A method for site selection of high tower construction based on three-dimensional visualization model

Abstract

The present invention discloses a method for selecting a site for high-tower construction based on a three-dimensional visualization model. The method determines a target tower construction area according to a first node and an end node of a high-tower; generates three-dimensional image data corresponding to the target tower construction area according to two-dimensional image data collected by a drone; determines address information of a preset node of a high-tower according to topographic parameters, spatial parameters and tower construction specification information obtained from the three-dimensional image data; generates a distribution map of preset nodes of a high-tower in the three-dimensional image data corresponding to the target tower construction area according to the address information, connects and processes the three-dimensional map of the preset node distribution of the high-tower, the first node of the high-tower and the end node of the high-tower, and obtains a three-dimensional model of a line corridor. The three-dimensional model of the line corridor can provide decision-making suggestions for users when selecting a site for high-tower construction in the early stage of construction. The method reduces the workload of outdoor surveys, reduces labor costs, and improves work efficiency and work quality.

Description

Technical Field

[0001] The invention relates to the field of high tower construction, and in particular to a high tower construction site selection method based on a three-dimensional visualization model. Background Art

[0002] At present, in the early stage of construction, a lot of manpower and material resources are needed to carry out preliminary preparations for engineering construction, such as surveying topography and manually drawing relevant images. In the process of construction, engineers carry out construction in sections according to the starting and ending points of the construction required by the project, and select the next construction path or the next construction point while building. During the construction process, manual measurement, review, and control of construction points are required. This way of working is inefficient and has a long survey cycle. When manual measurement and review are carried out, due to errors in information acquisition, repetitive and unnecessary work may be performed, resulting in a certain waste of resources. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a high tower construction site selection method based on a three-dimensional visualization model, which can provide reference location points and reference construction paths for high tower construction site selection based on a three-dimensional model of a line corridor in the preliminary preparation work of high tower construction.

[0004] In a first aspect, an embodiment of the present invention proposes a method for selecting a site for high tower construction based on a three-dimensional visualization model, comprising:

[0005] Get the first node and the last node of the tower;

[0006] Determine a target tower construction area according to the first node of the high tower and the last node of the high tower;

[0007] Acquire three-dimensional image data corresponding to the target tower construction area, wherein the three-dimensional image data is generated according to the two-dimensional image data collected by the drone;

[0008] Obtaining topographic parameters and spatial parameters according to the three-dimensional image data, wherein the topographic parameters are used to characterize topographic features, and the spatial parameters are used to describe the longitude and latitude coordinates and altitude of any position point in the three-dimensional image data;

[0009] Determine the address information of the preset nodes of the tower according to the topographic parameters, the spatial parameters and the tower construction specification information;

[0010] Generate a three-dimensional map of the distribution of preset nodes of a high tower in the three-dimensional image data corresponding to the target tower construction area according to the address information;

[0011] The three-dimensional distribution diagram of the preset nodes of the high tower, the first node of the high tower and the last node of the high tower are connected to obtain a three-dimensional model of the line corridor, and the three-dimensional model of the line corridor is used to provide decision suggestions to users.

[0012] The technical solution of the first aspect of the present invention has at least one of the following advantages or beneficial effects: determining the first node and the last node of the tower, and determining the target tower construction area. Using the two-dimensional image data collected by the drone in the target tower construction area, a three-dimensional image corresponding to the target tower construction area is established. Relevant parameters are obtained through the three-dimensional image of the target tower construction area, and the address information of the preset nodes of the tower is determined according to the relevant parameters and the tower construction specification information. The position of the preset nodes of the tower is then marked on the three-dimensional image by the address information to obtain a three-dimensional map of the distribution of the preset nodes of the tower. The three-dimensional map of the distribution of the preset nodes of the tower, the first node of the tower and the last node of the tower are connected and processed to obtain a three-dimensional model of the line corridor. The three-dimensional model of the line corridor shows the user all the tower nodes, the tower construction route and the route length between the first node of the tower and the last node of the tower. The user can obtain the address information of the preset tower nodes, the site selection area and the topographic parameters of the target tower construction area from the three-dimensional model of the line corridor. The three-dimensional model of the line corridor can provide users with decision-making suggestions when selecting high tower sites in the early stage of construction, reduce the workload of outdoor surveys, reduce certain labor costs, and improve work efficiency and quality; it can also provide reference data for surveyors in the later stage of the project when surveyors need to conduct necessary field surveys and measurements, select the survey range, and improve the work efficiency of engineering personnel.

[0013] According to some embodiments of the present invention, the step of obtaining three-dimensional image data corresponding to the target tower construction area, wherein the three-dimensional image data is generated based on two-dimensional image data collected by a drone, includes:

[0014] Obtain the two-dimensional image data collected by the drone in the target tower construction area,

[0015] Processing the two-dimensional image data to obtain standardized data, the two-dimensional image data including at least one of the following: engineering topography image data, local oblique image data, oblique image data, orthophoto image data, laser point cloud data, and multi-view image data;

[0016] Based on the standardized data, establishing an engineering topographic model and a digital elevation model;

[0017] According to the engineering topographic model and the digital elevation model, three-dimensional model reconstruction is implemented using three-dimensional modeling software to obtain the three-dimensional image data corresponding to the target tower construction area.

