Method and device for three-dimensional reconstruction of power transmission lines using cross laser

Abstract

The present application provides a method and device for three-dimensional reconstruction of power transmission lines using cross lasers, and relates to the field of laser mapping technology, including: extracting visual feature points through the cross spot formed by the linkage control of a monocular camera and a laser emitting device; recording the trajectory coordinates of the monocular camera when shooting at the same time, and obtaining the external and internal parameters of the monocular camera; configuring the laser detection path and laser detection parameters based on the layout information of the power transmission line; determining the positional relationship between the cross spot mapped to the power transmission line, and limiting the relative spatial position between the power transmission channels by constraining the cross space phase of the cross-line laser; fusing point cloud data and visual feature points, combining the monocular camera parameters, the laser detection path and the detection parameters, and performing three-dimensional reconstruction of the power transmission line under the constraint of the cross space phase. The present application solves the technical problem that the existing three-dimensional reconstruction model is prone to cumulative errors, and improves the accuracy and reliability of three-dimensional reconstruction of the power transmission line.

Description

Technical Field

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

[0002] The 3D reconstruction technology of transmission lines is an important means for monitoring, maintaining and evaluating the status of transmission lines in the power industry. By constructing an accurate 3D model, the safety hazards, environmental impacts and actual operating status of the transmission lines can be effectively detected to ensure the stable operation of the transmission system. At present, the commonly used 3D reconstruction methods of transmission lines mainly include LiDAR and traditional photogrammetry. LiDAR generates high-precision point cloud data by emitting laser pulses and receiving reflected signals, while traditional photogrammetry relies on multi-view images for feature point extraction and spatial reconstruction.

[0003] However, transmission lines are often surrounded by complex background environments, such as trees, buildings, and mountains. These backgrounds are easily confused with the characteristics of the lines themselves, making automated feature extraction difficult. In complex environments, the reflection path of the laser is easily blocked, scattered, or reflected, resulting in incomplete or inaccurate data. Due to the lack of depth information, the accuracy of traditional photogrammetry depends on the shooting angle and lighting conditions. In high-altitude and long-distance transmission lines, feature point extraction is difficult and the model stability is insufficient. In addition, both LiDAR and traditional photogrammetry lack effective spatial constraints when dealing with large-scale scenes, and cannot avoid cumulative errors in large-scale lines. It is difficult to ensure that the relative spatial positions of each part of the model are accurate and consistent, resulting in reduced reconstruction accuracy. Summary of the invention

[0004] The present application provides a method and device for three-dimensional reconstruction of power transmission lines using a cross laser, which solves the technical problems that the commonly used three-dimensional reconstruction technology of power transmission lines is limited by complex environments and lacks effective spatial constraints, resulting in insufficient accuracy of the three-dimensional reconstruction model and easy accumulation of errors, thereby achieving the technical effect of significantly improving the accuracy and reliability of three-dimensional reconstruction of power transmission lines.

[0005] In view of the above problems, on the one hand, the present application provides a method for three-dimensional reconstruction of a transmission line by cross laser, the method comprising: extracting visual feature points from a cross spot formed on the transmission line and the surrounding environment through the linkage control of a monocular camera and a laser emitting device; at the same time, recording the trajectory coordinates of the monocular camera during shooting to obtain the external parameters and internal parameters of the monocular camera; configuring the laser detection path and laser detection parameters based on the layout information of the transmission line; determining the positional relationship between the cross spot mapped to the transmission line, and limiting the relative spatial position between transmission channels by constraining the cross spatial phase of the cross-line laser; fusing the point cloud data detected by the laser emitting device and the visual feature points associated with the monocular camera, combining the external parameters and internal parameters of the monocular camera, the laser detection path and the laser detection parameters, and performing three-dimensional reconstruction of the transmission line under the constraint of the cross spatial phase.

[0006] On the other hand, the present application also provides a device for three-dimensional reconstruction of a transmission line by cross laser, the device comprising: a visualization feature point extraction module, the visualization feature point extraction module is used to extract visualization feature points from a cross spot formed on the transmission line and the surrounding environment through linkage control of a monocular camera and a laser emitting device; a monocular camera parameter acquisition module, the monocular camera parameter acquisition module is used to record the trajectory coordinates of the monocular camera when shooting, and obtain the external parameters and internal parameters of the monocular camera; a laser detection configuration module, the laser detection configuration module is used to configure the laser detection path and laser detection parameters based on the layout information of the transmission line; a relative spatial position limitation module, the relative spatial position limitation module is used to determine the positional relationship between the cross spot mapped to the transmission line, and to limit the relative spatial position between transmission channels by constraining the cross spatial phase of the cross-line laser; a three-dimensional reconstruction module, the three-dimensional reconstruction module is used to fuse the point cloud data detected by the laser emitting device and the visualization feature points associated with the monocular camera, and combine the external parameters and internal parameters of the monocular camera, the laser detection path and the laser detection parameters, and perform three-dimensional reconstruction of the transmission line under the constraint of the cross spatial phase.

[0007] One or more technical solutions provided in this application have at least the following technical effects or advantages: Through the linkage control of the monocular camera and the laser emission equipment, the cross spot formed on the transmission line and the surrounding environment is used to extract the visual feature points. This step improves the data synchronization through linkage control, making the position of the feature points in space more accurate, avoiding the positioning error that may be caused by relying solely on image feature points or laser data, and helping to improve the overall reconstruction effect. At the same time, the trajectory coordinates of the monocular camera during shooting are recorded to obtain the external parameters and internal parameters of the monocular camera. In this step, the angle and distance changes during the camera movement are determined by the precise camera trajectory coordinates, so as to accurately correct the spatial position of the camera, and effectively improve the stability of spatial positioning in the three-dimensional reconstruction of the transmission line. Based on the layout information of the transmission line, the laser detection path and laser detection parameters are configured. In this step, the laser detection path and parameters are dynamically configured according to the specific layout information of the transmission line, which can flexibly respond to different line environments. The dynamic configuration of the detection path avoids the appearance of blind spots, ensures the accuracy and coverage of detection in different scenarios, and improves the accuracy of laser data. Determine the position relationship between the cross spot mapped to the transmission line, and limit the relative spatial position between the transmission channels by constraining the cross space phase of the cross-line laser. This step uses spatial phase constraints to effectively limit the relative spatial positions between the channels of the transmission line, greatly reducing the relative positioning errors between the transmission lines and improving the overall accuracy and stability of the three-dimensional reconstruction model. The point cloud data detected by the laser emission device and the visual feature points associated with the monocular camera are fused, and the external and internal parameters of the monocular camera, the laser detection path and the laser detection parameters are combined to perform three-dimensional reconstruction of the transmission line under the constraints of the cross spatial phase. This step combines the fast trajectory recording of the camera with the real-time performance of laser detection, reduces the computational complexity, reduces the processing time for large-scale data, and significantly improves the efficiency of data acquisition and processing.

