CN116878396B - Sag measurement method and system based on remote laser - Google Patents
Sag measurement method and system based on remote laser Download PDFInfo
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Abstract
The application relates to a sag measurement method and a sag measurement system based on remote laser, wherein an overhead cable in an image is marked as a measurement object; performing laser detection on the measured object to obtain a three-dimensional point cloud data set of the measured object; constructing a measurement curved surface by using the three-dimensional point cloud data set; taking the edge of the measurement curved surface as a reference to obtain a central curve of the measurement curved surface; and moving the acquisition included angles to obtain a plurality of center curves, fusing the plurality of center curves according to the generation sequence on the sequence, obtaining a measurement curve, and calculating sag of the overhead cable according to the measurement curve. According to the remote laser-based sag measurement method and system disclosed by the application, sag of the overhead cable is measured at a fixed position in a mode of image tracking and laser modeling analysis, so that sag measurement of the overhead cable in a dynamic state can be realized, and the automation degree and the detection rate of measurement are improved while the measurement difficulty is reduced.
Description
Technical Field
The application relates to the technical field of detection, in particular to a remote laser-based sag measurement method and system.
Background
The method has the advantages that the temperature, sag and other data of the overhead transmission line are detected, the state and environmental parameters of the wire are accurately obtained, the evaluation and verification of the load capacity of the wire are realized, and basic data are provided for capacity adjustment of the transmission line, so that the method has important significance for ensuring the safety of the overhead transmission line and even the safe operation of the whole power system.
At present, most of the adopted methods for detecting the state of the power transmission line are manual inspection methods, and a great amount of manpower, material resources and financial resources are input into a power grid operation maintenance department to periodically inspect the power transmission line each year, so that the defects of poor reliability, high labor intensity and the like exist.
With the development of technology, a non-contact measurement mode starts to be raised, and at present, modes such as an acoustic measurement method, a magnetic measurement method, an X-ray scanning method, an eddy current measurement method, a structured light method, a laser ranging method and the like exist, wherein the miniaturization and the intellectualization of the laser ranging device enable the application scene of the laser ranging method to be wider and wider.
However, in the processing mode of the data generated by the laser ranging method, further research is needed, for example, a mode of carrying laser equipment by using an unmanned aerial vehicle exists at present, but under the interference of an electric field, the flight, the data precision, the image transmission and the like of the unmanned aerial vehicle are affected; dynamic tracking and data calibration for overhead transmission lines when using ground laser equipment are still in the research stage at present.
Disclosure of Invention
In order to solve the problems of control and data precision caused by electric field interference to an unmanned aerial vehicle and a sensor, the application provides a remote laser-based sag measurement method and a remote laser-based sag measurement system, wherein sag of an overhead cable is measured at a fixed position in a mode of image tracking and laser modeling analysis, and sag measurement of the overhead cable in a dynamic state can be realized in the mode, so that the measurement difficulty is reduced, and meanwhile, the automation degree and the detection rate of measurement are improved.
The above object of the present application is achieved by the following technical solutions:
in a first aspect, the present application provides a remote laser-based sag measurement method, comprising:
responding to the acquired image, analyzing the image to obtain an overhead cable in the image, and recording the overhead cable as a measuring object;
carrying out laser detection on the measured object to obtain a three-dimensional point cloud data set of the measured object, wherein an included angle is fixed in the process of generating the three-dimensional point cloud data set;
constructing a measurement curved surface by using the three-dimensional point cloud data set;
taking the edge of the measurement curved surface as a reference to obtain a central curve of the measurement curved surface;
moving the acquisition included angles and obtaining a plurality of center curves; and
and fusing the plurality of center curves according to the generation sequence on the sequence to obtain a measurement curve and calculating sag of the overhead cable according to the measurement curve.
In a possible implementation manner of the first aspect, the three-dimensional point cloud data set of one measurement object includes a plurality of reciprocating movement processes of the measurement object.
In a possible implementation manner of the first aspect, there is a coincidence region of any two three-dimensional point cloud data sets on the sequential sequence.
