Three-dimensional Reconstruction Method and System for Power Transmission Channel of Multi-parallel-line Lasers

Abstract

The present application provides a three-dimensional reconstruction method and system for a power transmission channel with multi-parallel line lasers, which relates to the technical field of three-dimensional reconstruction and includes: assembling a multi-parallel line laser emitter and a monocular camera and performing position calibration; determining the device attitude relationship and constructing a dynamic acquisition module; interacting with the three-dimensional reconstruction task, performing multi-parallel laser projection and imaging acquisition, and determining a laser image set; combining with the three-dimensional reconstruction space to perform step-by-step multi-level image feature screening and processing, and performing feature three-dimensional reconstruction to determine the three-dimensional power transmission channel; performing terminal visualization display and reversely guiding the operation and maintenance management of the target power transmission channel. Through the present application, the technical problem in the prior art that the efficiency is low when dealing with complex or large structures due to the use of single-line laser or point laser scanning in the traditional three-dimensional reconstruction method can be solved. By combining a multi-parallel line laser emitter with a monocular camera and performing precise position calibration, the efficiency of three-dimensional reconstruction is improved.

Description

Technical Field

[0001] This application relates to the field of three-dimensional reconstruction technology, and particularly to a three-dimensional reconstruction method and system for power transmission channels using multi-parallel line lasers. Background Art

[0002] Three-dimensional reconstruction of power transmission channels is a process of collecting actual spatial data of power transmission channels and performing three-dimensional modeling and visualization on them using computer technology, which is commonly used in the maintenance, monitoring, and planning and design of power systems. In existing three-dimensional reconstruction technologies, single-line laser scanning and point laser scanning are two common methods, which show good performance when dealing with small or simple structures, but when facing complex or large structures, both efficiency and accuracy are limited.

[0003] Single-line laser scanning technology can only scan one point or one line at a time, so it takes a long time to scan large structures. Point laser scanning can quickly obtain a large number of data points, but when dealing with complex structures, due to insufficient point cloud density, multiple scans and data processing are required to improve accuracy, which also increases time and cost. In a complex environment, single-line laser or point laser scanning is easily affected by occlusion or uneven reflection, affecting the reconstruction result. In addition, single-line laser scanning or point laser scanning has limitations in spatial coverage and is difficult to comprehensively capture the three-dimensional information of an object.

[0004] In summary, there is a technical problem in the prior art that due to the slow speed of traditional single-line laser or point laser scanning, the efficiency of three-dimensional reconstruction is low when dealing with complex or large structures. Summary of the Invention

[0005] The purpose of this application is to provide a three-dimensional reconstruction method and system for power transmission channels using multi-parallel line lasers to solve the technical problem in the prior art that due to the slow speed of traditional single-line laser or point laser scanning, the efficiency of three-dimensional reconstruction is low when dealing with complex or large structures.

[0006] In view of the above problems, this application provides a three-dimensional reconstruction method and system for power transmission channels using multi-parallel line lasers.

[0007] In a first aspect, the present application provides a three-dimensional reconstruction method for a power transmission channel with multi-parallel line lasers. The three-dimensional reconstruction method for the power transmission channel with multi-parallel line lasers is implemented through a three-dimensional reconstruction system for the power transmission channel with multi-parallel line lasers. Among them, the three-dimensional reconstruction method for the power transmission channel with multi-parallel line lasers includes: assembling a multi-parallel line laser emitter and a monocular camera and performing position calibration. Among them, the multi-parallel line laser emitter and the monocular camera are assembled on a transmission tower based on a preset relative spatial position; based on the position calibration, combined with the triangular feature relationship, relative motion verification is carried out with the laser projection domain as the center to determine the device attitude relationship and construct a dynamic acquisition module; interact with the three-dimensional reconstruction task, trigger the multi-parallel line laser emitter to perform multi-parallel laser projection on the target power transmission channel, and perform imaging acquisition based on the attitude relationship in combination with the dynamic acquisition module to determine the laser image set; combined with the three-dimensional reconstruction space, perform step-by-step multi-level image feature screening and processing on the laser image set to determine the feature pyramid, and perform feature three-dimensional reconstruction to determine the three-dimensional power transmission channel, where the three-dimensional reconstruction space is connected with a feature extraction unit based on the pyramid principle; perform terminal visualization display on the three-dimensional power transmission channel and reversely guide the operation and maintenance management of the target power transmission channel.

[0008] In a second aspect, the present application also provides a three-dimensional reconstruction system for a power transmission channel with multi-parallel line lasers, which is used to execute the three-dimensional reconstruction method for a power transmission channel with multi-parallel line lasers as described in the first aspect. Among them, the three-dimensional reconstruction system for the power transmission channel with multi-parallel line lasers includes: a position calibration module, which is used to assemble a multi-parallel line laser emitter and a monocular camera and perform position calibration. Among them, the multi-parallel line laser emitter and the monocular camera are assembled on a transmission tower based on a preset relative spatial position; a relative motion verification module, which is used to perform relative motion verification with the laser projection domain as the center based on the position calibration, combined with the triangular feature relationship, to determine the device attitude relationship and construct a dynamic acquisition module; an imaging acquisition module, which is used to interact with the three-dimensional reconstruction task, trigger the multi-parallel line laser emitter to perform multi-parallel laser projection on the target power transmission channel, and perform imaging acquisition based on the attitude relationship in combination with the dynamic acquisition module to determine the laser image set; a power transmission channel determination module, which is used to combine the three-dimensional reconstruction space, perform step-by-step multi-level image feature screening and processing on the laser image set to determine the feature pyramid, and perform feature three-dimensional reconstruction to determine the three-dimensional power transmission channel, where the three-dimensional reconstruction space is connected with a feature extraction unit based on the pyramid principle; an operation and maintenance management module, which is used to perform terminal visualization display on the three-dimensional power transmission channel and reversely guide the operation and maintenance management of the target power transmission channel.