[0018] According to some embodiments of the present invention, the processing the two-dimensional image data to obtain standardized data comprises:

[0019] Filtering the interference and noise in the two-dimensional image data according to an image filtering algorithm;

[0020] Performing aerial triangulation, geometric correction, geographic registration, cropping and splicing, coordinate conversion, and slice publishing processing on the engineering topography image and the local oblique image data to obtain an engineering topography model;

[0021] The oblique image, the orthophoto image data and the laser point cloud data are processed according to image dense point cloud matching to obtain echo information in the laser point cloud data. The echo information retains tree crown information and building edge information. The types of buildings and trees in the target tower construction area are identified according to the echo information.

[0022] The oblique image data, the orthophoto image data, and the laser point cloud data are processed according to the stereo mapping technology to obtain the characteristics of mountain terrain, water flow landform, vegetation distribution, and road distribution, and the profile space three-dimensional result data is generated by combining the real-time space and the distance to the ground;

[0023] The multi-view images are matched by using the SFM algorithm and the MVS algorithm to obtain sparse point cloud data and dense point cloud data of the target tower construction area, and the orthophoto image of the target tower construction area is prepared by using the vertical image;

[0024] The dense point cloud data are classified and processed using a gridded mathematical morphology method and an iterative triangulation interpolation method to obtain ground point cloud data, which are used to generate a digital elevation model and contour lines.

[0025] According to some embodiments of the present invention, determining the address information of a preset tower node according to the topographic parameters, the spatial parameters and tower construction specification information includes: determining a target tower construction position of the preset tower node within the target tower construction area according to the topographic parameters, the spatial parameters and tower construction specification information, the address information including the spatial parameters of the target tower construction position and the topographic parameters within the construction safety distance.

[0026] According to some embodiments of the present invention, determining a target high tower construction position of a high tower preset node in the target tower construction area according to the topographic parameters, the spatial parameters and the tower construction specification information includes:

[0027] Divide the target tower construction area into multiple regions according to the topographic parameters and the spatial parameters to obtain different types of regions;

[0028] Determine the site selection area according to different types of areas and the tower construction specification information;

[0029] Acquire a first safety distance threshold between the area of ​​the site selection area and the high tower node in the tower construction specification information;

[0030] According to the area of ​​the site selection area and the first safety distance threshold, a high tower preset node and a target high tower construction position of the high tower preset node are determined.

[0031] According to some embodiments of the present invention, the topographic parameters include at least one of the following: slope parameters; water flow topographic characteristic parameters; house distribution characteristic parameters; vegetation distribution parameters.

[0032] According to some embodiments of the present invention, the three-dimensional distribution diagram of the preset nodes of the high tower, the first node of the high tower and the last node of the high tower are connected to obtain the three-dimensional model of the line corridor, including:

[0033] Marking the first node of the high tower and the last node of the high tower in the three-dimensional image data corresponding to the target tower construction area;

[0034] Obtaining address information of the first node of the high tower, the last node of the high tower, and the preset node of the high tower;

[0035] According to the address information, a road section test process is performed on the first node of the high tower, the last node of the high tower, and the preset node of the high tower to obtain a candidate road section;

[0036] According to the candidate sections, determine a first path set with the first node of the high tower as the starting point, a second path set with the last node of the high tower as the starting point, and a third path set with the preset node of the high tower as the starting point;

[0037] Merging and deleting the candidate sections in the first path set, the second path set, and the third path set in turn to obtain a total route set of all routes between the first node of the high tower and the last node of the high tower;

[0038] Obtaining the route lengths of all routes in the total route set;

[0039] Model building and model connection processing are performed on the three-dimensional distribution diagram of preset nodes of the tower according to the total route set and the route length to obtain a three-dimensional model of the route corridor.

[0040] According to some embodiments of the present invention, according to the address information, a section test is performed on the high tower first node, the high tower last node, and the high tower preset node to obtain candidate sections of the high tower first node, the high tower last node, and the high tower preset node; including:

[0041] The first node of the high tower, the last node of the high tower and the preset node of the high tower are grouped into a high tower node set;

[0042] Selecting a first high tower node according to the high tower node set, taking the first high tower node as a starting point, connecting the first high tower node with a second high tower node to obtain a test section, and calculating a first distance of the test section, wherein the second high tower node is a node of the high tower node set other than the first high tower node;

[0043] When the first distance is greater than a first safety distance threshold and less than a first loss distance threshold, the test section is determined to be a candidate section of the first high tower node.

[0044] In a second aspect, an embodiment of the present invention further provides a server, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the control method of any one of the embodiments of the first aspect when executing the computer program.

[0045] In a third aspect, an embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute a control method as in any one of the embodiments of the first aspect.

[0046] Other features and advantages of the present invention will be set forth in the description which follows, and in part will be apparent from the description, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The above and additional aspects and advantages of the present invention will become apparent and easily understood from the following description of the embodiments with reference to the accompanying drawings, in which:

[0048] Figure 1 A schematic diagram of a process for selecting a site for high tower construction based on a three-dimensional visualization model provided by an embodiment of the present invention;

[0049] Figure 2 A schematic flow chart of a method for selecting a site for high tower construction based on a three-dimensional visualization model according to another embodiment of the present invention;

[0050] Figure 3 A schematic flow chart of a method for selecting a site for high tower construction based on a three-dimensional visualization model according to another embodiment of the present invention;

[0051] Figure 4 A schematic flow chart of a method for selecting a site for high tower construction based on a three-dimensional visualization model according to another embodiment of the present invention;

[0052] Figure 5A server is provided according to an embodiment of the present invention.