In a possible implementation manner of the first aspect, using the three-dimensional point cloud data set to construct the measurement surface includes:
constructing a plurality of plane groups, wherein each plane group comprises a plurality of planes which are parallel to each other;
screening data points in the three-dimensional point cloud data set by using a plane set, wherein in each screening process, one plane of the plane set is screened to obtain a set of data points, and the data points are recorded as a used data point set; and
constructing a measurement curved surface by using the obtained multiple groups of using data point sets;
in each screening process, the plane group rotates by an angle, and the measurement curved surface comprises two curve sections and two line sections formed by at least one curve section.
In a possible implementation manner of the first aspect, obtaining the center curve of the measurement curved surface with reference to the edge of the measurement curved surface includes:
constructing a plurality of screening planes between two curve sections of the measurement curved surface and calculating the symmetry degree of a part of two line sections in the measurement curved surface, which is positioned between any two adjacent screening planes;
rotating the screening planes until the symmetry degree of the two line segments in the measuring curved surface at the part between any two adjacent screening planes meets the requirement or the symmetry degree of the part between any two adjacent screening planes with more than the set duty ratio meets the requirement;
obtaining a symmetry plane perpendicular to all screening planes;
screening data points in the measurement curved surface by using a symmetry plane to obtain a group of central curve data point groups; and
a plurality of sets of center curve data points are used to map a center curve of the measurement surface.
In a possible implementation manner of the first aspect, parsing the image includes:
carrying out gray scale processing on the image to obtain a gray scale image of the image; and
and identifying the overhead cable in the image according to the chromatic aberration, and recording the overhead cable as a measuring object.
In a possible implementation manner of the first aspect, when there is a coincidence of the overhead cables in the gray scale map, the method further includes:
dividing an overhead cable in the gray scale map into a superposition section and a non-superposition section;
calculating the distance between the non-coincident sections;
decomposing the overlapped sections of the overhead cable by using the distance to obtain a plurality of separated sections; and
and dividing the separation section into a target separation section and a non-target separation section according to the distance, and fusing the target separation section and the non-coincident section.
In a second aspect, the present application provides a remote laser-based sag measurement device comprising:
the image analysis unit is used for responding to the acquired image, analyzing the image, obtaining an overhead cable in the image and recording the overhead cable as a measuring object;
the object detection unit is used for carrying out laser detection on the measured object to obtain a three-dimensional point cloud data set of the measured object, and an included angle is fixed in the process of generating the three-dimensional point cloud data set;
the first processing unit is used for constructing a measurement curved surface by using the three-dimensional point cloud data set;
the second processing unit is used for obtaining a central curve of the measurement curved surface by taking the edge of the measurement curved surface as a reference;
the third processing unit is used for moving the acquisition included angles and obtaining a plurality of center curves; and
and the fourth processing unit is used for fusing the plurality of center curves according to the generation sequence on the sequence to obtain a measurement curve and calculating sag of the overhead cable according to the measurement curve.
In a third aspect, the present application provides a remote laser-based sag measurement system, the system comprising:
one or more memories for storing instructions; and
one or more processors configured to invoke and execute the instructions from the memory, to perform the method as described in the first aspect and any possible implementation of the first aspect.
In a fourth aspect, the present application provides a computer-readable storage medium comprising:
a program which, when executed by a processor, performs a method as described in the first aspect and any possible implementation of the first aspect.
In a fifth aspect, the present application provides a computer program product comprising program instructions which, when executed by a computing device, perform a method as described in the first aspect and any possible implementation of the first aspect.
In a sixth aspect, the present application provides a chip system comprising a processor for implementing the functions involved in the above aspects, e.g. generating, receiving, transmitting, or processing data and/or information involved in the above methods.
The chip system can be composed of chips, and can also comprise chips and other discrete devices.
In one possible design, the system on a chip also includes memory to hold the necessary program instructions and data. The processor and the memory may be decoupled, provided on different devices, respectively, connected by wire or wirelessly, or the processor and the memory may be coupled on the same device.
The beneficial effects of adopting above-mentioned technical scheme to produce lie in:
in the whole, the sag measurement method and system based on the remote laser provided by the application realize dynamic modeling of the overhead cable in the swinging state in the air, realize sag measurement of the overhead cable in the swinging state, and realize full automation in the whole measurement process by means of an image tracking technology. The trend of the overhead cable can be automatically identified in the measurement process, data acquisition and analysis are performed, and the measurement degree of automation and the detection rate are improved while the measurement difficulty is reduced.
