Transmission line reconstruction method based on environment-aware laser projection

Abstract

The present application provides a method for power transmission line reconstruction based on environment-aware laser projection, which relates to the field of radio wave detection technology, including: optimizing parameters based on environmental monitoring data, determining laser operating parameters, first internal standard parameters, first external standard parameters, second internal standard parameters, and second external standard parameters; capturing the laser line profile of the target area, acquiring the first image set and the second image set; performing three-dimensional reconstruction of the power transmission line based on the first image set and the second image set based on the first internal standard parameters, the first external standard parameters, the second internal standard parameters, and the second external standard parameters. The present application can solve the limitation of the existing line reconstruction method that it cannot adaptively adjust the laser parameters and image acquisition parameters according to changes in the external environment, which affects the accuracy and quality of the three-dimensional reconstruction of the line, and can improve the accuracy of the laser parameter and image acquisition parameter settings, thereby achieving the technical effect of improving the accuracy and quality of the three-dimensional reconstruction of the line.

Description

Technical Field

[0001] The present application relates to the field of radio wave detection technology, and in particular to a method for power transmission line reconstruction based on environment-aware laser projection. Background Art

[0002] 3D reconstruction of transmission lines plays a vital role in monitoring, maintenance, and fault diagnosis. Reconstructing 3D models of transmission lines provides a reliable foundation for condition assessment, fault prediction, and maintenance planning. However, existing 3D reconstruction methods for transmission lines face numerous challenges in practical applications. The most notable issue is the lack of accurate and comprehensive data acquisition, which results in suboptimal 3D reconstruction accuracy and quality.

[0003] Since power transmission lines are usually located outdoors, the surrounding meteorological conditions (such as light intensity, wind speed, wind direction, rain and snow, etc.) will change frequently. These changes directly affect the effect of laser projection and the image acquisition quality of the camera. For example, in a strong light environment, the brightness of the laser projector may be insufficient, resulting in unclear laser lines on the surface of the transmission line; in a low-light environment or at night, the fixed laser brightness may be too high, causing reflection interference; similarly, the fixed focal length and exposure settings of the camera in an environment with high wind speed or frequent light changes may result in blurred images or brightness imbalance.

[0004] In summary, the limitation of the existing transmission line reconstruction method is that it cannot adaptively adjust the linear laser projection parameters and binocular image acquisition parameters according to changes in the external environment, resulting in poor accuracy and comprehensiveness of the line acquisition data, which affects the accuracy and quality of the three-dimensional reconstruction of the transmission line. Summary of the Invention

[0005] The purpose of this application is to provide a transmission line reconstruction method based on environment-aware laser projection, which is used to solve the limitations of existing transmission line reconstruction methods, namely, they are unable to adaptively adjust the one-line laser projection parameters and binocular image acquisition parameters according to changes in the external environment, resulting in poor accuracy and comprehensiveness of line acquisition data, affecting the technical problem of the accuracy and quality of three-dimensional reconstruction of transmission lines.

[0006] In view of the above problems, the present application provides a method for reconstructing a power transmission line based on environment-aware laser projection, comprising: configuring a laser and a binocular camera group, wherein the laser is a line laser projector, which is installed at the tower body of the transmission tower and is located below the transmission line side, and the binocular camera group comprises a first camera unit and a second camera unit, the first camera unit is installed at the tower body of the transmission tower and is located on one side below the transmission line side, and the second camera unit is installed at the tower body of the transmission tower and is located on the other side below the transmission line side, and the first camera unit and the second camera unit can be displaced along a predetermined track; reading environmental monitoring data of the target area, and performing image reconstruction on the line laser projector, the first camera unit and the second camera unit based on the environmental monitoring data. The two camera units perform calibration parameter optimization to determine laser operating parameters, a first internal standard parameter, a first external standard parameter, a second internal standard parameter, and a second external standard parameter, wherein the target area is an area covering a target transmission line; based on the laser operating parameters, the one-line laser projector is controlled to perform laser projection on the target area, and the first camera unit and the second camera unit are controlled to capture the laser line profile of the target area according to the first internal standard parameter, the first external standard parameter, the second internal standard parameter, and the second external standard parameter, to obtain a first image set and a second image set; based on the first internal standard parameter, the first external standard parameter, the second internal standard parameter, and the second external standard parameter, according to the first image set and the second image set, three-dimensional reconstruction of the target transmission line is performed, and a three-dimensional model of the line is output.

[0007] One or more technical solutions provided in this application have at least the following technical effects or advantages: By reading the environmental monitoring data of the target area, the calibration parameters of the one-line laser projector, the first camera unit and the second camera unit are optimized based on the environmental monitoring data to determine the laser operation parameters, the first internal standard parameter, the first external standard parameter, the second internal standard parameter and the second external standard parameter; then, based on the laser operation parameters, the one-line laser projector is controlled to project the laser to the target area, and the first camera unit and the second camera unit are controlled to capture the laser line profile of the target area according to the first internal standard parameter, the first external standard parameter, the second internal standard parameter and the second external standard parameter to obtain the first image set and the second image set; then, according to the first internal standard parameter and the second internal standard parameter, the laser line profile of the target area is obtained. The first image set and the second image set are corrected separately to obtain a first corrected image set and a second corrected image set; finally, based on the first external standard parameter and the second external standard parameter, geometric calculation and stereo matching are performed on the laser contour curves in the first corrected image set and the second corrected image set to complete the three-dimensional reconstruction of the target transmission line and output the three-dimensional model of the line; the one-line laser projection parameters and the binocular image acquisition parameters can be dynamically adjusted according to changes in the external environment, thereby improving the accuracy of the laser parameter and image acquisition parameter settings, effectively improving the accuracy and comprehensiveness of data acquisition, thereby achieving the technical effect of improving the accuracy and quality of three-dimensional reconstruction of transmission lines in complex environments.

