Power transmission tower three-dimensional modeling method and device based on point cloud data, terminal equipment and storage medium

Abstract

The invention discloses a power transmission tower three-dimensional modeling method and device based on point cloud data, terminal equipment and a storage medium, and belongs to the technical field of three-dimensional modeling. According to the method, point cloud data of a power transmission tower is subjected to two-dimensional projection, and target intersection points of each horizontal line segment and a plurality of non-horizontal line segments are identified; matching the target intersection points of different two-dimensional projection images to generate a plurality of key point sets; according to the key points, generating a plurality of to-be-identified planes of each two-dimensional projection image; according to the key point set, to-be-recognized planes of different two-dimensional projection images are divided, and a plurality of plane sets are generated; and converting the two-dimensional line segment of the plane to be identified in each plane set into a three-dimensional line segment, and splicing the three-dimensional line segments in all the plane sets to generate a three-dimensional model of the power transmission tower. Therefore, by implementing the three-dimensional modeling method, the defects of low efficiency and low accuracy of an existing three-dimensional modeling method of the power transmission tower can be overcome.

Description

Technical Field

[0001] The present invention relates to the technical field of three-dimensional modeling, and in particular to a three-dimensional modeling method for a transmission tower based on point cloud data. Background Art

[0002] With the rapid development of laser scanning technologies (such as LiDAR), point cloud data has become a crucial source for the digital inspection and maintenance of transmission lines and related equipment. Captured through 3D laser scanning, point cloud data accurately records the geometry and spatial structure of transmission towers, providing high-resolution foundational data for digital modeling.

[0003] Transmission towers are composed of multiple rods, nodes, and connecting components, resulting in complex geometric structures. Furthermore, point cloud data for transmission towers often contains millions or even hundreds of millions of points, resulting in massive data volumes and high computational complexity. While the high density of point cloud data enables accurate modeling, it also introduces data redundancy and noise, making it difficult to extract key structural features. Consequently, existing 3D transmission tower modeling methods suffer from inefficiency and low accuracy. Summary of the Invention

[0004] The present invention provides a method, apparatus, terminal device and storage medium for three-dimensional modeling of a transmission tower based on point cloud data. The method can solve the defects of low efficiency and low accuracy existing in the prior art.

[0005] An embodiment of the present invention provides a method for three-dimensional modeling of a transmission tower based on point cloud data, comprising:

[0006] Obtain point cloud data of transmission towers;

[0007] Performing two-dimensional projection on the point cloud data to generate two-dimensional projection images at different angles;

[0008] Identifying a plurality of two-dimensional line segments in each of the two-dimensional projection images; wherein the two-dimensional line segments include: a horizontal line segment and a plurality of non-horizontal line segments;

[0009] Identify the target intersections of each horizontal line segment and several non-horizontal line segments, match the target intersections of different two-dimensional projection images, determine several key points, and generate several key point sets;

[0010] Cutting the corresponding two-dimensional projection image according to the key points to generate a plurality of planes to be identified in each of the two-dimensional projection images;

[0011] Dividing the planes to be identified of different two-dimensional projection images according to the key point set to generate a plurality of plane sets;

[0012] The two-dimensional line segments of the plane to be identified in each plane set are converted into three-dimensional line segments, and the three-dimensional line segments in all plane sets are spliced ​​to generate a three-dimensional model of the transmission tower.

[0013] Furthermore, before performing two-dimensional projection on the point cloud data, the method further includes:

[0014] Obtaining initial coordinates of each point cloud in the point cloud data, and determining the cross arm of the transmission tower from the point cloud data;

[0015] Determine the centroid coordinates of the point cloud data according to the initial coordinates, and generate the initial coordinates of each point cloud according to the centroid coordinates, perform normalization processing on them, and generate normalized coordinates of each point cloud;

[0016] Using a principal component analysis algorithm to generate a feature vector of the point cloud data according to the normalized coordinates;

[0017] A target coordinate system is constructed with the horizontal extension direction of the crossarm as the x-axis, the vertical extension direction of the crossarm as the y-axis, the vertical direction of the horizontal plane formed by the x-axis and the y-axis as the z-axis, and the intersection of the x-axis, the y-axis, and the z-axis as the origin;

[0018] Constructing a rotation matrix according to the eigenvector and the target coordinate system;

[0019] Generate mapping coordinates of each point cloud in a target coordinate system according to the rotation matrix and the normalized coordinates.

