Insulating layer damage monitoring system and method based on point cloud similarity
By calculating the similarity of cable point cloud images to identify cable insulation layer damage, the problem of untimely and inefficient monitoring in existing technologies is solved, realizing automated monitoring of cable insulation layer damage and improving the timeliness and efficiency of monitoring.
Patent Information
- Application Number
- CN202411142912.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-20
- Publication Date
- 2025-01-07
AI Technical Summary
Current technologies for monitoring cable insulation damage are not timely and efficient, requiring significant manpower and involving cumbersome monitoring procedures.
By identifying the standard point cloud coordinates and actual point cloud coordinates at the same location in the cable to be monitored, the similarity between the standard point cloud image and the actual point cloud image is calculated, and a cable insulation layer damage warning is issued when the similarity is less than a preset threshold.
It enables automatic monitoring of cable insulation damage, improving the timeliness and efficiency of monitoring and reducing labor costs.
Smart Images
Figure CN119273617A_ABST
Abstract
Description
Technical Field
[0001] The present application belongs to the technical field of cable monitoring, and specifically relates to an insulation layer damage monitoring system and method based on point cloud similarity. Background Art
[0002] Cable insulation damage refers to the breakage and damage of the cable insulation layer under the influence of external forces or environmental factors. This may affect the operating performance of the cable, and in severe cases may even lead to insulation failure, affecting the normal operation of the power system. It is very important to monitor the damage of the cable insulation layer in a timely manner.
[0003] In the prior art, cable inspectors usually regularly check the insulation layer of the monitored cable to see if the insulation layer is damaged, or use power measurement tools to regularly measure the resistance value of the insulation layer of the monitored cable, and determine that the insulation layer is damaged when the measured resistance value is less than the standard resistance value. However, the use of the prior art requires a lot of manpower costs, and the monitoring steps are cumbersome, and there are problems such as insufficient timeliness in damage monitoring and low monitoring efficiency. Summary of the invention
[0004] The purpose of the embodiments of the present application is to provide an insulation layer damage monitoring system and method based on point cloud similarity, which solves the problems of insufficient timeliness and low monitoring efficiency in related technologies. By identifying the standard point cloud coordinates and actual point cloud coordinates of the registered point cloud image at the same position in the cable to be monitored, the similarity between the standard point cloud image and the actual point cloud image is calculated based on the standard point cloud coordinates and the actual point cloud coordinates, and a cable insulation layer damage warning is issued when the similarity is less than a preset similarity threshold. The purpose of automatically monitoring the damage of the insulation layer of the cable to be monitored can be achieved, thereby improving the timeliness and efficiency of cable insulation layer damage monitoring.
[0005] In a first aspect, an embodiment of the present application provides an insulation layer damage monitoring method based on point cloud similarity, the method comprising:
[0006] Reading a standard point cloud image of the cable to be monitored in the cable point cloud image library according to the cable model of the cable to be monitored;
[0007] Receiving an actual three-dimensional image of the cable to be monitored reported by a three-dimensional camera, and converting the actual three-dimensional image into an actual point cloud image;
[0008] Uploading the standard point cloud image and the actual point cloud image to a preset three-dimensional image coordinate system, and performing point cloud registration on the standard point cloud image and the actual point cloud image to obtain a registered point cloud image of the cable to be monitored;
[0009] Identify the standard point cloud coordinates and the actual point cloud coordinates at the same position of the registered point cloud image, and calculate the similarity between the standard point cloud image and the actual point cloud image based on the standard point cloud coordinates and the actual point cloud coordinates;
[0010] It is identified whether the similarity is less than a preset similarity threshold, and a cable insulation layer damage warning is issued if the similarity is less than the preset similarity threshold.
[0011] Optionally, performing point cloud registration on the standard point cloud image and the actual point cloud image to obtain a registered point cloud image of the cable to be monitored includes:
[0012] Obtaining standard point cloud coordinate values of a cross section of the cable to be monitored in a preset three-dimensional image coordinate system, and determining standard center line coordinates of the cable to be monitored according to the standard point cloud coordinate values of the cross section;
[0013] Obtaining actual point cloud coordinate values of a cross section of the cable to be monitored in a preset three-dimensional image coordinate system, and determining actual center line coordinates of the cable to be monitored according to the actual point cloud coordinate values of the cross section;
[0014] The actual point cloud image is moved to the standard point cloud image according to the actual center line coordinates and the standard center line coordinates to obtain a registered point cloud image of the cable to be monitored.
[0015] Optionally, the calculating the similarity between the standard point cloud image and the actual point cloud image based on the standard point cloud coordinates and the actual point cloud coordinates includes:
[0016] The distance between the standard point cloud image and the actual point cloud image at the same position is calculated according to the standard point cloud coordinates and the actual point cloud coordinates, and the distance is used as the similarity between the standard point cloud image and the actual point cloud image at the position.
[0017] Optionally, the preset similarity threshold includes: a preset fault point cloud number threshold;
[0018] Accordingly, the identifying whether the similarity is less than a preset similarity threshold includes:
[0019] Identify the number of fault point clouds whose distance is greater than a preset distance threshold in the registered point cloud image within a preset range, and identify whether the number of fault point clouds is greater than a preset fault point cloud number threshold, wherein the fault point cloud is a point cloud on the actual point cloud image;
[0020] If the number of fault point clouds is greater than or equal to the preset fault point cloud number threshold, determining that the similarity is less than the preset similarity threshold;
[0021] If the number of the fault point clouds is less than the preset fault number threshold, it is determined that the similarity is greater than or equal to the preset similarity threshold.
