CN113379731A - Power transmission line point cloud pickup method and device - Google Patents
Power transmission line point cloud pickup method and device Download PDFInfo
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- CN113379731A CN113379731A CN202110753667.9A CN202110753667A CN113379731A CN 113379731 A CN113379731 A CN 113379731A CN 202110753667 A CN202110753667 A CN 202110753667A CN 113379731 A CN113379731 A CN 113379731A
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- G06T2207/10028—Range image; Depth image; 3D point clouds
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Abstract
The invention discloses a power transmission line point cloud picking method and a device, wherein a visual angle point is used as a visual angle ray, point clouds in candidate buffer distances are projected on the visual angle ray, the projection distance and the distance weight from a projection point to the visual angle point are comprehensively considered, and the point with the minimum comprehensive picking distance is finally determined, so that the power transmission line point cloud picking efficiency and precision are improved, and the method and the device are high in accuracy, high in speed and good in real-time performance.
Description
Technical Field
The invention relates to the technical field of computer software, in particular to a power transmission line point cloud pickup method and device, a readable storage medium and a computer control system.
Background
Currently, a point cloud picking method commonly used for a power transmission line is based on intersection of lines and points, and as shown in fig. 2, points with the closest distance are calculated as picking points in a picking direction indicated by an arrow, but the method is easy to cause penetration picking, namely picking points in deeper layers of a wire point cloud or a tower point cloud, but not picking points of a target closest to a viewpoint point. Such penetration will cause large errors in measurement, for example, when planning a route of the unmanned aerial vehicle based on the point cloud, penetration pickup may cause the route to intersect with the surrounding environment, even causing an accident. The traditional penetration picking only considers the point closest to the view ray, but the point may be far away from the view point, so that the subsequent transmission line safety detection is not facilitated.
Disclosure of Invention
In view of the above problems in the background art, a method for picking up a point cloud of a power transmission line is provided, which can more accurately pick up the point cloud of the power transmission line, considers the distance from the point cloud to a visual ray and the distance from the point cloud to a visual point, determines the point cloud with the minimum comprehensive picking-up distance as a final picking-up point, and avoids the penetration phenomenon of point cloud picking-up.
The invention relates to a point cloud picking method for a power transmission line, which comprises the following steps:
s1, coordinates of the center point of the monitoring screen in the three-dimensional map are obtained, the coordinates are used as view angle points, and view angle rays are made along the current monitoring view angle direction;
s2, setting a buffer distance for the view ray, and acquiring a buffer area cylinder in the view ray direction;
s3, acquiring all point clouds in the buffer area column as candidate points;
s4, acquiring projection points of the candidate points on the view ray;
s5 determining the pick point according to the distance between the candidate point and the projection point and the distance weight between the projection point and the view point.
According to the invention, the visual angle point is taken as the visual angle ray, the point cloud in the candidate buffer distance is projected on the visual angle ray, the projection distance and the distance weight from the projection point to the visual angle point are comprehensively considered, and the point with the minimum comprehensive pickup distance is finally determined, so that the power transmission line point cloud pickup efficiency and precision are improved, and the accuracy is high, the speed is high, and the real-time performance is good.
Specifically, the view angle of the view angle ray is a tool window view angle of the point cloud loaded, and the ray direction is the picking direction of the point cloud of the power transmission line.
Further, the buffer distance is 1 meter, and the buffer area cylinder is a cylinder with the bottom radius of 1 meter and the visual angle ray as the rotating axis.
Further, the step of obtaining all point clouds in the buffer cylinder as candidate points comprises: and intersecting point clouds in the three-dimensional map according to the view ray buffer area, traversing all the point clouds according to the rtree space index, calculating the distance from each point to the view ray, and selecting the point clouds with the distance less than or equal to the buffer distance as candidate points.
