Cross curve laser three-dimensional scanning method and device for power transmission line

Abstract

The invention provides a cross curve laser three-dimensional scanning method and device for a power transmission line, and relates to the technical field of laser surveying and mapping. Establishing a scanning path; performing feature point calibration fitting to generate preset feature point features; establishing a shared clock mechanism; activating the three-dimensional scanning module to perform omnibearing synchronous scanning by using the trigger controller, and generating a projection image set; performing feature point identification and three-dimensional coordinate calculation on the laser projection image set according to preset feature point features to generate an initial three-dimensional coordinate set of the power transmission line; and performing three-dimensional modeling integrity identification based on the initial three-dimensional coordinate set of the power transmission line, generating a line shielding area, performing three-dimensional coordinate fitting, and generating a three-dimensional reconstruction result of the power transmission line. The technical problem that data missing occurs in the three-dimensional reconstruction process due to the fact that a traditional method lacks processing means for the sheltered area is solved, and the technical effect of improving the integrity and accuracy of the three-dimensional reconstruction model of the power transmission line is achieved.

Description

Technical Field

[0001] The present application relates to the field of laser surveying and mapping technology, and in particular to a method and device for three-dimensional cross-line laser scanning of power transmission lines. Background Art

[0002] Transmission line 3D reconstruction technology is a key means to ensure the safety and maintenance of power transmission. It can help power engineers obtain accurate models of transmission lines for line status monitoring, equipment maintenance, and fault detection. Existing 3D reconstruction technologies mainly rely on laser scanning, visual measurement methods, or multi-sensor combinations. Laser scanning measures distance by emitting laser beams and recording their reflection time, while visual measurement uses cameras to capture images and extracts 3D information through image processing technology.

[0003] However, existing technologies mostly use fixed path scanning and lack dynamic path fitting and adjustment. Especially when facing the complex environment of power transmission lines, insufficient coverage often occurs, resulting in the inability to effectively scan some areas. Secondly, due to the lack of precise synchronization control in multi-sensor combination technology, there are time errors in data collection between sensors, especially in rapidly changing environments, which further affects the precise fusion of data. At the same time, the existing technology lacks processing methods for occluded areas (such as trees and buildings), and cannot effectively identify and compensate for these blind areas, resulting in the loss of important data in the scanning results. The above-mentioned deficiencies make it easy for existing technologies to lose key information when performing three-dimensional reconstruction of power transmission lines, and the acquired data is not accurate and comprehensive enough, thus affecting the overall reconstruction accuracy. Summary of the invention

[0004] The present application provides a cross-line laser three-dimensional scanning method and device for a transmission line, which solves the technical problem that traditional methods lack processing means for occluded areas, resulting in data missing during the three-dimensional reconstruction process, and achieves the technical effect of improving the integrity and accuracy of the three-dimensional reconstruction model of the transmission line.

[0005] In view of the above problems, on the one hand, the present application provides a cross-line laser three-dimensional scanning method for a power transmission line, the method comprising: configuring a three-dimensional scanning module, wherein the three-dimensional scanning module comprises a cross-line laser and a binocular camera; performing an all-round scanning fitting on the target area, establishing a scanning path for the cross-line laser and the binocular camera, wherein the scanning path comprises a scanning partition, a laser scanning parameter, a first camera scanning parameter, and a second camera scanning parameter; performing a calibration fitting of feature points of the power transmission line based on the laser scanning parameters, generating preset feature point features, wherein the preset feature point features comprise image brightness features and transmission line laser line features; establishing a calibration fitting for the cross-line laser and the binocular camera; A shared clock mechanism, wherein the shared clock mechanism includes a trigger controller; based on the scanning path, the trigger controller is used to activate the cross-line laser and the binocular camera to perform an all-round synchronous scan of the target area to generate a first laser projection image set and a second laser projection image set; feature point recognition and three-dimensional coordinate calculation are performed on the first laser projection image set and the second laser projection image set based on the image brightness characteristics and the transmission line laser line characteristics to generate an initial transmission line three-dimensional coordinate set; three-dimensional modeling integrity recognition is performed based on the initial transmission line three-dimensional coordinate set to generate a line occlusion area, and then the three-dimensional coordinate fitting of the occlusion area is performed to generate a three-dimensional reconstruction result of the transmission line.

[0006] On the other hand, the present application also provides a cross-line laser three-dimensional scanning device for a power transmission line, the device comprising: a scanning configuration module, the scanning configuration module is used to configure a three-dimensional scanning module, wherein the three-dimensional scanning module comprises a cross-line laser and a binocular camera; a scanning path establishment module, the scanning path establishment module is used to perform an all-round scanning fitting of the target area, and establish a scanning path for the cross-line laser and the binocular camera, wherein the scanning path comprises a scanning partition, a laser scanning parameter, a first camera scanning parameter, and a second camera scanning parameter; a feature point calibration fitting module, the feature point calibration fitting module is used to perform feature point calibration fitting of the power transmission line based on the laser scanning parameters, and generate preset feature point features, wherein the preset feature point features include image brightness features and transmission line laser line features; a trigger mechanism establishment module, the trigger mechanism establishment module is used to perform a trigger mechanism establishment module for the cross-line laser A shared clock mechanism is established with the binocular camera, wherein the shared clock mechanism includes a trigger controller; a synchronous scanning module, wherein the synchronous scanning module is used to activate the cross-line laser and the binocular camera to perform an all-round synchronous scanning of the target area based on the scanning path using the trigger controller to generate a first laser projection image set and a second laser projection image set; an initial three-dimensional coordinate generation module, wherein the initial three-dimensional coordinate generation module is used to perform feature point recognition and three-dimensional coordinate calculation on the first laser projection image set and the second laser projection image set based on the image brightness characteristics and the transmission line laser line characteristics to generate an initial transmission line three-dimensional coordinate set; a three-dimensional reconstruction module, wherein the three-dimensional reconstruction module is used to perform three-dimensional modeling integrity recognition based on the initial transmission line three-dimensional coordinate set, generate a line occlusion area, and then perform three-dimensional coordinate fitting of the occlusion area to generate a three-dimensional reconstruction result of the transmission line.