[0020] Furthermore, the two-dimensional projection image includes: a first two-dimensional projection image and a second two-dimensional projection image;

[0021] The step of performing two-dimensional projection on the point cloud data to generate two-dimensional projection images at different angles includes:

[0022] Projecting each of the point clouds according to the mapping coordinates to determine a first mapping point of each of the point clouds on a first plane and a second mapping point on a second plane; wherein the first plane is a plane formed by the x-axis and the z-axis, and the second plane is a plane formed by the y-axis and the z-axis;

[0023] A first two-dimensional projection image on a first plane is generated according to the first mapping points, and a second two-dimensional projection image on a second plane is generated according to the second mapping points.

[0024] Furthermore, the target intersections of different two-dimensional projection images are matched to determine a number of key points, and generate a number of key point sets, including:

[0025] In different two-dimensional projection images, several target intersection points with the same z-axis coordinates are regarded as key points of successful matching and are divided into the same key point set.

[0026] Furthermore, the step of cutting the corresponding two-dimensional projection image according to the key points to generate a plurality of planes to be identified of each of the two-dimensional projection images includes:

[0027] Traversing each two-dimensional projection image, extracting the key points of the currently traversed two-dimensional projection image from the key point set, and determining a plurality of key point combinations at each z-axis coordinate;

[0028] Combining two groups of key points with adjacent z-axis coordinates as a set of segmentation points to construct several segmentation point sets of the currently traversed two-dimensional projection image;

[0029] According to each segmentation point set, a corresponding plane to be identified is cut out from the currently traversed two-dimensional projection image.

[0030] Furthermore, the planes to be identified of different two-dimensional projection images are divided according to the key point set to generate several plane sets, including:

[0031] Sorting the key point sets according to the z-axis coordinate size corresponding to each key point set;

[0032] According to two adjacent key point sets, a plurality of plane partition point sets are generated, and an initial plane set corresponding to each plane partition point set is constructed; wherein the initial plane set is an empty set;

[0033] Traversing the plane to be identified, and taking the segmentation point set corresponding to the currently traversed plane to be identified as the target segmentation point set;

[0034] Comparing the target segmentation point set with each of the plane segmentation point sets;

[0035] When it is determined that the target segmentation point set is a proper subset of a plane partition point set, the currently traversed plane to be identified is divided into the corresponding initial plane set;

[0036] When the traversal is completed, a plane set corresponding to each plane partition point set is generated.

[0037] An embodiment of the present invention further provides a device for three-dimensional modeling of a transmission tower based on point cloud data, comprising:

[0038] Point cloud acquisition module, used to obtain point cloud data of transmission towers;

[0039] A point cloud projection module is used to perform two-dimensional projection on the point cloud data to generate two-dimensional projection images at different angles;

[0040] A line segment recognition module, configured to recognize a plurality of two-dimensional line segments in each of the two-dimensional projection images; wherein the two-dimensional line segments include: a horizontal line segment and a plurality of non-horizontal line segments;

[0041] A key point recognition module is used to identify the target intersection of each horizontal line segment and several non-horizontal line segments, match the target intersection points of different two-dimensional projection images, determine several key points, and generate several key point sets;

[0042] A plane cutting module, configured to cut the corresponding two-dimensional projection image according to the key points to generate a plurality of planes to be identified for each of the two-dimensional projection images;

[0043] A plane division module, configured to divide the planes to be identified of different two-dimensional projection images according to the key point set to generate a plurality of plane sets;

[0044] The three-dimensional modeling module is used to convert the two-dimensional line segments of the plane to be identified in each plane set into three-dimensional line segments, and splice the three-dimensional line segments in all plane sets to generate a three-dimensional model of the transmission tower.

[0045] Furthermore, the method and device for three-dimensional modeling of a transmission tower based on point cloud data further includes: a pre-processing module;

[0046] The pre-processing module is used to obtain the initial coordinates of each point cloud in the point cloud data, and determine the cross arm of the transmission tower from the point cloud data;

[0047] Determine the centroid coordinates of the point cloud data according to the initial coordinates, and generate the initial coordinates of each point cloud according to the centroid coordinates, perform normalization processing on them, and generate normalized coordinates of each point cloud;

[0048] Using a principal component analysis algorithm to generate a feature vector of the point cloud data according to the normalized coordinates;

[0049] A target coordinate system is constructed with the horizontal extension direction of the crossarm as the x-axis, the vertical extension direction of the crossarm as the y-axis, the vertical direction of the horizontal plane formed by the x-axis and the y-axis as the z-axis, and the intersection of the x-axis, the y-axis, and the z-axis as the origin;

[0050] Constructing a rotation matrix according to the eigenvector and the target coordinate system;

[0051] Generate mapping coordinates of each point cloud in a target coordinate system according to the rotation matrix and the normalized coordinates.