Further, the step of determining the picked point according to the distance from the candidate point to the projection point and the distance weight from the projection point to the viewpoint point comprises: traversing all the point clouds, and acquiring n candidate points in the column body of the buffer area according to the buffer distance, wherein the n candidate points are marked as A0, A1 and … An-1; projecting the candidate points to the view ray to obtain n projection points, and recording the n projection points as D0, D1 and … Dn-1; wherein D0 is the projection point with the shortest distance to the viewpoint point; the distances from the candidate points to the view ray are respectively recorded as A0D0, A1D1 and … An-1 Dn-1; and calculating a comprehensive picking distance by combining the distance weight from the projection point to the view point and the distance from the candidate point to the projection point:
wherein alpha is a proportionality coefficient, E is a view point, and the candidate point Am with the minimum comprehensive picking distance dist (m) is a picking point.
Further, when the tower point cloud is picked up, the proportionality coefficient alpha is 0.1< 1; when picking up the wire point cloud, 0.01< proportionality coefficient alpha < 0.1.
The invention also provides a point cloud pick-up device of the power transmission line, which comprises:
the device is used for acquiring the coordinate of the center point of the monitoring screen in the three-dimensional map, taking the coordinate as a visual angle point and making a visual angle ray along the current monitoring visual angle direction;
the device is used for setting a buffer distance for the view ray and acquiring a buffer area cylinder in the view ray direction;
means for obtaining all point clouds within the buffer bin as candidate points;
means for obtaining projection points of the candidate points on the perspective ray;
means for determining a picked point based on the distance of the candidate point to the proxel and the weight of the distance of the proxel to the view point.
Further, the present invention provides a readable storage medium having a control program stored thereon, characterized in that: the control program is executed by a processor to realize the power transmission line point cloud picking method.
Further, the present invention provides a computer control system, including a storage, a processor, and a control program stored in the storage and executable by the processor, wherein: when the processor executes the control program, the power transmission line point cloud picking method is realized.
In order that the invention may be more clearly understood, specific embodiments thereof will be described hereinafter with reference to the accompanying drawings.
Drawings
Fig. 1 is a flow chart of a point cloud picking method for a power transmission line according to an embodiment of the invention;
FIG. 2 is a schematic diagram of penetration picking caused by a point cloud picking method commonly used in a power transmission line in the prior art;
FIG. 3 is a schematic diagram of candidate points, projection points, view points, and view rays according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a wire point cloud according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a tower point cloud according to an embodiment of the present invention.
Detailed Description
Please refer to fig. 1, which is a flowchart illustrating a method for picking up a point cloud of a power transmission line according to an embodiment of the present invention.
The invention relates to a point cloud picking method for a power transmission line, which comprises the following steps:
s1, coordinates of the center point of the monitoring screen in the three-dimensional map are obtained, the coordinates are used as view angle points, and view angle rays are made along the current monitoring view angle direction;
s2, setting a buffer distance for the view ray, and acquiring a buffer area cylinder in the view ray direction;
s3, acquiring all point clouds in the buffer area column as candidate points;
s4, acquiring projection points of the candidate points on the view ray;
s5 determining the pick point according to the distance between the candidate point and the projection point and the distance weight between the projection point and the view point.
According to the invention, the visual angle point is taken as the visual angle ray, the point cloud in the candidate buffer distance is projected on the visual angle ray, the projection distance and the distance weight from the projection point to the visual angle point are comprehensively considered, and the point with the minimum comprehensive pickup distance is finally determined, so that the power transmission line point cloud pickup efficiency and precision are improved, and the accuracy is high, the speed is high, and the real-time performance is good.
In this embodiment, the view angle of the view angle ray is a view angle of a tool window loaded with point cloud, that is, a current view angle direction and a view angle height of a three-dimensional map, a direction and a height of the current view angle are directly acquired from a tool interface, and a ray direction is determined along the current view angle direction as a pickup direction of the power transmission line point cloud, with a position of a screen center point on the three-dimensional map and the view angle height as starting points.