[0007] One or more technical solutions provided in this application have at least the following technical effects or advantages: A three-dimensional scanning module is configured, wherein the three-dimensional scanning module includes a cross-line laser and a binocular camera; a full-scale scanning fitting is performed on the target area, and a scanning path of the cross-line laser and the binocular camera is established, wherein the scanning path includes a scanning partition, a laser scanning parameter, a first camera scanning parameter, and a second camera scanning parameter; a characteristic point calibration fitting of the power transmission line is performed based on the laser scanning parameter to generate a preset characteristic point feature, wherein the preset characteristic point feature includes an image brightness feature and a transmission line laser line feature; a shared clock mechanism is established for the cross-line laser and the binocular camera, wherein the shared clock mechanism includes a trigger a trigger controller; based on the scanning path, using the trigger controller to activate the cross-line laser and the binocular camera to perform an all-round synchronous scan of the target area to generate a first laser projection image set and a second laser projection image set; performing feature point recognition and three-dimensional coordinate calculation on the first laser projection image set and the second laser projection image set based on the image brightness characteristics and the transmission line laser line characteristics to generate an initial transmission line three-dimensional coordinate set; performing three-dimensional modeling integrity recognition based on the initial transmission line three-dimensional coordinate set to generate a line occlusion area, and then performing three-dimensional coordinate fitting of the occlusion area to generate a three-dimensional reconstruction result of the transmission line.

[0008] In summary, this application uses a three-dimensional scanning module composed of a cross-line laser and a binocular camera, introduces a shared clock mechanism, ensures the precise synchronization of the two, and realizes a full-scale and refined scanning of the transmission line. In addition, by fitting the scanning path and refining the configuration of scanning partitions, laser scanning parameters and camera parameters, the scanning coverage in complex environments is ensured and data omissions are reduced. At the same time, the data calibration accuracy is further improved through automated feature point recognition and fitting based on image brightness features and laser line features. For occluded areas, the data loss in the occluded areas is effectively compensated by the three-dimensional modeling integrity recognition and coordinate fitting of the occluded areas. Finally, this solution realizes high-precision three-dimensional reconstruction of the transmission line, ensures the integrity and accuracy of the data, and improves the practicality and reliability of the three-dimensional reconstruction model.

[0009] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 A schematic diagram of a flow chart of a cross-line laser three-dimensional scanning method for a power transmission line provided in an embodiment of the present application; Figure 2A schematic diagram of a process for generating an initial transmission line three-dimensional coordinate set in a cross-line laser three-dimensional scanning method for a transmission line provided in an embodiment of the present application; Figure 3 A schematic diagram of a process for generating a three-dimensional reconstruction result of a transmission line in a cross-line laser three-dimensional scanning method of a transmission line provided in an embodiment of the present application; Figure 4 A schematic structural diagram of a cross-line laser three-dimensional scanning device for a power transmission line provided in an embodiment of the present application.

[0011] Explanation of the reference numerals: scanning configuration module 10 , scanning path establishment module 20 , feature point calibration and fitting module 30 , trigger mechanism establishment module 40 , synchronous scanning module 50 , initial three-dimensional coordinate generation module 60 , three-dimensional reconstruction module 70 . DETAILED DESCRIPTION

[0012] The embodiments of the present application provide a cross-line laser three-dimensional scanning method and device for a transmission line, thereby solving the technical problem that traditional methods lack processing means for occluded areas, resulting in data missing during the three-dimensional reconstruction process, and achieving the technical effect of improving the integrity and accuracy of the three-dimensional reconstructed model of the transmission line.

[0013] Embodiment 1, as Figure 1 As shown, an embodiment of the present application provides a cross-line laser three-dimensional scanning method for a power transmission line, the method comprising: Step S1: configuring a three-dimensional scanning module, wherein the three-dimensional scanning module includes a cross-line laser and a binocular camera.

[0014] Specifically, the 3D scanning module is a hardware system that integrates multiple sensors and is used to simultaneously acquire spatial data of the transmission line, thereby generating a corresponding 3D model. Before scanning the transmission line, it is necessary to configure a 3D scanning module, which includes a cross-line laser and a binocular camera. The core function of the 3D scanning module is to capture objects in space. Through the combination of the cross-line laser and the binocular camera, the precise 3D data of the transmission tower and the conductor can be accurately located.

[0015] Determine the models of the cross-line laser and binocular camera according to the needs, and adjust their positions and angles according to the on-site scanning environment to ensure that the line of sight of the cross-line laser and binocular camera can cover the target area of ​​the transmission line. The cross-line laser will project a cross-shaped beam of light on the surface of the object. Through the projection of this light, the position and edge of the surface of the object can be quickly determined, and the small features on the transmission line can be captured. The binocular camera captures two images of the same target from different perspectives by simulating the human eyes. By analyzing the differences between the two images, the binocular camera system can calculate the depth and distance information of the object. Through the collaborative work of the cross-line laser and the binocular camera, the 3D scanning module can obtain high-precision spatial data in complex environments, ensuring the accuracy and integrity of the transmission line scanning process.

[0016] For example, when scanning the area around a power line, the cross-line laser can provide precise positioning assistance for the binocular camera, locking the key areas that need to be captured, while the binocular camera can further measure the depth, width and other spatial characteristics of these areas. In this way, the 3D scanning module can generate accurate spatial data of the power line, providing a basis for subsequent 3D modeling.

[0017] Step S2: Perform an omnidirectional scan fitting on the target area, and establish a scanning path of the cross-line laser and the binocular camera, wherein the scanning path includes scanning partitions, laser scanning parameters, first camera scanning parameters, and second camera scanning parameters.

[0018] Specifically, according to the complexity and size of the target area, it is divided into several parts, and the scanning partitions are determined. Each partition is scanned and data collected separately. Among them, the target area is any area of ​​the power transmission line that needs to be 3D scanned. Partition scanning ensures that each small area can be effectively scanned without missing important information. For example, when scanning a power transmission line located in complex terrain, the line can be divided into multiple sections, each of which can be a relatively simple straight section or an area surrounded by obstacles.

[0019] Corresponding laser scanning parameters and camera scanning parameters are set for each partition. For the cross-line laser, the laser scanning parameters include the scanning angle, the intensity of the laser, and the frequency of emission. These parameters determine how the laser scans each partition. For the binocular camera, the parameters are set for the first camera and the second camera respectively to generate the first camera scanning parameters and the second camera scanning parameters. The first camera scanning parameters and the second camera scanning parameters both include the intrinsic parameters and intrinsic parameters of the camera. The intrinsic parameters (intrinsic parameters) are parameters that describe the characteristics of the camera itself, including focal length, principal point position, pixel size, distortion coefficient, etc. These parameters affect the geometric characteristics of camera imaging and are used to convert the three-dimensional coordinates of the object into two-dimensional image coordinates. The extrinsic parameters (external parameters) are parameters that describe the spatial relationship between the camera and the outside world, specifically including the rotation matrix and displacement vector of the camera, which are used to determine the position and direction of the camera in the world coordinate system.

[0020] According to each scanning partition of the target area, the laser scanning parameters corresponding to each partition, the scanning parameters of the first camera and the scanning parameters of the second camera, a scanning path is established to ensure that the cross-line laser and the binocular camera can scan each partition in a predetermined order and path. This scanning path is the route that the cross-line laser and the binocular camera move during the entire scanning process, and defines how the sensor moves around the target object to maximize coverage and accuracy. Through fitting technology, the scanning path of the cross-line laser and the binocular camera is adjusted in real time to ensure that there are no blind spots in the data collection of the entire target area. Through all-round scanning fitting, combined with partition scanning and optimized configuration of scanning parameters, the integrity and accuracy of scanning data in complex environments are ensured.