[0052] The present application also provides a terminal device, including:

[0053] one or more processors;

[0054] a memory, coupled to the processor, for storing one or more programs;

[0055] When the one or more programs are executed by the one or more processors, the one or more processors implement a three-dimensional modeling method for a transmission tower based on point cloud data as described in the above-mentioned embodiment of the invention.

[0056] The present application also provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method for three-dimensional modeling of a transmission tower based on point cloud data as described in the above-mentioned embodiment of the invention is implemented.

[0057] The following beneficial effects are achieved by implementing the present invention:

[0058] The present invention provides a method, apparatus, terminal device, and storage medium for three-dimensional modeling of a transmission tower based on point cloud data. The method projects the point cloud data of the transmission tower in two dimensions to generate two-dimensional projection images at different angles, thereby reducing the complexity of point cloud data processing and improving data processing efficiency. Furthermore, a plurality of two-dimensional line segments in each of the two-dimensional projection images are identified, and the target intersection of each horizontal line segment and a plurality of non-horizontal line segments is determined, thereby extracting key points. The present invention utilizes the structural characteristics of the transmission tower. The structure of the transmission tower is composed of a main material and an auxiliary material. The main material is an inclined or vertical load-bearing rod, and the auxiliary material is a horizontal rod connecting the main material. Therefore, the intersection of the horizontal line segment and the other line segments can be determined as the intersection of the main and auxiliary materials of the transmission tower. The intersection of the horizontal line segment and the other line segments has structural uniqueness and stability. Using it as a key point ensures the consistency of cross-view plane division and line segment conversion, thereby improving the accuracy of modeling. By cutting each two-dimensional projection image according to key points and dividing the cut planes to be identified, several plane sets are generated, and then the transmission tower is divided into several parts for modeling and then splicing. This effectively reduces the complexity of point cloud data processing, improves modeling efficiency, and overcomes the shortcomings of low efficiency and low accuracy of existing three-dimensional modeling methods for transmission towers. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] In order to more clearly illustrate the technical solution of the present application, the following is a brief introduction to the drawings required for use in the implementation. Obviously, the drawings described below are only some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0060] Figure 1This is a flowchart of a method for three-dimensional modeling of a transmission tower based on point cloud data provided by an embodiment of the present application;

[0061] Figure 2 This is a schematic structural diagram of a device for three-dimensional modeling of a transmission tower based on point cloud data provided by one embodiment of the present application;

[0062] Figure 3 This is a schematic diagram of the structure of a terminal device provided in a certain embodiment of the present application.

[0063] Figure 4 is a schematic diagram of a first two-dimensional projection image provided by an embodiment of the present application;

[0064] Figure 5 is a schematic diagram of a second two-dimensional projection image provided by an embodiment of the present application;

[0065] Figure 6 This is a schematic diagram of key points provided by an embodiment of the present application;

[0066] Figure 7 This is a schematic diagram of the cross section of a transmission tower provided in one embodiment of the present application. DETAILED DESCRIPTION

[0067] To make the objectives, technical solutions, and advantages of this application more clear, the technical solutions in this application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this application.

[0068] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned figure descriptions are intended to cover non-exclusive inclusions.

[0069] In the description of the embodiments of this application, the technical terms "first" and "second" are used only to distinguish different objects and should not be understood to indicate or imply relative importance or implicitly specify the quantity, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, the meaning of "plurality" is more than two, unless otherwise clearly and specifically defined.

[0070] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0071] In the description of the embodiments of this application, the term "and / or" is simply a description of the association relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent the following three situations: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this document generally indicates that the associated objects are in an "or" relationship.

[0072] In the description of the embodiments of the present application, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0073] In the description of the embodiments of the present application, unless otherwise clearly specified or limited, technical terms such as "installed," "connected," "connected," and "fixed" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; internal connections between two components or interactions between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific circumstances.

[0074] See also Figure 1 To address the shortcomings of low efficiency and low accuracy in the prior art, an embodiment of the present invention provides a method for three-dimensional modeling of a transmission tower based on point cloud data, comprising:

[0075] S1. Obtain point cloud data of the transmission tower;

[0076] In a preferred embodiment of the present invention, through drone inspection, point cloud data of the transmission tower is obtained from the detection radar carried by the drone.

