Power transmission line crossing point cloud checking method and system

Abstract

The invention belongs to the technical field of electric power engineering. According to the power transmission line crossing point cloud checking method and system, automation and intellectualization of data processing are achieved through operations of point cloud data preprocessing, straight line and curve fitting, projection calculation, intersection point and key point location determination and the like, the point cloud data are automatically processed through an optimized algorithm and program, a result is rapidly obtained, and the checking efficiency is improved. The efficiency of power transmission line crossing and crossing related work is greatly improved, and the requirements of large-scale power transmission line construction and operation and maintenance are met.

Description

Technical Field

[0001] The present invention relates to the technical field of electric power engineering, and in particular to a method and system for verifying a point cloud of a power transmission line crossing. Background Art

[0002] The statements in this section merely provide background art related to the present invention and do not necessarily constitute prior art.

[0003] In the scenario where transmission lines cross, the point cloud data obtained by traditional aerial surveys often have certain errors in obtaining spatial location information of built transmission lines. For example, due to the influence of the measurement environment (such as weather, terrain obstruction, etc.), some point cloud data are missing or inaccurate, which affects the accurate judgment of the actual location of the built transmission lines. Although the total station measurement has high accuracy, the field measurement work is cumbersome and the measurement range is limited. It is difficult to fully cover the entire transmission line. The total station measurement data alone cannot fully and accurately reflect the spatial form of the transmission line.

[0004] The existing technology lacks an effective method to integrate and process the point cloud data of aerial survey and the measured point data of the total station, and cannot give full play to the advantages of the two data sources. It is difficult to accurately determine the key points in the crossing of transmission lines (such as intersections, safety distance related points, etc.); when evaluating the safety of crossing transmission lines and planning the transmission lines to be built, there is no systematic method to use point cloud data for accurate analysis. For example, it is difficult to accurately determine the reasonable path of the line to be built based on the point cloud data of the built line to ensure that the safety distance requirements are met; traditional data processing and analysis methods mostly rely on manual operations. For massive point cloud data and complex transmission line crossing situations, manual processing efficiency is extremely low, and it is difficult to meet the rapidly developing transmission line construction and operation and maintenance needs. Summary of the invention

[0005] In order to address the deficiencies in the prior art, the present invention provides a method and system for verifying point clouds of crossing points of transmission lines. Point cloud verification is performed by combining the aerial survey point cloud data of cables of built transmission lines with the measured point data of total station, which complement and verify each other, thereby improving the accuracy and completeness of the data, thereby more accurately grasping the actual spatial position of the built transmission lines.

[0006] In order to achieve the above object, the present invention adopts the following technical solution:

[0007] In a first aspect, the present invention provides a method for verifying a point cloud of a crossing of a transmission line.

[0008] A method for verifying a point cloud of a power transmission line crossing includes the following steps:

[0009] Obtain the aerial survey point cloud data of the built transmission line, and determine the X-axis, Y-axis and Z-axis coordinates of each point in the aerial survey point cloud data, where the X-axis and Y-axis are coordinate axes perpendicular to each other in the horizontal direction, and the Z-axis is the coordinate axis in the height direction;

[0010] Perform straight line fitting on the aerial survey point cloud data in the X-axis and Y-axis directions, and determine the fitting plane where the fitted straight line is located according to the straight line fitting results;

[0011] Projecting the points in the aerial survey point cloud data onto the fitting plane to obtain the point coordinates after projection of the points in the aerial survey point cloud data, and extracting the X-axis coordinates and the Z-axis coordinates in the projected point coordinates;

[0012] Perform polynomial fitting according to the X-axis coordinate and the Z-axis coordinate to determine a fitting curve;

[0013] Acquire total station point cloud data on the power transmission line cable actually measured in the field by a total station, project the points in the total station point cloud data onto the fitting plane, and obtain the X-axis coordinates of the projected measured points and the Z-axis coordinates of the projected measured points;

[0014] Substitute the X-axis coordinate of the projected measured point into the fitting curve to obtain the Z-axis fitting coordinate, and subtract the Z-axis coordinate of the projected measured point from the Z-axis fitting coordinate to obtain the elevation difference. When the elevation difference of one measurement is less than the set threshold, or the elevation differences of multiple measurements are all less than the set threshold, the calibration is successful.

