A method and device for picking point cloud of power transmission line

Abstract

The present invention discloses a method and device for picking point clouds of power transmission lines. The method uses a viewing point as a viewing ray, projects a point cloud within a candidate buffer distance onto the viewing ray, comprehensively considers the projection distance and the distance weight from the projection point to the viewing point, and finally determines the point with the smallest comprehensive picking distance. This improves the efficiency and precision of picking point clouds of power transmission lines, and has high accuracy, fast speed, and good real-time performance.

Description

Technical Field

[0001] The present invention relates to the field of computer software technology, and in particular to a method and device for picking up a point cloud of a power transmission line, a readable storage medium and a computer control system. Background Art

[0002] At present, the commonly used point cloud picking method for power transmission lines is based on the intersection of lines and points, such as Figure 2 , in the picking direction indicated by the arrow, the point with the closest distance is calculated as the picking point, but this method is prone to penetrating picking, that is, picking a point deeper in the conductor point cloud or tower point cloud instead of the target picking point closest to the viewpoint. This penetration phenomenon will cause a large error in the measurement. For example, when planning a drone route based on the point cloud, penetrating picking may cause the route to intersect with the surrounding environment, and even cause an accident. Traditional penetrating picking only considers the point closest to the viewpoint ray, but this point may be far away from the viewpoint, which is not conducive to subsequent transmission line safety detection. Summary of the invention

[0003] In response to the problems in the above-mentioned background technology, a transmission line point cloud picking method is provided, which can pick up the transmission line point cloud more accurately. At the same time, the distance from the point cloud to the viewing ray and the distance to the viewing point are considered, and the point cloud with the smallest comprehensive picking distance is determined as the final picking point, thereby avoiding the penetration phenomenon of point cloud picking.

[0004] A transmission line point cloud picking method according to the present invention comprises:

[0005] S1 obtains the coordinates of the center point of the monitoring screen in the three-dimensional map, takes the coordinates as the viewing point, and makes a viewing ray along the current monitoring viewing direction;

[0006] S2 sets a buffer distance for the viewing angle ray to obtain a buffer column in the direction of the viewing angle ray;

[0007] S3 obtains all point clouds within the buffer column as candidate points;

[0008] S4 obtains the projection point of the candidate point on the viewing angle ray;

[0009] S5 determines the picking point according to the distance from the candidate point to the projection point and the distance weight from the projection point to the viewing point, specifically:

[0010] Traverse all point clouds and obtain n candidate points in the buffer cylinder according to the buffer distance, recorded as A0, A1, ...An-1; project the candidate points to the viewing ray to obtain n projection points, recorded as D0, D1, ...Dn-1; where D0 is the projection point with the shortest distance to the viewing point; the distances from the candidate points to the viewing ray are recorded as A0D0, A1D1, ...An-1Dn-1 respectively; combine the distance weight from the projection point to the viewing point and the distance from the candidate point to the projection point to calculate the comprehensive picking distance:

[0011] ,

[0012] Among them, α is the proportional coefficient, E is the viewing point, and the candidate point Am with the smallest comprehensive picking distance dist(m) is the picking point, ED m is the relative distance from the viewing point E to the projection point Dm corresponding to the candidate point Am, ED0 is the relative distance from the viewing point E to the projection point D0, and when picking the tower point cloud, 0.1<proportional coefficient α<1; when picking the conductor point cloud, 0.01<proportional coefficient α<0.1.

[0013] The present invention uses the viewing point as the viewing ray, projects the point cloud within the candidate buffer distance to the viewing ray, comprehensively considers the projection distance and the distance weight from the projection point to the viewing point, and finally determines the point with the smallest comprehensive picking distance, thereby improving the efficiency and precision of transmission line point cloud picking, and has high accuracy, fast speed and good real-time performance.

[0014] Specifically, the viewing angle of the viewing ray is the viewing angle of the tool window for loading the point cloud, and the ray direction is the picking direction of the transmission line point cloud.

[0015] Furthermore, the buffer distance is 1 meter, and the buffer zone column is a cylinder with a bottom radius of 1 meter and a viewing angle ray as a rotation axis.

[0016] Furthermore, the step of obtaining all point clouds within the buffer cylinder as candidate points includes: intersecting the point clouds in the three-dimensional map according to the viewing ray buffer, traversing all point clouds according to the rtree spatial index, calculating the distance from each point to the viewing ray, and selecting point clouds whose distance is less than or equal to the buffer distance as candidate points.