[0077] S2. Performing two-dimensional projection on the point cloud data to generate two-dimensional projection images at different angles;

[0078] Preferably, before performing two-dimensional projection on the point cloud data, the method further includes:

[0079] S21, obtaining the initial coordinates of each point cloud in the point cloud data, and determining the cross arm of the transmission tower from the point cloud data;

[0080] S22. Determine the centroid coordinates of the point cloud data based on the initial coordinates, and generate initial coordinates of each point cloud based on the centroid coordinates, perform normalization processing, and generate normalized coordinates of each point cloud;

[0081] S23, using a principal component analysis algorithm to generate a feature vector of the point cloud data according to the normalized coordinates;

[0082] S24, constructing a target coordinate system with the horizontal extension direction of the crossarm as the x-axis, the vertical extension direction of the crossarm as the y-axis, the vertical direction of the horizontal plane formed by the x-axis and the y-axis as the z-axis, and the intersection of the x-axis, the y-axis, and the z-axis as the origin;

[0083] S25. Construct a rotation matrix according to the eigenvector and the target coordinate system;

[0084] S26 , generating mapping coordinates of each point cloud in a target coordinate system according to the rotation matrix and the normalized coordinates.

[0085] In a preferred embodiment of the present invention, the crossarms of the transmission tower are first identified from point cloud data through manual identification or model recognition. Principal component analysis is then performed on the point cloud data of the transmission tower, and the point cloud coordinates are reoriented, with the x-direction being along the crossarms, the y-direction being perpendicular to the crossarms, and the z-direction being vertical.

[0086] Specifically, principal component analysis is based on the "central distribution" of point cloud data. Therefore, the point cloud coordinates are first translated to the center of mass to eliminate the effects of translation. The average horizontal, vertical, and vertical coordinates of all point clouds are calculated as the center of mass coordinates. The center of mass coordinates are then subtracted from the initial coordinates of each point cloud to normalize the initial coordinates.

[0087] Furthermore, principal component analysis extracts the main distribution directions (principal components) of the point cloud in three-dimensional space through the eigenvalues ​​and eigenvectors of the covariance matrix.

[0088] The covariance matrix describes the distribution correlation of the point cloud in all directions. The covariance matrix of the three-dimensional point cloud is a 3×3 symmetric matrix;

[0089]

[0090] Where N is the number of point clouds, is the normalized coordinate of the i-th point cloud, for The a component of .

[0091] Furthermore, the covariance matrix is ​​eigen-decomposed to obtain three eigenvalues ​​λ1 ≥ λ2 ≥ λ3 and the corresponding unit eigenvectors v1, v2, and v3. The eigenvectors v1, v2, and v3 are the principal component directions of the point cloud, and the eigenvalues ​​reflect the degree of dispersion of the point cloud in that direction. λ1 corresponds to the direction with the widest distribution.

[0092] Furthermore, the transmission tower is a vertical structure, and its height direction (vertical) is the most significant distribution direction. The eigenvector v1 corresponds to the z-axis, and then the x-axis and y-axis are determined according to the crossarm of the transmission tower and the z-axis, and then the target coordinate system is constructed.

[0093] Furthermore, a rotation matrix is ​​constructed with the x-axis, y-axis, and z-axis as column vectors, and the mapping coordinates of each point cloud are determined according to the following formula:

[0094] P ′ i =R T (P i -C)+C;

[0095] Among them, P i ′ is the mapping coordinate of the i-th point cloud, R T is the transpose of the rotation matrix, P i is the initial coordinate of the i-th point cloud, and C is the center of mass coordinate.

[0096] Preferably, the two-dimensional projection image includes: a first two-dimensional projection image and a second two-dimensional projection image;

[0097] The step of performing two-dimensional projection on the point cloud data to generate two-dimensional projection images at different angles includes:

[0098] S27. Project each of the point clouds according to the mapping coordinates to determine a first mapping point of each of the point clouds on a first plane and a second mapping point on a second plane; wherein the first plane is a plane formed by the x-axis and the z-axis, and the second plane is a plane formed by the y-axis and the z-axis;

[0099] S28: Generate a first two-dimensional projection image on a first plane according to the first mapping points, and generate a second two-dimensional projection image on a second plane according to the second mapping points.