[0009] One or more technical solutions provided in the present application have at least the following technical effects or advantages:

[0010] By assembling a multi-parallel line laser emitter and a monocular camera and performing position calibration, wherein the multi-parallel line laser emitter and the monocular camera are assembled on a transmission tower based on a preset relative spatial position; based on the position calibration, combined with the triangular feature relationship, relative motion verification is carried out with the laser projection domain as the center to determine the device attitude relationship and construct a dynamic acquisition module; an interactive three-dimensional reconstruction task is triggered, the multi-parallel line laser emitter is used to perform multi-parallel laser projection on the target transmission channel, and imaging acquisition based on the attitude relationship is carried out in combination with the dynamic acquisition module to determine a laser image set; combined with the three-dimensional reconstruction space, step-by-step multi-level image feature screening and processing are carried out on the laser image set to determine a feature pyramid, and feature three-dimensional reconstruction is performed to determine a three-dimensional transmission channel, wherein the three-dimensional reconstruction space is connected with a feature extraction unit based on the pyramid principle; terminal visualization display is carried out on the three-dimensional transmission channel, and the operation and maintenance management of the target transmission channel is guided in reverse. That is to say, through the combination of a multi-parallel line laser emitter and a monocular camera, accurate position calibration, as well as a dynamic acquisition module and feature pyramid technology, can achieve more accurate three-dimensional reconstruction in a complex environment and improve the efficiency of three-dimensional reconstruction of the transmission channel.

[0011] The above description is only an overview of the technical solution of this application. In order to be able to understand the technical means of this application more clearly, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features and advantages of this application more obvious and understandable, the following specifically gives the specific implementation manners of this application. It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of this application, nor is it used to limit the scope of this application. Other features of this application will become easily understandable through the following description. Brief Description of the Drawings

[0012] In order to more clearly illustrate the technical solutions in this application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings described below are only exemplary, and for those of ordinary skill in the art, other drawings can be obtained according to the provided drawings without creative efforts.

[0013] Figure 1 It is a schematic flowchart of the three-dimensional reconstruction method for the transmission channel of the multi-parallel line laser of this application;

[0014] Figure 2 It is a schematic structural diagram of the three-dimensional reconstruction system for the transmission channel of the multi-parallel line laser of this application.

[0015] Description of the reference numerals: Position calibration module 11, relative motion verification module 12, imaging acquisition module 13, transmission channel determination module 14, operation and maintenance management module 15. Detailed Description of the Embodiments

[0016] This application provides a three-dimensional reconstruction method and system for a power transmission channel using multi-parallel line lasers, which solves the technical problem in the prior art that due to the slow scanning speed of traditional single-line lasers or point lasers, the efficiency of three-dimensional reconstruction is low when dealing with complex or large structures. Through the combination of a multi-parallel line laser emitter and a monocular camera, accurate position calibration, as well as a dynamic acquisition module and feature pyramid technology, can achieve more accurate three-dimensional reconstruction in a complex environment, improving the efficiency of three-dimensional reconstruction of the power transmission channel.

[0017] Next, the technical solutions in this application will be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only a 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 by the example embodiments described here. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of this application. Additionally, it should be noted that for the sake of description, only the parts related to this application are shown in the drawings rather than all of them.

[0018] Embodiment 1. Please refer to the attached Figure 1 , this application provides a three-dimensional reconstruction method for a power transmission channel using multi-parallel line lasers. Among them, the three-dimensional reconstruction method for a power transmission channel using multi-parallel line lasers is applied to a three-dimensional reconstruction system for a power transmission channel using multi-parallel line lasers. The three-dimensional reconstruction method for a power transmission channel using multi-parallel line lasers specifically includes the following steps:

[0019] Step 1: Assemble a multi-parallel line laser emitter and a monocular camera and perform position calibration. Among them, the multi-parallel line laser emitter and the monocular camera are assembled on the transmission tower based on a preset relative spatial position.

[0020] Specifically, a multi-parallel line laser emitter and a monocular camera are fixed on the transmission tower according to a preset relative spatial position to ensure the accuracy of the relative position between the two. The multi-parallel line laser emitter is a device capable of emitting multiple parallel laser lines and is usually used for three-dimensional scanning and measurement. Each laser line forms a line on the surface of an object, and after these lines are captured by the camera, a set of parallel light rays are formed in space for scanning and obtaining the three-dimensional information of the target object. The monocular camera is a camera that uses only one lens to capture images and cannot directly obtain the depth information of an object. However, through cooperation with the laser emitter, three-dimensional reconstruction can be indirectly achieved. In three-dimensional reconstruction, the monocular camera is used to capture the projection of the laser lines on the target object, thereby helping to determine the three-dimensional position of the object. The spatial position and attitude relationship between the laser emitter and the camera are determined through standard methods (such as checkerboard calibration) to ensure the accurate correspondence between laser projection and image acquisition. For example, assume that a multi-parallel line laser emitter and a monocular camera are installed on the transmission tower. The relative position between the laser emitter and the camera is determined according to the design requirements. The laser emitter is located 1 meter directly in front of the camera and at the same height. Then, high-precision measuring tools (such as laser rangefinders and angle measuring instruments) are used to adjust the actual position of the device until the preset requirements are met. The distance between the laser emitter and the camera is 1000 millimeters, with an error not exceeding 1 millimeter. By assembling these devices on the transmission tower, remote and dynamic three-dimensional monitoring and reconstruction of the high-altitude transmission line can be carried out without being affected by ground obstacles, enabling the accurate correspondence between the laser scanning data and the camera image data, thereby improving the accuracy and reliability of three-dimensional reconstruction.

[0021] Step 2: Based on the position calibration, combined with the triangular feature relationship, verify the relative motion with the laser projection domain as the center, determine the device attitude relationship, and construct a dynamic acquisition module.