[0021] Step S3: performing calibration and fitting of feature points of the power transmission line based on the laser scanning parameters to generate preset feature point features, wherein the preset feature point features include image brightness features and power transmission line laser line features.

[0022] Specifically, feature points are object points that need to be captured during the scanning process, and usually have unique geometric or physical properties for accurate identification and reconstruction of objects. In step S3, the key points of the transmission line, i.e., feature points, need to be calibrated and fitted according to the laser scanning parameters set in step S2. First, the cross-line laser scans the transmission line according to the previously set scanning parameters. The position of the key points on the transmission line is determined by analyzing the laser line features generated by these laser reflections. The laser line features are the features of the reflected or refracted light generated by the laser when scanning an object. The shape and intensity changes of the laser line reflect the geometric features of the transmission line. For example, when scanning the curved area of ​​the transmission line, the curved shape of the laser reflection can determine the bending radius and angle of the line. At the same time, the image of the target area is collected by combining the binocular camera, and the boundary and surface features, i.e., the image brightness features, are determined by the brightness differences of different areas on the surface of the object in the image, thereby further confirming the position of the key points in the line. At the contrast between the line and the background, the brightness features can clearly distinguish the position and shape of the line.

[0023] These key points are calibrated as feature points, and the laser line features and image brightness features of these key points are integrated to generate preset feature point features. The accuracy and integrity of the three-dimensional model of the transmission line can be ensured through feature point calibration and fitting.

[0024] Step S4: establishing a shared clock mechanism for the cross-line laser and the binocular camera, wherein the shared clock mechanism includes a trigger controller.

[0025] Specifically, the shared clock mechanism is a time synchronization system that ensures that the cross-line laser and the binocular camera work according to the same clock signal during the scanning process to obtain consistent and accurate data. The trigger controller is a key part of the shared clock mechanism, responsible for sending trigger signals to the cross-line laser and binocular camera to control their start and stop time. The trigger controller can adjust the trigger signal according to the preset scanning path and schedule to ensure that the cross-line laser and binocular camera operate at the right time.

[0026] First, configure the parameters of the trigger controller through the software, including the start and end time of the scan, the scan speed, the trigger interval, etc. Then, connect the trigger controller to the cross-line laser and the binocular camera to ensure that they can receive the trigger signal. During the scanning process, the trigger controller sends the trigger signal according to the preset schedule, the laser emits the laser beam after receiving the signal, and the camera captures the image of the laser beam on the transmission line at the same time. In this way, it can be ensured that the cross-line laser and the binocular camera work in full synchronization, so as to obtain accurate and consistent data.

[0027] Step S5: Based on the scanning path, the trigger controller is used to activate the cross-line laser and the binocular camera to perform an all-round synchronous scanning of the target area to generate a first laser projection image set and a second laser projection image set.

[0028] Specifically, according to the scanning path determined in step S2, a start signal is sent to the cross-line laser and the binocular camera by triggering the controller to control the cross-line laser and the binocular camera to perform a full-scale synchronous scanning of the target area. During the entire scanning process, the cross-line laser and the binocular camera synchronously collect data. The laser line emitted by the cross-line laser will produce clear reflection lines on the surface of the transmission line, and the binocular camera will capture the shape and position of these laser lines from different angles, generating two different laser projection image sets, namely the first laser projection image set and the second laser projection image set. These two image sets respectively reflect the projection of the laser line on the surface of the object.

[0029] All-round synchronous scanning ensures the integrity and consistency of the scanning process, avoiding errors caused by equipment asynchrony. The captured images and data can more accurately reflect the actual shape of the line, thereby achieving high-precision three-dimensional reconstruction.

[0030] Step S6: performing feature point recognition and three-dimensional coordinate calculation on the first laser projection image set and the second laser projection image set using the image brightness features and the transmission line laser line features to generate an initial transmission line three-dimensional coordinate set.

[0031] Specifically, the image brightness features and laser line features in the first laser projection image set and the second laser projection image set are analyzed to identify feature points in the transmission line. The image brightness features can extract areas with special geometric shapes on the surface of the object, such as the curved part or joint position of the line, through the difference in the brightness value of the pixels. The curvature and position of the line can be determined based on the distortion or change of the laser line.

[0032] After the feature points are identified, the three-dimensional coordinates of these feature points are calculated. Through the principle of stereoscopic vision, their depth information can be calculated based on the displacement difference between the same feature points in the two images. Specifically, when the position of the laser line feature captured by camera A in the image is different from the position of the same laser line feature captured by camera B, the distance of the feature point can be inferred by the parallax between the cameras, thereby determining its exact position in space. Through three-dimensional coordinate calculation, an initial three-dimensional coordinate set of the transmission line is generated. This initial three-dimensional coordinate set of the transmission line is the three-dimensional point cloud data of the transmission line generated based on the binocular camera and laser scanning data after preliminary processing, including key point information of the transmission line, such as the bending position, hanging point, intersection point, etc. of each section of the line. These three-dimensional coordinate points constitute the basic model of the transmission line and are the basis for further analysis and processing.

[0033] Step S7: performing three-dimensional modeling integrity identification based on the initial transmission line three-dimensional coordinate set, generating a line occlusion area, and then performing three-dimensional coordinate fitting of the occlusion area to generate a three-dimensional reconstruction result of the transmission line.

[0034] Specifically, the initial transmission line 3D coordinate set is analyzed to identify areas where modeling is incomplete, and these areas are marked as occluded areas. There may be multiple reasons for the generation of occluded areas, such as the omission of some areas due to the viewing angle limitation of the scanning device, or external objects (such as trees and buildings) blocking the scanning of certain parts. After identifying these occluded areas, the 3D coordinates of these areas are fitted by analyzing the known 3D coordinate data of the surrounding area, that is, based on the available 3D data around, the missing data in the occluded area is inferred through fitting algorithms such as linear interpolation, curve fitting or other geometric modeling algorithms. The 3D reconstruction result of the transmission line is generated based on the fitting results and the initial transmission line 3D coordinate set. This 3D reconstruction result includes all the line parts that have been scanned before and those that have been inferred through fitting, reflecting the overall picture of the transmission line in space. Through the above steps, the 3D reconstruction of the transmission line is not only more accurate, but also more complete, providing strong data support for subsequent line maintenance, design optimization, etc.

[0035] Further, such as Figure 2 As shown, step S6 of the embodiment of the present application also includes: Step S61: extracting timestamp information from the first laser projection image set and the second laser projection image set to perform time synchronization verification.

