Power line tracing and shooting method, device, terminal and storage medium

Abstract

The present invention relates to the technical field of power line maintenance, and in particular to a method, device, terminal, and storage medium for power line tracing and shooting. The method of the present invention first obtains a sample image, then compares an initialization image with the sample image to obtain image difference information, then adjusts the shooting conditions of the initialization image according to the difference information until the difference information is less than a threshold, and finally shoots images along the power line according to the shooting conditions. In an embodiment of the present invention, at the initial stage of power line tracing and shooting, the initialization image of the continuous image is adjusted to be consistent with the shooting conditions of the sample image according to the sample image. Therefore, when stitching together multiple images taken continuously, it is easier to stitch together, and the image characteristics of the images formed after multiple stitching are less different, making it easy to compare the images and find problems with the power line. The efficiency of power line inspection is improved and manpower consumption is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of power line maintenance, and in particular to a power line tracing and photographing method, device, terminal and storage medium. Background Art

[0002] Overhead transmission lines typically span several to hundreds of kilometers. Within such a narrow and long range, line equipment operates exposed to the elements for extended periods, subjecting it to a variety of climatic conditions (such as storms, floods, ice and snow, fog, pollution, and lightning strikes). Furthermore, they are subject to other external forces, such as farm machinery striking towers or cable foundations, fallen trees and bamboo striking conductors, construction work near the lines, blasting, gunfire, passing vehicles and cranes severing conductors, kites catching on conductors and causing phase-to-phase shorts, and ground shorts caused by birds and animals. All of these factors can jeopardize the safe operation of the lines. Consequently, line failures are more likely to occur, and once they do occur, repairs and power transmission can take a long time, resulting in varying degrees of damage. To ensure the safe operation of the lines, a safety-first, prevention-focused approach must be implemented throughout operation. Line inspections and patrols must be strengthened to identify equipment defects and factors that could threaten safe operation, enabling timely repairs and elimination, and the development of safety measures.

[0003] Line inspection work came into being. The so-called line inspection is to inspect the operation status of line equipment in detail along the line, promptly discover defects and fault points in the equipment, and record them in detail as a basis for line maintenance.

[0004] In existing technology, to conduct regular inspections and quickly identify problems, the entire line can be divided into several inspection sections based on the line's length, the administrative region where the line is located, the terrain along the route, and the convenience of operation. The power supply department in each area is responsible for inspection and maintenance operations. Line inspections should be carried out regularly by experienced personnel.

[0005] Line inspection relies on human experience, and repetitive and high-intensity work is inevitable. Based on this, it is necessary to develop a power line tracing and shooting method to reduce the labor intensity of manual inspection. Summary of the Invention

[0006] The embodiments of the present invention provide a power line tracing and photographing method, device, terminal and storage medium, which are used to solve the problem of high labor intensity of manual inspection in the prior art.

[0007] In a first aspect, an embodiment of the present invention provides a method for tracking and photographing power lines, comprising:

[0008] Acquire a sample image, where the sample image is used to represent initial shooting information of a shooting target;

[0009] Comparing an initialization image with the sample image to obtain image difference information, wherein the initialization image is an image captured of the target;

[0010] adjusting the shooting conditions of the initialization image according to the difference information until the difference information is less than a threshold;

[0011] An image is captured along the power lines according to the capturing conditions.

[0012] In a possible implementation, the sample image is provided with a plurality of identification image blocks at predetermined positions, and the comparing the initialization image with the sample image to obtain image difference information includes:

[0013] Obtaining an intermediate matrix and an offset unit, wherein the intermediate matrix and the matrix for identifying the image block are of the same type;

[0014] Adjusting the size and resolution of the initialization image according to the sample image;

[0015] performing normalization processing on the sample image data and the initialization image data respectively;

[0016] For each identification image block in the plurality of identification image blocks at predetermined positions, a core set is obtained by performing the following steps:

[0017] The data acquisition step comprises: acquiring data from a predetermined position of the initialization image using the intermediate matrix;

[0018] Acquire an image kernel unit according to the intermediate matrix and the identification image block, wherein the image kernel unit includes an image kernel and a label, the label is used to identify a position of the image kernel corresponding to the initialization image, and the image kernel is used to represent the similarity between the intermediate matrix and the matrix of the identification image block;

[0019] Adding the graph core unit to the graph core set;

[0020] performing an offset operation on the predetermined position according to the offset unit;

[0021] If the predetermined position does not exceed the range of the initialization image, the process jumps to the data acquisition step.