[0022] Specifically, based on the position calibration and the triangular feature relationship, with the laser projection area as the center, all motion verification and image acquisition are carried out around the area where the laser is projected onto the object. The preset distribution features of the laser-projected part and the background part in the image are used to determine the layout structure of the image, and this is used as a constraint condition to identify and extract the key information of the laser-projected part, while suppressing or ignoring the interference information of the background part. Combining the triangular feature relationship, that is, using the relative position and attitude relationship between the laser emitter and the camera, as well as the geometric features of the laser projection on the target object, to determine the device attitude relationship. The triangular feature relationship is based on the principle of triangulation. By analyzing the projection points of the laser on the object and the images captured by the camera, the three-dimensional position of the object surface is calculated. By controlling the relative movement of the laser emitter and the camera, the attitude relationship between the devices is verified. For example, rotating or translating the laser emitter while keeping the camera stable, or vice versa, and observing the changes of the laser line in the camera image. With the laser projection area as the center, by analyzing the position and angle changes of the laser line in the camera image, the relative movement relationship of the devices in space is verified. The device attitude relationship refers to the relative position and attitude relationship between the multi-parallel-line laser emitter and the monocular camera in space. The dynamic acquisition module is a specially designed hardware and software system for dynamically acquiring and processing data, which can automatically adjust the acquisition parameters according to different environments and conditions to ensure the quality and accuracy of the acquired data. In the acquired image, the position of the laser line in the image is fixed because it is restricted by the device attitude relationship. Through relative motion verification, the attitudes of the laser emitter and the camera are precisely controlled to ensure the accuracy of the acquired data. The construction of the dynamic acquisition module ensures the stability of the data acquired during the relative movement process and reduces the errors caused by the movement.

[0023] Step 3: Interactive three-dimensional reconstruction task, trigger the multi-parallel-line laser emitter to perform multi-parallel laser projection on the target power transmission channel, and combine with the dynamic acquisition module to perform imaging acquisition based on the attitude relationship to determine the laser image set.

[0024] Specifically, by activating the laser emitter through the control system, it projects laser light onto the target power transmission channel. This can be triggered manually or automatically, and is executed according to a preset program or external instructions. For example, maintenance personnel regularly perform three-dimensional reconstruction on the power transmission channel, or the system automatically triggers the reconstruction task according to preset conditions. The laser emitter emits multiple parallel laser lines according to preset parameters, covering all parts of the target power transmission channel, facilitating subsequent imaging acquisition. The dynamic acquisition module will perform imaging acquisition according to the device attitude relationship, that is, automatically adjust the acquisition parameters according to the relative position and attitude relationship between the laser emitter and the camera, ensuring that the acquired image data is accurate. This means that the shooting angle, focal length, and other parameters of the camera are adjusted according to the position and direction of the laser emitter. The laser image set refers to a set of camera images containing laser points or lines formed by laser projection on the target object. Through multi-parallel laser projection and the dynamic acquisition module, a high-quality laser image set can be obtained, providing a reliable data basis for subsequent three-dimensional reconstruction.

[0025] Step Four: Combine with the three-dimensional reconstruction space, perform step-by-step multi-level image feature screening and processing on the laser image set to determine the feature pyramid, and execute feature three-dimensional reconstruction to determine the three-dimensional power transmission channel, where the three-dimensional reconstruction space is connected with a feature extraction unit based on the pyramid principle.

[0026] Specifically, in the three-dimensional reconstruction space, set the reconstruction element sequence according to the three-dimensional reconstruction task. Perform preliminary processing on the laser image set, segment the laser image set according to the image layout structure, divide it into the projection part and the background part, and the background part can be selectively extracted or removed to emphasize the main features. According to the reconstruction element sequence, perform multi-level feature extraction and screening on the laser image set to gradually extract the feature information useful for three-dimensional reconstruction. The feature pyramid refers to organizing the processed features in layers to form a hierarchical structure, where each layer contains different levels of feature information. Extract basic features in the laser image, such as low-level features like edges and corner points, and gradually strengthen the screened features. Each level is based on the results of the previous level for more refined processing. For key features, enhance them through algorithms such as Scale-Invariant Feature Transform (SIFT), Speeded-Up Robust Features (SURF), etc. For non-key features, use methods such as Principal Component Analysis (PCA) for dimensionality reduction to reduce the computational complexity. Map the features processed at each level into the three-dimensional space to construct the feature pyramid, where the bottom layer of the pyramid is the original image features and the top layer is highly abstract features.

[0027] Using the features at all levels in the feature pyramid, a three-dimensional point cloud is constructed in the three-dimensional reconstruction space. Specifically, using the spatial phase relationship, the features at all levels in the first feature pyramid are integrated. Through the integrated feature pyramid, the position of each feature point in the three-dimensional space is determined, forming a three-dimensional point cloud feature distribution. Analyze the three-dimensional point cloud feature distribution, identify the key structures and features of the transmission channel, and in the three-dimensional reconstruction space, construct a three-dimensional model of the first local transmission channel. Traverse the laser image set, repeat the above steps, and construct three-dimensional models of multiple local transmission channels until the Nth local transmission channel. Based on the spatial phase relationship, splice the first local transmission channel to the Nth local transmission channel to form a complete three-dimensional model of the transmission channel. The three-dimensional reconstruction space is connected with a feature extraction unit based on the pyramid principle. The feature extraction unit refers to integrating the feature extraction unit based on the pyramid principle into the three-dimensional reconstruction space so as to perform feature extraction and processing in the three-dimensional space. By combining the three-dimensional reconstruction space, perform step-by-step multi-level image feature screening and processing on the laser image set to determine the feature pyramid, and perform three-dimensional feature reconstruction to determine the three-dimensional transmission channel, realizing the three-dimensional reconstruction of the target transmission channel. Through step-by-step multi-level image feature screening and processing, accurately represent the features in the laser image, thereby improving the accuracy of three-dimensional reconstruction.