[0008] 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, which can be implemented in accordance with the contents of the description, and 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 specifically listed below. It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present application, nor is it intended to limit the scope of the present application. Other features of the present application will become easy to understand through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the technical solutions in this application or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely exemplary, and a person of ordinary skill in the art can obtain other drawings based on the provided drawings without creative work.

[0010] Figure 1 This is a flow chart of a method for power transmission line reconstruction based on environment-aware laser projection in this application; Figure 2 This is a flow chart of determining laser operating parameters in a power transmission line reconstruction method based on environment-aware laser projection in this application. DETAILED DESCRIPTION

[0011] This application provides a method for power line reconstruction based on environmentally aware laser projection. This method addresses the existing technical issues of poor accuracy and comprehensiveness of line data acquisition, hindering the accuracy and quality of 3D reconstruction of power lines due to the inability to adaptively adjust linear laser projection parameters and binocular image acquisition parameters based on changes in the external environment. This method achieves the technical goal of precisely setting linear laser projection parameters and binocular image acquisition parameters, thereby improving the accuracy and quality of 3D reconstruction of power lines in complex environments.

[0012] Below, the technical solutions in this application will be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of this application, rather than all the embodiments of this application. It should be understood that this application is not limited to the example embodiments described herein. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application. It should also be noted that, for the convenience of description, only the parts related to this application, rather than all of them, are shown in the accompanying drawings.

[0013] For examples, please see the attached Figure 1 , this application provides a method for power transmission line reconstruction based on environment-aware laser projection, which specifically includes the following steps: S100: Configure a laser and a binocular camera group, wherein the laser is a line laser projector, which is installed on the tower body of the transmission tower and is located below the transmission line side. The binocular camera group includes a first camera unit and a second camera unit. The first camera unit is installed on the tower body of the transmission tower and is located on one side below the transmission line side. The second camera unit is installed on the tower body of the transmission tower and is located on the other side below the transmission line side. The first camera unit and the second camera unit can be displaced along a predetermined track.

[0014] Specifically, a straight-line laser projector is a projection device used to generate a straight laser beam. It is commonly used in fields such as high-precision measurement, object contour detection, and three-dimensional reconstruction. It can project a bright laser line on the surface of a target object and obtain surface information by interacting with the object. This device is widely used in power transmission line detection and can quickly and accurately capture the contour information of the transmission line. Among them, the straight-line laser projector can efficiently capture and measure the three-dimensional contour of the target object by generating a laser line and combining it with a scanning mechanism. Using a straight-line laser projector, it can quickly capture the spatial shape and height changes of the transmission line by projecting a clear laser line. At the same time, this device is equipped with a scanning system that can scan the laser line on the surface of an object or in space according to a certain trajectory to obtain more comprehensive and accurate data. The binocular camera group is a stereo vision system composed of two camera units. It uses two cameras to capture images of the same target object from different angles. It can use the principle of parallax to calculate the depth information of the object and generate a stereo model in three-dimensional space.

[0015] First, a laser and binocular camera system are configured. The laser is a linear laser projector installed on the transmission tower, below the transmission line. The laser projector projects a laser line onto the surface of the transmission line, interacting with the line to generate line contour information. Its core function is to provide precise laser projection, ensuring the laser line is projected onto the surface of the transmission line, helping the binocular camera system capture a clear line outline. The binocular camera system includes a first camera unit and a second camera unit. The first camera unit is installed on the transmission tower, below the transmission line on one side, and the second camera unit is installed on the tower, below the transmission line on the other side, forming a stereoscopic perspective. The binocular camera system captures images from different angles, providing sufficient depth information and detail for three-dimensional reconstruction. To adapt to the swaying of the line and changes in the external environment, the first and second camera units can move up and down or left and right along a predetermined track to dynamically adjust the camera's perspective and position, ensuring that the best quality images are always captured. A linear laser projector generates clear outline information of the transmission line, which, combined with the image acquisition of the binocular camera system, forms the complete 3D reconstruction input data. The binocular camera system captures images of the transmission line from different angles, and combined with the laser projection data, generates images with depth and precise details for the subsequent 3D reconstruction process. The configuration of the linear laser projector and binocular camera system, combined with the displacement function of the predetermined track, effectively improves the accuracy and comprehensiveness of data acquisition, thereby providing high-precision, high-quality data input for 3D reconstruction of the transmission line.

[0016] S200: Read the environmental monitoring data of the target area, optimize the calibration parameters of the line laser projector, the first camera unit and the second camera unit based on the environmental monitoring data, and determine the laser operation parameters, the first internal standard parameter, the first external standard parameter, the second internal standard parameter and the second external standard parameter, wherein the target area is the area covering the target transmission line.