[0015] As a further limitation of the first aspect of the present invention, after multiple measurements, when the degree of the fitted polynomial is 4, and when the elevation deviations of the verification points are all less than the set threshold, the verification is successful.

[0016] As a further limitation of the first aspect of the present invention, the fitting curve is used to represent the height variation trend of the built transmission line on the horizontal plane.

[0017] As a further limitation of the first aspect of the present invention, the coordinates of the intersection point E of the path of the transmission line to be constructed and the fitting plane where the constructed transmission line is located are calculated;

[0018] According to the index of the line segment where the intersection point E is located in the path of the line to be built, obtain the line segment DX, translate the line segment DX to the left by a distance d to obtain the line segment G, and translate it to the right by a distance d to obtain the line segment H, and calculate the coordinates of the intersection points Z and Y of the line segments G and H with the fitting plane respectively;

[0019] According to the function values ​​of the fitting curve at the X-axis coordinates corresponding to the intersection Z, the intersection E and the intersection Y, the Z-axis coordinates of the intersection Z, the intersection E and the intersection Y are determined, thereby obtaining the coordinates of the new point P_left, the new point P_center and the new point P_right corresponding to the intersection Z, the intersection E and the intersection Y;

[0020] According to the coordinates of the new point P_left, the new point P_center and the new point P_right, the spatial relationship between the transmission line to be built and the existing transmission line at the crossing point is evaluated.

[0021] As a further limitation of the first aspect of the present invention, the coordinates of the new point P_left, the new point P_center and the new point P_right are combined to generate a three-dimensional schematic diagram and a two-dimensional schematic diagram to show the crossing of transmission lines and the relationship between key points.

[0022] As a further limitation of the first aspect of the present invention, an improved algorithm based on the least square method is used for straight line fitting, and a spline curve is used to fit the height variation of the point cloud data and a polynomial fitting is performed.

[0023] In a second aspect, the present invention provides a transmission line crossing point cloud verification system.

[0024] A transmission line crossing point cloud verification system, comprising:

[0025] The data acquisition unit is configured to: acquire the aerial survey point cloud data of the built transmission line, and determine the X-axis, Y-axis and Z-axis coordinates of each point in the aerial survey point cloud data, wherein the X-axis and the Y-axis are coordinate axes perpendicular to each other in the horizontal direction, and the Z-axis is a coordinate axis in the height direction;

[0026] The plane fitting unit is configured to: perform straight line fitting on the aerial survey point cloud data in the X-axis and Y-axis directions, and determine the fitting plane where the fitted straight line is located according to the straight line fitting result;

[0027] The aerial survey point projection unit is configured to: project the points in the aerial survey point cloud data onto the fitting plane to obtain the point coordinates after the projection of the points in the aerial survey point cloud data, and extract the X-axis coordinates and the Z-axis coordinates in the projected point coordinates;

[0028] The curve fitting unit is configured to: perform polynomial fitting according to the X-axis coordinate and the Z-axis coordinate to determine a fitting curve;

[0029] The measured point projection unit is configured to: obtain total station point cloud data on the transmission line cable actually measured in the field by a total station, project the points in the total station point cloud data onto the fitting plane, and obtain the projected X-axis coordinates of the measured points and the projected Z-axis coordinates of the measured points;

[0030] The elevation verification unit is configured to: substitute the X-axis coordinate of the projected measured point into the fitting curve to obtain the Z-axis fitting coordinate, and subtract the Z-axis coordinate of the projected measured point from the Z-axis fitting coordinate to obtain the elevation difference. When the elevation difference of a single measurement is less than a set threshold, or the elevation differences of multiple measurements are all less than the set threshold, the verification is successful.

[0031] In a third aspect, the present invention provides a computer device, comprising: a processor and a computer-readable storage medium;

[0032] a processor adapted to execute a computer program;

[0033] A computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by the processor, the method for verifying the point cloud of the crossing of the power transmission line as described in the first aspect of the present invention is implemented.

[0034] In a fourth aspect, the present invention provides a computer-readable storage medium storing a computer program, wherein the computer program is suitable for being loaded by a processor and executing the transmission line crossing point cloud verification method as described in the first aspect of the present invention.