[0017] The present invention also provides a transmission line point cloud picking device, comprising:

[0018] A device for obtaining the coordinates of the center point of the monitoring screen in the three-dimensional map, taking the coordinates as the viewing point, and making viewing rays along the current monitoring viewing direction;

[0019] A device for setting a buffer distance for the viewing angle ray and obtaining a buffer column in the direction of the viewing angle ray;

[0020] Device for acquiring all point clouds within the buffer cylinder as candidate points;

[0021] means for obtaining a projection point of the candidate point on the viewing angle ray;

[0022] The device is used to determine the picking point according to the distance from the candidate point to the projection point and the distance weight from the projection point to the viewing point, and the specific working process is as follows:

[0023] Traverse all point clouds and obtain n candidate points in the buffer cylinder according to the buffer distance, recorded as A0, A1, ...An-1; project the candidate points to the viewing ray to obtain n projection points, recorded as D0, D1, ...Dn-1; where D0 is the projection point with the shortest distance to the viewing point; the distances from the candidate points to the viewing ray are recorded as A0D0, A1D1, ...An-1Dn-1 respectively; combine the distance weight from the projection point to the viewing point and the distance from the candidate point to the projection point to calculate the comprehensive picking distance:

[0024] ,

[0025] Among them, α is the proportional coefficient, E is the viewing point, and the candidate point Am with the smallest comprehensive picking distance dist(m) is the picking point, ED m is the relative distance from the viewing point E to the projection point Dm corresponding to the candidate point Am, ED0 is the relative distance from the viewing point E to the projection point D0, and when picking the tower point cloud, 0.1<proportional coefficient α<1; when picking the conductor point cloud, 0.01<proportional coefficient α<0.1.

[0026] Furthermore, the present invention also provides a readable storage medium having a control program stored thereon, characterized in that: when the control program is executed by a processor, the transmission line point cloud picking method as described in any one of the above items is implemented.

[0027] Furthermore, the present invention also provides a computer control system, comprising a storage device, a processor, and a control program stored in the storage device and executable by the processor, wherein the processor implements a transmission line point cloud picking method as described in any one of the above when executing the control program.

[0028] In order to more clearly understand the present invention, the specific implementation of the present invention will be described below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A flow chart of a method for picking a point cloud of a power transmission line according to an embodiment of the present invention;

[0030] Figure 2A schematic diagram of penetration picking caused by a point cloud picking method commonly used for power transmission lines in the prior art;

[0031] Figure 3 A schematic diagram of candidate points, projection points, view points and view rays according to an embodiment of the present invention;

[0032] Figure 4 A schematic diagram of a wire point cloud according to an embodiment of the present invention;

[0033] Figure 5 Schematic diagram of tower point cloud according to an embodiment of the present invention. DETAILED DESCRIPTION

[0034] See also Figure 1 , which is a flow chart of a transmission line point cloud picking method according to an embodiment of the present invention.

[0035] A transmission line point cloud picking method according to the present invention comprises:

[0036] S1 obtains the coordinates of the center point of the monitoring screen in the three-dimensional map, takes the coordinates as the viewing point, and makes a viewing ray along the current monitoring viewing direction;

[0037] S2 sets a buffer distance for the viewing angle ray to obtain a buffer column in the direction of the viewing angle ray;

[0038] S3 obtains all point clouds within the buffer column as candidate points;

[0039] S4 obtains the projection point of the candidate point on the viewing angle ray;

[0040] S5 determines the picking point according to the distance from the candidate point to the projection point and the distance weight from the projection point to the viewing point.

[0041] The present invention uses the viewing point as the viewing ray, projects the point cloud within the candidate buffer distance to the viewing ray, comprehensively considers the projection distance and the distance weight from the projection point to the viewing point, and finally determines the point with the smallest comprehensive picking distance, thereby improving the efficiency and precision of transmission line point cloud picking, and has high accuracy, fast speed and good real-time performance.

[0042] In this embodiment, the perspective of the viewing ray is the perspective of the tool window for loading the point cloud, that is, the current viewing direction and viewing height of the three-dimensional map. The current viewing direction and height are directly obtained from the tool interface, and the position of the screen center point on the three-dimensional map and the viewing height are taken as the starting point. The ray direction is determined along the current viewing direction as the picking direction of the transmission line point cloud.