[0017] Specifically, sensors are used to collect environmental data of the target area in real time. These data play an important role in optimizing the calibration parameters of the line laser projector and binocular camera group. The target area is the area covering the target transmission line, and environmental monitoring data is obtained, including lighting information, weather type, wind speed and wind direction. Then, the operating parameters of the one-line laser projector, the first camera unit and the second camera unit are adaptively optimized according to the environmental monitoring data. For example, the operating parameters of the one-line laser projector are adaptively optimized according to the environmental monitoring data to ensure that the laser line always remains clear and stable on the surface of the transmission line, wherein the optimized laser operating parameters include laser brightness, line width and projection angle; the operating parameters of the first camera unit and the second camera unit are optimized according to the environmental monitoring data, wherein the optimized operating parameters include internal standard parameters and external standard parameters, the internal standard parameters refer to the internal optical characteristics of the camera unit, including focal length, exposure time, aperture size, etc., and the external standard parameters refer to the position and shooting angle of the camera unit, which determine the viewing angle and position of the camera; finally, the laser operating parameters, the first internal standard parameters and the first external standard parameters of the first camera unit, and the second internal standard parameters and the second external standard parameters of the second camera unit are obtained according to the parameter optimization results.

[0018] By optimizing the calibration parameters of the line laser projector, the first camera unit, and the second camera unit based on real-time environmental conditions, the laser operating parameters and the internal and external calibration parameters of the camera units can be dynamically adjusted, thereby improving the accuracy of laser projection and the clarity of image acquisition, and ensuring the accuracy and reliability of three-dimensional reconstruction of transmission lines in complex environments.

[0019] S300: Based on the laser operating parameters, the one-line laser projector is controlled to project the laser onto the target area, and the first camera unit and the second camera unit are controlled to capture the laser line profile of the target area according to the first internal standard parameter, the first external standard parameter, the second internal standard parameter and the second external standard parameter to obtain the first image set and the second image set.

[0020] Specifically, first, the one-line laser projector is controlled according to the laser operating parameters to project the laser onto the target area. The laser operating parameters are dynamically adjusted according to the environmental monitoring data of the target area to ensure the accuracy of the laser projection, wherein the target area is the area covering the target transmission line. Then, the first camera unit and the second camera unit are controlled according to the first internal standard parameter, the first external standard parameter, the second internal standard parameter, and the second external standard parameter to capture the laser line profile of the target area, that is, the laser is projected onto the surface of the transmission line to generate a clear laser line profile. The first camera unit and the second camera unit respectively shoot the laser line from different angles to capture the laser line profile and obtain the first image set and the second image set. These image sets record the interaction information between the laser line and the transmission line, providing complete basic data for subsequent three-dimensional reconstruction, thereby improving the accuracy and reliability of the three-dimensional model of the transmission line.

[0021] S400: Based on the first internal standard parameter, the first external standard parameter, the second internal standard parameter and the second external standard parameter, perform three-dimensional reconstruction of the target transmission line according to the first image set and the second image set, and output a three-dimensional model of the line.

[0022] Specifically, first, the first and second image sets are corrected based on the first and second internal standard parameters, respectively, to eliminate geometric distortion within the camera unit. For example, the images in the first image set are geometrically corrected using the internal standard parameters (focal length, distortion coefficient, etc.) of the first camera unit to eliminate lens distortion and restore the true form of the images. A first corrected image set is generated to ensure that the laser line profile in the image is not affected by lens distortion, resulting in the first and second corrected image sets. Then, based on the first and second external standard parameters, geometric calculation and stereo matching are performed on the laser profile curves in the first and second corrected image sets to perform three-dimensional reconstruction of the target transmission line, ultimately generating a complete three-dimensional model of the transmission line.

[0023] By providing a method for power transmission line reconstruction based on environment-aware laser projection, it is possible to solve the technical problem that the existing power transmission line reconstruction method cannot adaptively adjust the line laser projection parameters and binocular image acquisition parameters according to changes in the external environment, resulting in poor accuracy and comprehensiveness of line acquisition data, which affects the accuracy and quality of three-dimensional reconstruction of the power transmission line. By reading the environmental monitoring data of the target area, the calibration parameters of the line laser projector, the first camera unit and the second camera unit are optimized based on the environmental monitoring data to determine the laser operation parameters, the first internal standard parameter, the first external standard parameter, the second internal standard parameter and the second external standard parameter; then, based on the laser operation parameters, the line laser projector is controlled to project the laser to the target area, and the first camera unit and the second camera unit are controlled according to the first internal standard parameter, the first external standard parameter, the second internal standard parameter and the second external standard parameter to capture the laser line contour of the target area, and obtain the first image set and the second image set; then, the image is divided according to the first internal standard parameter and the second internal standard parameter. The first image set and the second image set are corrected separately to obtain a first corrected image set and a second corrected image set; finally, based on the first external standard parameter and the second external standard parameter, geometric calculation and stereo matching are performed on the laser contour curves in the first corrected image set and the second corrected image set to complete the three-dimensional reconstruction of the target transmission line and output the three-dimensional model of the line; the one-line laser projection parameters and the binocular image acquisition parameters can be dynamically adjusted according to changes in the external environment, thereby improving the accuracy of the laser parameter and image acquisition parameter settings, effectively improving the accuracy and comprehensiveness of data acquisition, thereby achieving the technical effect of improving the accuracy and quality of three-dimensional reconstruction of transmission lines in complex environments.

[0024] Furthermore, this application includes: The environmental monitoring data includes lighting information, weather type, wind speed and wind direction.