[0022] Optionally, after identifying whether the similarity is less than a preset similarity threshold, the method further includes:
[0023] When the similarity is greater than or equal to a preset similarity threshold, the actual point cloud coordinates of the fault point cloud within the preset range are corrected according to the standard point cloud coordinates.
[0024] Optionally, issuing a cable insulation layer damage warning when the similarity is less than the preset similarity threshold includes:
[0025] When the similarity is less than the preset similarity threshold, drawing a distance change curve between the standard point cloud image and the actual point cloud image at each preset position;
[0026] Determining the insulation damage shape of the cable to be monitored according to the change trend of the distance change curve;
[0027] A damage warning is issued at each preset position according to the damaged shape of the insulation layer.
[0028] Optionally, issuing a damage warning at each preset position according to the damaged shape of the insulating layer includes:
[0029] Determine the insulation layer damage type at each preset position according to the insulation layer damage shape and the association relationship between the preset damage shape and the damage type;
[0030] A damage warning is issued at each preset position according to the insulation layer damage type.
[0031] In a second aspect, an embodiment of the present application provides an insulation layer damage monitoring system based on point cloud similarity, the system comprising:
[0032] A standard point cloud image reading module is used to read the standard point cloud image of the cable to be monitored in the cable point cloud image library according to the cable model of the cable to be monitored;
[0033] An actual point cloud image conversion module is used to receive an actual three-dimensional image of the cable to be monitored reported by a three-dimensional camera, and convert the actual three-dimensional image into an actual point cloud image;
[0034] A point cloud image registration module, used for uploading the standard point cloud image and the actual point cloud image to a preset three-dimensional image coordinate system, and performing point cloud registration on the standard point cloud image and the actual point cloud image to obtain a registered point cloud image of the cable to be monitored;
[0035] A similarity calculation module is used to identify the standard point cloud coordinates and the actual point cloud coordinates at the same position of the registered point cloud image, and calculate the similarity between the standard point cloud image and the actual point cloud image based on the standard point cloud coordinates and the actual point cloud coordinates;
[0036] The damage warning module is used to identify whether the similarity is less than a preset similarity threshold, and issue a cable insulation layer damage warning when the similarity is less than the preset similarity threshold.
[0037] In a third aspect, an embodiment of the present application provides an electronic device, which includes a processor, a memory, and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction, when executed by the processor, implements the steps of the method described in the first aspect.
[0038] In a fourth aspect, an embodiment of the present application provides a readable storage medium, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the steps of the method described in the first aspect are implemented.
[0039] In the fifth aspect, an embodiment of the present application also provides a computer program product, which includes a computer program stored in a computer-readable storage medium, and at least one processor of the device reads and executes the computer program from the computer-readable storage medium, so that the device performs the method described in the first aspect.
[0040] In an embodiment of the present application, a standard point cloud image of the cable to be monitored in a cable point cloud image library is read according to the cable model of the cable to be monitored; an actual three-dimensional image of the cable to be monitored reported by a three-dimensional camera is received, and the actual three-dimensional image is converted into an actual point cloud image; the standard point cloud image and the actual point cloud image are uploaded to a preset three-dimensional image coordinate system, and point cloud registration is performed on the standard point cloud image and the actual point cloud image to obtain a registered point cloud image of the cable to be monitored; the standard point cloud coordinates and the actual point cloud coordinates at the same position of the registered point cloud image are identified, and the similarity between the standard point cloud image and the actual point cloud image is calculated based on the standard point cloud coordinates and the actual point cloud coordinates; it is identified whether the similarity is less than a preset similarity threshold, and a cable insulation damage warning is issued if the similarity is less than the preset similarity threshold. The above-mentioned insulation layer damage monitoring method based on point cloud similarity has solved the problems of insufficient timeliness and low monitoring efficiency existing in the related technology. By identifying the standard point cloud coordinates and the actual point cloud coordinates of the registered point cloud image at the same position in the cable to be monitored, the similarity between the standard point cloud image and the actual point cloud image is calculated based on the standard point cloud coordinates and the actual point cloud coordinates, and a cable insulation layer damage warning is issued when the similarity is less than a preset similarity threshold. The purpose of automatically monitoring the damage of the insulation layer of the cable to be monitored can be achieved, thereby improving the timeliness and efficiency of cable insulation layer damage monitoring. BRIEF DESCRIPTION OF THE DRAWINGS
[0041] Figure 1 It is a flow chart of an insulation layer damage monitoring method based on point cloud similarity provided in an embodiment of the present application;
[0042] Figure 2 It is a flow chart of an insulation layer damage monitoring method based on point cloud similarity provided in an embodiment of the present application;
[0043] Figure 3 is a flow chart of cable insulation damage warning provided by an embodiment of the present application;
[0044] Figure 4 It is a structural block diagram of an insulation layer damage monitoring system based on point cloud similarity provided in an embodiment of the present application;
[0045] Figure 5 It is a structural block diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION
[0046] In order to make the purpose, technical scheme and advantages of the present application clearer, the specific embodiments of the present application are further described in detail below in conjunction with the accompanying drawings. It is understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for the convenience of description, only the part related to the present application but not all the contents are shown in the accompanying drawings. Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flow charts. Although the flow chart describes each operation (or step) as a sequential process, many of the operations therein can be implemented in parallel, concurrently or simultaneously. In addition, the order of each operation can be rearranged. The process can be terminated when its operation is completed, but it can also have additional steps not included in the accompanying drawings. The process can correspond to a method, a function, a procedure, a subroutine, a subprogram, etc.
[0047] The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application belong to the scope of protection of this application.
[0048] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.