[0028] Step Five: Perform terminal visualization display on the three-dimensional transmission channel, and reversely guide the operation and maintenance management of the target transmission channel.

[0029] Specifically, render the reconstructed three-dimensional transmission channel model through professional three-dimensional visualization software, including lighting effects, texture mapping, color adjustment, etc., so that it is displayed in an intuitive three-dimensional form on the terminal device. Users can view the three-dimensional model from different angles and scales through operations such as rotation, zoom, and translation, so as to better understand the structure and state of the transmission channel. Mark information such as the name, number, and technical parameters of key components on the three-dimensional model, and highlight the areas where problems may occur, such as wear, corrosion, deformation, etc. Through the three-dimensional model, the operation and maintenance personnel can quickly locate the fault point, analyze the cause of the fault, and formulate a maintenance plan, helping technicians to conduct a detailed inspection of the transmission channel without physical contact. Using the three-dimensional model, maintenance work can be planned more accurately, including maintenance time, required materials, personnel configuration, etc., discover potential problems in advance, and reduce risks in actual operations. The data collected during the operation and maintenance process is used to compare the difference between the actual operating state and the design model, and is used to optimize the design of the transmission channel to improve its performance and reliability. The three-dimensional visualization display enables the operation and maintenance personnel to quickly understand and analyze the state of the transmission channel, improves work efficiency, identifies potential fault points in advance, reduces unexpected shutdowns, and reduces unnecessary maintenance and replacement costs.

[0030] Further, step two of the present application includes:

[0031] The triangular feature relationship is determined based on the laser projection area and the position calibration. Among them, there is a movement based on the spatial perspective between the multi-parallel line laser emitter and the monocular camera; determining the image layout structure, where the image layout structure is determined by the preset distribution characteristics of the projection part and the background part; using the image layout structure as a constraint, combining the triangular feature relationship to perform relative motion verification, and mining the device pose relationship, where the device pose relationship is the relationship between the follow-up pose of the monocular camera and the perspective pose movement of the multi-parallel line laser emitter.

[0032] Specifically, the triangular feature relationship and the image layout structure are used to determine the pose relationship between the multi-parallel line laser emitter and the monocular camera. Among them, one is to determine the triangular feature relationship through the laser projection area and the position calibration; the other is to mine the device pose relationship according to the image layout structure. The triangular feature relationship is based on the principle of triangulation, and the position of the same object is measured through two observation points at different positions. After calibration, when the laser is projected onto the object, a series of light points will be formed on the surface of the object, and the camera captures the images of these points from another angle. Through the image positions of these points and the known relative position relationship between the laser emitter and the camera, the three-dimensional coordinates of each point are calculated. The laser projection area is the spatial area where the laser emitter projects the laser line. Within this area, the laser line intersects with the target object to form data points available for three-dimensional reconstruction. The movement of the spatial perspective refers to the relative position change between the laser emitter and the camera in space, which can be mechanical, such as changing the perspective by moving the device, or fixed, such as simulating the perspective change by changing the focal length of the lens.

[0033] Determine the layout structure of the image according to the preset distribution characteristics of the projection part and the background part, that is, determine the spatial distribution and arrangement of different parts in the image (such as laser projection and background). The projection part usually refers to the projection formed by the laser line on the target object, and the background part is the other area in the image except the laser projection. Combine the relationship between the image layout structure and the triangular characteristics, and analyze the relative movement between the laser emitter and the camera in different postures. During the movement, the viewing posture of the laser emitter will affect the position of the laser line projected by it on the object, while the following posture of the camera determines the position of these laser lines in the image. The device posture relationship refers to the relative position and direction relationship between the laser emitter and the camera in space. The viewing posture movement refers to the viewing angle change of the laser emitter and the camera in space. The laser emitter projects laser onto the power transmission channel, and at the same time the camera captures the projection of the laser line on the channel. Set the position and width of the laser line in the image as the constraint conditions of the image layout structure. When the laser emitter performs viewing posture movement, the camera adjusts its posture accordingly to keep the position of the laser line stable in the image. For example, when the laser emitter moves up by 10 degrees, the camera adjusts its pitch angle correspondingly to keep the laser line at the center position of the image. By combining the triangular characteristics relationship and the image layout structure, the posture relationship of the device can be accurately determined, thereby improving the accuracy of 3D reconstruction.

[0034] Furthermore, the present application further includes the following steps:

[0035] Determine the acquired free parallax, where the acquired free parallax is the allowed overlapping field of view between the upper acquisition node and the lower acquisition node; use the device posture relationship as the single-point acquisition constraint and the acquired free parallax as the continuous scanning constraint to manage the continuous scanning projection and image acquisition of the target power transmission channel.

[0036] Specifically, the acquired free parallax, that is, in a multi-node acquisition system, when different acquisition nodes (such as different combinations of laser emitters and cameras) perform scanning, there is a partial overlap in their respective field of view ranges. This overlapping area ensures that during the scanning process, the data acquired by different nodes can be smoothly transitioned, avoiding information loss. By setting an appropriate acquired free parallax, it can be ensured that there is sufficient overlap between the data acquired at different positions, thereby improving the continuity and integrity of 3D reconstruction. The upper acquisition node and the lower acquisition node refer to the acquisition devices at different positions in the vertical or horizontal direction. The upper acquisition node may be located at a higher position, while the lower acquisition node is located at a lower position.