[0025] Specifically, the environmental monitoring data includes lighting information, weather type, wind speed, and wind direction. The light intensity directly affects the image acquisition quality of the laser projection and camera unit. For example, in a strong light environment, the laser brightness needs to be increased to ensure clear visibility; in a weak light environment or at night, the laser brightness needs to be reduced to prevent excessive reflection. Therefore, it is necessary to adjust the brightness parameters of the laser projector according to the light intensity, and optimize the exposure time and aperture size of the camera unit to ensure that the brightness of the captured image is uniform and the details are clearly visible. Different weather types (such as sunny, cloudy, rainy, foggy, etc.) will affect the projection effect of the laser and the field of view of the camera unit. For example, rainy and foggy weather may cause light scattering or absorption, and the laser projection parameters and camera parameters need to be adjusted. For example, the brightness and line width of the laser are adjusted according to the weather type to increase its projection effect under adverse weather conditions. At the same time, the focal length and aperture of the camera unit will also be optimized according to the weather conditions to ensure image clarity and accuracy.

[0026] Wind force affects the swing amplitude of transmission lines. When the wind speed is high, the swing range of the line increases, and the projection and acquisition angles of the laser line and camera unit need to be adjusted according to the swing situation. Wind direction affects the swing direction of the transmission line, thereby changing the laser projection and the shooting angle of the camera unit. Different wind directions require adaptive adjustments of the camera system. For example, according to the wind speed, the line width of the laser projector is adjusted to ensure that the laser line covers the entire swing range. The viewing angle and frame rate of the camera unit are also adjusted according to the wind speed to capture the swinging line. The projection angle of the laser is adjusted in real time according to the wind direction to ensure that the laser line is always accurately illuminated on the transmission line. The shooting angle of the camera unit is also adjusted accordingly to ensure that a clear laser outline image is obtained.

[0027] Furthermore, this application includes: The laser operating parameters include laser brightness, line width and projection angle, the internal standard parameters include at least focal length, exposure time, aperture size and frame rate, and the external standard parameters include camera position coordinates and shooting angle.

[0028] Specifically, the laser operating parameters include laser brightness, line width and projection angle. Laser brightness refers to the intensity of laser projection, which needs to be adjusted in real time according to the lighting environment, such as increasing the brightness in strong light to ensure visibility, and reducing the brightness in weak light to avoid overexposure; line width refers to the width of the laser line, which needs to be adjusted according to the swing amplitude of the transmission line. For example, in the case of high wind speed, the line width is increased to cover a larger swing range, and in a static environment, the line width is reduced to enhance accuracy; the projection angle refers to the angle at which the laser projects the laser line, which is dynamically adjusted according to the line position and wind direction changes to ensure that the laser line can always be accurately projected onto the surface of the transmission line.

[0029] The internal standard parameters refer to the internal optical characteristics of the camera unit, including at least focal length, exposure time, aperture size and frame rate. Those skilled in the art may also add additional internal standard parameters based on the scene. The focal length determines the field of view of the camera and the degree of detail of the captured image, and needs to be adjusted according to the distance between the target and the camera unit. When the target is close, the focal length can be reduced to obtain a larger field of view, and when the target is far, the focal length can be increased to capture details. The exposure time is used to control the exposure amount of the camera unit and can be adjusted according to the lighting conditions. For example, the exposure time can be shortened under strong light conditions and extended under weak light conditions to ensure moderate image brightness. The aperture size controls the amount of light entering the camera unit. The larger the aperture, the higher the image brightness. The smaller the aperture, the greater the depth of field. The aperture can be increased in weak light environments and reduced in strong light environments to maintain image quality. The frame rate refers to the number of image frames captured per second, and needs to be adjusted according to the motion state of the line. For example, if the line swings greatly or changes rapidly, the frame rate can be increased to ensure continuous capture of complete images. When the line is stationary, the frame rate can be appropriately reduced.

[0030] The external calibration parameters include camera position coordinates and shooting angles. The camera position coordinates refer to the specific location of the camera unit in three-dimensional space. Adjusting the position coordinates ensures that the camera unit is always aligned with the target area of ​​the transmission line. The camera unit's shooting angle, including pitch and yaw angles, is adjusted in real time to ensure that the camera can clearly capture the laser line profile from different viewing angles. By precisely adjusting the laser operating parameters (brightness, line width, and projection angle), internal calibration parameters (focal length, exposure time, aperture size, and frame rate), and external calibration parameters (camera position coordinates and shooting angle), the system can effectively adapt to different environmental conditions, ensuring high-precision data acquisition and high-quality 3D reconstruction of the transmission line.

[0031] Furthermore, the calibration parameters of the line laser projector are optimized based on the environmental monitoring data to determine the laser operating parameters, as shown in the attached figure. Figure 2 As shown, this application includes: Based on the weather type, a laser propagation impact analysis is performed to determine a propagation impact coefficient; the initial laser brightness is compensated according to the illumination information and the propagation impact coefficient to determine laser brightness parameters; based on the wind force and wind direction, a swing amplitude of the target transmission line is predicted to determine a predicted amplitude range; based on the predicted amplitude range, the initial line width and initial projection angle are optimized respectively to determine line width parameters and projection angle parameters; and the laser operation parameters are obtained according to the laser brightness parameters, line width parameters, and projection angle parameters.