[0049] First of all, the use scenario of this solution can be the scenario of monitoring the damage of the cable insulation layer, especially the scenario of insulation damage identification and damage alarm for cables installed in the air. By comparing the similarity between the standard point cloud image of the cable and the actual point cloud image to monitor whether the cable is damaged, the damage of the cable can be automatically monitored, which improves the timeliness and efficiency of monitoring the damage of the cable insulation layer. Based on the above usage scenarios, it can be understood that the executor of this solution can be an electronic device, such as smart terminals such as mobile phones and computers.
[0050] In the following, in combination with the accompanying drawings, a system and method for monitoring insulation layer damage based on point cloud similarity provided by an embodiment of the present application are described in detail through specific embodiments and their application scenarios.
[0051] Figure 1 is a flow chart of an insulation layer damage monitoring method based on point cloud similarity provided in an embodiment of the present application. Figure 1 As shown, the specific steps include:
[0052] S101, reading a standard point cloud image of the cable to be monitored in a cable point cloud image library according to the cable model of the cable to be monitored.
[0053] The cable to be monitored may be a cable in operation whose insulation layer is to be monitored for damage. The cable model may be a number used to indicate the cable category, cable insulation layer and cable conductor data. For example, the oil-filled cable model consists of the product series code and the codes of the various parts of the cable structure. The power cable model is represented by a combination of letters and numbers, where letters represent the series, conductor, insulation, sheath, characteristics and derived codes of the cable product, and numbers represent the cable outer sheath code. The cable point cloud image library may be an image library for storing pre-built standard point cloud images of various cable models. The standard point cloud image may be a three-dimensional point cloud image of the cable when no fault occurs in the cable.
[0054] In one embodiment, a point cloud image having the same cable model as the cable to be monitored may be searched from the cable point cloud image library, and the searched point cloud image may be used as a standard point cloud image of the cable to be monitored.
[0055] S102, receiving an actual three-dimensional image of the cable to be monitored reported by a three-dimensional camera, and converting the actual three-dimensional image into an actual point cloud image.
[0056] The three-dimensional camera may be a camera device that can directly obtain a three-dimensional image of the cable to be monitored, such as a binocular camera. The three-dimensional camera may be set on the cable to be monitored, or may be set near the cable to be monitored. As long as the three-dimensional image of the cable to be monitored can be obtained in real time, no specific limitation is made here. The actual three-dimensional image of the cable to be monitored may be an image of the cable to be monitored in actual operation. The actual point cloud image may be a three-dimensional point cloud image obtained by performing point cloud extraction on the actual three-dimensional image.
[0057] In one embodiment, an actual three-dimensional image of the cable to be monitored reported in real time by a three-dimensional camera can be received, point cloud extraction can be performed on the actual three-dimensional image using an image segmentation algorithm and an approximate fitting method, and the surface point cloud extracted after image segmentation can be superimposed to obtain an actual point cloud image of the cable to be monitored.
[0058] S103, uploading the standard point cloud image and the actual point cloud image to a preset three-dimensional image coordinate system, and performing point cloud registration on the standard point cloud image and the actual point cloud image to obtain a registered point cloud image of the cable to be monitored.
[0059] The preset three-dimensional image coordinate system may be a preset coordinate system for representing the three-dimensional features of the cable to be monitored. The registered point cloud image may be a three-dimensional point cloud image obtained by matching and overlapping the standard point cloud image of the cable to be monitored with the same point cloud of the actual point cloud image.
[0060] In one embodiment, the standard point cloud image and the actual point cloud image can be uploaded to a preset three-dimensional image coordinate system, and the actual point cloud image can be moved to a position that coincides with the outline of the standard point cloud image according to the outline of the standard point cloud image in the preset three-dimensional coordinate system, so as to perform point cloud registration on the standard point cloud image and the actual point cloud image to obtain a registered point cloud image of the cable to be monitored.
[0061] In one embodiment, optionally, performing point cloud registration on the standard point cloud image and the actual point cloud image to obtain a registered point cloud image of the cable to be monitored includes:
[0062] Obtaining standard point cloud coordinate values of a cross section of the cable to be monitored in a preset three-dimensional image coordinate system, and determining standard center line coordinates of the cable to be monitored according to the standard point cloud coordinate values of the cross section;
[0063] Obtaining actual point cloud coordinate values of a cross section of the cable to be monitored in a preset three-dimensional image coordinate system, and determining actual center line coordinates of the cable to be monitored according to the actual point cloud coordinate values of the cross section;
[0064] The actual point cloud image is moved to the standard point cloud image according to the actual center line coordinates and the standard center line coordinates to obtain a registered point cloud image of the cable to be monitored.
[0065] The standard point cloud coordinate value of the cross section may be the outline point cloud coordinate value of the cable cross section of the cable to be monitored in the standard point cloud image. The standard center line coordinate may be the coordinate range of the straight line passing through the center of the cross section at both ends of the cable in the standard point cloud image. The actual point cloud coordinate value of the cross section may be the outline point cloud coordinate value of the cable cross section of the cable to be monitored in the actual point cloud image. The actual center line coordinate may be the coordinate range of the straight line passing through the center of the cross section at both ends of the cable in the actual point cloud image.