[0053] Reference numerals: server 40 , processor 41 , memory 42 . DETAILED DESCRIPTION

[0054] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0055] In the description of the present invention, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed" etc. are understood as not including the number itself, and "above", "below", "within" etc. are understood as including the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0056] The embodiments of the present invention are further described below in conjunction with the accompanying drawings.

[0057] Engineering projects require data construction. In the early stage of the project, the engineering power grid equipment model is established according to the needs of the project, including the unified construction of single-circuit and double-circuit straight towers and corner towers, the unified construction of tension strings, jumper strings, and suspension strings, and the unified construction of substation electrical equipment and building models. After the production is completed, the relevant model results are formed: engineering general straight pole tower model, engineering general corner pole tower model, insulator model, construction equipment model, pole tower positioning parameters, and substation model. These database models are universal, and how to establish the engineering power grid equipment model database will not be described in detail here.

[0058] For drone aerial images, all images are taken continuously by the same camera, so the focal length of the camera is known and fixed; during the shooting process, the relevant parameters of the shooting moment, including the longitude and latitude of the shooting location, heading, shooting altitude and shooting distance will be recorded by the corresponding equipment.

[0059] Reference Figure 1 , Figure 1 The figure is a flow chart of a method for selecting a site for high tower construction based on a three-dimensional visualization model, including the following steps:

[0060] Step S100, obtaining the first node of the high tower and the last node of the high tower;

[0061] The determination and selection of the locations of the first node and the last node of the tower are related to the implementation purpose of the specific project. If power transmission is to be carried out between two different locations, such as between villages, between cities, or between villages and cities, the first node and the last node of the tower are selected according to the project requirements. In this application, the locations of the first node and the last node of the tower are not specifically limited.

[0062] Step S110, determining the target tower construction area according to the first node of the tower and the last node of the tower;

[0063] The shortest route is a straight line between the first node and the last node of a tower. However, in reality, due to the complex topography, traffic distribution and other conditions, it is not possible to simply build a tower in a straight line. Therefore, it is necessary to select a target tower construction area, and this target tower construction area also determines the aerial photography range for drone aerial photography. The target tower construction area cannot be too large, which will waste drone resources; nor can it be too small, which will be difficult to find the best construction path. The specific scope needs to be determined based on construction specifications, project requirements, and project funding.

[0064] Step S120, obtaining three-dimensional image data corresponding to the target tower construction area, where the three-dimensional image data is generated based on the two-dimensional image data collected by the drone;

[0065] Based on the two-dimensional images collected by drones, three-dimensional image data corresponding to the target tower construction area can be obtained. Drones can fly at ultra-low altitudes and under clouds for aerial photography, and will not be blocked by clouds and unable to obtain images; they can also achieve navigation and camera control that adapts to terrain and objects, and obtain multi-angle and multi-building surface ground scenery images to support the construction of urban three-dimensional landscape models. Drone aerial images have the advantages of large scale, wide viewing angle and high currentness.

[0066] Specifically, the drones used for surveying and mapping can include: M210RTK drone, Phantom 4 RTK drone, Jingwei M210 RTK V2 medium-sized aerial survey drone, etc. The choice of drone will also have a certain impact on the accuracy, but this application does not make a specific choice or limit on the model of the drone used, as long as it can collect two-dimensional image data in the target tower construction area.

[0067] Step S130, obtaining topographic parameters and spatial parameters according to the three-dimensional image data, the topographic parameters are used to characterize topographic features, and the spatial parameters are used to describe the longitude and latitude coordinates and altitude of any position point in the three-dimensional image data.

[0068] After being collected by drones, two-dimensional images carry two-dimensional coordinate position information. Based on the two-dimensional images, three-dimensional image data of the target tower construction area can be obtained. The three-dimensional image reflects the topography of the target tower construction area and the spatial coordinate parameters of any point on the three-dimensional image. The topographic parameters and spatial parameters can be intuitively read from the three-dimensional image data, which helps users directly obtain the desired data when viewing the three-dimensional map.

[0069] Step S140, determining the address information of the preset nodes of the tower according to the topographic parameters, space parameters and tower construction specification information.

[0070] The target high tower construction location of the high tower preset node is determined in the target tower construction area according to the topographic parameters, spatial parameters and tower construction specification information. The address information includes the spatial parameters of the target high tower construction location and the topographic parameters within the construction safety distance.

[0071] The topographic parameters reflect the characteristics of the topography, and the spatial parameters determine the position of any point in the three-dimensional image. Combined with the tower construction specification information and the restrictions of the geographical environment, the location suitable for building a tower is found as the tower preset node location, so as to further obtain the address information of the tower preset node. This step determines the location points suitable for building a tower in the target tower construction area. If there is a need for further field surveys in the later work, it will help engineers locate the site of the field survey more quickly.

[0072] Step S150, generating a three-dimensional map of the distribution of preset nodes of the tower in the three-dimensional image data corresponding to the target tower construction area according to the address information;

[0073] According to the address information, points with corresponding position information are found in the three-dimensional image as preset nodes of the high tower, thereby forming a three-dimensional distribution diagram of the preset nodes of the high tower.