[0037] Taking the device pose relationship as a single-point acquisition constraint ensures that the relative pose between devices is known during each acquisition, thereby improving the accuracy of data acquisition. When collecting data for each point, it is necessary to consider the device pose relationship, that is, the relative position and orientation between the laser emitter and the camera, ensuring the data accuracy at a single acquisition point. During continuous scanning, it is necessary to follow the rule of collecting free parallax to ensure that the entire scanning process is smooth and without omission, which helps to establish good data continuity between multiple acquisition nodes. For example, assume that the length of the transmission line corridor is 1000 meters, and two acquisition nodes are set at 500 meters and 600 meters of the corridor respectively. The free parallax for acquisition is set to 50 meters, which means the overlapping field of view between the two nodes is 50 meters. During the scanning process, the laser emitter and the camera perform single-point acquisition according to the device pose relationship, while observing the free parallax for acquisition as the constraint for continuous scanning. When the first node scans to 450 meters, the second node starts scanning until it scans to 650 meters, ensuring a smooth transition of data between the two nodes.

[0038] Analyze the characteristics of the target transmission line corridor, including its size, shape, environmental conditions, etc., and determine the performance indicators to be met, such as acquisition speed, accuracy, resolution, etc. Design the basic architecture of the module, including hardware selection (such as laser emitter, camera, sensor, etc.) and software framework (such as control algorithm, data processing flow, etc.). Select appropriate hardware components, such as high-precision laser emitters, high-resolution cameras, stable brackets, etc., integrate the components into a unified system, and conduct preliminary tests to ensure that they can work together. Collect a large amount of representative data, including laser scanning data and corresponding camera image data under different conditions, such as different lighting conditions, weather conditions, geometric forms of transmission lines, etc. Preprocess the collected data, including steps such as denoising, normalization, data augmentation, etc., to improve the quality of the data and the training effect of the model. Select an appropriate machine learning or deep learning model according to the characteristics of the reconstruction task. Train the model using the preprocessed data. During the training process, it is necessary to adjust the parameters of the model, such as learning rate, batch size, etc., to optimize the performance of the model. The dynamic acquisition module is a specially designed hardware and software system for dynamically acquiring and processing data, usually including sensors, data acquisition cards, computers, and corresponding software algorithms. The dynamic acquisition module can automatically adjust acquisition parameters, such as sampling frequency, sampling time, etc., according to different environments and conditions, ensuring the quality and accuracy of the acquired data. Through the free parallax for acquisition and continuous scanning constraints, the system ensures continuous and consistent three-dimensional data between different acquisition nodes.

[0039] Furthermore, the present application further includes the following steps:

[0040] Determine the preset laser projection state and the preset image state; based on the preset laser projection state, configure the laser parameters, where the same projection state distinguished by the projection angle spacing is used as the standard; based on the preset image state, configure the camera parameters, where the camera parameters include internal parameters and external parameters, and the same image state distinguished by the acquisition angle spacing is used as the standard.

[0041] Specifically, preset the laser projection standard state according to the projection angle spacing, and preset the image acquisition standard state according to the acquisition angle spacing. The preset laser projection state refers to the projection parameters of the laser emitter preset before starting the 3D reconstruction task, including the number of laser lines, spacing, projection angle, etc., according to the characteristics of the target transmission line corridor and the required measurement accuracy. Based on the same projection state distinguished by the projection angle spacing as the standard, configure the laser parameters. Under the same projection state, the laser parameters will be adjusted according to the different projection distances to compensate for the laser diffusion and light intensity attenuation caused by the increase in distance. For example, if the projection distance increases, adjust the focus of the laser emitter, increase the laser intensity or adjust the spacing of the laser lines to ensure that the laser points or lines formed on the target are still clearly distinguishable.

[0042] The preset image state refers to a series of parameters set for the monocular camera in the 3D reconstruction task according to the laser projection state and the characteristics of the target transmission line corridor, including internal parameters (such as focal length, aperture, shutter speed) and external parameters (such as the position and orientation of the camera). Based on the preset image state, configure the camera parameters, where the camera parameters include internal parameters and external parameters, and the same image state distinguished by the acquisition angle spacing is used as the standard. Under the same image state, the camera parameters will be adjusted according to the different acquisition distances to compensate for image blurring or insufficient exposure caused by the increase in distance. By presetting the laser projection state and the image state, a unified standard is established, and the laser and camera parameters are adjusted based on the distance, optimizing the parameter configuration in the acquisition process and improving the quality of the data.

[0043] Further, step four of this application includes:

[0044] Identify the 3D reconstruction task, set the reconstruction element sequence, where each reconstruction element sequence includes element feature - feature dimension - feature intensity; receive and identify the first laser image, and based on the image layout structure, perform boundary segmentation and primary feature extraction on the first laser image to determine the first feature layer, where the segmentation boundary is the adjacent boundary between the projection part and the background part; based on the reconstruction element sequence, perform multi-level image feature screening processing on the first feature layer to determine the first feature pyramid.

[0045] Further, this application also includes the following steps:

[0046] Construct a pyramid architecture with multi-level feature enhancement; traverse the first feature layer, perform feature transformation and enhancement processing on the basis of the reconstruction element sequence until the Nth feature layer is determined; perform inter-layer mapping on the first feature layer to the Nth feature layer to generate the first feature pyramid.

[0047] Specifically, identify the 3D reconstruction task, including modeling transmission lines, towers or other related structures, and determining the goals and scope of the reconstruction. Arrange each element to be processed (such as laser lines, edges of objects, etc.) in a certain order, and each element contains its features, feature dimensions and feature intensities. Element features are the specific features of objects in the laser image, such as shape, edge, texture, etc.; feature dimensions refer to the spatial dimensions where the features are located, such as coordinate positions in 3D space; feature intensity refers to the significance or intensity of the features, which can usually be measured by the laser reflection intensity. For example, for the reconstruction of transmission lines, the element features may include the diameter, material, curvature, etc. of the line, the feature dimensions may include length, width, height, etc., and the feature intensity may include the strength and stability of the line. A laser image collected from a multi-parallel line laser emitter and a monocular camera is used as the first laser image, and according to the set image layout structure, the projected part and the background part are segmented. The segmentation boundary is usually the adjacent boundary between the projected part and the background part. After boundary segmentation of the first laser image, useful features such as the position, shape, intensity, etc. of the laser projection part are extracted to form the first feature layer. The background part can be weakly extracted, selectively extracted or completely removed to reduce interference with subsequent processing.