[0008] In summary, this application achieves high-precision three-dimensional reconstruction of transmission lines by means of linked control of monocular cameras and laser emitting equipment, dynamic path configuration, and cross-spot spatial phase constraints, which greatly improves the efficiency of data acquisition and processing, ensures the geometric accuracy and detail richness of the reconstructed model, significantly improves the accuracy and reliability of three-dimensional reconstruction of transmission lines, and at the same time enhances the adaptability in complex environments, providing strong technical support for the maintenance and safety management of transmission lines.

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

[0010] Figure 1A schematic flow chart of a method for three-dimensional reconstruction of a power transmission line using a cross laser provided in an embodiment of the present application; Figure 2 A schematic diagram of the structure of an apparatus for three-dimensional reconstruction of power transmission lines using a cross laser provided in an embodiment of the present application.

[0011] Explanation of the reference numerals: visualization feature point extraction module 10 , monocular camera parameter acquisition module 20 , laser detection configuration module 30 , relative spatial position limitation module 40 , three-dimensional reconstruction module 50 . DETAILED DESCRIPTION

[0012] The embodiments of the present application provide a method and device for three-dimensional reconstruction of transmission lines using a cross laser, thereby solving the technical problems that the commonly used three-dimensional reconstruction technology of transmission lines is limited by complex environments and lacks effective spatial constraints, resulting in insufficient accuracy of the three-dimensional reconstruction model and easy accumulation of errors, thereby achieving the technical effect of significantly improving the accuracy and reliability of three-dimensional reconstruction of transmission lines.

[0013] Embodiment 1, as Figure 1 As shown, the embodiment of the present application provides a method for three-dimensional reconstruction of a power transmission line using a cross laser, the method comprising: Through the linkage control of the monocular camera and the laser emitting equipment, the cross spot formed on the transmission line and the surrounding environment is used to extract the visual feature points.

[0014] Specifically, the monocular camera is linked with the laser emitting device. The monocular camera is responsible for capturing the two-dimensional image of the transmission line and its environment, while the laser emitting device projects the laser in the target area to form a cross spot, such as a lidar or laser scanner. Through the precise positioning of the cross laser, the key parts of the line, namely the feature points, can be clearly identified. These feature points are unique and easy to identify points in the image. Insulators on the transmission line, nodes of the tower, and wire suspension points can all be regarded as feature points.

[0015] In the 3D reconstruction of power transmission lines, the laser emission equipment forms a clear cross spot on the power transmission line and its surrounding environment. The image of these cross spots is captured by a monocular camera, and the visual feature points are extracted in combination with the position information of the cross spots. The extracted feature points are then used for further 3D reconstruction and analysis. The visual feature points extracted through this linkage control provide key data for subsequent spatial positioning and model generation, improving the accuracy of the entire reconstruction process.

[0016] At the same time, the trajectory coordinates of the monocular camera during shooting are recorded to obtain the external parameters and internal parameters of the monocular camera.

[0017] Specifically, trajectory coordinates are a coordinate data set formed by continuously recording the position and angle changes of a monocular camera during its movement, reflecting the movement trajectory of the camera. When photographing a transmission line, the monocular camera moves along a preset path. While moving, the camera continuously captures images of the surrounding environment, and records every position and posture change of the camera through the built-in positioning system, IMU (inertial measurement unit), etc. These data constitute the trajectory coordinates.

[0018] Using the trajectory coordinates, the rotation and translation of the monocular camera relative to the world coordinate system at each moment are calculated, thereby obtaining the external parameters of the monocular camera. The external parameters refer to the position and orientation of the monocular camera relative to the world coordinate system, such as the rotation matrix and the translation vector.

[0019] Before the monocular camera performs the shooting task, the monocular camera is calibrated to determine its internal parameters. The internal parameters include the focal length, principal point position and lens distortion parameters of the monocular camera. The calibration process can be performed by shooting a calibration plate with known size and features (such as a chessboard), and then using image processing algorithms to calculate the focal length, principal point position and distortion parameters of the camera.

[0020] By recording the trajectory coordinates of the monocular camera and combining it with camera calibration technology, the external and internal parameters of the camera can be accurately obtained, and the camera position and characteristics can be accurately described, providing key data support for subsequent 3D model generation and improving the accuracy and reliability of the overall reconstruction.

[0021] Based on the layout information of the transmission line, the laser detection path and laser detection parameters are configured.

[0022] Specifically, the layout information of the transmission line refers to the detailed data of the location, direction, structure and related facilities (such as substations, brackets, etc.) of the transmission line in geographic space. This information usually includes the height, angle, spacing and environmental factors of the line. Collect detailed layout information of the transmission line. This can be obtained through existing engineering drawings or geographic information system (GIS) data. The layout information can be used to understand the direction, height and surrounding environment characteristics of the line, and analyze possible obstacles, signal interference sources, etc. For example, if there are trees near the line, it is necessary to avoid blocking the laser beam.

[0023] According to the acquired layout information and environmental analysis, a laser detection path is developed. The configuration of the laser detection path needs to take into account factors such as the length of the transmission line, terrain undulations, and vegetation cover. The path should be along the centerline of the transmission line or offset appropriately to ensure that the laser transmitting equipment can capture detailed information about the transmission tower, wires, and the surrounding environment. For example, if the transmission line is in a large valley, the detection path may need to be set along both sides of the valley to obtain the best measurement effect. After determining the detection path, the laser detection parameters must also be configured. Adjust the laser transmission power, frequency, and angle according to the distance to the target, environmental conditions, and required measurement accuracy. For example, when measuring at long distances, it may be necessary to increase the laser transmission power to ensure that the signal can reach the target and reflect back to the receiver.