[0074] Step S160, the three-dimensional map of the preset node distribution of the tower, the first node of the tower and the last node of the tower are connected to obtain a three-dimensional model of the line corridor, and the three-dimensional model of the line corridor is used to provide decision suggestions to the user.

[0075] The three-dimensional distribution diagram of the preset nodes of the towers is obtained, which determines the approximate distribution of the construction site. The three-dimensional distribution diagram of the preset nodes of the towers, the first node of the towers and the last node of the towers are connected to obtain the three-dimensional corridor model of the line. The connection processing here refers to the connection in the three-dimensional diagram using the model in the engineering power grid equipment model database. The three-dimensional model of the line corridor shows the user all the tower nodes, construction routes and route lengths between the first node of the tower and the last node of the tower. It can provide users with decision-making suggestions when selecting the site for the tower in the early stage of construction, reduce the workload of outdoor surveys, reduce certain labor costs, and improve work efficiency and work quality.

[0076] Reference Figure 2 , Figure 2 This is a flow chart of a method for selecting a site for high tower construction based on a three-dimensional visualization model according to another embodiment of the present invention, which is a detailed flow chart of step S120, including:

[0077] Step S200, obtaining two-dimensional image data collected by the drone in the target tower construction area.

[0078] After the drone collects the two-dimensional image data, it can transmit the data back to the ground server in real time through a high-power WiFi module.

[0079] Step S210, processing the two-dimensional image data to obtain standardized data. The two-dimensional image data includes at least one of the following: engineering topography image data, local oblique image data, oblique image data, orthophoto image data, laser point cloud data, and multi-view image data;

[0080] The original two-dimensional image data is processed to obtain different types of standardized data. Based on the standardized data, it is helpful to establish different, high-precision digital models and engineering models more quickly and efficiently in subsequent modeling work.

[0081] Step S220: establishing an engineering topographic model and a digital elevation model based on the standardized data.

[0082] Digital elevation model is a digital simulation of ground terrain through limited terrain elevation data. It is a physical ground model that represents ground elevation in the form of a set of ordered numerical arrays, and other terrain characteristic values ​​can be derived from it. It is generally believed that digital elevation model describes the spatial distribution of linear and nonlinear combinations of various geomorphic factors including elevation, such as slope, aspect, slope change rate and other factors. Among them, digital elevation model is a zero-order simple single digital geomorphic model. Other geomorphic characteristics such as slope, aspect and slope change rate can be derived on the basis of digital elevation model. Establishing digital elevation model is conducive to the subsequent quick and convenient acquisition of some terrain and geomorphic parameters.

[0083] Step S230, based on the engineering topography model and the digital elevation model, a three-dimensional model is reconstructed using three-dimensional modeling software to obtain three-dimensional image data corresponding to the target tower construction area.

[0084] The use of existing mature 3D modeling software to achieve 3D model reconstruction is more reliable and faster. Specifically, the commonly used software for 3D reconstruction currently includes: OpenGL, 3DS Max, Maya, etc. No matter which software is used to construct the 3D image data, as long as the 3D image can be constructed based on the obtained 2D data information, this application does not make specific restrictions on the selected 3D reconstruction software.

[0085] It is understandable that the range of a single camera lens of a drone is limited, and multiple continuous two-dimensional image data will be obtained from multiple angles and multiple shooting heights for the target tower construction area. The characteristics of ground objects will be different in different two-dimensional image data. Therefore, in order to use these two-dimensional image data, they need to be processed to make them standardized data for unified use. Based on this, step S210 is further explained in detail. Processing the two-dimensional image data to obtain standardized data includes:

[0086] Filtering the interference and noise in the two-dimensional image data according to the image filtering algorithm;

[0087] In the actual complex environment, the drone will inevitably be affected by noise pollution or other interference in the process of collecting two-dimensional images. Before processing the two-dimensional image data, filtering can make the obtained data more accurate, which is conducive to building a more accurate three-dimensional model. Specifically, the image filtering algorithms that can be used are: mean filtering algorithm, Wiener filtering algorithm, wavelet filtering algorithm, etc. This application does not limit the filtering algorithm used, as long as it can achieve image filtering.

[0088] Perform aerial triangulation, geometric correction, georeferencing, cropping and splicing, coordinate conversion, and slice publishing on engineering topography images and local oblique image data to obtain engineering topography models;

[0089] Aerial triangulation is the analytical aerial triangulation. It is based on the coordinates of the image points measured on the two-dimensional image, adopts a mathematical model, follows the principle of least squares, and uses a small number of field control points as constraints to solve the ground coordinates and elevation data of the unknown points in the photographed area on the computer.

[0090] Geometric correction can correct and eliminate geometric distortion through a series of mathematical models. Remote sensing images are affected by a variety of factors, resulting in the geometric position, shape, size, orientation and other characteristics of the objects on the original image being inconsistent with the corresponding features of the ground objects. This inconsistency is called geometric deformation. After geometric correction, the corrected image data is obtained, which is closer to the actual features of the ground objects. Geometric correction is to correct the coordinate system of an image, which is conducive to forming a more accurate three-dimensional image.