[0048] When constructing the feature pyramid, the importance of the features is positively correlated with the enhancement level. Feature enhancement includes performing dimensional transformation, perspective transformation and amplification enhancement processing on strongly correlated features; for weakly correlated features, dimensionality reduction and weakening processing are performed. Dimensional transformation refers to reorganizing features in different coordinate systems or reference frames, for example, mapping 3D features onto a 2D plane; perspective transformation refers to changing the observation angle to obtain more comprehensive feature information; amplification enhancement processing refers to enhancing the significance of features so that they are more easily recognized and utilized during the reconstruction process. The processed features are hierarchically organized to form a hierarchical structure, that is, a pyramid architecture, where each layer contains different levels of feature information.

[0049] Traverse the first feature layer, and perform transformation and enhancement processing on each feature according to the feature characteristics, feature dimensions, and feature intensities of the reconstruction element sequence, including performing dimension transformation, perspective transformation, and amplification enhancement processing on strongly correlated features, while performing weakening processing such as dimensionality reduction on weakly correlated features. Examine each feature in the first feature layer and perform corresponding enhancement processing according to its importance. Repeat the above process until the required feature enhancement level is reached to form the Nth feature layer. Map the features between the first feature layer and the Nth feature layer, establish a hierarchical relationship, and generate a feature pyramid. Inter-layer mapping refers to determining the mapping relationship between adjacent feature layers during the construction of the feature pyramid to facilitate subsequent 3D reconstruction. Through multi-level enhancement, important features are enhanced, and the establishment of inter-layer mapping and the pyramid architecture provide more refined and structured data for the reconstruction process, thereby improving the reconstruction accuracy.

[0050] Furthermore, the present application further includes the following steps:

[0051] Based on the spatial phase relationship, integrate the first feature pyramid to determine the 3D point cloud feature distribution; identify the 3D point cloud feature distribution and perform 3D reconstruction within the 3D reconstruction space to determine the first local power transmission channel; traverse the laser image set to construct the Nth local power transmission channel; based on the spatial phase relationship, splice the first local power transmission channel to the Nth local power transmission channel to generate the 3D power transmission channel.

[0052] Specifically, using the spatial phase relationship, the features at each level in the first feature pyramid are integrated. The spatial phase relationship refers to the relative position and orientation relationship of features in three-dimensional space. Through the integrated feature pyramid, the position of each feature point in three-dimensional space is determined, forming a three-dimensional point cloud feature distribution. The three-dimensional point cloud feature distribution refers to the distribution of feature points in three-dimensional space. Analyze the distribution pattern of feature points in three-dimensional space to identify the key structures and features of the transmission channel, such as tower frames, conductors, insulators, etc. Using the identified three-dimensional point cloud feature distribution, the structure of the transmission channel is reconstructed in three-dimensional space. According to the feature pyramid and the three-dimensional point cloud feature distribution, each image in the laser image set is processed one by one to construct three-dimensional models of multiple local transmission channels until the Nth local transmission channel. Analyze each laser image to extract new local features and continuously superimpose and expand the existing three-dimensional models. By analyzing the spatial phase relationship between the first local transmission channel and the Nth local transmission channel and splicing them, seamless docking between different local channels is ensured, generating a complete three-dimensional transmission channel. Specifically, it includes integrating the features of the first local transmission channel with the features of the Nth local channel to generate a new three-dimensional point cloud distribution; reconstructing the structure of the transmission channel according to the integrated point cloud features to ensure the accuracy of height and diameter; and ensuring the accurate docking of the first local transmission channel and the Nth local transmission channel in space by analyzing the spatial phase relationship to form a complete three-dimensional transmission channel. By integrating the feature pyramid based on the spatial phase relationship, the three-dimensional point cloud feature distribution can be determined more accurately, thereby improving the accuracy of three-dimensional reconstruction. Traversing the laser image set and splicing local transmission channels can quickly construct a complete three-dimensional transmission channel, thereby improving the efficiency of three-dimensional reconstruction.

[0053] In summary, the three-dimensional reconstruction method of the transmission channel using multi-parallel-line lasers provided by this application has the following technical effects:

[0054] By assembling a multi-parallel line laser emitter and a monocular camera and performing position calibration, wherein the multi-parallel line laser emitter and the monocular camera are assembled on a transmission tower based on a preset relative spatial position; based on the position calibration, combining the triangular feature relationship, performing relative motion verification with the laser projection domain as the center to determine the device attitude relationship and constructing a dynamic acquisition module; interacting with the three-dimensional reconstruction task, triggering the multi-parallel line laser emitter to perform multi-parallel laser projection on the target transmission channel, combining the dynamic acquisition module to perform imaging acquisition based on the attitude relationship to determine the laser image set; combining the three-dimensional reconstruction space, performing step-by-step multi-level image feature screening and processing on the laser image set to determine the feature pyramid, performing feature three-dimensional reconstruction to determine the three-dimensional transmission channel, wherein the three-dimensional reconstruction space is connected with a feature extraction unit based on the pyramid principle; performing terminal visualization display on the three-dimensional transmission channel and reversely guiding the operation and maintenance management of the target transmission channel. That is to say, through the combination of a multi-parallel line laser emitter and a monocular camera, accurate position calibration, as well as the dynamic acquisition module and the feature pyramid technology, can achieve more accurate three-dimensional reconstruction in a complex environment and improve the efficiency of three-dimensional reconstruction of the transmission channel.