[0066] In one embodiment, a certain point cloud in the cross section of the standard point cloud image can be overlapped with the origin of the preset three-dimensional image coordinate system, and the length of the cable in the standard point cloud image is parallel to the z-axis of the preset three-dimensional image coordinate system. Read the standard point cloud coordinate value of the cross section of the standard point cloud image in the preset three-dimensional coordinate system, determine the standard center coordinates of the two cross sections of the cable to be monitored according to the standard point cloud coordinate value of the cross section, make a straight line passing through the standard center coordinates of the two cross sections and parallel to the z-axis of the preset three-dimensional image coordinate system, and use the straight line as the standard center line of the cable to be monitored, and the coordinate range of the straight line is the standard center line coordinate. According to the above method, the actual point cloud image is adjusted in the preset three-dimensional image coordinate system, and the actual point cloud coordinate value of the cross section is calculated. According to the actual point cloud coordinate value of the cross section, the actual center coordinates of the two cross sections of the cable to be monitored are determined, and a straight line passing through the actual center coordinates of the two cross sections and parallel to the z-axis of the preset three-dimensional image coordinate system is made. The straight line is used as the actual center line of the cable to be monitored, and the coordinate range of the straight line is the actual center line coordinate. The actual point cloud image is moved according to the actual center line coordinates and the standard center line coordinates until the actual center line coordinates coincide with the standard center line coordinates, thereby obtaining a registered point cloud image of the cable to be monitored.
[0067] In this scheme, by respectively acquiring the standard center line coordinates and the actual center line coordinates of the cable to be monitored, and moving the actual point cloud image to the standard point cloud image according to the actual center line coordinates and the standard center line coordinates to obtain the registered point cloud image of the cable to be monitored, the accuracy of point cloud image registration can be improved, which is beneficial to the accuracy of subsequent calculation of the similarity between the standard point cloud image and the actual point cloud image.
[0068] S104, identifying the standard point cloud coordinates and the actual point cloud coordinates at the same position of the registered point cloud image, and calculating the similarity between the standard point cloud image and the actual point cloud image based on the standard point cloud coordinates and the actual point cloud coordinates.
[0069] In one embodiment, a position can be randomly selected on the registered point cloud image and the standard point cloud coordinates and actual point cloud coordinates at the position can be read. A position can include standard point clouds of multiple standard point cloud images and actual point clouds of multiple actual point cloud images. When calculating the similarity between point cloud images, the same number of standard point clouds and actual point clouds can be taken. The ratio of the number of unequal coordinates in the standard point cloud coordinates and the actual point cloud coordinates to the total number of coordinates can be calculated, and the ratio is used as the similarity between the standard point cloud image and the actual point cloud image. For example: there are 2 point clouds with unequal x coordinate values and 1 point cloud with unequal y value in ten standard point clouds and ten actual point clouds, then the similarities between the standard point cloud image and the actual point cloud image are 1 / 5 and 1 / 10 respectively, and the lowest value can be taken as the final similarity between the standard point cloud image and the actual point cloud image.
[0070] S105, identifying whether the similarity is less than a preset similarity threshold, and issuing a cable insulation layer damage warning if the similarity is less than the preset similarity threshold.
[0071] The preset similarity threshold may be a preset minimum value of the similarity between the standard point cloud image and the actual point cloud image.
[0072] In one embodiment, the similarity between the standard point cloud image and the actual point cloud image can be compared to see whether it is less than a preset similarity threshold. If the similarity is less than the preset similarity threshold, it means that there is a problem that the actual shape of the cable insulation layer deviates from the standard shape, and a cable insulation layer damage warning is issued to the cable maintenance terminal based on the position information of the position. Before issuing the insulation layer damage warning, all positions on the registered point cloud image can be traversed according to the random non-repetitive principle to perform damage inspection on all positions of the monitored cable.
[0073] The technical solution provided in the embodiment of the present application reads the standard point cloud image of the cable to be monitored in the cable point cloud image library according to the cable model of the cable to be monitored; receives the actual three-dimensional image of the cable to be monitored reported by the three-dimensional camera, and converts the actual three-dimensional image into an actual point cloud image; uploads the standard point cloud image and the actual point cloud image to a preset three-dimensional image coordinate system, and performs point cloud registration on the standard point cloud image and the actual point cloud image to obtain a registered point cloud image of the cable to be monitored; identifies the standard point cloud coordinates and the actual point cloud coordinates at the same position of the registered point cloud image, and calculates the similarity between the standard point cloud image and the actual point cloud image based on the standard point cloud coordinates and the actual point cloud coordinates; identifies whether the similarity is less than a preset similarity threshold, and issues a cable insulation damage warning when the similarity is less than the preset similarity threshold. The above-mentioned insulation layer damage monitoring method based on point cloud similarity has solved the problems of insufficient timeliness and low monitoring efficiency existing in the related technology. By identifying the standard point cloud coordinates and the actual point cloud coordinates of the registered point cloud image at the same position in the cable to be monitored, the similarity between the standard point cloud image and the actual point cloud image is calculated based on the standard point cloud coordinates and the actual point cloud coordinates, and a cable insulation layer damage warning is issued when the similarity is less than a preset similarity threshold. The purpose of automatically monitoring the damage of the insulation layer of the cable to be monitored can be achieved, thereby improving the timeliness and efficiency of cable insulation layer damage monitoring.
[0074] Figure 2 is a flow chart of an insulation layer damage monitoring method based on point cloud similarity provided in an embodiment of the present application. Figure 2 As shown, the specific steps include:
[0075] S201, reading a standard point cloud image of the cable to be monitored in a cable point cloud image library according to the cable model of the cable to be monitored.
[0076] S202, receiving an actual three-dimensional image of the cable to be monitored reported by a three-dimensional camera, and converting the actual three-dimensional image into an actual point cloud image.
[0077] S203, uploading the standard point cloud image and the actual point cloud image to a preset three-dimensional image coordinate system, and performing point cloud registration on the standard point cloud image and the actual point cloud image to obtain a registered point cloud image of the cable to be monitored.