[0091] Geo-reference is to align the control points to the positions of the reference points, so as to establish a one-to-one correspondence between the two coordinate systems in the two 2D images. Geo-reference is mainly used to calibrate the coordinates and projection of the map before digitizing it, so as to make the map coordinate points accurate and the map splicing accurate.

[0092] Cropping and splicing is to process multiple two-dimensional image data based on the results of geo-referencing to obtain a two-dimensional image with a larger coverage area.

[0093] Coordinate transformation is performed to convert the two-dimensional coordinate system into a three-dimensional coordinate system. Usually, the time interval between consecutive aerial images is short, so it is approximately assumed that the drone is shooting in parallel at a certain point in the actual terrain. The shooting model is obtained based on the binocular stereo vision model with the cameras horizontally parallel. According to the height information of the image shooting, the altitude of the spatial point is quickly solved, and then its three-dimensional coordinate information is obtained. For two consecutive aerial images, if the image coordinate information of each pair of feature points in the two images is known, the three-dimensional coordinate information of the feature points can be quickly and conveniently obtained.

[0094] Slice publishing processing, a slice is a projection of ground features relative to the ground. By combining multiple layered slices, an engineering landform terrain model can be obtained.

[0095] According to the image dense point cloud matching, the oblique image data, orthophoto image data and laser point cloud data are processed to obtain the echo information in the laser point cloud data. The echo information retains the tree crown information and building edge information. The types of buildings and trees in the target tower construction area are identified based on the echo information.

[0096] Laser electric cloud data is obtained by laser radar. By receiving the returned laser beam, the laser footsteps are stored in time series to obtain the high-precision three-dimensional coordinates of the measured object. Laser radar has strong penetration, strong anti-interference ability and excellent detection performance. The laser beam can easily penetrate the gaps between trees and obtain the location information of the bottom of the tree. Due to the obstruction of leaves, branches and buildings, echo information is formed, which can well preserve the crown information of the tree and the edge information of the building; the material of the object itself has different absorption capacity for the laser beam, resulting in large differences in the intensity information of the echo received by the laser radar. The echo and intensity information of the laser scanning point cloud can be used to detect vegetation, roads and building edges.

[0097] The laser scanning point cloud is used as reference data to evaluate the elevation accuracy of dense matching point clouds. The laser scanning point cloud is segmented by point-based regional growth to extract the roof surface with stable position and geometric structure. In view of the adhesion between buildings and trees, the point cloud is first segmented based on the color information of dense matching point clouds and the normal difference of point clouds at multiple scales. The neighborhood voting is established based on the distribution characteristics of tree points to remove tree points. Then, the point cloud is organized by virtual grid to extract the top points of the grid. The idea of ​​regional growth is used to segment the structure of objects with obvious top elevation differences, and the plane ratio feature is used to describe the maximum plane feature inside the segmented image. Finally, the building structure is used as a priori knowledge, the over-segmentation results are merged, and the feature vector is calculated and input into the support vector machine. The category attributes of the facade points are judged according to the extraction results of the top points of the grid to obtain a complete set of building points.

[0098] According to the stereo mapping technology, the oblique image data, orthophoto image data and laser point cloud data are processed to obtain the characteristics of mountain terrain, water flow landform, vegetation distribution and road distribution, and the profile space three-dimensional result data is generated by combining the real-time space and the distance to the ground;

[0099] The SFM algorithm and MVS algorithm are used to match the multi-view images to obtain the sparse point cloud data and dense point cloud data of the target tower construction area, and the vertical images are used to produce the orthophoto of the target tower construction area.

[0100] The SFM (Structure from Motion) algorithm is also called the motion inference structure algorithm. It can process a series of multiple views of the same object and scene to obtain the rough 3D shape of the scene, that is, sparse point cloud data, and obtain the camera space parameters at the same time; MVS (Multi View Stereo) is also called the multi-view stereo algorithm. Based on the camera parameters obtained by the SFM algorithm, it processes a series of multiple views of the same object and scene, and uses the MVS algorithm to refine the grid obtained by the SFM technology to perform dense reconstruction to obtain dense point cloud data. MVS usually considers lighting and object material during the optimization process. SFM uses a structured image sequence to perform 3D reconstruction, and MVS reconstructs based on the dual-view stereo vision of human stereo vision. Then combine the vertical images to produce orthophotos of the target tower construction area.

[0101] The dense point cloud data are classified and processed using the gridded mathematical morphology method and the iterative triangulation interpolation method to obtain the ground point cloud data, which is used to generate digital elevation models and contour lines.

[0102] Reference Figure 3 , Figure 3 This is a flow chart of a method for selecting a site for a high tower construction based on a three-dimensional visualization model according to another embodiment of the present invention, and is a detailed flow chart of step S140. It includes:

[0103] Step S300, dividing the target tower construction area into multiple regions according to topographic parameters and spatial parameters to obtain different types of regions.

[0104] Specifically, the topographic parameters include at least one of the following: slope parameters, water flow topographic characteristic parameters, house distribution characteristic parameters, and vegetation distribution parameters.