[0024] Through the above steps, comprehensive measurement and analysis of transmission lines can be achieved, the efficiency and accuracy of laser detection can be improved, and accurate laser measurement data can be provided for subsequent three-dimensional reconstruction.

[0025] The positional relationship between the cross light spot and the power transmission line is determined, and the relative spatial position between the power transmission channels is limited by constraining the cross spatial phase of the cross line laser.

[0026] Specifically, cross spatial phase refers to the specific configuration and arrangement of the cross light spots in three-dimensional space, including the relative positions and angles between the light spots.

[0027] The image captured by the monocular camera is processed, and the position of the cross spot in the image is identified through image feature point detection and matching technology, such as SIFT (Scale Invariant Feature Transform) and SURF (Speeded Up Robust Features). Combined with the internal and external parameters of the camera, the two-dimensional position of the spot is converted to the actual position in three-dimensional space, thereby determining the position of the cross spot in the actual transmission line.

[0028] In order to limit the relative spatial position between transmission channels, it is necessary to constrain the phase of the cross spot, set the shape and arrangement of the cross spot, and ensure its consistency and stability in space. For example, it can be required that the intersection of the cross spot is always located at the center line of the transmission line to ensure that there is no error caused by the offset of the spot during measurement. By constraining the cross spatial phase, the relative spatial position between transmission channels can be accurately defined. For example, at a certain intersection, two transmission lines may intersect. By constraining the spatial phase of the cross spot, the intersection can be accurately located during measurement.

[0029] Through the above steps, during the three-dimensional reconstruction of the transmission line, accurate positioning of key points and effective control of relative positions can be achieved, further improving the accuracy and reliability of the three-dimensional reconstruction.

[0030] The point cloud data detected by the laser emitting device and the visual feature points associated with the monocular camera are fused, and the external parameters and internal parameters of the monocular camera, the laser detection path and the laser detection parameters are combined to perform three-dimensional reconstruction of the transmission line under the constraint of the cross space phase.

[0031] Specifically, the point cloud data acquired by the laser emission device is paired with the visual feature points associated with the monocular camera to ensure that the position of each feature point in three-dimensional space can correspond to the corresponding point cloud data. The point cloud data provides three-dimensional spatial information, while the visual feature points serve as key reference points. The fusion of the two provides a comprehensive data basis for three-dimensional reconstruction. The external and internal parameters of the monocular camera are combined with the laser detection parameters to calibrate and register the fused data to ensure that all data are in a unified coordinate system. During the fusion process, the cross-space phase constraint is used to ensure that all point cloud data and feature points remain in the preset spatial relationship to avoid misalignment caused by data processing. After completing the data fusion and parameter combination, the fused point cloud and feature point data are processed using a three-dimensional reconstruction algorithm, such as structure from motion (SfM), multi-view geometry (MVG) or bundle adjustment, to generate a three-dimensional model of the transmission line to intuitively display the actual situation of the transmission line.

[0032] Furthermore, the embodiment of the present application uses a monocular camera and a laser emission device to control a cross spot formed on the power transmission line and the surrounding environment, and extracts visual feature points, including: The cross light spots formed on the power transmission line and the surrounding environment are filtered to obtain the cross light spot feature points; based on the cross light spot feature points, a light spot classification model is trained, and the light spot classification model is used to filter non-target light spots; using the light spot classification model, the target light spot is retained, and the visualization feature points are extracted.

[0033] Specifically, the laser emission equipment generates cross spots on the transmission line and its surrounding environment. The monocular camera captures the images formed by these spots in real time, pre-processes the captured images, and highlights the features of the cross spots through grayscale, noise reduction, and contrast enhancement. All cross spots are identified and extracted. The filtered cross spots are refined to extract their precise position, shape, size and other features. These feature points will serve as the basis for subsequent training and classification.

[0034] Based on the identified cross light spot feature points, a large amount of image data containing target light spots and non-target light spots is collected, annotated and classified as a training data set. Among them, the target light spot refers to the cross light spot located on the transmission line, and the non-target light spot is a light spot that is not related to the transmission line, such as background noise or reflection of the surrounding environment. Use deep learning frameworks such as TensorFlow or PyTorch to build and train a light spot classification model. The light spot classification model is used to identify and classify cross light spots and distinguish between target light spots and non-target light spots. Common model structures include convolutional neural networks (CNNs) and recurrent neural networks (RNNs). Use the labeled data set to train the model, adjust the network weights through the back propagation algorithm to minimize the difference between the predicted results and the actual labels, and use cross-validation technology to verify the performance of the model on the training set and validation set. According to the validation results, the model parameters are continuously adjusted until the model converges to obtain a trained light spot classification model.

[0035] After the training is completed, the spot classification model is applied to analyze the new spot data. The real-time or pre-processed image is input into the trained spot classification model, and the model will output the classification result of each spot. According to the results output by the model, the feature points identified as the target spot are retained, and these feature points will serve as the key information for subsequent 3D reconstruction.

[0036] The above steps can efficiently and accurately extract visual feature points in the transmission line and the surrounding environment by training the spot classification model, thereby improving the accuracy of the three-dimensional reconstruction data.

[0037] Furthermore, in the steps of the embodiment of the present application, the monocular camera and the laser emitting device are controlled in linkage to perform timing synchronization through a synchronous control gate circuit; based on the external parameters and internal parameters of the monocular camera, a first acquisition window is determined, and the first acquisition window includes a first rotation angle; based on the laser detection path and laser detection parameters of the laser emitting device, a first light spot coverage area is determined, and the first light spot coverage area includes a second rotation angle; according to the synchronous control gate circuit, in combination with the first acquisition window and the first light spot coverage area, the monocular camera and the laser emitting device are controlled in linkage.