[0078] S204, calculating the distance between the standard point cloud image and the actual point cloud image at the same position according to the standard point cloud coordinates and the actual point cloud coordinates, and taking the distance as the similarity between the standard point cloud image and the actual point cloud image at the position.
[0079] In one embodiment, the distance between the standard point cloud and the actual point cloud at the same position can be calculated based on the standard point cloud coordinates and the actual point cloud coordinates. This distance is the distance between the standard point cloud image and the actual point cloud image at the same position. If there are multiple standard point clouds and actual point clouds at the position, the distance between the standard point cloud and the actual point cloud can be calculated respectively and the average value can be taken as the distance between the standard point cloud image and the actual point cloud image at the position. The maximum distance value between the standard point cloud and the actual point cloud can also be taken as the distance between the standard point cloud image and the actual point cloud image at the position. The distance is taken as the similarity between the standard point cloud image and the actual point cloud image at the position.
[0080] S205 , identifying whether the similarity is less than a preset similarity threshold, and issuing a cable insulation layer damage warning if the similarity is less than the preset similarity threshold.
[0081] In one embodiment, optionally, the preset similarity threshold includes: a preset fault point cloud number threshold;
[0082] Accordingly, the identifying whether the similarity is less than a preset similarity threshold includes:
[0083] Identify the number of fault point clouds whose distance is greater than a preset distance threshold in the registered point cloud image within a preset range, and identify whether the number of fault point clouds is greater than a preset fault point cloud number threshold, wherein the fault point cloud is a point cloud on the actual point cloud image;
[0084] If the number of fault point clouds is greater than or equal to the preset fault point cloud number threshold, determining that the similarity is less than the preset similarity threshold;
[0085] If the number of the fault point clouds is less than the preset fault number threshold, it is determined that the similarity is greater than or equal to the preset similarity threshold.
[0086] Among them, the preset fault point cloud number threshold can be the maximum number of fault point clouds when the insulation layer of the cable to be monitored is not damaged. The preset fault point cloud number threshold in this solution can avoid the similarity calculation error between point cloud images caused by error factors such as point cloud image registration. The preset distance threshold can be the maximum distance between the actual point cloud coordinates and the standard point cloud coordinates that is pre-set when the insulation layer of the cable to be monitored is not damaged. The fault point cloud can be a point cloud whose distance between the actual point cloud coordinates and the standard point cloud coordinates is greater than the preset distance threshold. The fault point cloud is a point cloud on the actual point cloud image.
[0087] In one embodiment, the positions where the distance between the standard point cloud image and the actual point cloud image in the registered point cloud image within the preset range is greater than the preset distance threshold and the number of point clouds at each position can be identified, the number of point clouds at each position is added to obtain the number of fault point clouds, and the number of fault point clouds is compared to see whether it is greater than the preset fault point cloud number threshold. If the number of fault point clouds is greater than or equal to the preset fault point cloud number threshold, it means that the fault point cloud at this time is not caused by error factors, so it is determined that the similarity between the standard point cloud image and the actual point cloud image is less than the preset similarity threshold; if the number of fault point clouds is less than the preset fault number threshold, it means that the fault point cloud at this time is caused by error factors, so it is determined that the similarity is greater than or equal to the preset similarity threshold.
[0088] This solution determines whether the similarity between the standard point cloud image and the actual point cloud image is greater than a preset similarity threshold by identifying whether the number of fault point clouds in the registered point cloud image within a preset range is greater than a preset fault point cloud number threshold. This can avoid the problem of erroneous point cloud image similarity judgment caused by point cloud registration errors and improve the accuracy of judging whether the insulation layer of the monitored cable is damaged.
[0089] In one embodiment, optionally, after identifying whether the similarity is less than a preset similarity threshold, the method further includes:
[0090] When the similarity is greater than or equal to a preset similarity threshold, the actual point cloud coordinates of the fault point cloud within the preset range are corrected according to the standard point cloud coordinates.
[0091] In one embodiment, when the similarity between the standard point cloud image and the actual point cloud image is greater than or equal to a preset similarity threshold, the actual point cloud coordinates of the fault point cloud within the preset range are corrected to the standard point cloud coordinates corresponding to the point cloud.
[0092] This solution, by correcting the actual point cloud coordinates of the fault point cloud within the preset range according to the standard point cloud coordinates, can achieve the purpose of correcting the error data of the actual point cloud coordinates, and further improve the accuracy of the actual point cloud image.
[0093] The technical solution provided in the embodiment of the present application can simplify the steps of calculating the similarity between the standard point cloud image and the actual point cloud image by calculating the distance between the standard point cloud image and the actual point cloud image at the same position, and using the distance as the similarity between the standard point cloud image and the actual point cloud image at the position, thereby improving the calculation efficiency of the similarity between point cloud images.
[0094] Figure 3Flow chart of cable insulation damage warning provided by the embodiment of the present application. Figure 3 As shown, the specific steps include:
[0095] S301 : When the similarity is less than the preset similarity threshold, draw a distance change curve between the standard point cloud image and the actual point cloud image at each preset position.
[0096] The preset position may be a pre-set position distributed on the cable to be monitored. The preset position may be an adjacent position on the cable to be detected, or a position set on the cable at a preset distance. The insulation damage at the preset position may represent the insulation damage of the cable to be monitored. The distance change curve at the preset position may be a curve showing the distance between the standard point cloud image and the actual point cloud image changing with each position.