[0105] According to the slope parameters and slope threshold, the target tower construction area is divided into a flat terrain area, a steep terrain area, and an impassable terrain area; according to the water flow landform characteristic parameters, the target tower construction area is divided into a water flow landform area and a non-water flow landform area; according to the house distribution characteristic parameters and the house distribution density threshold, the target tower construction area is divided into a residential area and a non-residential area; according to the vegetation distribution parameters and the plant distribution density threshold, the target tower construction area is divided into a vegetation distribution area and a non-vegetation distribution area; the site selection area is obtained according to the overlapping area of ​​the flat terrain area, the non-water flow landform area, the non-residential area, and the non-vegetation distribution area.

[0106] It should be noted that the topographic parameters are not limited to the parameters mentioned in this application, and the topographic parameters may also include: slope direction, slope change rate, catchment area, etc. Different topographic parameters may be selected according to specific engineering construction requirements to divide the target tower construction area and obtain different types of areas.

[0107] Step S310, determining a site selection area according to different types of areas and tower construction specification information;

[0108] In the actual construction process, complex terrain will be encountered. In engineering construction, high tower buildings are generally built in flat terrain areas rather than in overly steep terrain areas. This ensures that large construction machines can enter the construction site; the construction site should be set in a non-water flow landform area. The geology of the water flow landform area is relatively loose and is not suitable for building foundations to build high towers. During the rainy season, river flooding or flood discharge will also affect the construction progress, construction quality and the use of subsequent engineering buildings; considering the need to reduce the impact of construction, the site should be far away from villages, schools and other crowded areas; for the sake of environmental protection, try to stay away from places where vegetation is too densely distributed to reduce damage to the local ecological environment.

[0109] Based on the different types of areas obtained, within the target tower construction area, the area that meets multiple tower construction specifications will be determined as the site selection area. The terrain that does not meet the site selection requirements of the project construction will be screened out through topographic and geomorphic parameters, which will help to further narrow the site selection area and lay the foundation for subsequent site selection work. When there is a need for field investigation, it can provide a reference for surveyors when selecting the survey scope, reduce the workload of surveyors, and facilitate their work.

[0110] Step S320, obtaining the area of ​​the site selection area and the first safety distance threshold between the high tower nodes in the tower construction specification information;

[0111] There are different tower spacing specifications for different towers. The safety distance threshold is selected based on the type of tower in actual engineering construction.

[0112] Step S330, determining the high tower preset node and the target high tower construction position information of the high tower preset node according to the area of ​​the site selection area and the first safety distance threshold.

[0113] After obtaining the site selection area, calculate the area of ​​the site selection area. In the tower construction specification information, a certain safety distance is required between tower nodes. Take a tower node as the center and the minimum safety distance as the radius to draw a circle. The second tower node cannot be selected within this circle. Divide the area of ​​the site selection area by the area of ​​the circle to get the maximum number of tower construction site selection points within a site selection area. In the site selection area, determine the tower preset nodes based on the geographical terrain parameters of the specific location points, such as slope aspect, tangential curvature and other parameters, and obtain the address information of the tower preset nodes.

[0114] Reference Figure 4 , Figure 4 This is a flow chart of a method for selecting a site for high tower construction based on a three-dimensional visualization model according to another embodiment of the present invention, in which step S160 is further refined, including:

[0115] Step S400, marking the first node and the last node of the tower in the three-dimensional image data corresponding to the target tower construction area;

[0116] Step S410, obtaining the address information of the first node of the high tower, the last node of the high tower, and the preset node of the high tower;

[0117] The address information of the first node of the high tower, the last node of the high tower, and the preset node of the high tower are obtained from the three-dimensional image data corresponding to the target tower construction area.

[0118] Step S420, according to the address information, a road section test process is performed on the first node of the high tower, the last node of the high tower, and the preset node of the high tower to obtain a candidate road section.

[0119] In this step, specifically, the first node of the high tower, the last node of the high tower and the preset node of the high tower are grouped as a high tower node set; the first high tower node is selected according to the high tower node set, and the first high tower node is used as the starting point, and the first high tower node is connected with the second high tower node to obtain a test section, and the first distance of the test section is calculated, and the second high tower node is the other node of the high tower node set except the first high tower node; when the first distance is greater than the first safety distance threshold and less than the first loss distance threshold, the test section is determined to be a candidate section of the first high tower node.

[0120] If the distance between two towers is too long, there will be a large loss of electricity during the transmission process, resulting in excessively high transmission costs. Overlong transmission lines are also more susceptible to extreme climates. Therefore, the first loss distance threshold is determined based on the tower construction specification information, and the distance between the two towers cannot be greater than the first loss distance threshold. When the first distance of the test section is greater than the first safety distance threshold and less than the first loss distance threshold, it is determined as a candidate section for the first tower node. The actual tower construction specification information is referenced to make the determined candidate sections more feasible.

[0121] Step S430, based on the candidate sections, determine a first path set starting from the first node of the high tower, a second path set starting from the last node of the high tower, and a third path set starting from the preset node of the high tower.

[0122] Step S440, merging and deleting the candidate sections in the first path set, the second path set, and the third path set in turn, to obtain a total route set of all routes between the first node of the high tower and the last node of the high tower;

[0123] Compare the candidate sections in the first path set, the second path set, and the third path set. When the first tower node and the second tower node of the two candidate sections are consistent, the candidate section appears repeatedly, and the candidate section is deleted from the second path set and the third path set. Select the first candidate path from the first path set, and select the second candidate path from the third path set for merging according to the second tower node of the first candidate path; then select the third candidate path from the second path set for merging according to the second tower node of the second candidate path, and obtain a tower construction route including the first tower node and the last tower node. In this way, select the candidate path from the first path set to obtain all routes between the first tower node and the last tower node.