[0035] In a fifth aspect, the present invention provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements the transmission line crossing point cloud verification method as described in the first aspect of the present invention.

[0036] Compared with the prior art, the present invention has the following beneficial effects:

[0037] 1. The present invention fully utilizes the advantages of both data through the fusion verification of aerial survey point cloud data and total station measured point data, effectively reduces the error of a single data source, improves the accuracy of the description of the spatial position of the built transmission lines, and provides a more reliable data basis for the analysis and processing of the crossing of transmission lines.

[0038] 2. The present invention can accurately determine the key points where the transmission line to be built crosses the existing transmission line, provide precise guidance for the path planning of the line to be built, ensure that the requirements such as safety distance are met, and improve the safety of transmission line construction and operation.

[0039] 3. The automated and intelligent data processing flow of the present invention greatly reduces the workload of manually processing point cloud data and analyzing transmission line relationships, improves work efficiency, and shortens the construction and operation and maintenance cycle of transmission lines.

[0040] 4. The accurate data of the present invention helps to avoid material waste and repeated construction caused by unreasonable line planning, while improving the operating efficiency of the transmission line and saving energy and raw materials to a certain extent.

[0041] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0043] Figure 1 A schematic diagram of a flow chart of a method for verifying a point cloud of a power transmission line crossing provided in Embodiment 1 of the present invention;

[0044] Figure 2 A schematic diagram of the principle of the transmission line crossing point cloud verification method provided in Example 1 of the present invention;

[0045] Figure 3 A two-dimensional display diagram of the point cloud point projection points, the check point projection points and the fitting curve provided in Example 1 of the present invention;

[0046] Figure 4 A three-dimensional display diagram provided in Example 1 of the present invention;

[0047] Figure 5 A schematic diagram of a transmission line crossing point cloud verification system provided in Example 2 of the present invention;

[0048] Figure 6 A schematic diagram of a computer device provided in Example 3 of the present invention. DETAILED DESCRIPTION

[0049] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0050] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0051] In the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0052] Embodiment 1:

[0053] This implementation proposes a point cloud verification method for power transmission line crossings. Through operations such as preprocessing of point cloud data, fitting straight lines and curves, calculating projections, and determining intersections and key points, the automation and intelligence of data processing are realized. The optimized algorithms and programs are used to automatically process point cloud data and quickly obtain results, which greatly improves the efficiency of related work on transmission line crossings and meets the needs of large-scale transmission line construction and operation and maintenance. Specifically, Figure 1 and Figure 2 As shown, the following process is included:

[0054] S1: Start.

[0055] It serves as the starting point for the entire transmission line crossing point cloud verification and application method process.

[0056] S2: Data acquisition and preprocessing.

[0057] S2.1: Aerial survey point cloud processing.

[0058] (1) Extracting some point cloud data: From the large amount of cable point cloud data obtained from the aerial survey of the built transmission line, select some point cloud data related to the subsequent analysis according to certain rules, that is, select two points of the cable hanging point, and then select 3 points with approximately equal spacing, a total of 5 points, and store them in dianyun.txt.

[0059] (2) Store as numpy array and extract coordinates: Use the numpy library to store the selected point cloud data as an array to facilitate data processing; then extract the coordinate values ​​of the X, Y, and Z directions (representing the horizontal direction and the height direction, respectively, and the Z-axis coordinate is the height direction h coordinate) from the point cloud data to prepare for subsequent modeling and analysis.

[0060] S2.2: Data processing of measured points.

[0061] (1) Reading measured point data: Reading data from the point data file on the transmission line cable actually measured in the field by the total station.

[0062] (2) Data preprocessing: Check the measured point data, correct errors or abnormal data, and unify the data format to make it compatible with the point cloud data format for subsequent processing.

[0063] In this implementation, preferably, for aerial survey point cloud data collection, different models or brands of measuring equipment can be considered, as long as the point cloud data of the transmission line that meets the accuracy requirements can be obtained; for total station measurement, other measuring instruments with similar measurement functions and accuracy can also be used as substitutes.

[0064] S3: Model building of built lines.