[0036] Step S62: Positioning the first laser projection image and the second laser projection image that have passed the time synchronization verification.

[0037] Step S63: performing brightness correction on the first laser projection image and the second laser projection image according to the image brightness characteristics to generate a first corrected image and a second corrected image.

[0038] Step S64: Pairing target feature points of the first corrected image and the second corrected image based on the transmission line laser line features to generate multiple groups of target feature point combinations.

[0039] Step S65: Combine the first camera scanning parameters and the second camera scanning parameters, and use triangulation to calculate the coordinates of the multiple groups of target feature points to generate a first partition coordinate set. Step S66: adding the first partition coordinate set into the initial transmission line three-dimensional coordinate set.

[0040] Specifically, the timestamp information refers to the precise time when each frame of the image is generated, which is used to ensure the data synchronization between the cross-line laser and the binocular camera. The timestamp of the image is extracted from the first laser projection image set and the second laser projection image set. Through these timestamps, the data synchronization of the two sets of image sets is checked to ensure that different devices capture the corresponding data at the same time point, and to ensure the consistency of subsequent data processing. The images that pass the time synchronization are screened out, that is, those images with the same timestamps in the first and second sets of image sets. For these images that have been synchronized and verified, correction is performed through the image brightness features, and the brightness of the two sets of images is adjusted so that they can be accurately paired in subsequent processing to obtain the first corrected image and the second corrected image. Next, the target feature points are found and paired in the corrected images, and the same feature points in the first and second corrected images are found and paired through the transmission line laser line features to obtain multiple sets of target feature point combinations.

[0041] Next, according to the scanning path, the first scanning partition to be scanned is selected, and the first camera scanning parameters and the second camera scanning parameters corresponding to the partition are combined to calculate the parallax of each paired feature point in the two images by using triangulation method, and the positions of these feature points in three-dimensional space are deduced. Each pair of paired feature points will generate a three-dimensional coordinate to form the first partition coordinate set. The first partition coordinate set is added to the initial transmission line three-dimensional coordinate set.

[0042] Repeat the above steps to gradually merge the data of each scanned partition into the initial three-dimensional coordinate set of the entire transmission line, ensuring the accuracy of each feature point and the integrity of the model during the three-dimensional modeling process.

[0043] Preferably, step S64 of the embodiment of the present application further includes: Based on the transmission line laser line features, feature points of the first corrected image and the second corrected image are located to generate a first feature point set and a second feature point set; a first feature point is extracted from the first feature point set, and the second feature point set is traversed for stereo matching to locate the matched second feature point; a first target feature point combination is established with the first feature point and the second feature point, and is added to the multiple groups of target feature point combinations.

[0044] Specifically, in step S64, the specific process of pairing target feature points includes: positioning the feature points of the first corrected image and the second corrected image through the transmission line laser line feature, and finding the key feature points in the image, such as the intersection of the transmission line, the corner and other positions. Generate a first feature point set according to the first corrected image, and generate a second feature point set according to the second corrected image. Extract a feature point from the first feature point set as the first feature point, traverse the second feature point set, and find the matching second feature point corresponding to the first feature point through the texture feature, brightness feature or geometric shape of the image. Combine the first feature point and the matching second feature point to obtain a first target feature point combination. This combination reflects the coordinate position of the same feature point under two different viewing angles, which is used for subsequent three-dimensional coordinate calculation. Add the first target feature point combination to multiple groups of target feature point combinations, and then repeat the above target feature point pairing process, continue to select feature points from the first feature point set for stereo matching, until all feature point matching is completed, and determine the final multiple groups of target feature point combinations. Step S64 obtains more accurate feature point combinations by pairing the same feature points in two images with different viewing angles, thereby providing sufficient data support for three-dimensional coordinate calculation.

[0045] Preferably, step S65 of the embodiment of the present application further includes: The binocular baseline distance and focal length are read based on the camera scanning parameters; based on the first target feature point combination, the first feature point disparity is identified in the first corrected image and the second corrected image; the depth is calculated using triangulation method in combination with the binocular baseline distance, the focal length and the first feature point disparity to generate the first feature point depth; the pixel coordinates of the first feature point are obtained, and the first partition coordinate set is calculated and obtained in combination with the first feature point depth.

[0046] Specifically, in step S65, the specific process of coordinate calculation includes: first, reading the binocular baseline distance and focal length of the camera. The binocular baseline distance refers to the physical distance between the two lenses in the binocular camera, and the focal length is the optical parameter of the camera lens. These two parameters are the basic data for 3D reconstruction calculation and affect the accuracy of depth calculation.

[0047] Next, based on the first target feature point combination of step S64, the parallax of the same first feature point is identified in the first corrected image and the second corrected image, wherein the parallax is the difference in projection of the same object under the perspectives of two cameras, usually expressed as the relative displacement of the feature point in the two images. According to the parallax of the first feature point, the binocular baseline distance and the focal length, the depth of the first feature point, that is, the distance between the first feature point and the camera, is calculated using triangulation. The triangulation method is based on the geometric properties of triangles, and the distance between the object and the camera can be calculated through the known baseline distance, focal length and parallax. Exemplarily, the baseline distance between the two camera lenses is 10 cm, the focal length is 50 mm, and the parallax of the first feature point is 5 pixels. The triangulation method can be used to calculate that the feature point is 1.5 meters in front of the camera.

[0048] Read the pixel coordinates of the first feature point in the image. Combined with the depth value calculated previously, the two-dimensional pixel coordinates of the feature point can be converted into coordinates in three-dimensional space according to the projection model of the camera. Integrate the calculated three-dimensional coordinates of multiple first feature points to form a first partition coordinate set. Each partition coordinate set represents the position of all feature points in the partition in three-dimensional space.

[0049] In step S65, the depth of the feature points is accurately calculated through binocular baseline distance, focal length, parallax and triangulation, and the pixel coordinates are converted into three-dimensional coordinates to finally generate the first partition coordinate set. This process ensures the precise positioning of each feature point in three-dimensional space and provides basic data for the subsequent three-dimensional reconstruction of the transmission line.

[0050] Further, such as Figure 3 As shown, step S7 of the embodiment of the present application also includes: Step S71: Calculate the distances between adjacent coordinates based on the initial transmission line three-dimensional coordinate set to generate a plurality of scanning distances.

[0051] Step S72: Determine whether the plurality of scanning adjacent distances are all less than or equal to a preset scanning interval; if not, obtain an area between adjacent coordinates greater than the preset scanning interval as the line blocking area.

[0052] Step S73: Perform line trend identification based on the initial transmission line three-dimensional coordinate set to generate a trend identification result. Step S74: using the occlusion prediction compensation model to perform a complete three-dimensional coordinate analysis on the trend recognition result and the line occlusion area to generate a three-dimensional reconstruction result of the transmission line.