[0100] In a preferred embodiment of the present invention, since the point cloud has been normalized and rotated in steps S21-S26, the two-dimensional coordinates of the first mapping point of the point cloud on the first plane are directly determined according to the x-axis coordinate value and the z-axis coordinate value in the mapping coordinates of the point cloud, and the two-dimensional coordinates of the second mapping point of the point cloud on the second plane are determined according to the y-axis coordinate value and the z-axis coordinate value in the mapping coordinates of the point cloud. Finally, the following is generated: Figure 4 、 Figure 5 The first two-dimensional projection image and the second two-dimensional projection image are shown.

[0101] S3. Identifying a plurality of two-dimensional line segments in each of the two-dimensional projection images; wherein the two-dimensional line segments include: a horizontal line segment and a plurality of non-horizontal line segments;

[0102] In a preferred embodiment of the present invention, a horizontal line segment recognition algorithm (such as Hough transform, RANSAC, etc.) is used to recognize all two-dimensional line segments on the projection surface.

[0103] S4, identifying target intersections of each horizontal line segment and a plurality of non-horizontal line segments, matching the target intersections of different two-dimensional projection images, determining a plurality of key points, and generating a plurality of key point sets;

[0104] Preferably, matching target intersections of different two-dimensional projection images, determining a number of key points, and generating a number of key point sets includes:

[0105] S41. In different two-dimensional projection images, several target intersection points with the same z-axis coordinates are regarded as key points of successful matching and are grouped into the same key point set.

[0106] In a preferred embodiment of the present invention, the target intersection point in the XOZ plane (first plane) is denoted as (x a ,z a ), the intersection of the line segments in the YOZ plane (the second plane) is recorded as (y b ,z b ), find all z a =z b point, thus obtaining Figure 6 The key points shown are the connection locations of the main materials and auxiliary materials of the transmission tower.

[0107] S5. Cutting the corresponding two-dimensional projection image according to the key points to generate a plurality of planes to be identified in each of the two-dimensional projection images;

[0108] Preferably, the step of cutting the corresponding two-dimensional projection image according to the key points to generate a plurality of planes to be identified of each of the two-dimensional projection images includes:

[0109] S51, traversing each two-dimensional projection image, extracting the key points of the currently traversed two-dimensional projection image from the key point set, and determining a plurality of key point combinations at each z-axis coordinate;

[0110] S52, combining two groups of key points with adjacent z-axis coordinates as a set of segmentation points to construct a plurality of segmentation point sets of the currently traversed two-dimensional projection image;

[0111] S53 , cutting out a corresponding plane to be identified from the currently traversed two-dimensional projection image according to each segmentation point set.

[0112] In a preferred embodiment of the present invention, several key points at the same height can be used to determine the following: Figure 7 The transmission tower transverse plane and its position are shown. Therefore, the key points at two adjacent heights are combined as a segmentation point set, and the two-dimensional projection image is horizontally sliced ​​to generate the plane to be identified between each two transverse planes. In this embodiment, each key point combination at the z-axis coordinate has two key points, and a segmentation point set has four key points.

[0113] S6. Dividing the planes to be identified of different two-dimensional projection images according to the key point set to generate a plurality of plane sets;

[0114] Preferably, the planes to be identified of different two-dimensional projection images are divided according to the key point set to generate several plane sets, including:

[0115] S61, sorting the key point sets according to the z-axis coordinate size corresponding to each key point set;

[0116] S62, generating a plurality of plane partition point sets based on two adjacent key point sets, and constructing an initial plane set corresponding one-to-one to each plane partition point set; wherein the initial plane set is an empty set;

[0117] S63, traversing the plane to be identified, and taking the segmentation point set corresponding to the currently traversed plane to be identified as the target segmentation point set;

[0118] S64, comparing the target segmentation point set with each of the plane segmentation point sets;

[0119] S65, when it is determined that the target segmentation point set is a proper subset of a plane partition point set, dividing the currently traversed plane to be identified into the corresponding initial plane set;

[0120] S66. When the traversal is completed, generate a plane set corresponding to each plane partition point set.

[0121] In a preferred embodiment of the present invention, the key point sets are sorted according to the z-axis coordinates corresponding to each key point set, i.e., one key point set corresponds to one transverse plane, and the transverse planes of the transmission tower are sorted by height. Based on two adjacent key point sets, several plane partition point sets are generated, and plane partition point sets corresponding to two adjacent transverse planes are generated. When the partition point set of the plane to be identified is determined to be a proper subset of a plane partition point set, the plane to be identified can be determined to be the plane between the two adjacent transverse planes. The planes to be identified for each two transverse planes in different two-dimensional projection images are then classified and sorted, generating a plane set between each two transverse planes.