[0038] Specifically, a synchronous control gate circuit is used to synchronize the operation of the monocular camera and the laser emitting device to ensure that the image acquisition of the monocular camera and the light spot emission of the laser emitting device are precisely aligned in time. The external parameters and internal parameters of the monocular camera are used to determine the field of view and direction of the monocular camera at a specific time point, which is defined as the first acquisition window, which contains the first rotation angle. The first rotation angle is the rotation angle of the monocular camera when acquiring images, which is used to determine the range of image acquisition. According to the laser detection path and laser detection parameters of the laser emitting device, the cross light spot coverage area formed by the laser on the transmission line and the environment is calculated, that is, the first light spot coverage area, which includes the second rotation angle. The second rotation angle is the rotation angle of the laser emitting device when emitting lasers, which is used to determine the range of light spot coverage. Combined with the synchronous control gate circuit, the first acquisition window and the first light spot coverage area, the control parameters of the laser emitting device and the monocular camera are adjusted to ensure that the laser emitting device generates a light spot in the corresponding area while the camera is acquiring images.

[0039] Through synchronous control, it can be ensured that the obtained images and laser data can be accurately combined to collect accurate and effective data for subsequent three-dimensional reconstruction.

[0040] Furthermore, the embodiment of the present application controls the monocular camera and the laser emission device in linkage according to the synchronous control gate circuit, in combination with the first acquisition window and the first light spot coverage area, including: Monitor the changes in ambient light in real time and obtain external lighting conditions. At the same time, evaluate the clarity based on the point cloud data detected by the laser emitting device and the visual feature points associated with the monocular camera, where the clarity includes the density of the visual feature points and the density of the point cloud data. Based on the external lighting conditions, dynamically adjust the exposure time of the monocular camera and the laser intensity of the laser emitting device in combination with the clarity.

[0041] Specifically, an ambient light sensor is deployed around the monocular camera and laser emitting device, and the ambient light sensor is used to monitor the light intensity in real time to obtain external lighting conditions, including information such as light direction, intensity, and color temperature. By combining the point cloud data obtained by the laser emitting device and the visual feature points associated with the monocular camera, the image clarity is evaluated by calculating the density of the visual feature points and the density of the point cloud data, and a quantitative clarity index is obtained. Among them, the feature point density refers to the number of visual feature points per unit area, which is obtained by calculating the ratio of the number of feature points to the image area; the point cloud data density refers to the number of point cloud data points per unit volume, which is used to evaluate the fineness and coverage of the scan, and can be obtained by calculating the ratio of the number of point cloud points to the scan volume. For complex scenes, it needs to be estimated through a point cloud processing algorithm.

[0042] During the 3D reconstruction process, the monocular camera and laser device parameters are adjusted through PID (proportional-integral-differential) controller or fuzzy logic according to the real-time external lighting conditions and image clarity evaluation results, thereby adjusting the exposure time of the monocular camera and the laser intensity of the laser emission device. In low-light environments, increase the exposure time to obtain more light signals; in high-light environments, reduce the exposure time to prevent overexposure. When the point cloud data density is insufficient, increase the laser intensity to improve scanning accuracy; when the feature point density is insufficient, increase the number of feature points by adjusting the laser mode or frequency.

[0043] Through real-time monitoring and dynamic adjustment strategies, monocular cameras and laser emission equipment can adapt to various environmental conditions. Even in environments where lighting conditions change rapidly, they can ensure the clarity and quality of image and point cloud data, providing stable data support for subsequent data analysis and 3D reconstruction.

[0044] Furthermore, the embodiment of the present application dynamically adjusts the exposure time of the monocular camera and the laser intensity of the laser emitting device based on the external lighting conditions and in combination with the clarity, and further includes: The first distribution sparse partition and the first distribution dense partition are obtained through the density of the visual feature points in the clarity; the second distribution sparse partition and the second distribution dense partition are obtained through the density of the point cloud data in the clarity; based on the layout information of the transmission line, the key nodes of the line are obtained, and the key nodes of the line are located by spatial complexity constraints; based on the first distribution sparse partition, the first distribution dense partition, the second distribution sparse partition, and the second distribution dense partition, the clarity constraint interval is added in comparison with the key nodes of the line.

[0045] Specifically, according to the density of the visual feature points in the clarity, the area with low density of feature points is identified, which is recorded as the first distribution sparse partition, and the area with high density is recorded as the first distribution dense partition. For example, a threshold range for the density of visual feature points is set. If the density of feature points in a certain area is lower than the minimum value of the set threshold range, it is marked as a sparse partition. If it is higher than the maximum value of the set threshold range, it is marked as a dense partition. By analyzing the density of the point cloud data in the clarity, the area where the point cloud data is sparsely distributed is determined, which is recorded as the second distribution sparse partition, and the area where the point cloud data is densely distributed is recorded as the second distribution dense partition.

[0046] Combined with the layout information of the transmission line, the key nodes of the line are located through spatial complexity constraints. These nodes are important location points in the transmission line, such as wire connection points, towers, etc. Among them, the spatial complexity constraint is a constraint condition considered when locating the key nodes of the line in three-dimensional space, which is usually related to the structure and layout of the line, such as line turning points, intersections, etc. Compare the density partitions of the key nodes of the line with the feature points and point cloud data to identify which key nodes are located in the sparse distribution area. Add clarity constraint intervals around these key nodes to ensure the data quality of these areas. By adjusting the exposure time of the monocular camera and the laser intensity of the laser emission device, the density of the feature points and point cloud data in the area is enhanced. Increase the exposure time in the first sparse distribution partition where the key node is located to improve the recognition rate of the feature point. Increase the laser intensity in the second sparse distribution partition where the key node is located to increase the density of the point cloud data and ensure the integrity and accuracy of the data.

[0047] Through the above-mentioned partition-based clarity constraints, high-precision detection of key areas of the transmission line is ensured, and the clarity and quality of key data are improved.

[0048] Furthermore, the method described in the embodiment of the present application also includes: Based on the layout information of the transmission line, the distribution coordinates of each monocular camera are marked to obtain the monocular camera distribution mark; according to the monocular camera distribution mark and in comparison with the laser detection path, the monocular camera collaborative activation sequence is determined; based on the monocular camera collaborative activation sequence and the monocular camera distribution mark, the monocular camera cross activation sequence is matched, and the monocular camera collaborative activation sequence corresponds to the monocular camera cross activation sequence one by one.