Further, the buffer distance is 1 meter, the buffer area cylinder is a cylinder with the radius of the bottom surface of 1 meter and the visual ray as a rotating shaft, and the vertical distance from any point in the buffer area cylinder to the visual ray is less than or equal to 1 meter.
Further, the step of obtaining all point clouds in the buffer cylinder as candidate points comprises: and intersecting point clouds in the three-dimensional map according to the view ray buffer area, traversing all the point clouds according to the rtree space index, calculating the distance from each point to the view ray, and selecting the point clouds with the distance less than or equal to the buffer distance as candidate points.
Please refer to fig. 3, which is a schematic diagram of candidate points, projection points, view points and view rays according to an embodiment of the present invention;
the step of determining the picked point according to the distance from the candidate point to the projection point and the distance weight from the projection point to the view point comprises the following steps: traversing all the point clouds, and acquiring n candidate points in the column body of the buffer area according to the buffer distance, wherein the n candidate points are marked as A0, A1 and … An-1; projecting the candidate points to the view ray to obtain n projection points, and recording the n projection points as D0, D1 and … Dn-1; wherein D0 is the projection point with the shortest distance to the viewpoint point; the distances from the candidate points to the view ray are respectively recorded as A0D0, A1D1 and … An-1 Dn-1; and calculating a comprehensive picking distance by combining the distance weight from the projection point to the view point and the distance from the candidate point to the projection point:
wherein alpha is a proportionality coefficient, E is a view point, and the candidate point Am with the minimum comprehensive picking distance dist (m) is a picking point. EDm-ED0, DmD0, is the distance from each projection point on the viewing ray to the shortest candidate point. Edm is the height of the viewing angle at the time of pick-up.
The existing method for picking up the point cloud of the power transmission line usually takes alpha as 0, namely only the distance from a candidate point to a view ray is considered, but not the distance from the candidate point to a view point, so that 'penetration' selection is easily caused. For DmD0/EDm, the view height at pickup (EDm) is on the order of hundreds of meters to keep the number of point clouds in the field of view from being dense or sparse; the height (DmD0) of the transmission tower is in the order of tens of meters, so the DmD0/Edm proportionality coefficient is 0.1, the picked-up buffer error is generally controlled to be a few centimeters, so the AmDm value is between 0 and 0.01, and the two are balanced when the alpha is 0.1 in order to ensure the consistency of the two orders of plus sign. Thus a larger α indicates a higher weight of the distance to the view point, i.e. points closer to the view point are easier to select. Therefore, the invention can give consideration to the viewpoint distance and the sight line distance, and avoids picking up points which are far from the sight point and close to the sight ray.
Fig. 4 is a schematic diagram of a wire point cloud according to an embodiment of the present invention, and fig. 5 is a schematic diagram of a tower point cloud according to an embodiment of the present invention.
When the tower point cloud is picked up, the scale factor alpha is 0.1< 1; when picking up the wire point cloud, 0.01< proportionality coefficient alpha < 0.1.
For tower point cloud, the method is characterized in that the range of the point cloud is large, penetration is easy to cause, and the value of alpha can be increased; for the wire point cloud, the wire point cloud is concentrated on a line, and the value of alpha is reduced to increase the plane picking precision. From the above estimates, it can be specified that α takes a value between 0.1 and 1 for the tower point cloud and 0.01 and 0.1 for the wire point cloud.
Compared with the prior art, the invention improves the point cloud picking precision and efficiency of the power line and the tower, improves the point cloud measurement and analysis precision of the power line, adds a proportionality coefficient, considers the distance from the candidate point to the visual angle point and takes the point with the minimum distance as the final point by only considering the distance from the candidate point to the ray and the penetration phenomenon caused by the fact that the distance from the candidate point to the visual angle point is too far as compared with the prior point cloud picking mode, and considers the defects of the visual angle distance and the visual line distance and the penetration: causing large measurement errors;
the method has the advantages that: the distance from the pickup point to the visual angle point and the distance from the pickup point to the visual angle ray can be considered, penetration can be controlled through parameters, and values of the parameters are discussed for the line point cloud and the tower point cloud respectively to adapt to the two conditions.