[0022] In a possible implementation, the image kernel is obtained by the following steps:

[0023] Multiplying the matrix of the identified image block by the transposed matrix of the intermediate matrix to obtain a kernel matrix;

[0024] The sum of the elements of the kernel matrix is calculated as the image kernel.

[0025] In one possible implementation, adjusting the shooting conditions of the initialization image according to the difference information until the difference information is less than a threshold includes:

[0026] For the identification image blocks at the plurality of predetermined positions, finding the position of the largest image kernel in each image kernel set according to the image kernel set of each identification image block, and obtaining a plurality of initialization positions;

[0027] constructing a sample pattern according to the positions of the identification image blocks at the plurality of predetermined positions, and constructing an initialization pattern according to the plurality of initialization positions;

[0028] Determining a differentiation feature according to the sample pattern and the initialization pattern;

[0029] According to the difference feature, the shooting conditions of the initialization image are adjusted.

[0030] In one possible implementation, determining the differentiation feature according to the sample pattern and the initialization pattern includes:

[0031] Determining a first reference sideline of the initialization pattern and a first reference sideline of the sample pattern, wherein the first reference sideline is the longest sideline or the shortest sideline in the initialization pattern;

[0032] Performing a graphic operation on the initialization graphic according to the first reference sideline of the initialization graphic and the first reference sideline of the sample graphic, so that the first reference sideline of the initialization graphic and the first reference sideline of the sample graphic coincide with each other, wherein the graphic operation includes one of the following: a translation operation, a rotation operation, and a scaling operation;

[0033] A parameter of the graphics operation is obtained as a first part of the differentiation feature.

[0034] In one possible implementation, after the step of performing a graphic operation on the initialization graphic based on the first reference sideline of the initialization graphic and the first reference sideline of the sample graphic so that the first reference sideline of the initialization graphic and the first reference sideline of the sample graphic coincide with each other, a graphic distortion calculation step is further included. The graphic distortion calculation step includes:

[0035] Determining a second reference sideline of the initialization pattern and a second reference sideline of the sample pattern, wherein the second reference sideline is the shortest sideline or the longest sideline in the initialization pattern;

[0036] A ratio of the second reference edge line of the initialization pattern to the second reference edge line of the sample pattern is calculated, and if the ratio exceeds a threshold, the ratio is used as the second part of the differential feature.

[0037] In a possible implementation, adjusting the shooting conditions of the initialization image according to the differential feature includes:

[0038] Adjusting the degrees of freedom of shooting according to the first part of the differentiation feature, wherein the degrees of freedom of shooting include at least one of the following: translation, elevation, and yaw angle;

[0039] According to the second part of the differentiation feature, the roll angle and / or the pitch angle of the shot are adjusted.

[0040] In a second aspect, an embodiment of the present invention provides a power line tracing and photographing device, comprising:

[0041] A sample image acquisition module is used to acquire a sample image, wherein the sample image is used to represent initial shooting information of the shooting target;

[0042] an image difference determination module, configured to compare an initialization image with the sample image to obtain image difference information, wherein the initialization image is an image captured of the target;

[0043] a shooting adjustment module, configured to adjust shooting conditions of the initialization image according to the difference information until the difference information is less than a threshold;

[0044] as well as,

[0045] The shooting module is used to shoot images along the power lines according to the shooting conditions.

[0046] In a third aspect, an embodiment of the present invention provides a terminal comprising a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and when the processor executes the computer program, it implements the steps of the method described in the first aspect or any possible implementation of the first aspect.

[0047] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the steps of the method described in the first aspect or any possible implementation of the first aspect.