[0049] Specifically, the monocular camera collaborative activation sequence is a camera activation sequence determined based on the distribution markers and laser detection paths of the monocular cameras to ensure comprehensive coverage and efficient data collection. The monocular camera cross-activation sequence is another activation sequence that matches the collaborative activation sequence and is used to achieve cross-validation and data supplementation between different cameras.

[0050] According to the layout information of the transmission line, including the direction, height, surrounding environment, etc. of the line, the distribution position and angle of each monocular camera are determined. The distribution coordinates of each monocular camera are marked, and its position parameters are recorded to form the monocular camera distribution mark, which provides basic information for subsequent collaborative activation. According to the detection path of the laser emission equipment, the intersection and key areas with the transmission line layout information are analyzed. According to the intersection and key areas, the collaborative activation order of the monocular camera is determined to form a monocular camera collaborative activation sequence to ensure that the corresponding monocular camera can capture the laser spot in time when it is formed in the key area. Based on the monocular camera collaborative activation sequence, a cross-activation strategy is designed to achieve more comprehensive coverage and more refined data collection through the cooperation between adjacent or diagonally distributed cameras. A corresponding cross-activation sequence is matched for each collaborative activation sequence to form a one-to-one correspondence. When one group of cameras works according to the collaborative activation sequence, the other group of cameras works according to the cross-activation sequence, thereby realizing cross-verification and supplementation of data.

[0051] For example, when monitoring a power transmission line, the coordinates of three monocular cameras are assigned through layout information, namely A (0, 0, 0), B (5, 0, 0), and C (10, 0, 0). After obtaining these distribution marks, the activation sequence is determined to be "camera A-camera B-camera C" according to the laser detection path. Next, the cross-activation sequence is matched based on this activation sequence. For example, the activation order is "camera A is activated first, then camera B is activated, and camera A is activated at the same time for cross-activation", and finally a sequence of "camera A-camera B-camera A-camera C" is formed.

[0052] This coordinated activation ensures effective use of illumination and laser detection data between different cameras, improves data coverage and quality, and provides support for subsequent 3D reconstruction.

[0053] Furthermore, the monocular camera collaborative activation sequence described in the embodiment of the present application corresponds one-to-one to the monocular camera cross activation sequence, and further includes: Based on the laser detection path, combined with the second rotation angle of the first light spot coverage area, a scanning coverage space is generated; in the scanning coverage space, combined with the first rotation angle of the first acquisition window, the first collaborative monocular camera is located in the monocular camera collaborative activation sequence; taking the first collaborative monocular camera as the center, and according to the monocular camera distribution mark, a plurality of first cross monocular cameras are determined, and the first cross monocular cameras are located with time complexity constraints; according to the first collaborative monocular camera and the plurality of first cross monocular cameras, the monocular camera collaborative activation sequence is traversed to determine the monocular camera cross activation sequence.

[0054] Specifically, time complexity constraint: the time factor considered when determining the first intersection of the monocular camera ensures the efficiency and real-time performance of data acquisition.

[0055] Based on the laser detection path, combined with the second rotation angle of the first spot coverage area, the coverage space of the laser scan is generated, that is, the moving trajectory and range of the laser spot in the space. In the scan coverage space, the first rotation angle of the first acquisition window is used to locate the monocular camera that can effectively capture the spot, and it is determined as the first cooperative monocular camera. The first cooperative monocular camera is a monocular camera located according to the scan coverage space and the first rotation angle of the first acquisition window, and is responsible for leading the data acquisition. With the first cooperative monocular camera as the center, according to the monocular camera distribution mark, through the time complexity constraint, that is, to ensure that within the coverage range of the laser spot, the camera can respond and capture the spot in time, and determine multiple first cross monocular cameras. Among them, the first cross monocular camera is another monocular camera that works with the first cooperative monocular camera, which is responsible for alternating work at different time points to enhance the data acquisition effect. Traverse the monocular camera cooperative activation sequence, for each first cooperative monocular camera, determine its corresponding multiple first cross monocular cameras, and form a one-to-one corresponding monocular camera cross activation sequence.

[0056] For example, in the monitoring of a certain transmission line, the detection path of the laser emitting device determines a spot coverage area, and the second rotation angle is 30 degrees. Based on this information, a conical scanning coverage space is generated, which contains multiple data acquisition points. In this scanning coverage space, the first rotation angle of the first acquisition window is 45 degrees. By analyzing the area, "Camera A" is determined as the first collaborative monocular camera, responsible for the main data acquisition task. Next, take "Camera A" as the center point, mark it according to the camera distribution, and consider the time complexity to ensure that these cross-cameras can be activated and complete data acquisition within the corresponding time window, and determine "Camera B" and "Camera C" as the first cross-monocular camera.

[0057] Through the above steps, it can be ensured that during the entire data collection process, each camera can cooperate effectively to maximize the coverage of the monitoring area, improve data quality, and provide comprehensive and accurate data support for subsequent three-dimensional reconstruction.

[0058] Furthermore, the embodiment of the present application determines the positional relationship between the cross light spot mapped to the transmission line, and limits the relative spatial position between the transmission channels by constraining the cross spatial phase of the cross-line laser, and also includes: In the scanning coverage space, eight quadrant subspaces are set by constraining the cross space phase of the cross-line laser; based on the eight quadrant subspaces and the first cooperative monocular camera, a plurality of first cross-monocular cameras are relatively position-encoded, wherein the first cooperative monocular camera is assigned a coding value according to the positional relationship of the eight quadrant subspaces; based on the first cooperative monocular camera and the plurality of first cross-monocular cameras, a spatial index for three-dimensional reconstruction of the transmission line is established through the relative position coding.

[0059] Specifically, the laser emitting device emits cross-line lasers, which intersect in space to form a cross-shaped light spot. This cross-shaped light spot is the basis for space division. By adjusting the laser emitting device, the intersection point and direction of the laser line are precisely controlled so that the distribution of the cross-line laser in space meets specific phase requirements to ensure that the position and shape of the light spot in space meet expectations. Based on the distribution of the cross-line laser, the scanning coverage space is divided into eight quadrant subspaces. Each quadrant subspace represents a part of the cross spot, similar to each corner in an octagonal structure. Each subspace has clear boundaries and coordinates, providing a spatial framework for subsequent position encoding and three-dimensional reconstruction.

