherwise the measuring precision is influenced; the microwave radar has a large range (>60km), can reach the level of cm in precision, and is used for geodetic surveying. The distance measurement technology is difficult and high in cost, and is generally mainly used for military industry; ultrasonic ranging is a method for realizing non-contact distance measurement by combining acoustic wave characteristics, electronic counting and photoelectric switches. However, the precision of the ultrasonic wave is low, the ultrasonic wave is not suitable for some fields with high precision requirements, and the manufacturing cost of the ultrasonic ranging system is high; the infrared ranging technology has the advantages of good environmental adaptability, better measurement at night and in severe weather than visible light, good concealment, difficult interference, small size of an infrared system, light weight, and lower power consumption than laser ranging, microwave radar ranging and the like. However, the infrared distance measurement technique has its own disadvantages, such as low measurement accuracy, short distance, and poor directivity.
In view of the advantages and disadvantages of various measurement technologies, in recent years, photogrammetry techniques have received much attention, especially in the urban or engineering surveying and mapping fields. Due to the development and production of high-quality and high-precision photogrammetry related sensors and processors, and the combination of the sensors and the processors in the computer technology, the photogrammetry technology can provide abundant spatial information of objects and scenes. The photogrammetry technology does not need to contact an object, reduces the workload outdoors in the engineering, and has higher measurement efficiency.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a portable charged distance measuring device, which utilizes a vision sensor to collect image data of target equipment, realizes the conversion from two-dimensional data of a target area to spatial information through feature matching and finally realizes the measurement of any distance on a picture on a visual interface.
The technical scheme for realizing the purpose is as follows: the utility model provides a portable electrified distance measuring device, includes cell-phone end, server end and the Socket both-way communication between cell-phone end and server end, wherein:
the mobile phone terminal shoots a picture of the target equipment by adopting a camera, selects a picture of the target equipment to be sent from the mobile phone terminal, and transmits the selected picture of the target equipment to the server terminal through Socket two-way communication;
the server side receives the picture of the target equipment from the mobile phone side, and carries out three-dimensional model reconstruction based on MVS to generate a PLY format three-dimensional model file; the server side transmits the reconstructed three-dimensional model file to the mobile phone side through Socket two-way communication; the server side measures the distance by using a three-dimensional geometric processing system;
the mobile phone end receives a three-dimensional model file from the server end;
and the mobile phone end controls the server end, and two points to be measured are selected from the obtained three-dimensional model file, so that the distance between the two points can be obtained.
The portable charged distance measuring device as described above, wherein the PLY-formatted three-dimensional model file allows storage in ASCII code or binary form.
The portable charged distance measuring device comprises a mobile phone end, a mobile phone distance measuring software system, a camera opening interface, an album and data display interface, a three-dimensional reconstruction display interface and a mobile phone control computer interface.
In the portable charged distance measuring device, the camera interface is started to call a camera of the mobile phone to take a picture of the target device, and the picture of the target device is stored in a photo album of the mobile phone;
the photo album and data display interface is used for entering a mobile phone photo album, previewing a picture of the target equipment and transmitting the selected picture of the target equipment to the server side through Socket bidirectional communication;
the three-dimensional reconstruction display interface is used for displaying the three-dimensional model file from the server side and randomly rotating the three-dimensional model file;
the mobile phone control computer interface is used for inputting an IP address of the server end, connecting the mobile phone end to the server end, and controlling a computer of the server end by using the mobile phone end to remotely perform three-dimensional reconstruction.
The portable charged distance measuring device is characterized in that the server side adopts a Linux system, the server side is provided with a three-dimensional reconstruction system based on MVS, and the server side utilizes a three-dimensional geometric processing system MeshLab to measure the distance.
According to the portable charged distance measuring device, the vision sensor is used for collecting image data of target equipment, conversion from two-dimensional data of a target area to space information is realized through feature matching, and finally, any distance measurement on a picture is realized on a visual interface, so that the distance between two points in the air can be measured, and a distance size basis is provided for programming of a design scheme, equipment hoisting and a pressure-resistant scheme.