The present invention is not limited to the above-described embodiments, and various modifications and variations of the present invention are included in the scope of the claims and the equivalent technology of the present invention if they do not depart from the spirit and scope of the present invention.
Claims (9)
1. A power transmission line point cloud pickup method comprises the following steps:
acquiring the coordinate of the central point of the monitoring screen in the three-dimensional map, and taking the coordinate as a visual angle point and making a visual angle ray along the current monitoring visual angle direction;
setting a buffer distance for the view ray, and acquiring a buffer area cylinder in the view ray direction;
acquiring all point clouds in the column of the buffer area as candidate points;
acquiring projection points of the candidate points on the view ray;
and determining the picked point according to the distance from the candidate point to the projection point and the distance weight from the projection point to the view point.
2. The power transmission line point cloud pickup method according to claim 1, characterized in that: the visual angle of the visual angle ray is the visual angle of a tool window loaded with point cloud, and the ray direction is the picking direction of the point cloud of the power transmission line.
3. The power transmission line point cloud pickup method according to claim 1, characterized in that: the buffer distance is 1 meter, and the buffer area cylinder is a cylinder with the bottom surface radius of 1 meter and the visual angle ray as a rotating shaft.
4. The method according to claim 1, wherein the step of obtaining all point clouds in the buffer cylinder as candidate points comprises: and intersecting point clouds in the three-dimensional map according to the view ray buffer area, traversing all the point clouds according to the rtree space index, calculating the distance from each point to the view ray, and selecting the point clouds with the distance less than or equal to the buffer distance as candidate points.
5. The method for picking up the point cloud of the power transmission line according to claim 1, wherein the step of determining the picked-up point according to the distance between the candidate point and the projection point and the distance weight between the projection point and the view point comprises the following steps: traversing all the point clouds, and acquiring n candidate points in the column body of the buffer area according to the buffer distance, wherein the n candidate points are marked as A0, A1 and … An-1; projecting the candidate points to the view ray to obtain n projection points, and recording the n projection points as D0, D1 and … Dn-1; wherein D0 is the projection point with the shortest distance to the viewpoint point; the distances from the candidate points to the view ray are respectively recorded as A0D0, A1D1 and … An-1 Dn-1; and calculating a comprehensive picking distance by combining the distance weight from the projection point to the view point and the distance from the candidate point to the projection point:
wherein alpha is a proportionality coefficient, E is a view point, and the candidate point Am with the minimum comprehensive picking distance dist (m) is a picking point.
6. The power transmission line point cloud pickup method according to claim 5, characterized in that: when the tower point cloud is picked up, the scale factor alpha is 0.1< 1; when picking up the wire point cloud, 0.01< proportionality coefficient alpha < 0.1.
7. A power transmission line point cloud pickup device comprises:
the device is used for acquiring the coordinate of the center point of the monitoring screen in the three-dimensional map, taking the coordinate as a visual angle point and making a visual angle ray along the current monitoring visual angle direction;
the device is used for setting a buffer distance for the view ray and acquiring a buffer area cylinder in the view ray direction;
means for obtaining all point clouds within the buffer bin as candidate points;
means for obtaining projection points of the candidate points on the perspective ray;
means for determining a picked point based on the distance of the candidate point to the proxel and the weight of the distance of the proxel to the view point.
8. A readable storage medium having a control program stored thereon, characterized in that: the control program is executed by a processor to realize the transmission line point cloud picking method according to any one of claims 1 to 6.
9. A computer control system comprising a memory, a processor, and a control program stored in said memory and executable by said processor, characterized in that: the processor, when executing the control program, implements the power transmission line point cloud pick-up method of any one of claims 1 to 6.
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