[0122] S7. Convert the two-dimensional line segments of the plane to be identified in each plane set into three-dimensional line segments, and splice the three-dimensional line segments in all plane sets to generate a three-dimensional model of the transmission tower.

[0123] In a preferred embodiment of the present invention, several planes to be identified between each two transverse planes are spliced ​​together based on key points. The 2D line segments of each plane to be identified are converted into 3D line segments, and finally integrated according to the corresponding 3D coordinate system to generate a complete 3D transmission tower line model. By connecting the key points and rods, an accurate 3D reconstruction model is formed.

[0124] In summary, the present invention provides a three-dimensional modeling method for a transmission tower based on point cloud data. By performing two-dimensional projection on the point cloud data of the transmission tower, two-dimensional projection images at different angles are generated, thereby reducing the complexity of point cloud data processing and improving data processing efficiency. Furthermore, a plurality of two-dimensional line segments in each of the two-dimensional projection images are identified, and the target intersection of each horizontal line segment and a plurality of non-horizontal line segments is determined, and then key points are extracted. The present invention utilizes the structural characteristics of the transmission tower. The structure of the transmission tower is composed of main materials and auxiliary materials. The main materials are inclined or vertical load-bearing rods, and the auxiliary materials are horizontal rods connecting the main materials. Therefore, the intersection of the horizontal line segment and other line segments can be determined as the intersection of the main material and the auxiliary material of the transmission tower. Its position has uniqueness and stability in the structural sense. Taking it as a key point ensures the consistency of cross-view plane division and line segment conversion, thereby improving the accuracy of modeling. By cutting each two-dimensional projection image according to key points and dividing the cut planes to be identified, several plane sets are generated, and then the transmission tower is divided into several parts for modeling and then splicing. This effectively reduces the complexity of point cloud data processing, improves modeling efficiency, and overcomes the shortcomings of low efficiency and low accuracy of existing three-dimensional modeling methods for transmission towers.

[0125] See Figure 2 , is a transmission tower three-dimensional modeling device based on point cloud data provided by one embodiment of the present invention, comprising:

[0126] Point cloud acquisition module, used to obtain point cloud data of transmission towers;

[0127] A point cloud projection module is used to perform two-dimensional projection on the point cloud data to generate two-dimensional projection images at different angles;

[0128] A line segment recognition module, configured to recognize a plurality of two-dimensional line segments in each of the two-dimensional projection images; wherein the two-dimensional line segments include: a horizontal line segment and a plurality of non-horizontal line segments;

[0129] A key point recognition module is used to identify the target intersection of each horizontal line segment and several non-horizontal line segments, match the target intersection points of different two-dimensional projection images, determine several key points, and generate several key point sets;

[0130] A plane cutting module, configured to cut the corresponding two-dimensional projection image according to the key points to generate a plurality of planes to be identified for each of the two-dimensional projection images;

[0131] A plane division module, configured to divide the planes to be identified of different two-dimensional projection images according to the key point set to generate a plurality of plane sets;

[0132] The three-dimensional modeling module is used to convert the two-dimensional line segments of the plane to be identified in each plane set into three-dimensional line segments, and splice the three-dimensional line segments in all plane sets to generate a three-dimensional model of the transmission tower.

[0133] Furthermore, the three-dimensional modeling device for a transmission tower based on point cloud data further includes: a pre-processing module;

[0134] The pre-processing module is used to obtain the initial coordinates of each point cloud in the point cloud data, and determine the cross arm of the transmission tower from the point cloud data;

[0135] Determine the centroid coordinates of the point cloud data according to the initial coordinates, and generate the initial coordinates of each point cloud according to the centroid coordinates, perform normalization processing on them, and generate normalized coordinates of each point cloud;

[0136] Using a principal component analysis algorithm to generate a feature vector of the point cloud data according to the normalized coordinates;

[0137] A target coordinate system is constructed with the horizontal extension direction of the crossarm as the x-axis, the vertical extension direction of the crossarm as the y-axis, the vertical direction of the horizontal plane formed by the x-axis and the y-axis as the z-axis, and the intersection of the x-axis, the y-axis, and the z-axis as the origin;

[0138] Constructing a rotation matrix according to the eigenvector and the target coordinate system;

[0139] Generate mapping coordinates of each point cloud in a target coordinate system according to the rotation matrix and the normalized coordinates.