Drawings
Fig. 1 is a schematic block diagram of a sag measurement method according to the present application.
Fig. 2 is a schematic diagram of movement of an included angle of an acquisition range of a laser radar in a measurement process.
Fig. 3 is a schematic diagram of a first two-center curve fusion process provided by the present application.
Fig. 4 is a schematic diagram of a second process for fusing two center curves provided by the present application.
Fig. 5 is a schematic diagram of a third two-center curve fusion process provided by the present application.
Fig. 6 is a schematic diagram of one example of a set of data points used in the present application.
Fig. 7 is a schematic view of a plane rotation in a plane group according to the present application.
Fig. 8 is a schematic block diagram of a step of obtaining a center curve of a measured curved surface with reference to an edge of the measured curved surface according to the present application.
Fig. 9 is a schematic diagram of a measured curved surface obtained by taking an edge of the measured curved surface as a reference.
Detailed Description
The technical scheme in the application is further described in detail below with reference to the accompanying drawings.
The application discloses a sag measurement method based on remote laser, which is applied to a measurement terminal, wherein the measurement terminal is mainly divided into three parts, namely a laser radar, an image collector and a data processor, the laser radar is responsible for generating three-dimensional point cloud data, the image collector is responsible for generating image data, and the three-dimensional point cloud data and the image data are both analyzed and processed by the data processor.
The application discloses a remote laser-based sag measurement method which is mainly applied to field overhead cable sag measurement, and in the detection process, a measurement terminal is firstly required to be erected on the ground, and an area with a wider visual field is selected at the erection position. After the measuring terminal is started, the automatic working state is changed, the image collector tracks overhead cables in the air, and then the laser radar is used for collecting related data.
The application discloses a sag measurement method based on remote laser, referring to fig. 1, the method comprises the following steps:
s101, responding to the acquired image, analyzing the image to obtain an overhead cable in the image, and recording the overhead cable as a measuring object;
s102, carrying out laser detection on a measured object to obtain a three-dimensional point cloud data set of the measured object, wherein an acquisition included angle is fixed in the generation process of the three-dimensional point cloud data set;
s103, constructing a measurement curved surface by using the three-dimensional point cloud data set;
s104, taking the edge of the measured curved surface as a reference to obtain a central curve of the measured curved surface;
s105, moving the acquisition included angles and obtaining a plurality of center curves; and
and S106, fusing the plurality of center curves according to the generation sequence on the sequence to obtain a measurement curve and calculating sag of the overhead cable according to the measurement curve.
Specifically, in step S101, the measurement terminal first acquires an image, then analyzes the image, and the purpose of the analysis is to obtain an overhead cable in the image, and the overhead cable in the image is referred to herein as a measurement object.
After the measurement terminal is started, an image is obtained first, and then the image is analyzed, and in some possible implementations, the analysis process is as follows, firstly, objects contained in the image are separated, and then the category of the objects is determined.
In an actual scene, the objects generally comprise overhead cables, iron towers, sky, ground and ground attachments, the process of separating the objects can firstly carry out gray scale processing on the images, then obtain the outlines of various objects in the images, and finally determine the types of the objects according to the outlines.
When no overhead cable exists in the image, the measurement terminal moves in the vertical direction first to find the overhead cable, and then moves along the detection track, that is, along the trend of the overhead cable.
In step S102, laser detection is performed on the measurement object to obtain a three-dimensional point cloud data set of the measurement object, where an acquisition included angle is fixed in each generation process of the three-dimensional point cloud data set, as shown in fig. 2, for example, an acquisition range included angle of the laser radar is 30 degrees, and in one acquisition process of the present application, an acquisition range included angle of the laser radar used is 20 degrees.
The purpose of this approach is to properly narrow the range angle of the laser radar to provide data consistency. That is, any two three-dimensional point cloud data sets on the sequence have overlapping areas. It should be understood that during the whole detection process, the lidar will move along the direction of the overhead cable and needs to stay for a period of time without moving once, so that any two three-dimensional point cloud data sets in the sequential sequence need to have overlapping areas in the spatial range, so that the three-dimensional point cloud data sets can form full coverage for the detected overhead cable.