[0097] In one embodiment, when the similarity is less than the preset similarity threshold, according to the distance between the standard point cloud image and the actual point cloud image at each position, the position number of each position is used as the horizontal coordinate and the distance at each position is used as the vertical coordinate to obtain a distance change curve between the standard point cloud image and the actual point cloud image at each preset position.
[0098] S302: Determine the damaged shape of the insulation layer of the cable to be monitored according to the change trend of the distance change curve.
[0099] In one embodiment, the distance between the standard point cloud image and the actual point cloud image can be determined to be increasing, decreasing or unchanged according to the change trend of the distance change curve. The change trend of the distance is opposite to the actual insulation damage shape of the cable to be monitored. The insulation damage shape of the cable to be monitored can be determined by reversing the change trend of the distance change curve. For example, when the change trend of the distance change curve is first rising and then falling, the actual insulation damage shape is a shape that first falls and then rises.
[0100] S303: issuing damage warnings at the preset positions according to the damaged shapes of the insulation layer.
[0101] In one embodiment, the shape of the insulation layer damage can be written into the position identification field of each preset position, so that when the similarity between the standard point cloud image and the actual point cloud image at each preset position is less than the preset similarity threshold, that is, when the insulation layer is damaged at each preset position, a damage warning with the insulation layer damage shape information at the preset position is issued.
[0102] In one embodiment, optionally, issuing a damage warning at each preset position according to the damaged shape of the insulating layer includes:
[0103] Determine the insulation layer damage type at each preset position according to the insulation layer damage shape and the association relationship between the preset damage shape and the damage type;
[0104] A damage warning is issued at each preset position according to the insulation layer damage type.
[0105] The damage type may be the result of classifying the insulation layer damage, such as aging breakage, external force damage, and factory extrusion damage. The association between the preset damage shape and the damage type may be a correspondence between the preset damage shape and the damage type, for example, a relatively smooth damage shape may be caused by extrusion of the cable when it leaves the factory, and such a shape is associated with the factory extrusion damage type.
[0106] In one embodiment, the insulation layer damage type corresponding to the insulation layer damage shape at each preset position can be identified based on the association between the preset damage shape and the damage type, the insulation layer damage type is written into the position identification field of each preset position, and a damage warning at each preset position is issued to the maintenance client of the cable to be monitored.
[0107] In this scheme, the insulation layer damage type at each preset position is determined by the insulation layer damage shape and the correlation between the preset damage shape and the damage type, and a damage warning at each preset position is issued according to the insulation layer damage type, which can further refine the insulation layer damage situation and improve the reference value of the damage warning.
[0108] The technical solution provided in the embodiment of the present application, by drawing a distance change curve between the standard point cloud image and the actual point cloud image at each preset position, determines the damaged shape of the insulation layer of the monitored cable according to the changing trend of the curve, thereby achieving the purpose of adding damage shape information to the damage warning, which is beneficial to the subsequent maintenance of the insulation layer of the monitored cable by cable maintenance personnel.
[0109] Figure 4 is a structural block diagram of an insulation layer damage monitoring system based on point cloud similarity provided in an embodiment of the present application. Figure 4 As shown, specifically including the following:
[0110] The standard point cloud image reading module 401 is used to read the standard point cloud image of the cable to be monitored in the cable point cloud image library according to the cable model of the cable to be monitored;
[0111] The actual point cloud image conversion module 402 is used to receive the actual three-dimensional image of the cable to be monitored reported by the three-dimensional camera, and convert the actual three-dimensional image into an actual point cloud image;
[0112] The point cloud image registration module 403 is used to upload the standard point cloud image and the actual point cloud image to a preset three-dimensional image coordinate system, and perform point cloud registration on the standard point cloud image and the actual point cloud image to obtain a registered point cloud image of the cable to be monitored;
[0113] A similarity calculation module 404 is used to identify the standard point cloud coordinates and the actual point cloud coordinates at the same position of the registered point cloud image, and calculate the similarity between the standard point cloud image and the actual point cloud image based on the standard point cloud coordinates and the actual point cloud coordinates;
[0114] The damage warning module 405 is used to identify whether the similarity is less than a preset similarity threshold, and issue a cable insulation layer damage warning when the similarity is less than the preset similarity threshold.
[0115] Furthermore, the point cloud image registration module 403 is specifically used for:
[0116] Obtaining standard point cloud coordinate values of a cross section of the cable to be monitored in a preset three-dimensional image coordinate system, and determining standard center line coordinates of the cable to be monitored according to the standard point cloud coordinate values of the cross section;
[0117] Obtaining actual point cloud coordinate values of a cross section of the cable to be monitored in a preset three-dimensional image coordinate system, and determining actual center line coordinates of the cable to be monitored according to the actual point cloud coordinate values of the cross section;
[0118] The actual point cloud image is moved to the standard point cloud image according to the actual center line coordinates and the standard center line coordinates to obtain a registered point cloud image of the cable to be monitored.
[0119] Furthermore, the similarity calculation module 404 is specifically used for:
[0120] The distance between the standard point cloud image and the actual point cloud image at the same position is calculated according to the standard point cloud coordinates and the actual point cloud coordinates, and the distance is used as the similarity between the standard point cloud image and the actual point cloud image at the position.
[0121] Further, the preset similarity threshold includes: a preset fault point cloud number threshold;
[0122] Accordingly, the damage warning module 405 is specifically used for:
[0123] Identify the number of fault point clouds whose distance is greater than a preset distance threshold in the registered point cloud image within a preset range, and identify whether the number of fault point clouds is greater than a preset fault point cloud number threshold, wherein the fault point cloud is a point cloud on the actual point cloud image;
[0124] If the number of fault point clouds is greater than or equal to the preset fault point cloud number threshold, determining that the similarity is less than the preset similarity threshold;
[0125] If the number of the fault point clouds is less than the preset fault number threshold, it is determined that the similarity is greater than or equal to the preset similarity threshold.