Drawings
FIG. 1 is a schematic structural diagram of a portable charged distance measuring device according to the present invention;
FIG. 2 is a flow chart of the server side work;
fig. 3 is a flowchart illustrating the operation of the portable charged distance measuring device according to the present invention.
Detailed Description
In order that those skilled in the art will better understand the technical solution of the present invention, the following detailed description is given with reference to the accompanying drawings:
referring to fig. 1, 2 and 3, in a preferred embodiment of the present invention, a portable charged distance measuring device includes a mobile phone terminal 1, a server terminal 2 and a Socket bi-directional communication between the mobile phone terminal and the server terminal.
The mobile phone terminal 1 shoots a picture of the target equipment by adopting a camera, selects a picture of the target equipment to be sent from the mobile phone terminal 1, and transmits the selected picture of the target equipment to the server terminal 2 through Socket two-way communication;
the server 2 receives the picture of the target equipment from the mobile phone end, and carries out three-dimensional model reconstruction based on MVS to generate a PLY format three-dimensional model file; the server end 2 transmits the reconstructed three-dimensional model file to the mobile phone end 1 through Socket two-way communication; the PLY format of the three-dimensional model file allows storage in ASCII code or binary form; the server 2 measures the distance by using a three-dimensional geometric processing system;
the mobile phone end 1 receives the three-dimensional model file from the server end 2;
the mobile phone end 2 controls the server end 2, and the distance between two points to be measured is selected from the obtained three-dimensional model file.
The mobile phone end 1 adopts an Android system, a mobile phone ranging software system is arranged in the mobile phone end 1, and the mobile phone ranging software system comprises a camera opening interface, an album and data display interface, a three-dimensional reconstruction display interface and a mobile phone control computer interface. Starting a camera interface for calling a camera of the mobile phone to shoot a picture of the target equipment, and storing the picture of the target equipment in a mobile phone album; the photo album and data display interface is used for entering a mobile phone photo album, previewing a picture of the target equipment and transmitting the selected picture of the target equipment to the server side through Socket bidirectional communication; the three-dimensional reconstruction display interface is used for displaying the three-dimensional model file from the server side and randomly rotating the three-dimensional model file; the mobile phone control computer interface is used for inputting an IP address of the server end, connecting the mobile phone end to the server end, and controlling a computer of the server end by using the mobile phone end to remotely perform three-dimensional reconstruction.
The server end 2 adopts a Linux system, the server end 2 is provided with a three-dimensional reconstruction system based on MVS, and the server end 2 utilizes a three-dimensional geometric processing system MeshLab to measure the distance.
Data communication is a new way of communication that results from the combination of communication technology and computer technology. One important task of the portable charged distance measuring device of the present invention is data communication between the mobile phone terminal 1 and the server terminal 2. Briefly, pictures or videos shot from the mobile phone end need to be sent to the server end through the mobile phone end, and then three-dimensional models, data information and the like obtained through processing by the server end are returned to the mobile phone end, so that two-way communication between the two ends is achieved substantially.
To realize the information communication between the mobile phone and the server, a transmission channel is required. According to different transmission media, wired data communication and wireless data communication are divided. Socket is adopted to realize data transmission at two ends (under the same local area network).
The information of the mobile phone end 1 and the server end 2 is roughly shown in table 1:
| device name | System for controlling a power supply | IP address | Port number setting | Software language |
| Mobile phone terminal | Win10 | 192.168.1.118 | 9998 | Java |
| Server terminal | Linux | 192.168.1.123 | 4444 | C# |
TABLE 1
Socket communication between two devices must be realized by knowing their IP addresses and port numbers. Because the systems of the two hosts are different, the languages used when writing the code are different.