[0048] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0049] The embodiment of the present invention discloses a method for power line tracing and shooting, which first obtains a sample image, then compares an initialization image with the sample image to obtain image difference information, then adjusts the shooting conditions of the initialization image according to the difference information until the difference information is less than a threshold, and finally shoots images along the power line according to the shooting conditions. In the embodiment of the present invention, at the initial stage of power line tracing and shooting, the initialization image of the continuous image is adjusted to be consistent with the shooting conditions of the sample image according to the sample image. Therefore, when stitching together multiple images taken continuously, the stitching is easier, and the image characteristics of the images formed after multiple stitching are small, making it easy to compare the images and find problems with the power line. The efficiency of power line inspection is improved and manpower consumption is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0051] Figure 1 is a flow chart of a power line tracing and photographing method provided by an embodiment of the present invention;

[0052] Figure 2 This is a diagram of an application scenario of power line tracing and shooting provided by an embodiment of the present invention;

[0053] Figure 3 This is a schematic diagram showing the principle of comparison between a sample image and an initialization image provided by an embodiment of the present invention;

[0054] Figure 4 is a schematic diagram of adjusting an initialization image with reference to a sample image according to an embodiment of the present invention;

[0055] Figure 5 This is a functional block diagram of a power line tracing and photographing device provided by an embodiment of the present invention;

[0056] Figure 6 This is a functional block diagram of a terminal provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0057] In the following description, specific details such as particular system structures and techniques are provided for purposes of illustration, not limitation, to facilitate a thorough understanding of the embodiments of the present invention. However, it will be apparent to those skilled in the art that the present invention may be practiced in alternative embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.

[0058] In order to make the objectives, technical solutions and advantages of the present invention more clear, the following will be described through specific implementation methods in conjunction with the accompanying drawings.

[0059] The following is a detailed description of an embodiment of the present invention. This example is implemented based on the technical solution of the present invention, and provides a detailed implementation method and specific operation process, but the protection scope of the present invention is not limited to the following embodiment.

[0060] Figure 1 This is a flow chart of a power line tracing and photographing method provided in an embodiment of the present invention.

[0061] like Figure 1 As shown, it shows a flow chart of the implementation of the power line tracing and shooting method provided by an embodiment of the present invention, which is detailed as follows:

[0062] In step 101 , a sample image is acquired, where the sample image is used to represent initial shooting information of a shooting target.

[0063] For example, Figure 2 As shown, Figure 2 A scene diagram of the method of the embodiment of the present invention is shown in FIG.

[0064] In the figure, the drone 201 is equipped with a camera 202, which captures images of the power lines 203. In order to stitch the captured images together and to facilitate the discovery of defects in the power lines 203 through the images, we always hope that the brightness of the image obtained each time, and the position, size, and angle of the power lines 203 in the image are consistent.

[0065] However, due to the limitations of shooting conditions, such as Figure 2 As shown, the drone 201 often presents a certain angle with the power lines, resulting in distortion of the images of the power lines. Manual intervention in the shooting conditions is often not delicate enough. For example, it may be difficult to determine the size of the images of the power lines shot twice.

[0066] When stitching captured images, there is one starting image. The starting image is used as a benchmark, and the effect of the starting image determines the overall effect of the stitched image.

[0067] Therefore, it is necessary to set a sample image for shooting, and adjust the shooting conditions based on the sample image so that the images of the power lines shot each time tend to be consistent.

[0068] In step 102, an initialization image is compared with the sample image to obtain image difference information, wherein the initialization image is an image captured of the target.