[0053] Specifically, the distance between each pair of adjacent feature points is calculated based on the initial transmission line three-dimensional coordinate set to generate multiple scanning distances. The scanning distance refers to the distance between two adjacent points in the three-dimensional coordinate set, which reflects the interval between adjacent points in the three-dimensional space. By calculating these distances, it can be determined whether there are areas with missing data in the three-dimensional model. All scanning distances are compared with the preset scanning interval to determine whether these distances are less than or equal to the preset scanning interval. The preset scanning interval is a preset reference value that represents the ideal interval between adjacent feature points. If the distance between some adjacent points is greater than this interval, there may be a scanning blind area or an occluded area. The area between adjacent coordinates that is greater than the preset scanning interval is set as the line occlusion area.

[0054] According to the initial transmission line three-dimensional coordinate set, the line trend is identified, the overall shape of the line, direction changes and other information are analyzed, and the trend identification results are generated. For example, the transmission line may appear as a straight line, a curve or some complex geometric structure. Identifying these features and outputting the corresponding analysis results can better understand the spatial layout of the line. After identifying the line trend and the occluded area, the occluded area is filled with data using the occlusion prediction compensation model. Based on the existing three-dimensional coordinate set and trend identification results, the model predicts and compensates the three-dimensional coordinate information of the occluded area through an algorithm. For example, based on the trend of nearby lines, the direction of the occluded part can be reasonably inferred to compensate for the missing data. Through compensation, a complete three-dimensional reconstruction result of the transmission line is generated. This result includes all scanned areas, as well as the occluded areas after model prediction and compensation, making the three-dimensional model more complete and accurate.

[0055] Preferably, the occlusion prediction compensation model described in step S7 of the embodiment of the present application is constructed based on a generative adversarial network, including a generator and a discriminator; a training sample set is established, and the training sample set includes three-dimensional scanning data samples of the unoccluded part and complete three-dimensional scanning result samples; the generator generates a predicted complete three-dimensional scanning result by learning the three-dimensional scanning data samples of the unoccluded part; the discriminator determines whether the input is a true scanning result by comparing the complete three-dimensional scanning result samples with the predicted complete three-dimensional scanning result generated by the generator, and so on, the generator and the discriminator are alternately trained until the discriminator judges that the compared complete three-dimensional scanning result samples and the predicted complete three-dimensional scanning result generated by the generator are consistent under a preset number of training times.

[0056] Specifically, to obtain the occlusion prediction compensation model, we first need to build a generative adversarial network, which consists of a generator and a discriminator. The generator is responsible for generating predicted data similar to the real data, while the discriminator determines whether the input data is real data. Through the adversarial training of the two, the generator gradually learns to generate more realistic data.

[0057] Next, the constructed generative adversarial network is trained. First, a training sample set is prepared. The sample set consists of two parts: unobstructed 3D scan data samples and corresponding complete 3D scan result samples. Unobstructed samples are used to simulate the situation of local data missing, while complete samples are used as reference standards. During the training process, the generator gradually masters the ability to generate missing parts (i.e., occluded areas) by learning the 3D scan data of the unobstructed part. The role of the discriminator is to judge whether the generated model is realistic enough by comparing the 3D model generated by the generator with the real complete 3D scan result. Exemplarily, the generator can complete those areas that cannot be scanned due to occlusion by learning the route direction and shape features, and generate complete routes similar to the real scan results. If the predicted data generated by the generator is significantly different from the real data, the discriminator will identify these differences and feed back to the generator for improvement.

[0058] The entire training process is carried out in an alternating training manner. First, the generator generates a prediction result, and then the discriminator evaluates it. If the discriminator can distinguish the difference between the generated result and the real data, the generator will improve based on the feedback from the discriminator. As the training continues, the output of the generator will gradually approach the real 3D model, and the judgment difficulty of the discriminator will gradually increase. This alternating training will continue until the discriminator cannot distinguish the 3D model generated by the generator from the real scan result under the preset number of training times. At this point, it is believed that the generator's prediction ability has reached a high level and can generate relatively accurate 3D reconstruction results.

[0059] Through the above steps, not only the initial three-dimensional coordinate set of the transmission line can be generated, but also the occluded area can be accurately analyzed and compensated, and finally a high-quality, unobstructed three-dimensional reconstruction result can be generated.

[0060] Furthermore, step S4 of the embodiment of the present application also includes: A synchronization cable is used to establish an interface connection between the trigger controller and the cross-line laser and the binocular camera; the trigger controller sends a synchronization pulse signal according to the scanning path, and transmits the synchronization pulse signal to the cross-line laser and the binocular camera through the interface connection for synchronous data acquisition; before performing an all-round synchronous scan of the target area, a trigger accuracy calibration is performed, and a delay compensation network is generated and connected to the trigger controller.

[0061] Specifically, the synchronization cable ensures that the signal sent by the trigger controller can be transmitted to the device in a timely and accurate manner, thereby avoiding errors or delays in signal transmission. The trigger controller is connected to the interface of the cross-line laser and the binocular camera using a synchronization cable, and the trigger controller sends a synchronization pulse signal according to the pre-set scanning path. The synchronization pulse signal is transmitted to the cross-line laser and the binocular camera through the connected synchronization cable, ensuring that the two start scanning at the same time point, ensuring that the cross-line laser and the binocular camera can work in coordination, and there will be no time difference during the entire scanning process.

[0062] Before officially starting the full-scale scan, a trigger accuracy calibration is required. This is to ensure that there is no delay in the response time of the cross-line laser and the binocular camera. If calibration is not performed, the devices may be out of sync due to hardware differences or signal transmission delays. Therefore, through a precision calibration, the signal response time of the cross-line laser and the binocular camera can be measured and recorded, and a delay compensation network can be generated. This network can dynamically adjust the trigger timing of the signal according to the actual response time and signal transmission delay of each device, thereby compensating for the slight time difference between devices and ensuring the synchronization and consistency of data acquisition. For example, if the response time of the camera is 1 millisecond slower than that of the laser, the delay compensation network will automatically add 1 millisecond of delay compensation to the camera to achieve accurate synchronization of the devices. The generated delay compensation network will be connected to the trigger controller. At this point, the trigger controller can automatically adjust the start-up timing of the cross-line laser and the binocular camera every time a synchronization pulse signal is issued based on the calibration data of the delay compensation network. In this way, complete synchronization between devices can be ensured even if there are hardware differences or signal transmission delays. This synchronization mechanism greatly improves the accuracy and consistency of the scanning results, providing high-quality basic data for subsequent 3D reconstruction.