[0126] Furthermore, the device also includes:
[0127] The coordinate correction module is used to correct the actual point cloud coordinates of the fault point cloud within the preset range according to the standard point cloud coordinates when the similarity is greater than or equal to a preset similarity threshold.
[0128] Furthermore, the damage warning module 405 is specifically used for:
[0129] When the similarity is less than the preset similarity threshold, drawing a distance change curve between the standard point cloud image and the actual point cloud image at each preset position;
[0130] Determining the insulation damage shape of the cable to be monitored according to the change trend of the distance change curve;
[0131] A damage warning is issued at each preset position according to the damaged shape of the insulation layer.
[0132] Furthermore, the damage warning module 405 is specifically used for:
[0133] Determine the insulation layer damage type at each preset position according to the insulation layer damage shape and the association relationship between the preset damage shape and the damage type;
[0134] A damage warning is issued at each preset position according to the insulation layer damage type.
[0135] The technical solution provided in the embodiment of the present application includes a standard point cloud image reading module, which is used to read the standard point cloud image of the cable to be monitored in the cable point cloud image library according to the cable model of the cable to be monitored; an actual point cloud image conversion module, which is used to receive the actual three-dimensional image of the cable to be monitored reported by the three-dimensional camera, and convert the actual three-dimensional image into an actual point cloud image; a point cloud image registration module, which is used to upload the standard point cloud image and the actual point cloud image to a preset three-dimensional image coordinate system, and perform point cloud registration on the standard point cloud image and the actual point cloud image to obtain a registered point cloud image of the cable to be monitored; a similarity calculation module, which is used to identify the standard point cloud coordinates and the actual point cloud coordinates at the same position of the registered point cloud image, and calculate the similarity between the standard point cloud image and the actual point cloud image based on the standard point cloud coordinates and the actual point cloud coordinates; a damage warning module, which is used to identify whether the similarity is less than a preset similarity threshold, and issue a cable insulation damage warning when the similarity is less than the preset similarity threshold. The above-mentioned insulation layer damage monitoring system based on point cloud similarity solves the problems of insufficient timeliness and low monitoring efficiency existing in related technologies. By identifying the standard point cloud coordinates and actual point cloud coordinates of the registered point cloud image at the same position in the cable to be monitored, the similarity between the standard point cloud image and the actual point cloud image is calculated based on the standard point cloud coordinates and the actual point cloud coordinates, and a cable insulation layer damage warning is issued when the similarity is less than a preset similarity threshold. The purpose of automatically monitoring the damage of the insulation layer of the cable to be monitored can be achieved, thereby improving the timeliness and efficiency of cable insulation layer damage monitoring.
[0136] In the embodiment of the present application, an insulation layer damage monitoring system based on point cloud similarity can be configured in a device, or in a component, integrated circuit, or chip in a terminal. The device can be a mobile electronic device or a non-mobile electronic device. Exemplarily, the mobile electronic device can be a mobile phone, a tablet computer, a laptop computer, a PDA, an in-vehicle electronic device, a wearable device, an ultra-mobile personal computer (UMPC), a netbook, or a personal digital assistant (PDA), etc. The non-mobile electronic device can be a server, a network attached storage (NAS), a personal computer (PC), a television (TV), a teller machine or a self-service machine, etc., which is not specifically limited in the embodiment of the present application.
[0137] In the embodiment of the present application, an insulation layer damage monitoring system based on point cloud similarity can be an operating system. The operating system can be an Android operating system, an iOS operating system, or other possible operating systems, which are not specifically limited in the embodiment of the present application.
[0138] An insulation layer damage monitoring system based on point cloud similarity provided in an embodiment of the present application can implement each process implemented in the above-mentioned method embodiments. To avoid repetition, it will not be described again here.
[0139] like Figure 5 As shown, an embodiment of the present application also provides an electronic device 500, including a processor 501, a memory 502, and a program or instruction stored in the memory 502 and executable on the processor 501. When the program or instruction is executed by the processor 501, each process of the above-mentioned insulation layer damage monitoring method based on point cloud similarity is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.
[0140] It should be noted that the electronic devices in the embodiments of the present application include the mobile electronic devices and non-mobile electronic devices mentioned above.
[0141] An embodiment of the present application also provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, each process of the above-mentioned insulation layer damage monitoring method based on point cloud similarity is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.
[0142] The processor is a processor in the electronic device described in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.
[0143] The present application embodiment further provides a program product, which includes a program code. When the program product is run on a computer device, the program code is used to enable the computer device to execute the steps of the method according to various exemplary embodiments of the present application described above in this specification. For example, the computer device can execute an insulation layer damage monitoring method based on point cloud similarity recorded in the present application embodiment. The program product can be implemented in any combination of one or more readable media.
[0144] It should be noted that, in this article, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise one..." do not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.
[0145] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM / RAM, a disk, or an optical disk), and includes a number of instructions for a terminal (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present application.
[0146] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.
[0147] The above are only preferred embodiments of the present application and the technical principles used. The present application is not limited to the specific embodiments described herein, and various obvious changes, readjustments and substitutions that can be made by those skilled in the art will not deviate from the scope of protection of the present application. Therefore, although the present application is described in more detail through the above embodiments, the present application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the claims.