[0032] Specifically, different weather types (such as sunny, cloudy, foggy, rainy, and snowy) have varying effects on laser propagation. For example, foggy, rainy, and snowy weather can cause laser light to scatter in the air, causing laser intensity to decrease with distance. Laser propagation impact analysis based on these weather types can be performed to quantify the impact of different weather conditions on laser propagation. A propagation impact coefficient can be defined. This coefficient can be set based on different weather types. This coefficient can be obtained by analyzing sample data, yielding multiple propagation impact coefficients for various weather types. Lighting is another key factor affecting laser visibility. In strong sunlight, laser brightness needs to be increased to prevent obscuration; in dim light or at night, laser brightness should be appropriately reduced to avoid excessive reflection. The initial laser brightness is further compensated based on the lighting information and the propagation impact coefficient, with the compensation parameter value set as the laser brightness parameter. By analyzing the effects of different weather types on laser propagation and determining an appropriate propagation impact coefficient, and then combining the lighting compensation coefficient with the initial laser brightness, the visibility and accuracy of laser projection can be effectively ensured under different environmental conditions.

[0033] During the 3D reconstruction of power transmission lines, wind force and direction directly affect the line's sway amplitude. To ensure accurate laser coverage of the transmission line and avoid data loss due to line sway, the laser line width and projection angle must be optimized. Increased wind speed increases the horizontal and vertical sway amplitude of the transmission line. Higher wind speeds increase the line's amplitude and the range of sway. Wind direction determines the direction of transmission line sway. For example, crosswinds cause the line to sway horizontally, while vertical winds cause it to sway up and down. Therefore, accurate wind direction data can be used to estimate the line's sway direction. By combining wind speed and direction data, a sway amplitude prediction model can be developed to predict the maximum and minimum sway amplitudes of the transmission line, generating a sway amplitude range. The initial line width and projection angle are then optimized based on this predicted amplitude range to ensure the laser line consistently covers the transmission line throughout its sway range. For example, as the sway amplitude increases, the line width increases accordingly to ensure the laser line covers the entire sway range. If the swing amplitude is small, the line width can be appropriately reduced to improve projection accuracy. As the wind direction changes, the projection angle will be dynamically adjusted to ensure that the laser line can be accurately projected onto the swinging transmission line. The greater the change in wind direction, the greater the angle adjustment. To ensure that the laser line always covers the line during the entire swing process, the line width and projection angle can be optimized simultaneously. By adjusting the line width to cover the swing range and adjusting the projection angle according to the wind direction, the laser line is always aligned with the target area, and the line width and projection angle parameters are obtained. By predicting the swing amplitude based on wind force and direction, the swing amplitude range of the line can be determined, and the line width and projection angle of the laser projection can be optimized based on this range. This ensures that the laser line can always cover the transmission line during the line swing, avoiding measurement errors caused by swinging, and ultimately providing accurate laser profile data for the three-dimensional reconstruction of the transmission line.

[0034] Finally, the laser operating parameters are obtained according to the laser brightness parameters, line width parameters and projection angle parameters.

[0035] Furthermore, this application includes: A line twin model of the target transmission line is constructed in a three-dimensional simulation platform, and N swing amplitude predictions are performed based on the line twin model to determine the predicted amplitude range, where N is an integer greater than or equal to 100.

[0036] Specifically, within a three-dimensional simulation platform, a twin model of the target transmission line is constructed using digital twin technology. A twin model is a digital representation of a physical system. It dynamically simulates the operating status of the transmission line by combining virtual simulation with actual monitoring data. The twin model updates the line's status in real time based on changes in the external environment and the line's own parameters, reflecting the transmission line's swing amplitude under different conditions. The environmental monitoring information is then input into the twin model, and N swing amplitude predictions are performed based on the twin model. Actual environmental data (such as wind speed and direction) is fed into the simulation platform to simulate the actual swing behavior of the line. N is an integer greater than or equal to 100. The specific value of N can be set based on actual requirements. The higher the required accuracy, the larger the value of N. This results in N swing amplitude predictions. Statistics are then collected from the N simulation results to determine a swing amplitude distribution range, which is then used to determine the predicted amplitude range. By applying the twin model in a three-dimensional simulation platform, the swing of the transmission line can be predicted efficiently and accurately in real time. The large sample prediction of N simulations can make the swing amplitude prediction more robust and accurate, providing precise data support for the subsequent optimization of laser projection parameters and calibration of camera unit parameters.

[0037] Furthermore, this application includes: In a three-dimensional simulation platform, the N amplitude prediction results are gray-scale processed and visualized, and the area with a gray-scale value less than a predetermined gray-scale threshold is set as the predicted amplitude interval.

[0038] Specifically, through N simulations, each swing amplitude obtained can be regarded as a set of discrete points in a spatial coordinate system, representing the different swing positions of the transmission line in each simulation. Then, within the three-dimensional simulation platform, the N amplitude prediction results are grayscale processed. That is, the swing position in each simulation result is mapped onto a two-dimensional coordinate plane, forming multiple position points. These points represent the swing state of the transmission line at different time points. Then, for each position point, its frequency of occurrence in the N simulations is calculated. High-frequency areas indicate relatively stable line swings, while low-frequency areas indicate infrequent line swings. Based on the frequency value, it is mapped to a grayscale value. The higher the frequency, the smaller the grayscale value, while the lower the frequency, the larger the grayscale value. Further visualization is performed to generate a grayscale distribution map. The generated grayscale map intuitively shows the different areas of transmission line swing. The smaller the grayscale value, the more frequent the line swings, while the larger the grayscale value, the less frequent the line swings or the line is stationary.