[0063] Furthermore, step S2 of the embodiment of the present application further includes: Determine a single image shooting range of the binocular camera within a preset image acquisition accuracy range; determine the scanning partitions and the laser scanning parameters based on the single image shooting range and the single scanning space of the cross-line laser, wherein any one of the scanning partitions is a single scanning area of ​​the cross-line laser and the binocular camera; based on the scanning partitions, take the two camera units in the binocular camera to acquire a complete image of the scanning partition at different angles as a target constraint, set internal and external parameters of the binocular camera, and generate the first camera scanning parameters and the second camera scanning parameters; add the scanning partitions, the laser scanning parameters, the first camera scanning parameters and the second camera scanning parameters into the scanning path.

[0064] Specifically, the specific process of establishing a scanning path includes: first, determining the single image capture range of the binocular camera under the preset image acquisition accuracy range. This step determines the spatial range that the camera can cover each time it shoots. This range is determined by the optical design of the camera (such as lens focal length, sensor size) and specific accuracy requirements. Among them, the preset image acquisition accuracy range is the accuracy standard of image acquisition set according to specific requirements, and the single image capture range is the spatial area that the camera can cover when shooting an image, which is usually related to the camera's viewing angle and resolution.

[0065] Based on the single image capture range of the camera and the single scan space of the cross-line laser, the target area is further divided into multiple scan partitions. The size of each partition is set to be suitable for the binocular camera and the cross-line laser to cover simultaneously in one operation. At the same time, the laser scanning parameters are set to adapt to the specific needs of each partition. Among them, the single scan space is the spatial area that the cross-line laser can cover in one scanning process.

[0066] In each scanning partition, the two camera units of the binocular camera need to capture a complete image from different angles. Therefore, in order to ensure that the binocular camera can obtain a complete image of the scanning partition at different angles and meet the accuracy requirements of three-dimensional reconstruction, the internal and external parameters of the binocular camera are set, where the internal parameters include focal length, pixel size, optical center position, etc., and the external parameters include the position and posture of the camera in space. Through the setting, the first camera scanning parameters and the second camera scanning parameters applicable to the two camera units in the binocular camera are generated to ensure that the two cameras work together at different angles to complete the complete image acquisition of the scanning partition. Finally, the determined scanning partitions, laser scanning parameters, first camera scanning parameters and second camera scanning parameters are integrated into the scanning path. This path not only includes the route of how the device moves and works, but also details the operating parameters of the device in each partition, ensuring that the entire scanning task can perform seamless and accurate data collection in all partitions.

[0067] In summary, the cross-line laser three-dimensional scanning method of a power transmission line provided in the embodiment of the present application has the following technical effects: A three-dimensional scanning module is configured, wherein the three-dimensional scanning module includes a cross-line laser and a binocular camera; a full-range scanning fitting is performed on the target area, and a scanning path of the cross-line laser and the binocular camera is established, wherein the scanning path includes scanning partitions, laser scanning parameters, first camera scanning parameters, and second camera scanning parameters. This step ensures that the image and laser data in the scanning area can be accurately and synchronously collected. Based on the laser scanning parameters, the characteristic point calibration fitting of the transmission line is performed to generate preset characteristic point features, wherein the preset characteristic point features include image brightness features and transmission line laser line features; a shared clock mechanism is established for the cross-line laser and the binocular camera, wherein the shared clock mechanism includes a trigger controller; based on the scanning path, the trigger controller is used to activate the cross-line laser and the binocular camera to perform a full-range synchronous scanning of the target area, generate a first laser projection image set and a second laser projection image set, and realize synchronous full-range data collection. The first laser projection image set and the second laser projection image set are subjected to feature point recognition and three-dimensional coordinate calculation based on the image brightness features and the transmission line laser line features to generate an initial transmission line three-dimensional coordinate set; three-dimensional modeling integrity recognition is performed based on the initial transmission line three-dimensional coordinate set to generate a line occlusion area, and the three-dimensional coordinate fitting of the occlusion area is performed using an occlusion prediction compensation model based on a generative adversarial network in combination with the transmission line trend recognition result to generate the three-dimensional reconstruction result of the transmission line.

[0068] In general, the embodiment of the present application uses a three-dimensional scanning module that combines a cross-line laser and a binocular camera, introduces a shared clock mechanism, ensures the precise synchronization of the two, and realizes a full-scale and refined scanning of the transmission line. In addition, by fitting the scanning path and refining the configuration of scanning partitions, laser scanning parameters and camera parameters, the scanning coverage in complex environments is ensured and data omissions are reduced. At the same time, the data calibration accuracy is further improved through automated feature point recognition and fitting based on image brightness features and laser line features. For occluded areas, the data loss in the occluded areas is effectively compensated by the three-dimensional modeling integrity recognition and coordinate fitting of the occluded areas. Finally, the method realizes high-precision three-dimensional reconstruction of the transmission line, ensures the integrity and accuracy of the data, and improves the practicality and reliability of the three-dimensional reconstruction model.

[0069] Embodiment 2, as Figure 4 As shown, an embodiment of the present application provides a cross-line laser three-dimensional scanning device for a power transmission line, the device comprising: The scanning configuration module 10 is used to configure a three-dimensional scanning module, wherein the three-dimensional scanning module includes a cross-line laser and a binocular camera.

[0070] The scanning path establishing module 20 is used to perform an omnidirectional scanning fitting on the target area and establish a scanning path of the cross-line laser and the binocular camera, wherein the scanning path includes scanning partitions, laser scanning parameters, first camera scanning parameters and second camera scanning parameters.

[0071] The feature point calibration and fitting module 30 is used to perform feature point calibration and fitting of the power transmission line based on the laser scanning parameters to generate preset feature point features, wherein the preset feature point features include image brightness features and power transmission line laser line features.

[0072] A trigger mechanism establishing module 40 is used to establish a shared clock mechanism for the cross-line laser and the binocular camera, wherein the shared clock mechanism includes a trigger controller.

[0073] The synchronous scanning module 50 is used to activate the cross-line laser and the binocular camera to perform an all-round synchronous scan of the target area based on the scanning path using the trigger controller to generate a first laser projection image set and a second laser projection image set.

[0074] The initial three-dimensional coordinate generation module 60 is used to perform feature point recognition and three-dimensional coordinate calculation on the first laser projection image set and the second laser projection image set based on the image brightness characteristics and the transmission line laser line characteristics to generate an initial transmission line three-dimensional coordinate set.

[0075] The three-dimensional reconstruction module 70 is used to perform three-dimensional modeling integrity identification based on the initial transmission line three-dimensional coordinate set, generate a line occlusion area, and then perform three-dimensional coordinate fitting of the occlusion area to generate a three-dimensional reconstruction result of the transmission line.