Socket is an intermediate software abstraction layer for the application layer to communicate with the TCP/IP suite of protocols, which is a set of interfaces. So-called Socket, also commonly referred to as a "Socket," is used to describe an IP address and port that are combined together on a network to form a uniquely identifiable Socket application.
Requests are made to the network or network requests are answered through a "socket". The data communication between the client and the server is realized based on a Socket protocol. The following three points are noted for communication:
1. socket is required to be arranged at both ends of communication
2. The network communication is the communication between sockets
3. Data transmission between two sockets through IO
The following brief explanation is made for the IP address and port number:
to enable communication between different computers in a network, each computer must have a unique identity, an IP address. Distinguish a host's multiple different applications with port numbers ranging from 0-65535, where bits 0-1023 are reserved for the system.
According to the portable charged distance measuring device, the mobile phone end 1 can transmit five photos to the server end 2 each time, the transmitted photos are renamed in the transmission process, and the photos are named from 0 to 4 in a format of 0.jpg according to the sequence of the photos. After the server 2 completes the reconstruction and ranging, the three-dimensional point cloud model after the reconstruction needs to be sent to the mobile phone 1, and at this time, the server 2 serves as a sending end. At this time, the mobile phone terminal will be used as the receiving terminal.
Referring back to fig. 2, MVS-based three-dimensional reconstruction:
Multi-View three-dimensional (MVS) reconstruction, which aims to accurately reconstruct three-dimensional geometric shapes from a set of calibrated two-dimensional Multi-View images, is a fundamental and active research field in computer vision. With the widespread use of digital cameras, unmanned aerial vehicles, and smart phones, a large amount of image data can be captured. MVS provides an efficient way to reconstruct indoor and outdoor scenes using images.
The flow of three-dimensional reconstruction is roughly as follows: firstly, a group of image sequences are obtained through multi-angle shooting or extraction from a video, and the image sequences are used as the input of the whole system; then, extracting sparse feature points (called point clouds) according to texture features in the multi-view image, and estimating the camera position and parameters through the feature points; after obtaining camera parameters and completing feature point matching, we can obtain denser point clouds (the points can be accompanied by colors, and the points are just like restoring the object from far, but are only some points from near obviously); and finally, reconstructing the surface of the object according to the points, and performing texture mapping to restore the three-dimensional scene and the object.
A three-dimensional reconstruction system based on MVS (Multi-View Stereo), that is, by analyzing various information in an image sequence, reverse engineering modeling of an object is performed, so as to obtain a scene or a three-dimensional model of the object in the scene. The method does not directly control the light source, has low requirement on illumination, low cost, simple operation and easy realization, and is suitable for three-dimensional reconstruction of various complex scenes; the disadvantage is that the reconstruction of the detail features of the object is not yet accurate.
MVS (multi-stereo vision) reconstruction uses the sparse point cloud output by SFM to compute the depth and normal information for each pixel in the image, fuses the depth and normal maps of multiple images in 3D, then generates a dense point cloud of the scene, and using the depth and normal information of the fused point cloud, algorithms such as (masked) poisson surface reconstruction, etc., can recover the three-dimensional surface geometry of the scene.
Distance measurement:
MeshLab is an open source system for processing and editing 3D triangular meshes. It provides a set of tools for editing, cleaning, repairing, inspecting, rendering, texturing and transforming meshes. It provides the functionality to process raw data generated by a 3D digitizing tool/device and prepare a 3D printed model.
With the three-dimensional model obtained based on the MVS reconstruction system, there is a lack of scale information because the model is modeled by a photograph taken with a monocular camera. In this application we introduce scale information in two ways. One way is to put a calibration board of known size in the modeled scene to introduce the scale factor, and the other way is to introduce the scale factor by introducing the position coordinates of the first three photos in advance, indirectly introducing the space coordinate system.