[0039] A predetermined grayscale threshold is configured, which can be set based on actual conditions. The generated grayscale image is then filtered based on this threshold, retaining regions with grayscale values ​​below the threshold as predicted amplitude intervals. These regions represent the high-frequency range of transmission line swings, and laser projection and image acquisition within this range ensure accurate line coverage. Within the 3D simulation platform, these filtered grayscale regions are visualized to provide analysts with an intuitive understanding of line swing conditions, improving the convenience and accuracy of predicted amplitude interval analysis.

[0040] Furthermore, based on the environmental monitoring data, calibration parameters of the first camera unit and the second camera unit are optimized to determine a first internal standard parameter and a second internal standard parameter. The present application includes: According to the lighting information and weather type, the initial focal length, initial exposure time, initial aperture size and initial frame rate of the first camera unit are optimized and analyzed to determine the first focal length, first exposure time, first aperture size and first frame rate, which are set as the first internal standard parameters; according to the lighting information and weather type, the initial focal length, initial exposure time, initial aperture size and initial frame rate of the second camera unit are optimized and analyzed to determine the second focal length, second exposure time, second aperture size and second frame rate, which are set as the second internal standard parameters.

[0041] Specifically, the initial focal length, initial exposure time, initial aperture size and initial frame rate of the first camera unit are optimized and analyzed according to the lighting information and weather type, wherein different lighting conditions and weather types will directly affect the image capture effect of the camera unit, and the parameters of the camera unit need to be adjusted through optimization analysis to ensure that it can capture clear and high-quality images in different environments; for example, under strong lighting conditions, the focal length can be appropriately reduced to expand the field of view; under low light or night conditions, the focal length can be appropriately increased to ensure that more details are captured; under weather conditions such as foggy or rainy days, a longer focal length can improve the long-distance clarity of the image; under strong lighting conditions, the exposure time should be shortened to avoid overexposure of the image; under low light conditions, the exposure time should be increased to ensure Sufficient image brightness. In low-light conditions such as cloudy and rainy days, the exposure time should be appropriately increased; in strong light conditions, the aperture should be narrowed to reduce the light entering the camera unit; in low-light conditions, the aperture should be increased to allow more light to enter, thereby increasing the image brightness. On cloudy or foggy days, the aperture should be moderately increased to enhance the image brightness; in low-light or night conditions, a lower frame rate can increase the exposure time of each frame, thereby increasing the brightness of the image; in strong light conditions, the frame rate can be appropriately increased to capture more details. In a dynamic and fast-changing environment (such as when the wind speed is high), increasing the frame rate can capture more image changes; historical sample data can be combined for analysis, and the first focal length, first exposure time, first aperture size and first frame rate can be determined according to the analysis results, and set as the first internal standard parameters.

[0042] On the other hand, the initial focal length, initial exposure time, initial aperture size, and initial frame rate of the second camera unit are optimized and analyzed based on the lighting information and weather type. The analysis method is the same as that for the first camera unit and will not be described in detail here. The shooting attribute characteristics of the first and second camera units are not exactly the same. Based on the analysis results, a second focal length, second exposure time, second aperture size, and second frame rate are determined and set as second internal standard parameters. By optimizing the initial focal length, exposure time, aperture size, and frame rate based on the lighting information and weather type, the internal standard parameters of the first camera unit can be dynamically adjusted to ensure that the camera unit can obtain clear and stable images under different environmental conditions, providing high-quality input data for subsequent three-dimensional reconstruction of the power transmission line.

[0043] Furthermore, based on the environmental monitoring data, calibration parameters of the first camera unit and the second camera unit are optimized to determine first external standard parameters and second external standard parameters. The present application includes: Obtain the first position adjustment interval and the first angle adjustment interval of the first camera unit, as well as the second position adjustment interval and the second angle adjustment interval of the second camera unit, and render the first position adjustment interval, the first angle adjustment interval, the second position adjustment interval and the second angle adjustment interval to the line twin model to generate a shooting twin model; using the shooting twin model, with the constraints of covering the predicted amplitude interval and satisfying the predetermined parallax index, optimize and adjust the position coordinates and shooting angles of the first camera unit and the second camera unit, and set the first position coordinates and the first shooting angle as the first external standard parameters, and set the second position coordinates and the second shooting angle as the second external standard parameters.

[0044] Specifically, first, obtain the first position adjustment interval and the first angle adjustment interval of the first camera unit, as well as the second position adjustment interval and the second angle adjustment interval of the second camera unit, wherein the adjustment interval refers to the parameter adjustment range, which can be set according to the parameter attributes. For example, the first position adjustment interval refers to the minimum and maximum movement distances allowed for the first camera unit based on its initial position. This interval ensures that the first camera unit can be adjusted as the transmission line swings; the first angle adjustment interval refers to the adjustable shooting angle interval of the first camera unit, ensuring that the camera unit can adjust its shooting direction according to the line swing. Then, the first position adjustment interval, the first angle adjustment interval, the second position adjustment interval and the second angle adjustment interval are rendered to the line twin model, showing the three-dimensional spatial area where the camera unit can move during the capture process, and generating a shooting twin model.