[0124] Step S450, obtaining the route lengths of all routes in the total route set;

[0125] Step S460, model building and model connection processing are performed on the three-dimensional map of the preset node distribution of the tower according to the total route set and the route length to obtain a three-dimensional model of the route corridor.

[0126] The location of the tower and substation models is confirmed by using the engineering power grid equipment model database, combined with the construction route map, tower list, and substation layout plan. Various model data will be combined with the tower coordinate data and displayed in a three-dimensional scene to obtain a three-dimensional model of the line corridor. Through this model, users can obtain the topographic parameters and spatial parameters around the tower construction line and the tower preset nodes. They can intuitively observe all the tower nodes, construction routes, and route lengths between the first and last tower nodes of the tower. It provides users with decision-making suggestions when selecting the tower site in the early stage of construction, reduces the workload of outdoor surveys, reduces labor costs, and improves work efficiency and work quality. When there is a need for field surveys in the later stage, it can also provide references for surveyors to improve their work efficiency.

[0127] refer to Figure 5 , a server 40 is provided in the second embodiment of the present invention. The server 40 includes but is not limited to: a memory 42 for storing programs; a processor 41 for executing the programs stored in the memory 42. The processor 41 and the memory 42 may be connected via a bus or other means.

[0128] The memory 42 is a non-transitory computer-readable storage medium that can be used to store non-transitory software programs and non-transitory computer executable programs. The processor 41 implements the above-mentioned high tower construction site selection method by running the non-transitory software programs and instructions stored in the memory 42.

[0129] The memory 42 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and application programs required for at least one function; the data storage area may store programs for executing the above-mentioned tower site selection method. In addition, the memory 42 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage devices. In some embodiments, the memory 42 may optionally include a memory remotely disposed relative to the processor 41, and these remote memories may be connected to the processor 41 via a network.

[0130] The non-transient software program and instructions required to implement the above-mentioned high tower construction site selection method based on the three-dimensional visualization model are stored in the memory 42. When executed by one or more processors 41, the above-mentioned high tower construction site selection method is executed, for example, Figure 1 The method steps S100 to S160 described in Figure 2 The method steps S200 to S230 described in Figure 3 The method steps S300 to S330 described in Figure 4 Method steps S400 to S460 described in .

[0131] In addition, an embodiment of the present invention further provides a computer-readable storage medium, which stores computer-executable instructions, and the computer-executable instructions are executed by one or more control processors. The one or more control processors execute the high tower construction site selection method based on the three-dimensional visualization model in the above method embodiment, for example, executing the above described Figure 1 The method steps S100 to S160 described in Figure 2 The method steps S200 to S230 described in Figure 3 The method steps S300 to S330 described in Figure 4 Method steps S400 to S460 described in .

[0132] Those of ordinary skill in the art will appreciate that all or some of the steps in the disclosed method above can be implemented as software, firmware, hardware and appropriate combinations thereof. Some physical components or all physical components can be implemented as software executed by a processor, such as a central processing unit, a digital signal processor or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, and the computer-readable medium can include a computer storage medium and a communication medium. The computer storage medium includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storing information. Computer storage media include, but are not limited to, RAM, ROM, EEPROM, CD-ROM, or any other medium that can be used to store desired information and can be accessed by a computer. In addition, the communication medium generally contains computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transmission mechanism, and can include any information delivery medium.

[0133] The embodiments of the present invention are described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Various changes can be made within the knowledge scope of ordinary technicians in the technical field without departing from the purpose of the present invention.

Claims

1. A method for selecting a site for high tower construction based on a three-dimensional visualization model, characterized in that: include: Get the first node and the last node of the tower; Determine a target tower construction area according to the first node of the high tower and the last node of the high tower; Acquire three-dimensional image data corresponding to the target tower construction area, wherein the three-dimensional image data is generated according to the two-dimensional image data collected by the drone; Obtaining topographic parameters and spatial parameters according to the three-dimensional image data, wherein the topographic parameters are used to characterize topographic features, and the spatial parameters are used to describe the longitude and latitude coordinates and altitude of any position point in the three-dimensional image data; Determine the address information of the preset nodes of the tower according to the topographic parameters, the spatial parameters and the tower construction specification information; Generate a three-dimensional map of the distribution of preset nodes of a high tower in the three-dimensional image data corresponding to the target tower construction area according to the address information; The three-dimensional distribution diagram of the preset nodes of the high tower, the first node of the high tower and the last node of the high tower are connected to obtain a three-dimensional model of the line corridor, and the three-dimensional model of the line corridor is used to provide decision suggestions to the user; The process of connecting the three-dimensional distribution graph of the preset nodes of the high tower, the first node of the high tower and the last node of the high tower to obtain the three-dimensional model of the line corridor includes: Marking the first node of the high tower and the last node of the high tower in the three-dimensional image data corresponding to the target tower construction area; Obtaining address information of the first node of the high tower, the last node of the high tower, and the preset node of the high tower; According to the address information, a road section test process is performed on the first node of the high tower, the last node of the high tower, and the preset node of the high tower to obtain a candidate road section; According to the candidate sections, determine a first path set with the first node of the high tower as the starting point, a second path set with the last node of the high tower as the starting point, and a third path set with the preset node of the high tower as the starting point; Merging and deleting the candidate sections in the first path set, the second path set, and the third path set in turn to obtain a total route set of all routes between the first node of the high tower and the last node of the high tower; Obtaining the route lengths of all routes in the total route set; Model building and model connection processing are performed on the three-dimensional distribution diagram of preset nodes of the tower according to the total route set and the route length to obtain a three-dimensional model of the route corridor.

