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Foreign object recognition method in substation based on laser data

A recognition method and substation technology, applied in image data processing, character and pattern recognition, reradiation of electromagnetic waves, etc., can solve problems such as being easily affected by the surrounding environment, unstable recognition results, and decline in recognition results, and achieve color purity. , high power density, strong directional effect

Active Publication Date: 2021-12-14
国网黑龙江省电力有限公司超高压公司 +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] At present, in this field, foreign object recognition is mainly carried out through CCD camera acquisition and binocular camera method. However, when the target data collected by CCD camera is similar to the color of the surrounding environment, the recognition result drops sharply, which is very vulnerable to the influence of the surrounding environment. Influence, the recognition result is unstable, and although the binocular camera can obtain three-dimensional information, but the modeling is complicated, the algorithm is time-consuming, and the evaluation for practical use is not ideal

Method used

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  • Foreign object recognition method in substation based on laser data
  • Foreign object recognition method in substation based on laser data
  • Foreign object recognition method in substation based on laser data

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Embodiment 1

[0041] A method for identifying foreign objects in a substation based on laser data. The steps of the identification method are as follows: First, laser data is collected from multiple areas using laser radar, and a model point cloud collection is built through analysis and sorting, such as figure 2 As shown, secondly, the laser radar is used to collect laser data for a certain area to be measured to form a test point cloud, as shown in image 3 As shown, the point cloud distribution information is calculated and filtered to remove isolated points, and then the distribution histogram of the point cloud data in the three directions of the xyz axis is counted, the key points are extracted through uniform sampling filtering and the feature vector is calculated, and the kdtree matching pair index is established , solve the transformation matrix through SVD, and convert the coordinates of the test point cloud and the model point cloud for ICP iterative registration, then calculate ...

Embodiment 2

[0043] According to the method for identifying foreign objects in substations based on laser data described in Embodiment 1, the steps of performing isolated point removal and filtering on the point cloud distribution information are as follows: for each point P, K neighbor points will be obtained with R as the search radius , calculate the distance Di from all K neighbors to P, and sum all the distances to get D,

[0044]

[0045] and the mean distance M,

[0046]

[0047] Calculate the distance square sum S of the K nearest neighbor points,

[0048]

[0049] Compute the covariance Var,

[0050]

[0051] and the mean square error,

[0052]

[0053] After the above calculation, the filtering threshold T can be calculated:

[0054]

[0055] Bring the threshold T back and compare it with the previously calculated distances Di of the K nearest neighbors. If it is less than the threshold, set the reserved flag, traverse all the points once, and count the flags o...

Embodiment 3

[0057] According to the substation foreign matter recognition method based on laser data described in embodiment 1 or 2, the method steps of the described distribution histogram are as follows: obtain three histogram distributions Fx, Fy, Fz, and calculate the excess in the three histograms respectively 75% of the distribution range of the test point cloud has been obtained, and the dimensions L1, L2, and L3 required to divide the range into 10 equal parts are obtained. After calculating the average value Lm of L1, L2, and L3, the entire test point cloud data can be uniformly sampled The scale Lm, such as Figure 8 shown.

[0058]

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Abstract

Foreign object recognition method in substation based on laser data. At present, foreign object recognition is easily affected by the environment, and complex modeling algorithms are time-consuming. The steps of the present invention are as follows: first, the laser radar is used to collect laser data in multiple areas, and a model point cloud collection is built through analysis, and then the laser radar is used to collect laser data for a certain area to be measured to form a test point cloud, and the point cloud is calculated by calculating The distribution information is subjected to isolated point removal filtering, and then the distribution histogram of the point cloud data in the three directions of the xyz axis is counted, the key points are extracted through uniform sampling filtering and the feature vector is calculated, the kdtree matching pair index is established, and the conversion matrix is ​​solved through SVD. And convert the coordinates of the test point cloud and the model point cloud for ICP iterative registration, and then use the kdtree to calculate the pairing distance of the point to screen the out-of-distance points, and finally calculate the density of the out-of-distance point set to determine whether it is a foreign object. The invention is used for identifying foreign objects in substations.

Description

Technical field: [0002] The invention relates to a method for identifying foreign matter in a substation based on laser data. Background technique: [0004] At present, in this field, foreign object recognition is mainly carried out through CCD camera acquisition and binocular camera method. However, when the target data collected by CCD camera is similar to the color of the surrounding environment, the recognition result drops sharply, which is very vulnerable to the influence of the surrounding environment. The recognition results are unstable, and although the binocular camera can obtain three-dimensional information, the modeling is complicated, and the algorithm is time-consuming. The evaluation of practical use is not ideal. Invention content: [0006] The purpose of the present invention is to provide a method for identifying foreign objects in substations based on laser data. Test whether there is a foreign object in the point cloud, and introduce the spatial dept...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S17/88G06K9/62G06T7/33
CPCG06T7/33G01S17/88G06T2207/10028G06V10/758
Inventor 李海峰刘延辉阳薇孔波王国军侯木齐
Owner 国网黑龙江省电力有限公司超高压公司
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