[0045] Then, using the shooting twin model, the simulation constraints are to cover the predicted amplitude range and meet the predetermined parallax index. The predetermined parallax index is a key indicator for the binocular vision system to perform three-dimensional reconstruction. In order to obtain high-precision depth information, the parallax between the camera units needs to be kept within a reasonable range. Too large or too small a parallax will affect the reconstruction effect. It can be set according to actual conditions to simulate the position coordinates and shooting angles of the first and second camera units. That is, the shooting range of the camera unit should cover the minimum and maximum displacement ranges of the line during the swing process. At the same time, the parallax index needs to be kept within a predetermined range to ensure that the binocular vision system can correctly capture the stereo information. Through these two constraints, the external standard parameters of the camera unit are optimized so that it can obtain the best shooting effect in actual operation. Finally, the first position coordinate, first shooting angle, second position coordinate, and second shooting angle that meet the constraints are obtained, and the first position coordinate and first shooting angle are set as the first external standard parameters, and the second position coordinate and second shooting angle are set as the second external standard parameters. By utilizing the shooting twin model, the position coordinates and shooting angles of the first and second camera units are optimized and adjusted according to the predicted line swing amplitude range and the predetermined parallax index, and the external standard parameters of the camera units are finally determined. This can ensure that the camera units can capture high-quality images during the three-dimensional reconstruction of the transmission line, meeting the accuracy and stability requirements of the three-dimensional reconstruction.

[0046] Further, based on the first internal standard parameter, the first external standard parameter, the second internal standard parameter, and the second external standard parameter, performing three-dimensional reconstruction of the target transmission line according to the first image set and the second image set, the present application includes: The first image set and the second image set are aligned frame by frame, and the first image set and the second image set are corrected according to the first internal standard parameter and the second internal standard parameter to obtain a first corrected image set and a second corrected image set; based on the first external standard parameter and the second external standard parameter, geometric calculation and stereo matching are performed on the laser contour curves in the first corrected image set and the second corrected image set to complete the three-dimensional reconstruction of the target transmission line.

[0047] Specifically, the first image set and the second image set are first aligned frame by frame. Frame-by-frame alignment refers to the temporal and spatial registration of the image data from the first camera unit and the second camera unit frame by frame to ensure that the laser line profiles they capture accurately match in each frame. The first image set and the second image set are then corrected according to the first internal standard parameter and the second internal standard parameter, respectively. That is, the first image set is corrected using the first internal standard parameter and the second image set is corrected using the second internal standard parameter, so as to eliminate the internal optical distortion of the camera unit and restore the true geometric relationship of the image. The correction process includes radial distortion correction (correcting image distortion caused by lens deformation) and tangential distortion correction (correcting image offset or tilt caused by imperfect camera installation), thereby obtaining the first corrected image set and the second corrected image set.

[0048] Based on the first and second external standard parameters, geometric calculations and stereo matching are performed on the laser contour curves in the first and second calibration image sets. Specifically, geometric calculations are performed on the laser contour curves in the first and second calibration image sets. Using triangulation, the laser line can be projected into three-dimensional space from the perspectives of the two camera units, and the positions of these points in three-dimensional space are calculated. Edge detection or other algorithms are then used to extract feature points of the laser line contour. Geometric transformations are then used to align the laser line contours captured by the two camera units, and the corresponding feature points are matched. Finally, based on the matched feature points, the position of the laser contour line in three-dimensional space is calculated. Specifically, the corresponding three-dimensional coordinates are calculated from the matched feature points to generate three-dimensional point cloud data of the transmission line. The point cloud data is then processed (e.g., denoising and smoothing) to construct a three-dimensional model of the transmission line.

[0049] In summary, the power transmission line reconstruction method based on environment-aware laser projection provided by this application has the following technical effects: By reading the environmental monitoring data of the target area, the calibration parameters of the one-line laser projector, the first camera unit and the second camera unit are optimized based on the environmental monitoring data to determine the laser operation parameters, the first internal standard parameter, the first external standard parameter, the second internal standard parameter and the second external standard parameter; then, based on the laser operation parameters, the one-line laser projector is controlled to project the laser to the target area, and the first camera unit and the second camera unit are controlled to capture the laser line profile of the target area according to the first internal standard parameter, the first external standard parameter, the second internal standard parameter and the second external standard parameter to obtain the first image set and the second image set; then, according to the first internal standard parameter and the second internal standard parameter, the laser line profile of the target area is obtained. The first image set and the second image set are corrected separately to obtain a first corrected image set and a second corrected image set; finally, based on the first external standard parameter and the second external standard parameter, geometric calculation and stereo matching are performed on the laser contour curves in the first corrected image set and the second corrected image set to complete the three-dimensional reconstruction of the target transmission line and output the three-dimensional model of the line; the one-line laser projection parameters and the binocular image acquisition parameters can be dynamically adjusted according to changes in the external environment, thereby improving the accuracy of the laser parameter and image acquisition parameter settings, effectively improving the accuracy and comprehensiveness of data acquisition, thereby achieving the technical effect of improving the accuracy and quality of three-dimensional reconstruction of transmission lines in complex environments.

[0050] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present application. Various modifications to these embodiments will be readily apparent to one 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 is not limited to the embodiments shown herein, but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

[0051] Obviously, those skilled in the art may make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the present application and its equivalents, the present application is intended to include these modifications and variations.