[0060] Based on the positional relationship of the eight quadrant subspaces, the specific position of the first cooperative monocular camera in space is clarified, including the relative coordinates of the camera in the quadrant, and the distance and angle between the spot formed by the cross-line laser. A specific coding value is assigned to the first cooperative monocular camera, which contains the precise position information of the camera in space. The coding can be in digital, alphabetic or binary form, depending on the design of the coding system. A relative coordinate system is established with the first cooperative monocular camera as the center. The coordinate system can be a Cartesian coordinate system or a polar coordinate system. The coding rules are defined to ensure that the coding value of each first cross monocular camera can accurately reflect its relative position relationship with the first cooperative monocular camera. The coding rules need to ensure the uniqueness and scalability of the coding. For multiple first cross monocular cameras, the relative distance, angle and spatial position between them and the first cooperative monocular camera are determined through geometric calculations, and relative position coding is performed. The coding value of each cross monocular camera reflects its position relationship in the relative coordinate system.

[0061] Exemplarily, in one monitoring, the first cooperative monocular camera is placed in quadrant 1 and the assigned coding value is "1". The first cooperative monocular camera has two first cross monocular cameras, which are located in quadrant 2 and quadrant 3 respectively. The relative relationship between the first cross monocular camera A (located in quadrant 2) and the first cooperative monocular camera is: distance: 2 meters, angle: 30 degrees. Therefore, the coding value assigned to the camera is "2-2-30". The relative relationship between the first cross monocular camera B (located in quadrant 3) and the first cooperative monocular camera is: distance: 3 meters, angle: 45 degrees. Accordingly, the coding value of the camera is "3-3-45". Through such a coding system, the positional relationship of each camera in space can be clearly described, so that in the subsequent data processing and three-dimensional reconstruction process, relevant data can be quickly located and acquired.

[0062] According to the relative position codes determined above, the position information of all first cross-monocular cameras relative to the first cooperative monocular camera is collected. These codes reflect the specific position and direction of each camera in the eight quadrant subspaces. A data structure is created to store and manage these coded information, such as an array, a list, a hash table, or a tree structure. In the selected data structure, the data of the first cross-monocular camera is organized according to the relative position codes. For example, the coded value can be used as an index or a key value, and the position and direction information of the camera can be used as the corresponding value or node. An index mapping is established to associate the relative position code of each camera with its position in the data set to obtain a spatial index for the three-dimensional reconstruction of the transmission line. The index corresponds the position and collected data of each camera to the actual structure of the transmission line, which facilitates the rapid and accurate positioning and access to different spatial data during the reconstruction process.

[0063] Through relative position encoding, combined with the collaborative work of the first cooperative monocular camera and the first cross monocular camera, not only the accuracy and efficiency of data acquisition are improved, but also key spatial information is provided for the three-dimensional reconstruction of the transmission line, so as to improve the accuracy and reliability of the three-dimensional reconstruction model.

[0064] In summary, the method for three-dimensional reconstruction of power transmission lines using cross lasers provided in the embodiments of the present application has the following technical effects: The monocular camera and the laser emitting device are controlled by the synchronous control gate circuit to form a cross light spot on the transmission line and the surrounding environment, train the light spot classification model, and extract the visual feature points. This step improves the data synchronization through linkage control, making the position of the feature points in space more accurate, avoiding the positioning error that may be caused by relying solely on image feature points or laser data, and helping to improve the overall reconstruction effect. In addition, combined with the external lighting conditions and clarity, the exposure time of the monocular camera and the laser intensity of the laser emitting device are adjusted in comparison with the key nodes of the transmission line to obtain accurate and reliable key point data and improve the accuracy of the unit reconstruction data. At the same time, the trajectory coordinates of the monocular camera when shooting are recorded to obtain the external parameters and internal parameters of the monocular camera. This step determines the angle and distance changes during the camera movement through the precise camera trajectory coordinates, thereby accurately correcting the spatial position of the camera, effectively improving the stability of spatial positioning in the three-dimensional reconstruction of the transmission line. Based on the layout information of the transmission line, the laser detection path and laser detection parameters are configured. This step dynamically configures the laser detection path and parameters according to the specific layout information of the transmission line, which can flexibly respond to different line environments. The dynamic configuration of the detection path avoids the appearance of blind spots, ensures the accuracy and coverage of detection in different scenarios, and improves the accuracy of laser data. Set the monocular camera collaborative activation sequence and the monocular camera cross activation sequence to cross-validate the collected data, further improve the accuracy of the unit reconstruction data, and reduce data errors. Determine the positional relationship between the cross spot mapped to the transmission line, and by constraining the cross spatial phase of the cross-line laser, limit the relative spatial position between the transmission channels, and establish a spatial index for the three-dimensional reconstruction of the transmission line. This step uses the spatial phase constraint to effectively limit the relative spatial position between the channels of the transmission line, greatly reducing the relative positioning error between the transmission lines, and improving the overall accuracy and stability of the three-dimensional reconstruction model. The point cloud data detected by the laser emitting device and the visual feature points associated with the monocular camera are fused, and the external and internal parameters of the monocular camera, the laser detection path and the laser detection parameters are combined to perform three-dimensional reconstruction of the transmission line under the constraint of the cross spatial phase. This step combines the camera's fast trajectory recording with the real-time laser detection, reduces the computational complexity, reduces the processing time for large-scale data, and significantly improves the efficiency of data acquisition and processing.

[0065] In general, the embodiments of the present application achieve high-precision three-dimensional reconstruction of transmission lines by means of linkage control of monocular cameras and laser emitting equipment, dynamic path configuration, and cross-spot spatial phase constraints, which greatly improves the efficiency of data acquisition and processing, ensures the geometric accuracy and detail richness of the reconstructed model, significantly improves the accuracy and reliability of three-dimensional reconstruction of transmission lines, and enhances the adaptability in complex environments, providing strong technical support for the maintenance and safety management of transmission lines.