[0076] Furthermore, the initial three-dimensional coordinate generation module 60 of the embodiment of the present application is also used to perform the following steps: Extract timestamp information from the first laser projection image set and the second laser projection image set to verify time synchronization; locate the first laser projection image and the second laser projection image that have passed the time synchronization verification; perform brightness correction on the first laser projection image and the second laser projection image according to the image brightness characteristics to generate a first corrected image and a second corrected image; pair the target feature points of the first corrected image and the second corrected image based on the transmission line laser line characteristics to generate multiple groups of target feature point combinations; calculate the coordinates of the multiple groups of target feature point combinations using triangulation method in combination with the first camera scanning parameters and the second camera scanning parameters to generate a first partition coordinate set; add the first partition coordinate set to the initial transmission line three-dimensional coordinate set.

[0077] Furthermore, the initial three-dimensional coordinate generation module 60 of the embodiment of the present application is also used to perform the following steps: Based on the transmission line laser line features, feature points of the first corrected image and the second corrected image are located to generate a first feature point set and a second feature point set; a first feature point is extracted from the first feature point set, and the second feature point set is traversed for stereo matching to locate the matched second feature point; a first target feature point combination is established with the first feature point and the second feature point, and is added to the multiple groups of target feature point combinations.

[0078] Furthermore, the initial three-dimensional coordinate generation module 60 of the embodiment of the present application is also used to perform the following steps: The binocular baseline distance and focal length are read based on the camera scanning parameters; based on the first target feature point combination, the first feature point disparity is identified in the first corrected image and the second corrected image; the depth is calculated using triangulation method in combination with the binocular baseline distance, the focal length and the first feature point disparity to generate the first feature point depth; the pixel coordinates of the first feature point are obtained, and the first partition coordinate set is calculated and obtained in combination with the first feature point depth.

[0079] Furthermore, the 3D reconstruction module 70 in the embodiment of the present application is also used to perform the following steps: The distances between adjacent coordinates are calculated based on the initial transmission line three-dimensional coordinate set to generate a plurality of scanning distances; it is determined whether the plurality of scanning distances are all less than or equal to a preset scanning interval, and if not, an area between adjacent coordinates greater than the preset scanning interval is obtained as the line occlusion area; the line trend is identified based on the initial transmission line three-dimensional coordinate set to generate a trend identification result; an occlusion prediction compensation model is used to perform a complete three-dimensional coordinate analysis on the trend identification result and the line occlusion area to generate a three-dimensional reconstruction result of the transmission line.

[0080] Furthermore, the occlusion prediction compensation model in the three-dimensional reconstruction module 70 of the embodiment of the present application is constructed based on a generative adversarial network, including a generator and a discriminator; a training sample set is established, and the training sample set includes three-dimensional scanning data samples of the unoccluded part and complete three-dimensional scanning result samples; the generator generates a predicted complete three-dimensional scanning result by learning the three-dimensional scanning data samples of the unoccluded part; the discriminator determines whether the input is a true scanning result by comparing the complete three-dimensional scanning result samples with the predicted complete three-dimensional scanning result generated by the generator, and so on, the generator and the discriminator are alternately trained until the discriminator judges that the compared complete three-dimensional scanning result samples and the predicted complete three-dimensional scanning result generated by the generator are consistent under a preset number of training times.

[0081] Furthermore, the trigger mechanism establishment module 40 of the embodiment of the present application is also used to perform the following steps: A synchronization cable is used to establish an interface connection between the trigger controller and the cross-line laser and the binocular camera; the trigger controller sends a synchronization pulse signal according to the scanning path, and transmits the synchronization pulse signal to the cross-line laser and the binocular camera through the interface connection for synchronous data acquisition; before performing an all-round synchronous scan of the target area, a trigger accuracy calibration is performed, and a delay compensation network is generated and connected to the trigger controller.

[0082] Furthermore, the scanning path establishing module 20 in the embodiment of the present application is also used to perform the following steps: Determine a single image shooting range of the binocular camera within a preset image acquisition accuracy range; determine the scanning partitions and the laser scanning parameters based on the single image shooting range and the single scanning space of the cross-line laser, wherein any one of the scanning partitions is a single scanning area of ​​the cross-line laser and the binocular camera; based on the scanning partitions, take the two camera units in the binocular camera to acquire a complete image of the scanning partition at different angles as a target constraint, set internal and external parameters of the binocular camera, and generate the first camera scanning parameters and the second camera scanning parameters; add the scanning partitions, the laser scanning parameters, the first camera scanning parameters and the second camera scanning parameters into the scanning path.

[0083] Through the above-mentioned detailed description of the cross-line laser three-dimensional scanning method for transmission lines in this specification, those skilled in the art can clearly understand the cross-line laser three-dimensional scanning device for transmission lines in this embodiment. For the device disclosed in Example 2, since it corresponds to the method disclosed in Example 1 and has corresponding functional modules and beneficial effects, the relevant parts can be referred to the description of the method part.

[0084] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A cross-line laser three-dimensional scanning method for a power transmission line, characterized in that: include: Configure a three-dimensional scanning module, wherein the three-dimensional scanning module includes a cross-line laser and a binocular camera; Performing omnidirectional scanning fitting on the target area, establishing a scanning path of the cross-line laser and the binocular camera, wherein the scanning path includes scanning partitions, laser scanning parameters, first camera scanning parameters, and second camera scanning parameters; Based on the laser scanning parameters, characteristic point calibration and fitting of the power transmission line are performed to generate preset characteristic point features, wherein the preset characteristic point features include image brightness features and transmission line laser line features; Establishing a shared clock mechanism for the cross-line laser and the binocular camera, wherein the shared clock mechanism includes a trigger controller; Based on the scanning path, using the trigger controller to activate the cross-line laser and the binocular camera to perform an all-round synchronous scanning of the target area to generate a first laser projection image set and a second laser projection image set; Performing feature point recognition and three-dimensional coordinate calculation on the first laser projection image set and the second laser projection image set based on the image brightness features and the transmission line laser line features to generate an initial transmission line three-dimensional coordinate set; Based on the initial transmission line three-dimensional coordinate set, three-dimensional modeling integrity identification is performed to generate a line occlusion area, and then the three-dimensional coordinate fitting of the occlusion area is performed to generate the three-dimensional reconstruction result of the transmission line.

2. The method for three-dimensional cross-line laser scanning of a power transmission line according to claim 1, characterized in that: The method includes: performing feature point recognition and three-dimensional coordinate calculation on the first laser projection image set and the second laser projection image set based on the image brightness feature and the transmission line laser line feature to generate an initial transmission line three-dimensional coordinate set, including: Extracting timestamp information from the first laser projection image set and the second laser projection image set to perform time synchronization verification; The first laser projection image and the second laser projection image that have passed the verification of the synchronization of the positioning time; Performing brightness correction on the first laser projection image and the second laser projection image according to the image brightness feature to generate a first corrected image and a second corrected image; Pairing target feature points of the first corrected image and the second corrected image based on the transmission line laser line feature to generate multiple groups of target feature point combinations; In combination with the first camera scanning parameter and the second camera scanning parameter, coordinate calculation is performed on the plurality of target feature point groups using a triangulation method to generate a first partition coordinate set; The first partition coordinate set is added to the initial transmission line three-dimensional coordinate set.