Claims

1. A method for power transmission line reconstruction based on environment-aware laser projection, characterized in that: include: A laser and a binocular camera group are configured, wherein the laser is a straight line laser projector, which is installed at the tower body of the transmission tower and is located below the transmission line side, and the binocular camera group includes a first camera unit and a second camera unit, wherein the first camera unit is installed at the tower body of the transmission tower and is located on one side below the transmission line side, and the second camera unit is installed at the tower body of the transmission tower and is located on the other side below the transmission line side, and the first camera unit and the second camera unit can be displaced along a predetermined track; Reading environmental monitoring data of a target area, optimizing calibration parameters of the line laser projector, the first camera unit, and the second camera unit based on the environmental monitoring data, and determining laser operation parameters, a first internal standard parameter, a first external standard parameter, a second internal standard parameter, and a second external standard parameter, wherein the target area is an area covering a target power transmission line; Controlling the line laser projector to project laser light onto a target area based on the laser operating parameters, and controlling the first camera unit and the second camera unit to capture a laser line profile of the target area according to the first internal standard parameter, the first external standard parameter, the second internal standard parameter, and the second external standard parameter to obtain a first image set and a second image set; Based on the first internal standard parameter, the first external standard parameter, the second internal standard parameter and the second external standard parameter, three-dimensional reconstruction of the target transmission line is performed according to the first image set and the second image set, and a three-dimensional model of the line is output.

2. The method for power transmission line reconstruction based on environment-aware laser projection according to claim 1, characterized in that: The environmental monitoring data includes lighting information, weather type, wind force and wind direction.

3. The method for power transmission line reconstruction based on environment-aware laser projection according to claim 2, characterized in that: The laser operating parameters include laser brightness, line width and projection angle, the internal standard parameters include at least focal length, exposure time, aperture size and frame rate, and the external standard parameters include camera position coordinates and shooting angle.

4. The method for power transmission line reconstruction based on environment-aware laser projection according to claim 3, characterized in that: Calibration parameters of the line laser projector are optimized based on the environmental monitoring data to determine laser operation parameters, including: Performing laser propagation impact analysis based on the weather type to determine a propagation impact coefficient, compensating initial laser brightness based on the illumination information and the propagation impact coefficient to determine laser brightness parameters; Predicting the swing amplitude of the target transmission line based on the wind force and wind direction, determining the predicted amplitude interval, optimizing the initial line width and the initial projection angle according to the predicted amplitude interval, and determining the line width parameter and the projection angle parameter; The laser operation parameters are obtained according to the laser brightness parameters, line width parameters and projection angle parameters.

5. The method for power transmission line reconstruction based on environment-aware laser projection according to claim 4, characterized in that: A line twin model of the target transmission line is constructed in a three-dimensional simulation platform, and N swing amplitude predictions are performed based on the line twin model to determine a predicted amplitude range, where N is an integer greater than or equal to 100.

6. The method for power transmission line reconstruction based on environment-aware laser projection according to claim 5, characterized in that: In the three-dimensional simulation platform, the N amplitude prediction results are gray-processed and visualized, and the area with a gray-scale value less than a predetermined gray-scale threshold is screened and set as the predicted amplitude interval.

7. The method for power transmission line reconstruction based on environment-aware laser projection according to claim 3, characterized in that: Optimizing calibration parameters of the first camera unit and the second camera unit based on the environmental monitoring data to determine a first internal standard parameter and a second internal standard parameter includes: Optimizing and analyzing the initial focal length, initial exposure time, initial aperture size, and initial frame rate of the first camera unit according to the illumination information and the weather type, determining a first focal length, a first exposure time, a first aperture size, and a first frame rate, and setting them as first internal standard parameters; According to the lighting information and weather type, the initial focal length, initial exposure time, initial aperture size and initial frame rate of the second camera unit are optimized and analyzed to determine the second focal length, second exposure time, second aperture size and second frame rate, which are set as the second internal standard parameters.

8. The method for power transmission line reconstruction based on environment-aware laser projection according to claim 5, characterized in that: Optimizing calibration parameters of the first camera unit and the second camera unit based on the environmental monitoring data to determine a first external standard parameter and a second external standard parameter includes: Obtain a first position adjustment interval and a first angle adjustment interval of the first camera unit, and a second position adjustment interval and a second angle adjustment interval of the second camera unit, and render the first position adjustment interval, the first angle adjustment interval, the second position adjustment interval, and the second angle adjustment interval to the line twin model to generate a shooting twin model; Utilizing the shooting twin model, the position coordinates and shooting angles of the first camera unit and the second camera unit are optimized and adjusted with the constraints of covering the predicted amplitude range and satisfying the predetermined parallax index, so that the first position coordinates and the first shooting angle are set as the first external standard parameters, and the second position coordinates and the second shooting angle are set as the second external standard parameters.

9. The method for power transmission line reconstruction based on environment-aware laser projection according to claim 1, characterized in that: Based on the first internal standard parameter, the first external standard parameter, the second internal standard parameter and the second external standard parameter, performing three-dimensional reconstruction of the target transmission line according to the first image set and the second image set, including: Aligning the first image set and the second image set frame by frame, and correcting the first image set and the second image set according to the first internal standard parameter and the second internal standard parameter, respectively, to obtain a first corrected image set and a second corrected image set; Based on the first external standard parameter and the second external standard parameter, geometric calculation and stereo matching are performed on the laser contour curves in the first correction image set and the second correction image set to complete the three-dimensional reconstruction of the target transmission line.

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