[0065] S3.1: Define the fitting straight line function: Set a function form such as linear_func(x,a,b), where x is the independent variable, a and b are parameters to be determined, and this function is used to fit the projection trend of the built transmission line in the horizontal direction (X and Y direction).

[0066] S3.2: Get parameters of the fitted line: Use the curve_fit function in the scipy.optimize library, take the coordinate values ​​of the previously extracted point cloud data in the X and Y directions as input, and perform fitting calculations to obtain the slope a and intercept b parameters of the fitted line.

[0067] S3.3: Determine the plane normal vector: Construct the plane normal vector according to the slope a obtained by fitting the straight line, for example, plane_normal = np.array([-popt[0],1,0]). This normal vector is used to determine the plane direction on which subsequent projections and calculations are based.

[0068] S4: Projection and curve fitting.

[0069] S4.1: Point cloud projection and processing.

[0070] (1) Projecting point cloud points: Use the project_to_plane function to project each point in the point cloud data onto the previously determined plane to obtain the projected point coordinates.

[0071] (2) Extracting projection coordinates: Extract the l coordinate in the x-direction and the h coordinate in the height direction from the projected point coordinates for subsequent curve fitting.

[0072] (3) Polynomial fitting: Define a polynomial fitting function polynomial_func(x,*coeffs), where x is the independent variable and *coeffs represents the coefficient of the polynomial (the degree of the polynomial can be determined as needed).

[0073] (4) Obtain fitting results: Take the extracted l and h coordinate data of the projection point as input, perform polynomial fitting calculation, obtain the polynomial coefficient popt_c of the fitting curve, and calculate the fitting error (such as root mean square error RMSE) to evaluate the fitting effect.

[0074] S4.2: Projection of measured points.

[0075] (1) Projecting measured points: Use the same plane normal vector as the point cloud point projection to project the total station measured points onto the determined plane;

[0076] (2) Obtaining projection coordinates: Record the coordinates of the measured points after projection so that they can be compared and verified with the fitting curve later.

[0077] In this implementation, optionally, when fitting straight lines and curves, different fitting algorithms or mathematical models can be tried, such as using an improved algorithm based on the least squares method for straight line fitting, or using methods such as spline curve fitting to process the height changes of point cloud data, and selecting a more appropriate fitting method based on the actual data characteristics to improve accuracy.

[0078] S5: Relationship analysis and point calculation.

[0079] S5.1: Processing of the line path to be built.

[0080] (1) Reading path data: reading data from a file (such as lujing.txt) storing the coordinate data of the path (broken line path) of the transmission line to be built;

[0081] (2) Store as an array: Convert the read path coordinate data into a suitable data structure, such as an array, to facilitate subsequent calculations.

[0082] S5.2: Calculate intersection points, etc.

[0083] (1) Calculate the intersection between the path and the plane: For each line segment of the polyline path, use the line_plane_intersection function to calculate its intersection with the plane where the built transmission line is located, and combine the check_intersection_on_path function to determine whether the calculated intersection is valid on the polyline path, and finally determine the coordinates of the intersection point E;

[0084] (2) Obtaining the coordinates of the intersection point E: Recording the coordinates of the effective intersection point E, which is one of the key points where the two transmission lines cross;

[0085] (3) Calculate the intersection point by translating the line segment:

[0086] ① Shift line segment G and intersection point Z to the left: Determine line segment DX according to the position of the line segment where intersection point E is located in the path of the line to be built, and then shift line segment DX to the left in the horizontal X direction according to the set translation distance d to obtain line segment G, and then use the line_plane_intersection function to calculate the coordinates of the intersection point Z of line segment G and the plane;

[0087] ②Translate to the right to obtain line segment H and intersection point Y: Similarly, translate line segment DX to the right in the horizontal x direction according to the translation distance d to obtain line segment H, and calculate the coordinates of the intersection point Y between line segment H and the plane;

[0088] (4) Calculate the coordinates of the new point:

[0089] ① Calculate the h coordinate (i.e., the Z-axis coordinate) according to the fitting curve: Substitute the l coordinate values ​​of the intersection points Z, E, and Y into the previously fitted curve C (i.e., the polynomial_func function) to calculate the corresponding height h coordinate value;

[0090] ② Determine the coordinates of the new points: According to the calculated coordinates of the intersection points Z, E, and Y and the corresponding h coordinate, determine the coordinates of the new points P_left (corresponding to the intersection point Z), P_center (corresponding to the intersection point E), and P_right (corresponding to the intersection point Y).