3. The method for three-dimensional cross-line laser scanning of a power transmission line according to claim 2, characterized in that: The first corrected image and the second corrected image are paired with target feature points based on the transmission line laser line feature to generate multiple groups of target feature point combinations, including: Based on the transmission line laser line features, feature point positioning is performed on the first corrected image and the second corrected image to generate a first feature point set and a second feature point set; Extracting a first feature point from the first feature point set, traversing the second feature point set for stereo matching, and locating a matching second feature point; A first target feature point combination is established using the first feature point and the second feature point, and is added to the plurality of target feature point combinations.

4. The method for three-dimensional cross-line laser scanning of a power transmission line according to claim 3, characterized in that: Combining the first camera scanning parameter and the second camera scanning parameter, calculating the coordinates of the plurality of target feature point combinations by using triangulation to generate a first partition coordinate set, including: Read the binocular baseline distance and focal length based on the camera scanning parameters; Based on the first target feature point combination, identifying a first feature point disparity in the first corrected image and the second corrected image; Combining the binocular baseline distance, the focal length and the first feature point disparity, a depth calculation is performed using a triangulation method to generate a first feature point depth; The pixel coordinates of the first feature point are obtained, and combined with the depth of the first feature point, the first partition coordinate set is calculated and obtained.

5. The method for three-dimensional cross-line laser scanning of a power transmission line according to claim 1, characterized in that: Based on the initial transmission line three-dimensional coordinate set, three-dimensional modeling integrity identification is performed to generate a line occlusion area, and then three-dimensional coordinate fitting of the occlusion area is performed to generate the transmission line three-dimensional reconstruction result, including: Calculating the distances between adjacent coordinates based on the initial transmission line three-dimensional coordinate set to generate a plurality of scanning adjacent distances; Determine whether the plurality of scanning adjacent distances are all less than or equal to a preset scanning interval, and if not, obtain an area between adjacent coordinates greater than the preset scanning interval as the line blocking area; Perform line trend identification according to the initial transmission line three-dimensional coordinate set to generate a trend identification result; The occlusion prediction and compensation model is used to perform a complete three-dimensional coordinate analysis on the trend recognition result and the line occlusion area to generate a three-dimensional reconstruction result of the transmission line.

6. The method for three-dimensional cross-line laser scanning of a power transmission line according to claim 5, characterized in that: The occlusion prediction compensation model is constructed based on a generative adversarial network, including a generator and a discriminator; Establishing a training sample set, wherein the training sample set includes three-dimensional scanning data samples of unobstructed parts and complete three-dimensional scanning result samples; The generator generates a predicted complete three-dimensional scanning result by learning the three-dimensional scanning data samples of the unobstructed part; the discriminator determines whether the input is a real scanning result by comparing the complete three-dimensional scanning result samples with the predicted complete three-dimensional scanning result generated by the generator. Similarly, the generator and the discriminator are trained alternately until the discriminator determines that the compared complete three-dimensional scanning result samples and the predicted complete three-dimensional scanning result generated by the generator are consistent after a preset number of training times.

7. The method for three-dimensional cross-line laser scanning of a power transmission line according to claim 1, characterized in that: A shared clock mechanism is established for the cross-line laser and the binocular camera, wherein the shared clock mechanism includes a trigger controller, including: Use a synchronization cable to establish an interface connection between the trigger controller, the cross-line laser, and the binocular camera; The trigger controller sends out a synchronization pulse signal according to the scanning path, and transmits the synchronization pulse signal to the cross-line laser and the binocular camera through the interface connection for synchronous data acquisition; Before performing an all-round synchronous scanning on the target area, a trigger accuracy calibration is performed, and a delay compensation network is generated and connected to the trigger controller.

8. The method for three-dimensional cross-line laser scanning of a power transmission line according to claim 1, characterized in that: Perform an omnidirectional scan fitting on the target area, and establish a scanning path of the cross-line laser and the binocular camera, wherein the scanning path includes scanning partitions, laser scanning parameters, first camera scanning parameters, and second camera scanning parameters, including: Determine a single image capturing range of the binocular camera within a preset image acquisition accuracy range; Determining the scanning partitions and the laser scanning parameters based on the single image capturing range and the single scanning space of the cross-line laser, wherein any one of the scanning partitions is a single scanning area of ​​the cross-line laser and the binocular camera; Based on the scanning partition, two camera units in the binocular camera acquire complete images of the scanning partition at different angles as target constraints, set internal and external parameters of the binocular camera, and generate the first camera scanning parameters and the second camera scanning parameters; The scan zones, the laser scan parameters, the first camera scan parameters, and the second camera scan parameters are added to the scan path.

9. A cross-line laser three-dimensional scanning device for a power transmission line, characterized in that: The device is used to execute the cross-line laser three-dimensional scanning method of the power transmission line according to any one of claims 1 to 8, comprising: A scanning configuration module, the scanning configuration module is used to configure a three-dimensional scanning module, wherein the three-dimensional scanning module includes a cross-line laser and a binocular camera; A scanning path establishment module, the scanning path establishment module is used to perform omnidirectional scanning fitting on the target area, and establish a scanning path of the cross-line laser and the binocular camera, wherein the scanning path includes scanning partitions, laser scanning parameters, first camera scanning parameters, and second camera scanning parameters; A feature point calibration and fitting module, wherein the feature point calibration and fitting module is used to perform feature point calibration and fitting of the power transmission line based on the laser scanning parameters to generate preset feature point features, wherein the preset feature point features include image brightness features and power transmission line laser line features; A trigger mechanism establishment module, the trigger mechanism establishment module is used to establish a shared clock mechanism for the cross-line laser and the binocular camera, wherein the shared clock mechanism includes a trigger controller; A synchronous scanning module, wherein the synchronous scanning module is used to activate the cross-line laser and the binocular camera to perform an all-round synchronous scanning of the target area based on the scanning path by using the trigger controller to generate a first laser projection image set and a second laser projection image set; An initial three-dimensional coordinate generation module, the initial three-dimensional coordinate generation module is used to perform feature point recognition and three-dimensional coordinate calculation on the first laser projection image set and the second laser projection image set based on the image brightness feature and the transmission line laser line feature, so as to generate an initial transmission line three-dimensional coordinate set; A three-dimensional reconstruction module is used to perform three-dimensional modeling integrity identification based on the initial transmission line three-dimensional coordinate set, generate a line occlusion area, and then perform three-dimensional coordinate fitting of the occlusion area to generate a three-dimensional reconstruction result of the transmission line.

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