[0069] In some embodiments, the sample image is provided with a plurality of identification image blocks at predetermined positions, and step 102 includes:

[0070] Obtaining an intermediate matrix and an offset unit, wherein the intermediate matrix and the matrix for identifying the image block are of the same type;

[0071] Adjusting the size and resolution of the initialization image according to the sample image;

[0072] performing normalization processing on the sample image data and the initialization image data respectively;

[0073] For each identification image block in the plurality of identification image blocks at predetermined positions, a core set is obtained by performing the following steps:

[0074] The data acquisition step comprises: acquiring data from a predetermined position of the initialization image using the intermediate matrix;

[0075] Acquire an image kernel unit according to the intermediate matrix and the identification image block, wherein the image kernel unit includes an image kernel and a label, the label is used to identify a position of the image kernel corresponding to the initialization image, and the image kernel is used to represent the similarity between the intermediate matrix and the matrix of the identification image block;

[0076] Adding the graph core unit to the graph core set;

[0077] performing an offset operation on the predetermined position according to the offset unit;

[0078] If the predetermined position does not exceed the range of the initialization image, the process jumps to the data acquisition step.

[0079] In some embodiments, the image kernel is obtained by the following steps:

[0080] Multiplying the matrix of the identified image block by the transposed matrix of the intermediate matrix to obtain a kernel matrix;

[0081] The sum of the elements of the kernel matrix is calculated as the image kernel.

[0082] For example, Figure 3 A schematic diagram illustrating the comparison principle between a sample image and an initialization image provided by an embodiment of the present invention is shown.

[0083] Sample image 301 provides a comparison with initialization image 302. Sample image 301 contains three marker image blocks at pre-set locations: a circle, a square, and a rectangle. If the marker image blocks corresponding to the three pre-set locations in initialization image 302 are found, the difference between initialization image 302 and sample image 301 can be determined based on sample image 301. Based on the above principles, the following example illustrates a specific implementation.

[0084] First, the size and resolution of the initialization image are adjusted based on the size and resolution of the sample image to ensure that the size and resolution of the initialization image are consistent with those of the sample image. Then, the sample image data and the initialization image data are normalized. Since each pixel in the image can be considered as one or a predetermined number of data points, the normalization process can be performed using commonly known techniques.

[0085] Next, for each identified image block of the sample image, the same steps are performed to obtain a kernel set corresponding to each identified image block. In a specific application scenario, an intermediate matrix smaller than the image size is used to extract the image block data from the initialization image in a predetermined order. For example, data blocks are extracted in an orderly step from left to right and from top to bottom. Each data block is compared with the data of the identified image block for similarity to obtain similarity data. This similarity data is the image kernel. The image kernel is then marked with the position label of the data block in the initialization image and added to the kernel set, ultimately forming a kernel set. This kernel set is the difference information between the two images.

[0086] In one application scenario, the image kernel is calculated by multiplying the marker image block by the transposed matrix of the data block. The resulting matrix is summed up, and this sum is used as the image kernel. The image kernel represents the degree of similarity between the data block and the marker image block. The greater the similarity between the data block and the marker image block, the larger the image kernel value.

[0087] In step 103, the shooting conditions of the initialization image are adjusted according to the difference information until the difference information is smaller than a threshold.

[0088] In some embodiments, step 103 includes:

[0089] For the identification image blocks at the plurality of predetermined positions, finding the position of the largest image kernel in each image kernel set according to the image kernel set of each identification image block, and obtaining a plurality of initialization positions;

[0090] constructing a sample pattern according to the positions of the identification image blocks at the plurality of predetermined positions, and constructing an initialization pattern according to the plurality of initialization positions;

[0091] Determining a differentiation feature according to the sample pattern and the initialization pattern;

[0092] According to the differential feature, the shooting conditions of the initialization image are adjusted.

[0093] In some embodiments, determining the differential feature based on the sample pattern and the initialization pattern includes:

[0094] Determining a first reference sideline of the initialization pattern and a first reference sideline of the sample pattern, wherein the first reference sideline is the longest sideline or the shortest sideline in the initialization pattern;

[0095] Performing a graphic operation on the initialization graphic according to the first reference sideline of the initialization graphic and the first reference sideline of the sample graphic, so that the first reference sideline of the initialization graphic and the first reference sideline of the sample graphic coincide with each other, wherein the graphic operation includes one of the following: a translation operation, a rotation operation, and a scaling operation;

[0096] A parameter of the graphics operation is obtained as a first part of the differentiation feature.