[0140] It can be understood that the above-mentioned device embodiment corresponds to the method embodiment of the present invention, which can implement any of the above-mentioned method embodiments of the present invention to provide a three-dimensional modeling method for transmission towers based on point cloud data.

[0141] It should be noted that the device embodiments described above are merely illustrative, and some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment. Furthermore, in the drawings of the device embodiments provided by the present invention, the connection relationship between modules indicates that they have a communication connection, which may be implemented as one or more communication buses or signal lines. Those skilled in the art can understand and implement the present invention without inventive effort.

[0142] See also Figure 3 , an embodiment of the present application further provides a terminal device, including:

[0143] one or more processors;

[0144] a memory, coupled to the processor, for storing one or more programs;

[0145] When the one or more programs are executed by the one or more processors, the one or more processors implement the above-mentioned method for three-dimensional modeling of transmission towers based on point cloud data.

[0146] The processor is used to control the overall operation of the terminal device to complete all or part of the steps of the above-mentioned method for three-dimensional modeling of transmission towers based on point cloud data. The memory is used to store various types of data to support the operation of the terminal device. For example, this data may include instructions for any application or method used to operate on the terminal device, as well as application-related data. The memory can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0147] In an exemplary embodiment, the terminal device can be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to execute a method for three-dimensional modeling of a transmission tower based on point cloud data as described in any of the above embodiments, and achieve the same technical effect as the above method.

[0148] In another exemplary embodiment, a computer-readable storage medium including a computer program is further provided. When executed by a processor, the computer program implements the steps of the method for three-dimensional modeling of a transmission tower based on point cloud data as described in any of the aforementioned embodiments. For example, the computer-readable storage medium may be the aforementioned memory including the computer program. The computer program may be executed by a processor of a terminal device to implement the method for three-dimensional modeling of a transmission tower based on point cloud data as described in any of the aforementioned embodiments, and achieve the same technical effects as the aforementioned methods.

[0149] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A three-dimensional modeling method for transmission towers based on point cloud data, characterized in that: include: Obtain point cloud data of transmission towers; Performing two-dimensional projection on the point cloud data to generate two-dimensional projection images at different angles; Identifying a plurality of two-dimensional line segments in each of the two-dimensional projection images; wherein the two-dimensional line segments include: a horizontal line segment and a plurality of non-horizontal line segments; Identify the target intersections of each horizontal line segment and several non-horizontal line segments, match the target intersections of different two-dimensional projection images, determine several key points, and generate several key point sets; Cutting the corresponding two-dimensional projection image according to the key points to generate a plurality of planes to be identified in each of the two-dimensional projection images; Dividing the planes to be identified of different two-dimensional projection images according to the key point set to generate a plurality of plane sets; The two-dimensional line segments of the plane to be identified in each plane set are converted into three-dimensional line segments, and the three-dimensional line segments in all plane sets are spliced ​​to generate a three-dimensional model of the transmission tower.

2. The method for three-dimensional modeling of a transmission tower based on point cloud data according to claim 1, wherein: Before performing two-dimensional projection on the point cloud data, the method further includes: Obtaining initial coordinates of each point cloud in the point cloud data, and determining the cross arm of the transmission tower from the point cloud data; Determine the centroid coordinates of the point cloud data according to the initial coordinates, and generate the initial coordinates of each point cloud according to the centroid coordinates, perform normalization processing on them, and generate normalized coordinates of each point cloud; Using a principal component analysis algorithm to generate a feature vector of the point cloud data according to the normalized coordinates; A target coordinate system is constructed with the horizontal extension direction of the crossarm as the x-axis, the vertical extension direction of the crossarm as the y-axis, the vertical direction of the horizontal plane formed by the x-axis and the y-axis as the z-axis, and the intersection of the x-axis, the y-axis, and the z-axis as the origin; Constructing a rotation matrix according to the eigenvector and the target coordinate system; Generate mapping coordinates of each point cloud in a target coordinate system according to the rotation matrix and the normalized coordinates.

3. The method for three-dimensional modeling of a transmission tower based on point cloud data according to claim 2, wherein: The two-dimensional projection image includes: a first two-dimensional projection image and a second two-dimensional projection image; The step of performing two-dimensional projection on the point cloud data to generate two-dimensional projection images at different angles includes: Projecting each of the point clouds according to the mapping coordinates to determine a first mapping point of each of the point clouds on a first plane and a second mapping point on a second plane; wherein the first plane is a plane formed by the x-axis and the z-axis, and the second plane is a plane formed by the y-axis and the z-axis; A first two-dimensional projection image on a first plane is generated according to the first mapping points, and a second two-dimensional projection image on a second plane is generated according to the second mapping points.