In step S103, a measurement curved surface is constructed by using the three-dimensional point cloud data set, and a generation and processing process of the three-dimensional point cloud data set is taken as an example, in the generation process of the three-dimensional point cloud data set, a plurality of reciprocating processes of a measurement object can occur, the measurement object refers to a section of overhead cable, and the section of overhead cable is rocked in the air due to wind power, and the rocked section of overhead cable is in an active state, so that dynamic measurement is required for the moving process of the section of overhead cable.
The dynamic measurement generates a plurality of sub-data sets which together form a group of three-dimensional point cloud data sets, and for a group of three-dimensional point cloud data sets, the three-dimensional point cloud data sets are firstly displayed in a three-dimensional coordinate system, and fixed points in the three-dimensional coordinate system are the positions of the measurement terminals.
A measurement curved surface can be constructed by using a group of three-dimensional point cloud data sets, and the measurement curved surface represents the moving track range of a section of overhead cable in an active state when the overhead cable moves in space.
Next, in step S104, a central curve of the measured curved surface is obtained with reference to the edge of the measured curved surface, where the central curve refers to a curve formed by the lowest points of the section of overhead cable in an active state, which are located on the swing track again, and the curve is called the central curve of the curved surface.
And then moving the acquisition included angles in step S105 to obtain a plurality of center curves, finally fusing the plurality of center curves according to the generation sequence on the sequence in step S106 to obtain a measurement curve, and calculating sag of the overhead cable according to the measurement curve.
For the fusion of a plurality of center curves, the following manner is used for processing, wherein for convenience of description, two ends of a center curve are respectively called a start end and an end, two adjacent center curves need to be fused, and the end of one center curve and the start end of the other center curve are fused in the following manner:
the first way of fusion is to move the end of one of the center curves to fuse with the beginning of the other center curve, as shown in FIG. 3;
the second way of fusion is to move the beginning of one of the center curves to fuse with the end of the other center curve, as shown in FIG. 4;
the third way is to set up a circle with the end of one of the center curves and the beginning of the other center curve as references and move the end of one of the center curves and the beginning of the other center curve to the center of the circle at the same time, as shown in fig. 5.
In some examples, constructing a measurement surface using a three-dimensional point cloud data set includes the steps of:
s201, constructing a plurality of plane groups, wherein each plane group comprises a plurality of planes which are parallel to each other;
s202, screening data points in a three-dimensional point cloud data set by using a plane set, wherein in each screening process, one plane of the plane set is screened to obtain a set of data points, and the data points are recorded as a used data point set; and
s203, constructing a measurement curved surface by using the obtained multiple groups of data point sets;
in each screening process, the plane group rotates by an angle, and the measurement curved surface comprises two curve sections and two line sections formed by at least one curve section.
In step S201, referring to fig. 6, a plurality of plane groups are first constructed, each plane group includes a plurality of planes parallel to each other, and the planes in the plane groups function to screen data points in the three-dimensional point cloud data group. It will be appreciated that the overhead cable has a diameter, which may result in data points in the three-dimensional point cloud data set generated based on the overhead cable being distributed over a spatial range, while the surface of the overhead cable participating in generating data points at different locations may be changed due to the relative position of the overhead cable and the measurement terminal being changed.
Therefore, in the application, the data points in the three-dimensional point cloud data set are screened through the plane group, and in each screening process, one plane of the plane group is screened to obtain a group of data points, which is recorded as a using data point group. In the screening process, data points in the three-dimensional point cloud data set fall directly on the plane or the minimum linear distance between the data points and the plane is smaller than the required distance, and the data points in the two cases are included in the using data point set.
Meanwhile, in each screening process, the plane group rotates by an angle, as shown in fig. 7, so as to more objectively screen the data points in the three-dimensional point cloud data group. Because at a particular angle a data point may be screened, but after a change in the plane angle in the plane set, the data point may not be screened.
Through multiple filtering of the plane group, the occurrence frequency of each data point in the data point group can be counted, and then the data points which do not meet the requirement (the occurrence frequency is smaller than the required frequency) are screened out, so as to obtain a more accurate measurement curved surface, namely the content in the step S203.