[0066] Embodiment 2, as Figure 2 As shown, the embodiment of the present application provides a device for three-dimensional reconstruction of a power transmission line using a cross laser, the device comprising: The visualization feature point extraction module 10 is used to extract visualization feature points by controlling the cross light spot formed on the power transmission line and the surrounding environment through the linkage between the monocular camera and the laser emission equipment.

[0067] The monocular camera parameter acquisition module 20 is used to record the trajectory coordinates of the monocular camera during shooting, and obtain the external parameters and internal parameters of the monocular camera.

[0068] The laser detection configuration module 30 is used to configure the laser detection path and laser detection parameters based on the layout information of the transmission line.

[0069] The relative spatial position limiting module 40 is used to determine the positional relationship between the cross light spot and the transmission line, and to limit the relative spatial position between transmission channels by constraining the cross spatial phase of the cross-line laser.

[0070] The three-dimensional reconstruction module 50 is used to fuse the point cloud data detected by the laser emitting device and the visual feature points associated with the monocular camera, and to perform three-dimensional reconstruction of the transmission line under the constraint of the cross space phase by combining the external parameters and internal parameters of the monocular camera, the laser detection path and the laser detection parameters.

[0071] Furthermore, the visualization feature point extraction module 10 of the embodiment of the present application is also used to perform the following steps: The cross light spots formed on the power transmission line and the surrounding environment are filtered to obtain the cross light spot feature points; based on the cross light spot feature points, a light spot classification model is trained, and the light spot classification model is used to filter non-target light spots; using the light spot classification model, the target light spot is retained, and the visualization feature points are extracted.

[0072] Furthermore, the monocular camera and the laser emitting device in the visualization feature point extraction module 10 of the embodiment of the present application are controlled in linkage to perform timing synchronization through a synchronous control gate circuit; based on the external parameters and internal parameters of the monocular camera, a first acquisition window is determined, and the first acquisition window includes a first rotation angle; based on the laser detection path and laser detection parameters of the laser emitting device, a first light spot coverage area is determined, and the first light spot coverage area includes a second rotation angle; according to the synchronous control gate circuit, in combination with the first acquisition window and the first light spot coverage area, the monocular camera and the laser emitting device are controlled in linkage.

[0073] Furthermore, the visualization feature point extraction module 10 of the embodiment of the present application is also used to perform the following steps: Monitor the changes in ambient light in real time and obtain external lighting conditions. At the same time, evaluate the clarity based on the point cloud data detected by the laser emitting device and the visual feature points associated with the monocular camera, where the clarity includes the density of the visual feature points and the density of the point cloud data. Based on the external lighting conditions, dynamically adjust the exposure time of the monocular camera and the laser intensity of the laser emitting device in combination with the clarity.

[0074] Furthermore, the visualization feature point extraction module 10 of the embodiment of the present application is also used to perform the following steps: The first distribution sparse partition and the first distribution dense partition are obtained through the density of the visual feature points in the clarity; the second distribution sparse partition and the second distribution dense partition are obtained through the density of the point cloud data in the clarity; based on the layout information of the transmission line, the key nodes of the line are obtained, and the key nodes of the line are located by spatial complexity constraints; based on the first distribution sparse partition, the first distribution dense partition, the second distribution sparse partition, and the second distribution dense partition, the clarity constraint interval is added in comparison with the key nodes of the line.

[0075] Furthermore, the device described in the embodiment of the present application is also used to perform the following steps: Based on the layout information of the transmission line, the distribution coordinates of each monocular camera are marked to obtain the monocular camera distribution mark; according to the monocular camera distribution mark and in comparison with the laser detection path, the monocular camera collaborative activation sequence is determined; based on the monocular camera collaborative activation sequence and the monocular camera distribution mark, the monocular camera cross activation sequence is matched, and the monocular camera collaborative activation sequence corresponds to the monocular camera cross activation sequence one by one.

[0076] Furthermore, the device described in the embodiment of the present application is also used to perform the following steps: Based on the laser detection path, combined with the second rotation angle of the first light spot coverage area, a scanning coverage space is generated; in the scanning coverage space, combined with the first rotation angle of the first acquisition window, the first collaborative monocular camera is located in the monocular camera collaborative activation sequence; taking the first collaborative monocular camera as the center, and according to the monocular camera distribution mark, a plurality of first cross monocular cameras are determined, and the first cross monocular cameras are located with time complexity constraints; according to the first collaborative monocular camera and the plurality of first cross monocular cameras, the monocular camera collaborative activation sequence is traversed to determine the monocular camera cross activation sequence.

[0077] Furthermore, the relative spatial position limiting module 40 in the embodiment of the present application is also used to perform the following steps: In the scanning coverage space, eight quadrant subspaces are set by constraining the cross space phase of the cross-line laser; based on the eight quadrant subspaces and the first cooperative monocular camera, a plurality of first cross-monocular cameras are relatively position-encoded, wherein the first cooperative monocular camera is assigned a coding value according to the positional relationship of the eight quadrant subspaces; based on the first cooperative monocular camera and the plurality of first cross-monocular cameras, a spatial index for three-dimensional reconstruction of the transmission line is established through the relative position coding.

[0078] Through the detailed description of the method for three-dimensional reconstruction of power transmission lines by cross laser in the foregoing specification, those skilled in the art can clearly understand the device for three-dimensional reconstruction of power transmission lines by cross laser in this embodiment. As for the device disclosed in the second embodiment, since it corresponds to the method disclosed in the first embodiment and has corresponding functional modules and beneficial effects, the relevant parts can be referred to the description of the method part.

[0079] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for three-dimensional reconstruction of power transmission lines using cross laser, characterized in that: The method comprises: Through the linkage control of the monocular camera and the laser emission equipment, the cross spot formed on the transmission line and the surrounding environment is used to extract the visual feature points; At the same time, the trajectory coordinates of the monocular camera during shooting are recorded to obtain the external parameters and internal parameters of the monocular camera; Based on the layout information of the transmission line, configure the laser detection path and laser detection parameters; Determine the positional relationship between the cross light spot and the transmission line, and limit the relative spatial position between the transmission channels by constraining the cross spatial phase of the cross-line laser; The point cloud data detected by the laser emitting device and the visual feature points associated with the monocular camera are fused, and the external parameters and internal parameters of the monocular camera, the laser detection path and the laser detection parameters are combined to perform three-dimensional reconstruction of the transmission line under the constraint of the cross space phase.