[0097] In some embodiments, after the step of performing a graphic operation on the initialization graphic based on the first reference sideline of the initialization graphic and the first reference sideline of the sample graphic so that the first reference sideline of the initialization graphic and the first reference sideline of the sample graphic coincide with each other, a graphic distortion calculation step is further included, wherein the graphic distortion calculation step includes:

[0098] Determining a second reference sideline of the initialization pattern and a second reference sideline of the sample pattern, wherein the second reference sideline is the shortest sideline or the longest sideline in the initialization pattern;

[0099] A ratio of the second reference edge line of the initialization pattern to the second reference edge line of the sample pattern is calculated, and if the ratio exceeds a threshold, the ratio is used as the second part of the differential feature.

[0100] In some embodiments, adjusting the shooting conditions of the initialization image according to the differential feature includes:

[0101] Adjusting the degrees of freedom of shooting according to the first part of the differentiation feature, wherein the degrees of freedom of shooting include at least one of the following: translation, elevation, and yaw angle;

[0102] According to the second part of the differentiation feature, the roll angle and / or the pitch angle of the shot are adjusted.

[0103] For example, as mentioned above, after obtaining the difference information of the two images, we can find a data block similar to the identification image block at a predetermined position in the sample image from the initialization image. For example, in the above example, we can find the image kernel with the largest value in the image kernel, and construct a graph based on the position information of the label record of the largest image kernel. Figure 3 As shown, in an application scenario, the graphic is a triangle. For the initialization image and the sample image, the initialization graphic and the sample graphic are obtained respectively according to the above steps.

[0104] One application scenario for obtaining difference features involves rotating, translating, and scaling the initialization image based on its longest or shortest side, so that the longest or shortest side of the initialization image is the same length as the longest or shortest side of the sample image, and their positions correspond. Recording these rotation, translation, and scaling parameters creates the difference features.

[0105] After the above rotation, translation and scaling, the initialization graphics may still have distortion problems, for example, Figure 4 As shown, after the initialization pattern is subjected to the above operations, the shortest side or the longest side (if the initialization pattern is rotated, translated, and scaled to the longest side, the shortest side is used here, and vice versa) still cannot completely coincide with the sample pattern. The reason for this result is that the device that captures the image is not perpendicular to the image, that is, Figure 1 In this case, the shortest or longest sides of the two figures are divided, and the obtained ratio is added to the differential feature as part of the differential feature.

[0106] With the above differentiation features, we can adjust the conditions for initializing image capture. Figure 1 In the application scenario shown, we can change the shooting conditions by changing the freedom of the drone's flight.

[0107] For example, if the initialization figure is small, we will lower the drone to a certain height. The initialization figure will present a certain clockwise angle relative to the sample figure, and the drone will yaw counterclockwise by the corresponding angle. The drone can also be translated according to the position of the figure in the image.

[0108] Regarding the distortion problem, generally speaking, it is because the drone has a roll angle or pitch angle relative to the shooting target, and the image distortion can be reduced by rolling or pitching.

[0109] In step 104 , images are captured along the power lines according to the capturing conditions.

[0110] For example, after adjusting the captured initialization image to be consistent with the sample image, continuous shooting can be performed according to predetermined conditions. For example, in the case of the aforementioned drone carrying a camera, the drone generally has its own gyroscope and accelerometer. The yaw, roll, and pitch angles can be controlled to maintain a stable level using the gyroscope's feedback signals. Furthermore, the drone's height relative to the power lines can be maintained at a stable level by locking the focus and adjusting the image clarity based on the flight altitude.

[0111] The embodiment of the power line tracing and shooting method of the present invention first obtains a sample image, then compares the initialization image with the sample image to obtain image difference information, then adjusts the shooting conditions of the initialization image according to the difference information until the difference information is less than a threshold value, and finally shoots images along the power line according to the shooting conditions. In the embodiment of the present invention, at the initial stage of power line tracing and shooting, the initialization image of the continuous image is adjusted to be consistent with the shooting conditions of the sample image according to the sample image. Therefore, when stitching together multiple images taken continuously, the stitching is easier, and the image characteristics between the images formed after multiple stitching are small, making it easy to compare the images, discover problems with the power lines, and reduce the difficulty of image recognition. The method of the embodiment of the present invention improves the efficiency of power line inspection and reduces manpower consumption.