The measuring curved surface is composed of two curve sections and two line sections composed of at least one curve section. The two curve segments in the measurement curved surface are generated based on the laser radar, and the acquisition included angle of the laser radar is fixed, which means that when the laser radar stays at a position, two surfaces with a fixed included angle can be used for representing the acquisition included angle of the laser radar, and the two surfaces correspond to the two curve segments on the measurement curved surface.
For two line segments formed by at least one curve segment, the boundary of the segment of overhead cable in the process of shaking in the air is corresponding, and the length of the two line segments formed by at least one curve segment is different due to the dislocation problem of the laser radar and the overhead cable.
Referring to fig. 8, obtaining a center curve of a measured curved surface with reference to an edge of the measured curved surface includes the following steps:
s301, constructing a plurality of screening planes between two curve segments of a measurement curved surface and calculating the symmetry degree of a part of two line segments in the measurement curved surface, which is positioned between any two adjacent screening planes;
s302, rotating the screening plane until the symmetry degree of the part of the two line segments in the measuring curved surface, which is positioned between any two adjacent screening planes, meets the requirement or the symmetry degree of the part, which exceeds the set duty ratio, positioned between any two adjacent screening planes meets the requirement;
s303, obtaining a symmetrical plane perpendicular to all screening planes;
s304, screening data points in the measurement curved surface by using a symmetry plane to obtain a group of central curve data points; and
s305, drawing a central curve of the measurement curved surface by using a plurality of central curve data point groups.
In step S301, a plurality of screening planes are first constructed between two curve segments of the measurement surface and the symmetry of the portion of the measurement surface between any two adjacent screening planes is calculated, where in some possible implementations, the symmetry is calculated as follows:
a perpendicular line is preferably designed between two adjacent screening planes, the perpendicular line is perpendicular to the two adjacent screening planes, then a plurality of groups of points are selected on the part of the two line segments in the measurement curved surface, which is positioned between the two adjacent screening planes, and then whether the minimum straight line distance from each group of points to the perpendicular line is equal or not is calculated, and the included angle between the connecting line of one group of points and the perpendicular line is calculated.
In the above process, it is also necessary to move the vertical lines simultaneously so that the minimum straight line distance from each set of points to the vertical line is equal and the line connecting one set of points is perpendicular to the vertical line.
In step S302, the screening plane is rotated, so that the minimum linear distance from each set of points to the vertical is equal and the line connecting the set of points is perpendicular to the vertical, and the rotation of the screening plane is performed simultaneously with the movement of the vertical. The purpose is to make the symmetry degree of the two line segments in the measurement curved surface between any two adjacent screening planes meet the requirement or the symmetry degree of the part between any two adjacent screening planes with more than the set ratio meets the requirement.
Referring to fig. 9, after the above processing, a symmetry plane perpendicular to all the screening planes is obtained in step S303, and then the data points in the measurement curved surface are screened by using the symmetry plane to obtain a set of central curve data point sets, where the minimum straight line distance between the data points in the central curve data point sets and the symmetry plane is less than or equal to the required distance.
Finally, in step S305, a central curve of the measurement surface is drawn using a plurality of central curve data point sets.
In the whole, the contents of steps S301 to S305 are to find a center line or a center plane of a curved surface with irregular edges, and then use the center line or the center plane to obtain a center curve of the measured curved surface, where points on the center curve of the measured curved surface can be considered as points at the junction between the plane perpendicular to the center curve of the measured curved surface and the measured curved surface.
The image is analyzed as follows:
s401, performing gray scale processing on the image to obtain a gray scale image of the image; and
s402, identifying the overhead cable in the image according to the chromatic aberration, and recording the overhead cable as a measuring object.
This part of the content is stated in the foregoing and will not be described in detail here.
Of course, in actual situations, a situation may also occur in which multiple overhead cables appear in the air, that is, there is a superposition of overhead cables in the gray scale, and for this situation, the following manner is used for processing:
s501, dividing an overhead cable in a gray scale image into a overlapped section and a non-overlapped section;
s502, calculating the distance between non-coincident sections;
s503, decomposing the overlapped sections of the overhead cable by using the distances to obtain a plurality of separation sections; and
s504, dividing the separation section into a target separation section and a non-target separation section according to the distance, and fusing the target separation section and the non-coincident section.