Distance measurement is carried out by utilizing a three-dimensional geometric processing system MeshLab, and the measurement and analysis functions of the MeshLab are mainly used. The main process of the first mode is as follows: the method comprises the steps of utilizing a multi-view stereo technology to reconstruct and obtain three-dimensional dense point cloud data of an object, obtaining a reconstructed scale factor by placing a calibration plate for some small objects or scenes, obtaining a reconstructed scale factor by measuring a representative distance in a scene for some large scenes or reconstructed objects, and finally realizing non-contact accurate measurement of the object in a reconstructed three-dimensional model.
The main implementation process of the second mode of ranging is as follows: the model may be geo-registered by providing 3D locations for a subset of camera centers or all registered images. Determining a 3D similarity transformation between the reconstructed model and the geographically registered target coordinate system according to the correspondences.
For controlling the picture taking process, the best reconstruction results will be obtained following the following criteria:
1. an image with good texture is captured. Images that are completely free of texture (e.g., white walls or empty tables) are avoided. If the scene itself does not contain sufficient texture, other background objects, such as posters, etc., may be placed.
2. Images were taken under similar lighting conditions. High dynamic range scenes (e.g., pictures in shadow or through windows and doors) are avoided. Specular reflection on smooth surfaces is avoided.
3. Images of high visual overlap are captured. Ensure that there are at least 3 images per object-the more images the better.
4. Images are captured from different angles. Instead of taking images from the same location by rotating the camera only, for example, several steps are performed after each taking. At the same time, an attempt is made to see enough images from a relatively similar perspective. Note that more images are not necessarily better, which may result in a slow reconstruction process. If you use video as input, please consider the downsampled frame rate.
The MVS reconstruction adopts the sparse point cloud output by the SFM to calculate the depth and normal information of each pixel in the image. The depth and normal maps of the multiple images in 3D are fused, and then dense point clouds of the scene are generated. Using the depth and normal information of the fused point cloud, algorithms such as (masked) poisson surface reconstruction can recover the three-dimensional surface geometry of the scene.
The portable charged distance measuring device supports the function of a mobile control computer, and the operating system of the portable charged distance measuring device is an Andriod mobile phone system. After field experiments, the following effects are achieved:
(1) for the occasions that main transformers are arranged in series on the site of the power distribution device (and between flexible conductors, neutral point equipment and grounding equipment such as a wall body and a fire pipeline and the like of a main transformer chamber), bus-connection upper-layer cross lines, overhead line outgoing lines and lower-layer buses are usually arranged in a cross spanning manner, the implementation of extension projects is facilitated;
(2) in the project construction management process, the distance between the electrified equipment and the specific design change scheme, the large-scale equipment hoisting and equipment pressure resistance test scheme is required to be considered, and the measurement of the distance between the electrified equipment is an efficient and powerful technical measure and can optimize the design scheme;
(3) the reworking is reduced, the equipment is lifted and is pressure-resistant, the accompanying equipment is reduced, more importantly, the safety of installation and pressure resistance is ensured, and the quality and the safety of project management work are improved;
(4) the reliable application of the system realizes that the distance between different two points on the site can be measured by using the mobile phone, and the timeliness is very strong, thereby not only saving the personnel cost, but also improving the labor productivity
According to the portable charged distance measuring device, image data are obtained in a mobile phone photographing mode, data of a mobile phone end are transmitted to a server end in a Socket communication mode, the server end conducts three-dimensional stereo reconstruction through multi-stereo vision, and distance measurement between charged devices is conducted through combination of the obtained scale factors. The portable charged distance measuring device mainly realizes the following functions:
(1) calling a camera to acquire image data, and calculating by using a calibration board to obtain a Scale Factor;
(2) researching a feature point matching algorithm to obtain an algorithm suitable for the project;
(3) calculating to obtain a rotation matrix and a transformation matrix R, T, and the position of the planar 2D point corresponding to the spatial 3D point;
(4) socket double-end (server and mobile phone end) communication based on a TCP/IP protocol is realized through two programming languages of C + + and Java;
(5) the method comprises the following steps of developing an application program of the android mobile phone end, wherein the development of a program interface of the mobile phone end and how to call a camera of the mobile phone to acquire image data for accurate matching are included;
(6) developing server-side background processing software, including developing a server-side program interface and processing server background image data;
(7) the method comprises the steps of image data transmission at a mobile phone and a server end and design of a man-machine interaction mode and a touch response mode.