[0112] It should be understood that the size of the serial numbers of each step in the above embodiment does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0113] The following is an embodiment of the device of the present invention. For details not described in detail, please refer to the corresponding method embodiment described above.

[0114] Figure 5 This is a functional block diagram of a power line tracing and photographing device provided by an embodiment of the present invention, referring to Figure 5 The power line tracing and photographing device 5 includes: a sample image acquiring module 501 , an image difference determining module 502 , a photographing adjustment module 503 and a photographing module 504 .

[0115] The sample image acquisition module 501 is used to acquire a sample image, where the sample image is used to represent initial shooting information of the shooting target;

[0116] An image difference determination module 502 is configured to compare an initialization image with the sample image to obtain image difference information, wherein the initialization image is an image captured of the target;

[0117] a shooting adjustment module 503, configured to adjust shooting conditions of the initialization image according to the difference information until the difference information is less than a threshold;

[0118] as well as,

[0119] The shooting module 504 is configured to shoot images along the power lines according to the shooting conditions.

[0120] Figure 6 This is a functional block diagram of a terminal provided by an embodiment of the present invention. Figure 6 As shown, the terminal 6 of this embodiment includes: a processor 600 and a memory 601, wherein the memory 601 stores a computer program 602 that can be run on the processor 600. When the processor 600 executes the computer program 602, the steps in the above-mentioned power line tracing and shooting methods and embodiments are implemented, such as Figure 1 Steps 101 to 104 are shown.

[0121] Illustratively, the computer program 602 may be divided into one or more modules / units, and the one or more modules / units are stored in the memory 601 and executed by the processor 600 to implement the present invention.

[0122] The terminal 6 can be a computing device such as a desktop computer, a notebook, a PDA, or a cloud server. The terminal 6 can include, but is not limited to, a processor 600 and a memory 601. Those skilled in the art will understand that Figure 6 It is only an example of terminal 6 and does not constitute a limitation on terminal 6. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the terminal may also include input and output devices, network access devices, buses, etc.

[0123] The processor 600 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0124] The memory 601 may be an internal storage unit of the terminal 6, such as a hard disk or memory of the terminal 6. The memory 601 may also be an external storage device of the terminal 6, such as a plug-in hard disk, a smart media card (SMC), a secure digital card (SD), a flash card, etc. equipped on the terminal 6. Furthermore, the memory 601 may include both an internal storage unit of the terminal 6 and an external storage device. The memory 601 is used to store the computer program and other programs and data required by the terminal. The memory 601 may also be used to temporarily store data that has been output or is about to be output.

[0125] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the implementation method can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method implementation method, and will not be repeated here.

[0126] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0127] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present invention.

[0128] In the embodiments provided herein, it should be understood that the disclosed devices / terminals and methods can be implemented in other ways. For example, the device / terminal embodiments described above are merely illustrative. For example, the division of modules or units is merely a logical functional division. In actual implementation, there may be other division methods, such as multiple units or components being combined or integrated into another system, or some features being ignored or not implemented. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interface, or the indirect coupling or communication connection of devices or units may be electrical, mechanical, or other forms.

[0129] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of this embodiment.

[0130] In addition, the functional units in various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0131] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, it can implement the steps of the above-mentioned power line tracing and shooting method and power line tracing and shooting device implementation. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device that can carry the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practices in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practices, computer-readable media does not include electrical carrier signals and telecommunication signals.

[0132] The above-described embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should all be included in the scope of protection of the present invention.