In step S501 to step S504, the overhead cable in the gray scale is segmented, which are respectively an overlapping segment and a non-overlapping segment, and then the overlapping segment of the overhead cable is decomposed by using a distance, and the difference between the target separation segment and the non-target separation segment is whether the distance meets the requirement.
Because the target split and non-coincident segments should be generated based on the same overhead cable.
And finally, fusing the target separation section and the non-coincident section to obtain the overhead cable needing to be tracked.
The application also provides a sag measurement device based on the remote laser, which comprises:
the image analysis unit is used for responding to the acquired image, analyzing the image, obtaining an overhead cable in the image and recording the overhead cable as a measuring object;
the object detection unit is used for carrying out laser detection on the measured object to obtain a three-dimensional point cloud data set of the measured object, and an included angle is fixed in the process of generating the three-dimensional point cloud data set;
the first processing unit is used for constructing a measurement curved surface by using the three-dimensional point cloud data set;
the second processing unit is used for obtaining a central curve of the measurement curved surface by taking the edge of the measurement curved surface as a reference;
the third processing unit is used for moving the acquisition included angles and obtaining a plurality of center curves; and
and the fourth processing unit is used for fusing the plurality of center curves according to the generation sequence on the sequence to obtain a measurement curve and calculating sag of the overhead cable according to the measurement curve.
Further, a plurality of reciprocating processes of the measurement object are included in the three-dimensional point cloud data set of one measurement object.
Further, any two three-dimensional point cloud data sets on the sequence have overlapping areas.
Further, the method further comprises the following steps:
a first construction unit configured to construct a plurality of plane groups each including a plurality of planes parallel to each other;
the first screening unit is used for screening data points in the three-dimensional point cloud data set by using the plane set, and in each screening process, one plane of the plane set is screened to obtain a set of data points which are recorded as a used data point set; and
the second construction unit is used for constructing a measurement curved surface by using the obtained multiple groups of using data point groups;
in each screening process, the plane group rotates by an angle, and the measurement curved surface comprises two curve sections and two line sections formed by at least one curve section.
Further, the method further comprises the following steps:
the construction and processing unit is used for constructing a plurality of screening planes between two curve sections of the measurement curved surface and calculating the symmetry degree of a part of the two line sections in the measurement curved surface, which is positioned between any two adjacent screening planes;
the adjusting and processing unit is used for rotating the screening planes until the symmetry degree of the two line segments in the measurement curved surface, which are positioned between any two adjacent screening planes, meets the requirement or the symmetry degree of the part, which exceeds the set proportion, positioned between any two adjacent screening planes meets the requirement;
a fifth processing unit for obtaining a symmetry plane perpendicular to all the screening planes;
the second screening unit is used for screening the data points in the measurement curved surface by using the symmetry plane to obtain a group of central curve data point groups; and
and a sixth processing unit for drawing a center curve of the measurement curved surface using the plurality of center curve data point groups.
Further, the method further comprises the following steps:
the first image processing unit is used for carrying out gray processing on the image to obtain a gray level image of the image; and
and the object identification unit is used for identifying the overhead cable in the image according to the chromatic aberration and recording the overhead cable as a measurement object.
Further, the method further comprises the following steps:
the second image processing unit is used for dividing the overhead cable in the gray scale image into a superposition section and a non-superposition section;
an object calculation unit for calculating a distance from the non-coincident segment;
the object separation unit is used for decomposing the overlapping sections of the overhead cable by using the distances to obtain a plurality of separation sections; and
and the seventh processing unit is used for dividing the separation section into a target separation section and a non-target separation section according to the distance and fusing the target separation section and the non-coincident section.
In one example, the unit in any of the above apparatuses may be one or more integrated circuits configured to implement the above methods, for example: one or more application specific integrated circuits (application specific integratedcircuit, ASIC), or one or more digital signal processors (digital signal processor, DSP), or one or more field programmable gate arrays (fieldprogrammable gate array, FPGA), or a combination of at least two of these integrated circuit forms.