Claims
1. A method for monitoring insulation layer damage based on point cloud similarity, characterized in that: The method comprises: Reading a standard point cloud image of the cable to be monitored in the cable point cloud image library according to the cable model of the cable to be monitored; Receiving an actual three-dimensional image of the cable to be monitored reported by a three-dimensional camera, and converting the actual three-dimensional image into an actual point cloud image; Uploading the standard point cloud image and the actual point cloud image to a preset three-dimensional image coordinate system, and performing point cloud registration on the standard point cloud image and the actual point cloud image to obtain a registered point cloud image of the cable to be monitored; Identify the standard point cloud coordinates and the actual point cloud coordinates at the same position of the registered point cloud image, and calculate the similarity between the standard point cloud image and the actual point cloud image based on the standard point cloud coordinates and the actual point cloud coordinates; It is identified whether the similarity is less than a preset similarity threshold, and a cable insulation layer damage warning is issued if the similarity is less than the preset similarity threshold.
2. The insulation layer damage monitoring method based on point cloud similarity according to claim 1 is characterized in that: The step of performing point cloud registration on the standard point cloud image and the actual point cloud image to obtain a registered point cloud image of the cable to be monitored includes: Obtaining standard point cloud coordinate values of a cross section of the cable to be monitored in a preset three-dimensional image coordinate system, and determining standard centerline coordinates of the cable to be monitored according to the standard point cloud coordinate values of the cross section; Obtaining actual point cloud coordinate values of a cross section of the cable to be monitored in a preset three-dimensional image coordinate system, and determining actual center line coordinates of the cable to be monitored according to the actual point cloud coordinate values of the cross section; The actual point cloud image is moved to the standard point cloud image according to the actual center line coordinates and the standard center line coordinates to obtain a registered point cloud image of the cable to be monitored.
3. The insulation layer damage monitoring method based on point cloud similarity according to claim 1 is characterized in that: The calculating the similarity between the standard point cloud image and the actual point cloud image based on the standard point cloud coordinates and the actual point cloud coordinates includes: The distance between the standard point cloud image and the actual point cloud image at the same position is calculated according to the standard point cloud coordinates and the actual point cloud coordinates, and the distance is used as the similarity between the standard point cloud image and the actual point cloud image at the position.
4. The insulation layer damage monitoring method based on point cloud similarity according to claim 3 is characterized in that: The preset similarity threshold includes: a preset fault point cloud number threshold; Accordingly, the identifying whether the similarity is less than a preset similarity threshold includes: Identify the number of fault point clouds whose distance is greater than a preset distance threshold in the registered point cloud image within a preset range, and identify whether the number of fault point clouds is greater than a preset fault point cloud number threshold, wherein the fault point cloud is a point cloud on the actual point cloud image; If the number of fault point clouds is greater than or equal to the preset fault point cloud number threshold, determining that the similarity is less than the preset similarity threshold; If the number of the fault point clouds is less than the preset fault number threshold, it is determined that the similarity is greater than or equal to the preset similarity threshold.
5. The insulation layer damage monitoring method based on point cloud similarity according to claim 4 is characterized in that: After identifying whether the similarity is less than a preset similarity threshold, the method further includes: When the similarity is greater than or equal to a preset similarity threshold, the actual point cloud coordinates of the fault point cloud within the preset range are corrected according to the standard point cloud coordinates.
6. The insulation layer damage monitoring method based on point cloud similarity according to claim 3 is characterized in that: The issuing of a cable insulation damage warning when the similarity is less than the preset similarity threshold comprises: When the similarity is less than the preset similarity threshold, drawing a distance change curve between the standard point cloud image and the actual point cloud image at each preset position; Determining the insulation damage shape of the cable to be monitored according to the change trend of the distance change curve; A damage warning is issued at each preset position according to the damaged shape of the insulation layer.
7. The method for monitoring insulation layer damage based on point cloud similarity according to claim 6, characterized in that: The issuing of damage warnings at the preset positions according to the damaged shapes of the insulating layer comprises: Determine the insulation layer damage type at each preset position according to the insulation layer damage shape and the association relationship between the preset damage shape and the damage type; A damage warning is issued at each preset position according to the insulation layer damage type.
8. An insulation layer damage monitoring system based on point cloud similarity, characterized in that: The device comprises: A standard point cloud image reading module is used to read the standard point cloud image of the cable to be monitored in the cable point cloud image library according to the cable model of the cable to be monitored; An actual point cloud image conversion module is used to receive an actual three-dimensional image of the cable to be monitored reported by a three-dimensional camera, and convert the actual three-dimensional image into an actual point cloud image; A point cloud image registration module, used for uploading the standard point cloud image and the actual point cloud image to a preset three-dimensional image coordinate system, and performing point cloud registration on the standard point cloud image and the actual point cloud image to obtain a registered point cloud image of the cable to be monitored; A similarity calculation module is used to identify the standard point cloud coordinates and the actual point cloud coordinates at the same position of the registered point cloud image, and calculate the similarity between the standard point cloud image and the actual point cloud image based on the standard point cloud coordinates and the actual point cloud coordinates; The damage warning module is used to identify whether the similarity is less than a preset similarity threshold, and issue a cable insulation layer damage warning when the similarity is less than the preset similarity threshold.
9. An electronic device, characterized in that: It includes a processor, a memory, and a program or instruction stored in the memory and executable on the processor. When the program or instruction is executed by the processor, the steps of an insulation layer damage monitoring method based on point cloud similarity as described in any one of claims 1 to 7 are implemented.
10. A readable storage medium, characterized in that: The readable storage medium stores a program or instruction, and when the program or instruction is executed by the processor, the steps of the insulation layer damage monitoring method based on point cloud similarity as described in any one of claims 1 to 7 are implemented.