[0043] Furthermore, the buffer distance is 1 meter, the buffer column is a cylinder with a bottom radius of 1 meter and a viewing angle ray as a rotation axis, and the vertical distance from any point in the buffer column to the viewing angle ray is less than or equal to 1 meter.

[0044] Furthermore, the step of obtaining all point clouds within the buffer cylinder as candidate points includes: intersecting the point clouds in the three-dimensional map according to the viewing ray buffer, traversing all point clouds according to the rtree spatial index, calculating the distance from each point to the viewing ray, and selecting point clouds whose distance is less than or equal to the buffer distance as candidate points.

[0045] See also Figure 3 , which is a schematic diagram of candidate points, projection points, view points and view rays according to an embodiment of the present invention;

[0046] The step of determining the picking point according to the distance from the candidate point to the projection point and the distance weight from the projection point to the viewpoint includes: traversing all point clouds and obtaining n candidate points in the buffer cylinder according to the buffer distance, recorded as A0, A1, ...An-1; projecting the candidate point to the view ray to obtain n projection points, recorded as D0, D1, ...Dn-1; wherein D0 is the projection point with the shortest distance to the viewpoint; the distance from the candidate point to the view ray is recorded as A0D0, A1D1, ...An-1Dn-1 respectively; combining the distance weight from the projection point to the viewpoint and the distance from the candidate point to the projection point to calculate the comprehensive picking distance:

[0047]

[0048] Among them, α is the proportional coefficient, E is the view point, and the candidate point Am with the smallest comprehensive picking distance dist(m) is the picking point. EDm-ED0, that is, DmD0, is the distance from each projection point on the view ray to the shortest candidate point. Edm is the view height when picking.

[0049] The existing transmission line point cloud picking method usually takes α as 0, that is, only the distance from the candidate point to the viewing angle ray is considered, without considering the distance from the viewing point, which easily causes "penetration" selection. For DmD0 / EDm, the viewing angle height (EDm) during picking is of the order of hundreds of meters, so that the number of point clouds within the field of view will not be dense or sparse; the transmission tower height (DmD0) is of the order of tens of meters, so the DmD0 / Edm proportional coefficient is 0.1, and the buffer error of picking is generally controlled to be a few centimeters, so AmDm takes a value between 0 and 0.01. In order to ensure that the magnitudes on both sides of the plus sign are consistent, the two are balanced when α is 0.1. Therefore, the larger α is, the greater the distance weight to the viewing point, that is, the closer the point to the viewing point is, the easier it is to be selected. Therefore, the present invention can take into account both the viewpoint distance and the line of sight distance, and avoid picking up points that are far from the viewing point but close to the viewing ray.

[0050] Figure 4 is a schematic diagram of a wire point cloud according to an embodiment of the present invention, Figure 5 Schematic diagram of tower point cloud according to an embodiment of the present invention.

[0051] When picking the tower point cloud, 0.1<proportional coefficient α<1; when picking the conductor point cloud, 0.01<proportional coefficient α<0.1.

[0052] For the tower point cloud, the point cloud range is large and easy to cause penetration, so the value of α can be increased; for the wire point cloud, it is concentrated on one line, so the value of α can be reduced to increase the plane picking accuracy. Based on the above estimation, it can be specified that for the tower point cloud, α takes a value between 0.1-1, and for the wire point cloud, α takes a value between 0.01-0.1.

[0053] Compared with the prior art, the present invention improves the point cloud picking accuracy and efficiency of power lines and towers, and improves the point cloud measurement and analysis accuracy of transmission lines. Compared with the existing point cloud picking method (which only considers the distance from the candidate point to the ray, resulting in the penetration phenomenon caused by being too far away from the viewpoint), a proportional coefficient is added, which considers the distance from the candidate point to the viewpoint, and the point with the smallest distance added together is the final point, taking into account the viewpoint distance and the line of sight distance. The defects of penetration: causing large measurement errors;

[0054] The advantages of this patented method are: it can take into account the distance from the picking point to the viewing point and the distance to the viewing ray, can control the penetration through parameters, and discuss the parameter values ​​for the line point cloud and the tower point cloud respectively to adapt to these two situations.

[0055] The present invention is not limited to the above-mentioned embodiments. If various changes or modifications to the present invention do not depart from the spirit and scope of the present invention, and if these changes and modifications fall within the scope of the claims and equivalent technologies of the present invention, the present invention also includes these changes and modifications.