For another example, when the units in the apparatus may be implemented in the form of a scheduler of processing elements, the processing elements may be general-purpose processors, such as a central processing unit (central processing unit, CPU) or other processor that may invoke the program. For another example, the units may be integrated together and implemented in the form of a system-on-a-chip (SOC).
Various objects such as various messages/information/devices/network elements/systems/devices/actions/operations/processes/concepts may be named in the present application, and it should be understood that these specific names do not constitute limitations on related objects, and that the named names may be changed according to the scenario, context, or usage habit, etc., and understanding of technical meaning of technical terms in the present application should be mainly determined from functions and technical effects that are embodied/performed in the technical solution.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein.
In the several embodiments provided by the present application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
It should also be understood that in various embodiments of the present application, first, second, etc. are merely intended to represent that multiple objects are different. For example, the first time window and the second time window are only intended to represent different time windows. Without any effect on the time window itself, the first, second, etc. mentioned above should not impose any limitation on the embodiments of the present application.
It is also to be understood that in the various embodiments of the application, where no special description or logic conflict exists, the terms and/or descriptions between the various embodiments are consistent and may reference each other, and features of the various embodiments may be combined to form new embodiments in accordance with their inherent logic relationships.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a computer-readable storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned computer-readable storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The present application also provides a computer program product comprising instructions that, when executed, cause the sag measurement system to perform operations corresponding to the sag measurement system of the method described above.
The application also provides a sag measurement system based on remote laser, which comprises:
one or more memories for storing instructions; and
one or more processors configured to invoke and execute the instructions from the memory to perform the method as described above.
The present application also provides a chip system comprising a processor for implementing the functions involved in the above, e.g. generating, receiving, transmitting, or processing data and/or information involved in the above method.
The chip system can be composed of chips, and can also comprise chips and other discrete devices.
The processor referred to in any of the foregoing may be a CPU, microprocessor, ASIC, or integrated circuit that performs one or more of the procedures for controlling the transmission of feedback information described above.
In one possible design, the system on a chip also includes memory to hold the necessary program instructions and data. The processor and the memory may be decoupled, and disposed on different devices, respectively, and connected by wired or wireless means, so as to support the chip system to implement the various functions in the foregoing embodiments. In the alternative, the processor and the memory may be coupled to the same device.
Optionally, the computer instructions are stored in a memory.
Alternatively, the memory may be a storage unit in the chip, such as a register, a cache, etc., and the memory may also be a storage unit in the terminal located outside the chip, such as a ROM or other type of static storage device, a RAM, etc., that may store static information and instructions.
It will be appreciated that the memory in the present application can be either volatile memory or nonvolatile memory, or can include both volatile and nonvolatile memory.
The non-volatile memory may be a ROM, programmable ROM (PROM), erasable programmable ROM (erasablePROM, EPROM), electrically erasable programmable EPROM (EEPROM), or flash memory.
The volatile memory may be RAM, which acts as external cache. There are many different types of RAM, such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), and direct memory bus RAM.
The embodiments of the present application are all preferred embodiments of the present application, and are not intended to limit the scope of the present application in this way, therefore: all equivalent changes in structure, shape and principle of the application should be covered in the scope of protection of the application.
Claims (8)
1. A remote laser-based sag measurement method, comprising:
responding to the acquired image, analyzing the image to obtain an overhead cable in the image, and recording the overhead cable as a measuring object;
carrying out laser detection on a measured object to obtain a three-dimensional point cloud data set of the measured object, wherein in the generation process of the three-dimensional point cloud data set, the acquisition included angle is fixed, and any two three-dimensional point cloud data sets in a sequence have a superposition area;
constructing a measurement curved surface by using the three-dimensional point cloud data set;
taking the edge of the measurement curved surface as a reference to obtain a central curve of the measurement curved surface;
moving the acquisition included angles and obtaining a plurality of center curves; and
fusing a plurality of center curves according to the generation sequence on the sequence to obtain a measurement curve and calculating sag of the overhead cable according to the measurement curve;
the obtaining the center curve of the measurement curved surface by taking the edge of the measurement curved surface as a reference comprises the following steps:
constructing a plurality of screening planes between two curve sections of the measurement curved surface and calculating the symmetry degree of a part of two line sections in the measurement curved surface, which is positioned between any two adjacent screening planes;
rotating the screening planes until the symmetry degree of the two line segments in the measuring curved surface at the part between any two adjacent screening planes meets the requirement or the symmetry degree of the part between any two adjacent screening planes with more than the set duty ratio meets the requirement;
obtaining a symmetry plane perpendicular to all screening planes;
screening data points in the measurement curved surface by using a symmetry plane to obtain a group of central curve data point groups; and
a plurality of sets of center curve data points are used to map a center curve of the measurement surface.