2. The method for three-dimensional reconstruction of power transmission lines using cross laser as claimed in claim 1, characterized in that: Through the linkage control of a monocular camera and a laser emission device, a cross spot is formed on the power transmission line and the surrounding environment to extract visual feature points. The method includes: Filter the cross light spots formed on the transmission lines and the surrounding environment to obtain the cross light spot feature points; Based on the cross light spot feature points, a light spot classification model is trained, where the light spot classification model is used to filter non-target light spots; The light spot classification model is used to retain the target light spot and extract the visualization feature points.

3. The method for three-dimensional reconstruction of power transmission lines using cross laser as claimed in claim 2, characterized in that: The monocular camera and the laser emitting device are controlled in linkage to synchronize the timing of the synchronous control gate circuit; Determining a first acquisition window based on external parameters and internal parameters of the monocular camera, wherein the first acquisition window includes a first rotation angle; Determine a first light spot coverage area based on a laser detection path and laser detection parameters of the laser emitting device, wherein the first light spot coverage area includes a second rotation angle; According to the synchronous control gate circuit, in combination with the first acquisition window and the first light spot coverage area, the monocular camera and the laser emitting device are controlled in linkage.

4. The method for three-dimensional reconstruction of power transmission lines using cross laser as claimed in claim 3, characterized in that: According to the synchronous control gate circuit, in combination with the first acquisition window and the first light spot coverage area, the monocular camera and the laser emitting device are controlled in linkage, and the method includes: Monitor ambient light changes in real time and obtain external lighting conditions; At the same time, according to the point cloud data detected by the laser emitting device and the visual feature points associated with the monocular camera, the clarity is evaluated, and the clarity includes the density of the visual feature points and the density of the point cloud data; Based on the external lighting conditions and in combination with the clarity, the exposure time of the monocular camera and the laser intensity of the laser emitting device are dynamically adjusted.

5. The method for three-dimensional reconstruction of power transmission lines using cross laser as claimed in claim 4, characterized in that: Based on the external lighting conditions and in combination with the clarity, the exposure time of the monocular camera and the laser intensity of the laser emitting device are dynamically adjusted, and the method includes: Obtaining a first distribution sparse partition and a first distribution dense partition according to the density of the visualized feature points in the clarity; Obtaining a second distribution sparse partition and a second distribution dense partition according to the density of the point cloud data in the definition; Based on the layout information of the transmission line, key nodes of the line are obtained, and the key nodes of the line are located according to the spatial complexity constraint; Based on the first distribution sparse partition, the first distribution dense partition, the second distribution sparse partition, and the second distribution dense partition, clarity constraint intervals are added in comparison with the line key nodes.

6. The method for three-dimensional reconstruction of power transmission lines using cross laser as claimed in claim 5, characterized in that: Based on the layout information of the transmission line, the distribution coordinates of each monocular camera are marked to obtain the monocular camera distribution mark; Determine a monocular camera collaborative activation sequence according to the monocular camera distribution mark and the laser detection path; Based on the monocular camera collaborative activation sequence and the monocular camera distribution mark, the monocular camera cross activation sequence is matched, and the monocular camera collaborative activation sequence corresponds to the monocular camera cross activation sequence one by one.

7. The method for three-dimensional reconstruction of power transmission lines using cross laser as claimed in claim 6, characterized in that: The monocular camera collaborative activation sequence corresponds one-to-one to the monocular camera cross activation sequence, and the method includes: Based on the laser detection path, combined with the second rotation angle of the first light spot coverage area, a scanning coverage space is generated; In the scanning coverage space, in combination with a first rotation angle of the first acquisition window, positioning a first cooperative monocular camera in the monocular camera cooperative activation sequence; Taking the first cooperative monocular camera as the center, and determining a plurality of first cross monocular cameras according to the monocular camera distribution marks, wherein the first cross monocular cameras are located according to time complexity constraints; According to the first cooperative monocular camera and a plurality of first cross monocular cameras, the monocular camera cooperative activation sequence is traversed to determine the monocular camera cross activation sequence.

8. The method for three-dimensional reconstruction of power transmission lines using cross laser as claimed in claim 7, characterized in that: Determining the positional relationship between the cross light spot and the transmission line, and limiting the relative spatial position between the transmission channels by constraining the cross spatial phase of the cross-line laser, the method also includes: In the scanning coverage space, eight quadrant subspaces are set by constraining the cross space phase of the cross-line laser; Based on the eight quadrant subspaces and the first cooperative monocular camera, a plurality of first cross monocular cameras are relatively position-encoded, wherein the first cooperative monocular camera is assigned a coding value according to a position relationship of the eight quadrant subspaces; Based on the first cooperative monocular camera and multiple first cross monocular cameras, a spatial index for three-dimensional reconstruction of the power transmission line is established through the relative position encoding.

9. A device for three-dimensional reconstruction of power transmission lines using a cross laser, characterized in that: The device is used to execute the method for three-dimensional reconstruction of a power transmission line by cross laser according to any one of claims 1 to 8, and the device comprises: A visualization feature point extraction module, which is used to extract visualization feature points from a cross spot formed on the power transmission line and the surrounding environment through linkage control of a monocular camera and a laser emission device; A monocular camera parameter acquisition module, which is used to record the trajectory coordinates of the monocular camera during shooting, and obtain the external parameters and internal parameters of the monocular camera; A laser detection configuration module, the laser detection configuration module is used to configure a laser detection path and laser detection parameters based on the layout information of the transmission line; A relative spatial position limiting module, which is used to determine the positional relationship between the cross light spot and the power transmission line, and to limit the relative spatial position between the power transmission channels by constraining the cross spatial phase of the cross-line laser; A three-dimensional reconstruction module is used to fuse the point cloud data detected by the laser emitting device and the visual feature points associated with the monocular camera, and to perform three-dimensional reconstruction of the transmission line under the constraint of the cross space phase by combining the external parameters and internal parameters of the monocular camera, the laser detection path and the laser detection parameters.

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