[0055] Embodiment 2. Based on the same inventive concept as the three-dimensional reconstruction method of the transmission channel using multi-parallel line lasers in the foregoing Embodiment 1, the present application also provides a three-dimensional reconstruction system of the transmission channel using multi-parallel line lasers. Please refer to the attached Figure 2 , the three-dimensional reconstruction system of the transmission channel using multi-parallel line lasers includes:

[0056] A position calibration module 11, which is used to assemble a multi-parallel line laser emitter and a monocular camera and perform position calibration, wherein the multi-parallel line laser emitter and the monocular camera are assembled on a transmission tower based on a preset relative spatial position.

[0057] A relative motion verification module 12, which is used to perform relative motion verification with the laser projection domain as the center based on the position calibration, combine the triangular feature relationship to determine the device attitude relationship, and construct a dynamic acquisition module.

[0058] An imaging acquisition module 13, which is used to interact with the three-dimensional reconstruction task, trigger the multi-parallel line laser emitter to perform multi-parallel laser projection on the target transmission channel, combine the dynamic acquisition module to perform imaging acquisition based on the attitude relationship, and determine the laser image set.

[0059] A transmission channel determination module 14, which is used to combine the three-dimensional reconstruction space, perform step-by-step multi-level image feature screening and processing on the laser image set to determine the feature pyramid, perform feature three-dimensional reconstruction to determine the three-dimensional transmission channel, wherein the three-dimensional reconstruction space is connected with a feature extraction unit based on the pyramid principle.

[0060] The operation and maintenance management module 15 is used to perform terminal visualization display of the three-dimensional power transmission channel and reversely guide the operation and maintenance management of the target power transmission channel.

[0061] Furthermore, the relative motion verification module 12 in the multi-parallel line laser transmission channel three-dimensional reconstruction system is also used for:

[0062] The triangular feature relationship is determined based on the laser projection area and the position calibration, wherein the multi-parallel line laser emitter and the monocular camera have a movement based on the spatial perspective; the image layout structure is determined, wherein the image layout structure is determined by the preset distribution characteristics of the projection part and the background part; with the image layout structure as a constraint, the triangular feature relationship is combined to perform relative motion verification to mine the device posture relationship, wherein the device posture relationship is the relationship between the monocular camera's follow-up posture under the multi-parallel line laser emitter's perspective posture movement.

[0063] Furthermore, the relative motion verification module 12 in the multi-parallel line laser transmission channel three-dimensional reconstruction system is also used for:

[0064] Determine the acquisition free parallax, wherein the acquisition free parallax is the allowed overlapping field of view of the upper acquisition node and the lower acquisition node; use the device posture relationship as a single-point acquisition constraint and the acquisition free parallax as a continuous scanning constraint to perform continuous scanning projection and image acquisition management on the target power transmission channel.

[0065] Furthermore, the three-dimensional reconstruction system of the power transmission channel of the multi-parallel line laser also includes a device configuration module for:

[0066] Determine a preset laser projection state and a preset image state; configure laser parameters based on the preset laser projection state, wherein the same projection state based on the difference in projection viewing angle distance is used as a standard; configure camera parameters based on the preset image state, wherein the camera parameters include internal parameters and external parameters, wherein the same image state based on the difference in acquisition viewing angle distance is used as a standard.

[0067] Furthermore, the transmission channel determination module 14 in the transmission channel 3D reconstruction system of multiple parallel laser lines is also used for:

[0068] Identify the 3D reconstruction task and set the reconstruction element sequence, where each reconstruction element sequence includes element feature - feature dimension - feature intensity; receive and identify the first laser image, and based on the image layout structure, perform boundary segmentation and first-level feature extraction on the first laser image to determine the first feature layer, where the segmentation boundary is the adjacent boundary between the projection part and the background part; based on the reconstruction element sequence, perform multi-level image feature screening processing on the first feature layer to determine the first feature pyramid.

[0069] Further, the transmission channel determination module 14 in the 3D reconstruction system of the multi-parallel line laser is further configured to:

[0070] Construct a pyramid architecture with feature multi-level enhancement; traverse the first feature layer, and perform element feature transformation and enhancement processing based on the reconstruction element sequence until the Nth feature layer is determined; perform inter-layer mapping on the first feature layer to the Nth feature layer to generate the first feature pyramid.

[0071] Further, the transmission channel determination module 14 in the 3D reconstruction system of the multi-parallel line laser is further configured to:

[0072] Integrate the first feature pyramid based on the spatial phase relationship to determine the 3D point cloud feature distribution; identify the 3D point cloud feature distribution, perform 3D reconstruction in the 3D reconstruction space to determine the first local transmission channel; traverse the laser image set to construct the Nth local transmission channel; based on the spatial phase relationship, splice the first local transmission channel to the Nth local transmission channel to generate the 3D transmission channel.

[0073] The various embodiments in this specification are described in a progressive manner, and the key point of each embodiment is the difference from other embodiments. The Figure 1 3D reconstruction method and specific examples of the transmission channel of the multi-parallel line laser in the first embodiment are equally applicable to the 3D reconstruction system of the transmission channel of the multi-parallel line laser in this embodiment. Through the detailed description of the 3D reconstruction method of the transmission channel of the multi-parallel line laser above, those skilled in the art can clearly know the 3D reconstruction system of the transmission channel of the multi-parallel line laser in this embodiment. Therefore, for the sake of brevity of the specification, it will not be described in detail here. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the description of the method part.

[0074] The foregoing description of the disclosed embodiments enables those skilled in the art to practice 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. Thus, the present application is not intended to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0075] Obviously, those skilled in the art can 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 equivalent technologies, the present application is also intended to include these changes and modifications.