2. The method for selecting a site for high tower construction based on a three-dimensional visualization model according to claim 1, characterized in that: The step of obtaining three-dimensional image data corresponding to the target tower construction area, wherein the three-dimensional image data is generated according to two-dimensional image data collected by the drone, includes: Obtain the two-dimensional image data collected by the drone in the target tower construction area, Processing the two-dimensional image data to obtain standardized data, the two-dimensional image data including at least one of the following: engineering topography image data, local oblique image data, oblique image data, orthophoto image data, laser point cloud data, multi-view image data, vertical image; Based on the standardized data, establishing an engineering topographic model and a digital elevation model; According to the engineering topographic model and the digital elevation model, three-dimensional model reconstruction is implemented using three-dimensional modeling software to obtain the three-dimensional image data corresponding to the target tower construction area.

3. The method for selecting a site for high tower construction based on a three-dimensional visualization model according to claim 2, characterized in that: The processing of the two-dimensional image data to obtain standardized data comprises: Filtering the interference and noise in the two-dimensional image data according to an image filtering algorithm; Performing aerial triangulation, geometric correction, geographic registration, cropping and splicing, coordinate conversion, and slice publishing processing on the engineering topography image and the local oblique image data to obtain an engineering topography model; The oblique image, the orthophoto image data and the laser point cloud data are processed according to image dense point cloud matching to obtain echo information in the laser point cloud data, wherein the echo information retains tree crown information and building edge information, and the types of buildings and trees in the target tower construction area are identified according to the echo information; The oblique image data, the orthophoto image data, and the laser point cloud data are processed according to the stereo mapping technology to obtain the characteristics of mountain terrain, water flow landform, vegetation distribution, and road distribution, and the profile space three-dimensional result data is generated by combining the real-time space and the distance to the ground; The multi-view images are matched by using the SFM algorithm and the MVS algorithm to obtain sparse point cloud data and dense point cloud data of the target tower construction area, and the orthophoto image of the target tower construction area is prepared by using the vertical image; The dense point cloud data are classified and processed using a gridded mathematical morphology method and an iterative triangulation interpolation method to obtain ground point cloud data, which are used to generate a digital elevation model and contour lines.

4. The method for selecting a site for high tower construction based on a three-dimensional visualization model according to claim 1, characterized in that: The determining the address information of the preset nodes of the tower according to the topographic parameters, the space parameters and the tower construction specification information includes: The target high tower construction position of the high tower preset node is determined in the target tower construction area according to the topographic parameters, the spatial parameters and the tower construction specification information, and the address information includes the spatial parameters of the target high tower construction position and the topographic parameters within the construction safety distance.

5. The method for selecting a site for high tower construction based on a three-dimensional visualization model according to claim 4, characterized in that: Determining the target high tower construction position of the high tower preset node in the target tower construction area according to the topographic parameters, the spatial parameters and the tower construction specification information includes: Divide the target tower construction area into multiple regions according to the topographic parameters and the spatial parameters to obtain different types of regions; Determine the site selection area according to different types of areas and the tower construction specification information; Acquire a first safety distance threshold between the area of ​​the site selection area and the high tower node in the tower construction specification information; According to the area of ​​the site selection area and the first safety distance threshold, a high tower preset node and a target high tower construction position of the high tower preset node are determined.

6. The method for selecting a site for high tower construction based on a three-dimensional visualization model according to claim 5, characterized in that: The topographic parameters include at least one of the following: slope parameters; water flow landform characteristic parameters; house distribution characteristic parameters; vegetation distribution parameters.

7. The method for selecting a site for high tower construction based on a three-dimensional visualization model according to claim 1, characterized in that: The method of performing a road section test on the first node of the high tower, the last node of the high tower, and the preset node of the high tower according to the address information to obtain candidate road sections of the first node of the high tower, the last node of the high tower, and the preset node of the high tower includes: The first node of the high tower, the last node of the high tower and the preset node of the high tower are grouped into a high tower node set; Selecting a first high tower node according to the high tower node set, taking the first high tower node as a starting point, connecting the first high tower node with a second high tower node to obtain a test section, and calculating a first distance of the test section, wherein the second high tower node is a node of the high tower node set other than the first high tower node; When the first distance is greater than a first safety distance threshold and less than a first loss distance threshold, the test section is determined to be a candidate section of the first high tower node.

8. A server, comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the high tower construction site selection method based on a three-dimensional visualization model as described in any one of claims 1 to 7 when executing the computer program.

9. A computer-readable storage medium storing computer-executable instructions, characterized in that: The computer executable instructions are used to enable a computer to execute the high tower construction site selection method based on a three-dimensional visualization model as described in any one of claims 1 to 7.

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