Claims

1. A method for tracing and photographing power lines, characterized in that: include: Acquire a sample image, where the sample image is used to represent initial shooting information of a shooting target; Comparing an initialization image with the sample image to obtain image similarity information, wherein the initialization image is an image captured of the target; determining difference information between the initialization image and the sample image according to the similarity information, and adjusting a shooting condition of the initialization image according to the difference information until the difference information is less than a threshold; capturing images along power lines according to the capturing conditions; The sample image is provided with a plurality of identification image blocks at predetermined positions, and the comparing the initialization image with the sample image to obtain image similarity information includes: Obtaining an intermediate matrix and an offset unit, wherein the intermediate matrix and the matrix for identifying the image block are of the same type; Adjusting the size and resolution of the initialization image according to the sample image; performing normalization processing on the sample image data and the initialization image data respectively; For each identification image block in the plurality of identification image blocks at predetermined positions, a core set is obtained by performing the following steps: The data acquisition step comprises: acquiring data from a predetermined position of the initialization image using the intermediate matrix; Acquire an image kernel unit according to the intermediate matrix and the identification image block, wherein the image kernel unit includes an image kernel and a label, the label is used to identify a position of the image kernel corresponding to the initialization image, and the image kernel is used to represent the similarity between the intermediate matrix and the matrix of the identification image block; Adding the graph core unit to the graph core set; performing an offset operation on a predetermined position according to the offset unit; If the predetermined position does not exceed the range of the initialization image, jump to the data acquisition step; The step of determining difference information between the initialization image and the sample image according to the similarity information, and adjusting a shooting condition of the initialization image according to the difference information until the difference information is less than a threshold, includes: For the identification image blocks at the plurality of predetermined positions, finding the position of the largest image kernel in each image kernel set according to the image kernel set of each identification image block, and obtaining a plurality of initialization positions; constructing a sample pattern according to the positions of the identification image blocks at the plurality of predetermined positions, and constructing an initialization pattern according to the plurality of initialization positions; Determining a first reference sideline of an initialization graphic and a first reference sideline of a sample graphic, wherein the sample image is provided with a plurality of identification image blocks at predetermined positions, and the first reference sideline is the longest sideline or the shortest sideline in the graphic; Performing a graphic operation on the initialization graphic according to the first reference sideline of the initialization graphic and the first reference sideline of the sample graphic, so that the first reference sideline of the initialization graphic coincides with the first reference sideline of the sample graphic, wherein the graphic operation includes one of the following: a translation operation, a rotation operation, and a scaling operation; Obtaining parameters of the graphics operation as a first part of the difference information; Determining a second reference sideline of the initialization graphic and a second reference sideline of the sample graphic, wherein the second reference sideline is the shortest sideline or the longest sideline in the graphic, and when the first reference sideline is the longest sideline in the graphic, the second reference sideline is the shortest sideline in the graphic, and when the first reference sideline is the shortest sideline in the graphic, the second reference sideline is the longest sideline in the graphic; calculating a ratio of a second reference sideline of the initialization pattern to a second reference sideline of the sample pattern, and if the ratio exceeds a threshold, using the ratio as a second part of the difference information; Adjusting the degrees of freedom of shooting according to the first part of the difference information, wherein the degrees of freedom of shooting include at least one of the following: translation, elevation, and yaw angle; Adjust the roll angle and / or pitch angle of the shooting according to the second part of the difference information.

2. The power line tracing and shooting method according to claim 1, characterized in that: The image kernel is obtained by the following steps: Multiplying the matrix of the identified image block by the transposed matrix of the intermediate matrix to obtain a kernel matrix; The sum of the elements of the kernel matrix is calculated as the image kernel.

3. A power line tracing and photographing device, characterized in that: For implementing the power line tracing and photographing method according to any one of claims 1 to 2, the power line tracing and photographing device comprises: A sample image acquisition module is used to acquire a sample image, wherein the sample image is used to represent initial shooting information of the shooting target; an image difference determination module, configured to compare an initialization image with the sample image to obtain image similarity information, wherein the initialization image is an image captured of the target; a shooting adjustment module, configured to determine difference information between the initialization image and the sample image according to the similarity information, and adjust shooting conditions of the initialization image according to the difference information until the difference information is less than a threshold; as well as, The shooting module is used to shoot images along the power lines according to the shooting conditions.

4. A terminal comprising a memory and a processor, wherein the memory stores a computer program that can be run on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 2 are implemented.

5. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 2 are implemented.

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