2. The remote laser based sag measurement method according to claim 1, wherein the three-dimensional point cloud data set of one measurement object includes a plurality of reciprocating processes of the measurement object.
3. The remote laser based sag measurement method according to claim 1 or 2, wherein constructing the measurement curved surface using the three-dimensional point cloud data set comprises:
constructing a plurality of plane groups, wherein each plane group comprises a plurality of planes which are parallel to each other;
screening data points in the three-dimensional point cloud data set by using a plane set, wherein in each screening process, one plane of the plane set is screened to obtain a set of data points, and the data points are recorded as a used data point set; and
constructing a measurement curved surface by using the obtained multiple groups of using data point sets;
in each screening process, the plane group rotates by an angle, and the measurement curved surface comprises two curve sections and two line sections formed by at least one curve section.
4. The remote laser based sag measurement method of claim 1, wherein resolving the image comprises:
carrying out gray scale processing on the image to obtain a gray scale image of the image; and
and identifying the overhead cable in the image according to the chromatic aberration, and recording the overhead cable as a measuring object.
5. The remote laser based sag measurement method according to claim 4, further comprising, when there is coincidence of overhead cables in the gray scale map:
dividing an overhead cable in the gray scale map into a superposition section and a non-superposition section;
calculating the distance between the non-coincident sections;
decomposing the overlapped sections of the overhead cable by using the distance to obtain a plurality of separated sections; and
and dividing the separation section into a target separation section and a non-target separation section according to the distance, and fusing the target separation section and the non-coincident section.
6. A remote laser-based sag measurement device, comprising:
the image analysis unit is used for responding to the acquired image, analyzing the image, obtaining an overhead cable in the image and recording the overhead cable as a measuring object;
the object detection unit is used for carrying out laser detection on the measured object to obtain a three-dimensional point cloud data set of the measured object, wherein in the generation process of the three-dimensional point cloud data set, the acquisition included angle is fixed, and any two three-dimensional point cloud data sets in the sequence have a superposition area;
the first processing unit is used for constructing a measurement curved surface by using the three-dimensional point cloud data set;
the second processing unit is used for obtaining a central curve of the measurement curved surface by taking the edge of the measurement curved surface as a reference;
the third processing unit is used for moving the acquisition included angles and obtaining a plurality of center curves; and
the fourth processing unit is used for fusing the plurality of center curves according to the generation sequence on the sequence to obtain a measurement curve and calculating sag of the overhead cable according to the measurement curve;
the construction and processing unit is used for constructing a plurality of screening planes between two curve sections of the measurement curved surface and calculating the symmetry degree of a part of the two line sections in the measurement curved surface, which is positioned between any two adjacent screening planes;
the adjusting and processing unit is used for rotating the screening planes until the symmetry degree of the two line segments in the measurement curved surface, which are positioned between any two adjacent screening planes, meets the requirement or the symmetry degree of the part, which exceeds the set proportion, positioned between any two adjacent screening planes meets the requirement;
a fifth processing unit for obtaining a symmetry plane perpendicular to all the screening planes;
the second screening unit is used for screening the data points in the measurement curved surface by using the symmetry plane to obtain a group of central curve data point groups; and
and a sixth processing unit for drawing a center curve of the measurement curved surface using the plurality of center curve data point groups.
7. A remote laser-based sag measurement system, the system comprising:
one or more memories for storing instructions; and
one or more processors to invoke and execute the instructions from the memory to perform the method of any of claims 1 to 5.
8. A computer-readable storage medium, the computer-readable storage medium comprising:
program which, when executed by a processor, performs the method according to any one of claims 1 to 5.
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