Through analysis, the portable live-line distance measuring device can be used for the construction operation process of the transformer substation and similar operation projects, such as real estate construction scenes, built-in decoration of houses and the like. The system further enhances the safety of the transformer substation, can be applied as a part of remote measurement, and also accords with the development direction of intelligent power plants in China.
In summary, the portable charged distance measuring device of the present invention utilizes the vision sensor to collect image data of the target device, realizes conversion from two-dimensional data of the target area to spatial information through feature matching, and finally realizes arbitrary distance measurement on the image on the visual interface, so that the distance between two points in the air can be measured, and distance size basis is provided for design schemes, device hoisting, and voltage-withstanding schemes.
It should be understood by those skilled in the art that the above embodiments are only for illustrating the present invention and are not to be used as a limitation of the present invention, and that changes and modifications to the above described embodiments are within the scope of the claims of the present invention as long as they are within the spirit and scope of the present invention.
Claims (5)
1. The utility model provides a portable electrified distance measuring device which characterized in that, includes cell-phone end, server end and the Socket both way communication between cell-phone end and server end, wherein:
the mobile phone terminal shoots a picture of the target equipment by adopting a camera, selects a picture of the target equipment to be sent from the mobile phone terminal, and transmits the selected picture of the target equipment to the server terminal through Socket two-way communication;
the server side receives the picture of the target equipment from the mobile phone side, and carries out three-dimensional model reconstruction based on MVS to generate a PLY format three-dimensional model file; the server side transmits the reconstructed three-dimensional model file to the mobile phone side through Socket two-way communication; the server side measures the distance by using a three-dimensional geometric processing system;
the mobile phone end receives a three-dimensional model file from the server end;
and the mobile phone end controls the server end, and two points to be measured are selected from the obtained three-dimensional model file, so that the distance between the two points can be obtained.
2. The portable charged distance measuring device of claim 1, wherein said PLY-formatted three-dimensional model file allows for storage in ASCII code or binary form.
3. The portable charged distance measuring device according to claim 1, wherein the Android system is adopted in the mobile phone terminal, and a mobile phone ranging software system is arranged in the mobile phone terminal, and comprises a camera opening interface, an album and data display interface, a three-dimensional reconstruction display interface and a mobile phone control computer interface.
4. The portable charged distance measuring device of claim 3, wherein the camera interface is turned on for calling a camera of a mobile phone to take a picture of a target device and storing the picture of the target device in a mobile phone album;
the photo album and data display interface is used for entering a mobile phone photo album, previewing a picture of the target equipment and transmitting the selected picture of the target equipment to the server side through Socket bidirectional communication;
the three-dimensional reconstruction display interface is used for displaying the three-dimensional model file from the server side and randomly rotating the three-dimensional model file;
the mobile phone control computer interface is used for inputting an IP address of the server end, connecting the mobile phone end to the server end, and controlling a computer of the server end by using the mobile phone end to remotely perform three-dimensional reconstruction.
5. The portable charged distance measuring device of claim 1, wherein the server side adopts a Linux system, the server side is installed with a three-dimensional reconstruction system based on MVS, and the server side performs distance measurement by using a three-dimensional geometric processing system.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112099031A (en) * | 2020-11-09 | 2020-12-18 | 天津天瞳威势电子科技有限公司 | Vehicle distance measuring method and device |
| LU502672B1 (en) * | 2022-08-16 | 2024-02-16 | Becker Lakus Axel | A method for selecting scene points, distance measurement and a data processing apparatus |
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| CN103765479A (en) * | 2011-08-09 | 2014-04-30 | 英特尔公司 | Image-based multi-view 3D face generation |
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Application publication date: 20200616 |
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