Claims

1. A three-dimensional reconstruction method of a power transmission channel using multiple parallel laser lines, characterized in that: include: Assembling a multi-parallel-line laser transmitter and a monocular camera and performing position calibration, wherein the multi-parallel-line laser transmitter and the monocular camera are assembled on a transmission tower based on a preset relative spatial position; Based on the position calibration, combined with the triangular feature relationship, relative motion verification is performed with the laser projection domain as the center, the device posture relationship is determined, and a dynamic acquisition module is constructed; Interactive 3D reconstruction task, triggering the multi-parallel line laser transmitter to perform multi-parallel laser projection on the target power transmission channel, combining with the dynamic acquisition module to perform imaging acquisition based on posture relationship, and determining the laser image set; Combined with the three-dimensional reconstruction space, the laser image set is subjected to step-by-step multi-level image feature screening and processing to determine a feature pyramid, and feature three-dimensional reconstruction is performed to determine a three-dimensional power transmission channel, wherein the three-dimensional reconstruction space is connected to a feature extraction unit based on the pyramid principle; Perform terminal visualization display on the three-dimensional power transmission channel, and reversely guide the operation and maintenance management of the target power transmission channel; The determining of the device posture relationship includes: The triangular feature relationship is determined based on the laser projection area and the position calibration, wherein the multi-parallel line laser emitter and the monocular camera have a motion based on the spatial perspective; Determining an image layout structure, wherein the image layout structure is determined by preset distribution characteristics of the projection part and the background part; Taking the image layout structure as a constraint and combining the triangular feature relationship, relative motion-based verification is performed to mine the device posture relationship, wherein the device posture relationship is the relationship between the monocular camera's follow-up posture under the multi-parallel line laser transmitter's viewing angle posture movement.

2. The method for three-dimensional reconstruction of a transmission channel of multiple parallel laser lines according to claim 1, characterized in that: The construction of the dynamic acquisition module includes: Determine a collection free parallax, wherein the collection free parallax is an allowed overlapping field of view between an upper collection node and a lower collection node; The device posture relationship is used as a single-point acquisition constraint, and the acquisition free parallax is used as a continuous scanning constraint to perform continuous scanning projection and image acquisition management on the target power transmission channel.

3. The method for three-dimensional reconstruction of a transmission channel of multiple parallel laser lines according to claim 1, characterized in that: Also includes: Determine a preset laser projection state and a preset image state; Based on the preset laser projection state, laser parameter configuration is performed, wherein the same projection state based on the difference in projection viewing angle interval is used as a standard; Based on the preset image state, camera parameters are configured, wherein the camera parameters include internal parameters and external parameters, with the same image state under different acquisition viewing angle intervals as the standard.

4. The method for three-dimensional reconstruction of a transmission channel of multiple parallel laser lines according to claim 1, characterized in that: Perform step-by-step multi-level image feature screening and processing to determine the feature pyramid, including: Identify the three-dimensional reconstruction task and set a reconstruction element sequence, wherein each reconstruction element sequence includes element feature-feature dimension-feature intensity; Receive and identify a first laser image, perform boundary segmentation and primary feature extraction on the first laser image based on the image layout structure, and determine a first feature layer, wherein the segmentation boundary is an adjacent boundary between a projection part and a background part; Based on the reconstruction element sequence, a multi-level image feature screening process is performed on the first feature layer to determine a first feature pyramid.

5. The method for three-dimensional reconstruction of a transmission channel of multiple parallel laser lines according to claim 4, characterized in that: The determining of the first feature pyramid comprises: Build a pyramid structure with multi-level feature enhancement; Traversing the first feature layer, performing feature transformation and enhancement processing based on the reconstructed feature sequence until the Nth feature layer is determined; Inter-layer mapping is performed on the first feature layer to the Nth feature layer to generate the first feature pyramid.

6. The method for three-dimensional reconstruction of a transmission channel of multiple parallel laser lines according to claim 5, characterized in that: The performing of feature three-dimensional reconstruction to determine the three-dimensional power transmission channel comprises: Based on the spatial phase relationship, integrating the first feature pyramid, determining the feature distribution of the three-dimensional point cloud; Identifying the characteristic distribution of the three-dimensional point cloud, performing three-dimensional reconstruction in the three-dimensional reconstruction space, and determining a first local power transmission channel; Traversing the laser image set to construct an Nth local power transmission channel; Based on the spatial phase relationship, the first local power transmission channel to the Nth local power transmission channel are spliced ​​to generate the three-dimensional power transmission channel.

7. A three-dimensional reconstruction system for transmission channels of multiple parallel laser lines, characterized in that: The method for implementing the three-dimensional reconstruction of the power transmission channel of multiple parallel laser lines according to any one of claims 1 to 6, wherein the three-dimensional reconstruction system of the power transmission channel of multiple parallel laser lines comprises: A position calibration module, wherein the position calibration module is used to assemble a multi-parallel line laser transmitter and a monocular camera and perform position calibration, wherein the multi-parallel line laser transmitter and the monocular camera are assembled on the transmission tower based on a preset relative spatial position; A relative motion verification module, which is used to perform relative motion verification based on the position calibration and in combination with the triangular feature relationship, with the laser projection domain as the center, determine the device posture relationship, and construct a dynamic acquisition module; An imaging acquisition module, which is used for interactive three-dimensional reconstruction tasks, triggers the multi-parallel line laser transmitter to perform multi-parallel laser projection on the target power transmission channel, combines with the dynamic acquisition module to perform imaging acquisition based on posture relationship, and determines a laser image set; A power transmission channel determination module, the power transmission channel determination module is used to combine the three-dimensional reconstruction space, perform step-by-step multi-level image feature screening and processing on the laser image set to determine a feature pyramid, perform feature three-dimensional reconstruction to determine a three-dimensional power transmission channel, wherein the three-dimensional reconstruction space is connected to a feature extraction unit based on the pyramid principle; An operation and maintenance management module, wherein the operation and maintenance management module is used to perform terminal visualization display of the three-dimensional power transmission channel and reversely guide the operation and maintenance management of the target power transmission channel.

Images