4. The method for three-dimensional modeling of a transmission tower based on point cloud data according to claim 3, wherein: The target intersections of different two-dimensional projection images are matched to determine a number of key points and generate a number of key point sets, including: In different two-dimensional projection images, several target intersection points with the same z-axis coordinates are regarded as key points of successful matching and are divided into the same key point set.

5. The method for three-dimensional modeling of a transmission tower based on point cloud data according to claim 4, characterized in that: The step of cutting the corresponding two-dimensional projection image according to the key points to generate a plurality of planes to be identified of each of the two-dimensional projection images includes: Traversing each two-dimensional projection image, extracting the key points of the currently traversed two-dimensional projection image from the key point set, and determining a plurality of key point combinations at each z-axis coordinate; Combining two groups of key points with adjacent z-axis coordinates as a set of segmentation points to construct several segmentation point sets of the currently traversed two-dimensional projection image; According to each segmentation point set, a corresponding plane to be identified is cut out from the currently traversed two-dimensional projection image.

6. The method for three-dimensional modeling of a transmission tower based on point cloud data according to claim 5, characterized in that: The planes to be identified of different two-dimensional projection images are divided according to the key point set to generate a plurality of plane sets, including: Sorting the key point sets according to the z-axis coordinate size corresponding to each key point set; According to two adjacent key point sets, a plurality of plane partition point sets are generated, and an initial plane set corresponding to each plane partition point set is constructed; wherein the initial plane set is an empty set; Traversing the plane to be identified, and taking the segmentation point set corresponding to the currently traversed plane to be identified as the target segmentation point set; Comparing the target segmentation point set with each of the plane segmentation point sets; When it is determined that the target segmentation point set is a proper subset of a plane partition point set, the currently traversed plane to be identified is divided into the corresponding initial plane set; When the traversal is completed, a plane set corresponding to each plane partition point set is generated.

7. A three-dimensional modeling device for transmission towers based on point cloud data, characterized in that: include: Point cloud acquisition module, used to obtain point cloud data of transmission towers; A point cloud projection module is used to perform two-dimensional projection on the point cloud data to generate two-dimensional projection images at different angles; A line segment recognition module, configured to recognize a plurality of two-dimensional line segments in each of the two-dimensional projection images; wherein the two-dimensional line segments include: a horizontal line segment and a plurality of non-horizontal line segments; A key point recognition module is used to identify the target intersection of each horizontal line segment and several non-horizontal line segments, match the target intersection points of different two-dimensional projection images, determine several key points, and generate several key point sets; A plane cutting module, configured to cut the corresponding two-dimensional projection image according to the key points to generate a plurality of planes to be identified for each of the two-dimensional projection images; A plane division module, configured to divide the planes to be identified of different two-dimensional projection images according to the key point set to generate a plurality of plane sets; The three-dimensional modeling module is used to convert the two-dimensional line segments of the plane to be identified in each plane set into three-dimensional line segments, and splice the three-dimensional line segments in all plane sets to generate a three-dimensional model of the transmission tower.

8. The device for three-dimensional modeling of a transmission tower based on point cloud data according to claim 7, characterized in that: Also includes: Preprocessing module; The pre-processing module is used to obtain the initial coordinates of each point cloud in the point cloud data, and determine the cross arm of the transmission tower from the point cloud data; Determine the centroid coordinates of the point cloud data according to the initial coordinates, and generate the initial coordinates of each point cloud according to the centroid coordinates, perform normalization processing on them, and generate normalized coordinates of each point cloud; Using a principal component analysis algorithm to generate a feature vector of the point cloud data according to the normalized coordinates; A target coordinate system is constructed with the horizontal extension direction of the crossarm as the x-axis, the vertical extension direction of the crossarm as the y-axis, the vertical direction of the horizontal plane formed by the x-axis and the y-axis as the z-axis, and the intersection of the x-axis, the y-axis, and the z-axis as the origin; Constructing a rotation matrix according to the eigenvector and the target coordinate system; Generate mapping coordinates of each point cloud in a target coordinate system according to the rotation matrix and the normalized coordinates.

9. A terminal device, characterized in that: include: one or more processors; a memory, coupled to the processor, for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the three-dimensional modeling method of a transmission tower based on point cloud data as described in any one of claims 1 to 6.

10. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for three-dimensional modeling of a transmission tower based on point cloud data as described in any one of claims 1 to 6 is implemented.

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