Claims

1. A method for picking a point cloud of a power transmission line, comprising: Get the coordinates of the center point of the monitoring screen in the three-dimensional map, take the coordinates as the viewing point, and make a viewing ray along the current monitoring viewing direction; Setting a buffer distance for the viewing angle ray to obtain a buffer column in the viewing angle ray direction; Obtain all point clouds within the buffer cylinder as candidate points; Obtaining the projection point of the candidate point on the viewing ray; The picking point is determined according to the distance from the candidate point to the projection point and the distance weight from the projection point to the viewing point, specifically: Traverse all point clouds and obtain n candidate points in the buffer cylinder according to the buffer distance, recorded as A0, A1, ...An-1; project the candidate points to the viewing ray to obtain n projection points, recorded as D0, D1, ...Dn-1; where D0 is the projection point with the shortest distance to the viewing point; the distances from the candidate points to the viewing ray are recorded as A0D0, A1D1, ...An-1Dn-1 respectively; combine the distance weight from the projection point to the viewing point and the distance from the candidate point to the projection point to calculate the comprehensive picking distance: ， Among them, α is the proportional coefficient, E is the viewing point, and the candidate point Am with the smallest comprehensive picking distance dist(m) is the picking point, ED m is the relative distance from the viewpoint E to the projection point Dm corresponding to the candidate point Am, ED0 is the relative distance from the viewpoint E to the projection point D0, and when picking the tower point cloud, 0.1<proportional coefficient α<1; When picking the wire point cloud, 0.01<proportional coefficient α<0.

1.

2. A method for picking up a point cloud of a power transmission line according to claim 1, characterized in that: The viewing angle of the viewing ray is the viewing angle of the tool window for loading the point cloud, and the ray direction is the picking direction of the transmission line point cloud.

3. A method for picking up a point cloud of a power transmission line according to claim 1, characterized in that: The buffer distance is 1 meter, and the buffer zone column is a cylinder with a bottom radius of 1 meter and a viewing angle ray as a rotation axis.

4. A method for picking up a point cloud of a power transmission line according to claim 1, characterized in that: The step of obtaining all point clouds within the buffer cylinder as candidate points includes: intersecting the point clouds in the three-dimensional map according to the viewing ray buffer, traversing all point clouds according to the rtree spatial index, calculating the distance from each point to the viewing ray, and selecting point clouds with a distance less than or equal to the buffer distance as candidate points.

5. A transmission line point cloud picking device, comprising: A device for obtaining the coordinates of the center point of the monitoring screen in the three-dimensional map, taking the coordinates as the viewing point, and making viewing rays along the current monitoring viewing direction; A device for setting a buffer distance for the viewing angle ray and obtaining a buffer column in the direction of the viewing angle ray; Device for acquiring all point clouds within the buffer column as candidate points; means for obtaining a projection point of the candidate point on the viewing angle ray; The device is used to determine the picking point according to the distance from the candidate point to the projection point and the distance weight from the projection point to the viewing point, and the specific working process is as follows: Traverse all point clouds and obtain n candidate points in the buffer cylinder according to the buffer distance, recorded as A0, A1, ...An-1; project the candidate points to the viewing ray to obtain n projection points, recorded as D0, D1, ...Dn-1; where D0 is the projection point with the shortest distance to the viewing point; the distances from the candidate points to the viewing ray are recorded as A0D0, A1D1, ...An-1Dn-1 respectively; combine the distance weight from the projection point to the viewing point and the distance from the candidate point to the projection point to calculate the comprehensive picking distance: ， Among them, α is the proportional coefficient, E is the viewing point, and the candidate point Am with the smallest comprehensive picking distance dist(m) is the picking point, ED m is the relative distance from the viewpoint E to the projection point Dm corresponding to the candidate point Am, ED0 is the relative distance from the viewpoint E to the projection point D0, and when picking the tower point cloud, 0.1<proportional coefficient α<1; When picking the wire point cloud, 0.01<proportional coefficient α<0.

1.

6. A readable storage medium having a control program stored thereon, characterized in that: When the control program is executed by a processor, the transmission line point cloud picking method as described in any one of claims 1 to 4 is implemented.

7. A computer control system, comprising a memory, a processor, and a control program stored in the memory and executable by the processor, characterized in that: When the processor executes the control program, the transmission line point cloud picking method as described in any one of claims 1 to 4 is implemented.

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