[0091] S6: Application and output of results.

[0092] S6.1: Save data.

[0093] Open the specified file (such as xiangao.txt) and write the coordinate information of the new points P_left, P_center, and P_right into the file for use in subsequent engineering applications, such as providing data support for the construction of transmission lines to be built and the operation and maintenance of built transmission lines. Figure 3 shown.

[0094] S6.2: Drawing, e.g. Figure 4 shown.

[0095] Draw 2D graphs: Also use the drawing library to draw 2D schematic diagrams, such as showing the distribution of point cloud points after projection, fitting curves, and the positional relationship of measured points after projection, to assist in analyzing data processing results from different angles.

[0096] Draw 3D graphs: Use a drawing library (such as matplotlib) to draw 3D schematic diagrams based on point cloud points, measured points, lines to be built, intersections, new points and other data information to intuitively display the spatial relationship of the crossing of transmission lines, including the distribution of point cloud points, line paths, intersection positions and other elements in three-dimensional space.

[0097] Embodiment 2:

[0098] like Figure 5 As shown, this implementation provides a transmission line crossing point cloud verification system, including:

[0099] The data acquisition unit is configured to: acquire the aerial survey point cloud data of the built transmission line, and determine the X-axis, Y-axis and Z-axis coordinates of each point in the aerial survey point cloud data, wherein the X-axis and the Y-axis are coordinate axes perpendicular to each other in the horizontal direction, and the Z-axis is a coordinate axis in the height direction;

[0100] The plane fitting unit is configured to: perform straight line fitting on the aerial survey point cloud data in the X-axis and Y-axis directions, and determine the fitting plane where the fitted straight line is located according to the straight line fitting result;

[0101] The aerial survey point projection unit is configured to: project the points in the aerial survey point cloud data onto the fitting plane to obtain the point coordinates after the projection of the points in the aerial survey point cloud data, and extract the X-axis coordinates and the Z-axis coordinates in the projected point coordinates;

[0102] The curve fitting unit is configured to: perform polynomial fitting according to the X-axis coordinate and the Z-axis coordinate to determine a fitting curve;

[0103] The measured point projection unit is configured to: obtain total station point cloud data on the transmission line cable actually measured in the field by a total station, project the points in the total station point cloud data onto the fitting plane, and obtain the projected X-axis coordinates of the measured points and the projected Z-axis coordinates of the measured points;

[0104] The elevation verification unit is configured to: substitute the X-axis coordinate of the projected measured point into the fitting curve to obtain the Z-axis fitting coordinate, and subtract the Z-axis coordinate of the projected measured point from the Z-axis fitting coordinate to obtain the elevation difference. When the elevation difference of a single measurement is less than a set threshold, or the elevation differences of multiple measurements are all less than the set threshold, the verification is successful.

[0105] The specific working process of each of the above units is described in Example 1 and will not be repeated here.

[0106] It is understandable that the above-mentioned various units can be separately or all combined into one or several other units to constitute, or some (some) units therein can also be split into multiple smaller units in function to constitute, which can achieve the same operation without affecting the realization of the technical effects of the embodiments of the present application. The above-mentioned units are divided based on logical functions. In practical applications, the function of a unit can also be realized by multiple units, or the function of multiple units can be realized by one unit. In other embodiments of the present application, the system can also include other units. In practical applications, these functions can also be implemented with the assistance of other units, and can be implemented by the collaboration of multiple units.

[0107] According to another embodiment of the present application, the system described in this embodiment can be constructed, and the method of Example 1 of the present application can be implemented by running a computer program (including program code) capable of executing the steps involved in the corresponding method described in Example 1 on a general computing device such as a computer, which includes processing elements and storage elements such as a central processing unit (CPU), random access memory (RAM), and read-only memory (ROM). The computer program can be recorded on, for example, a computer-readable recording medium, and loaded into the above-mentioned computing device through the computer-readable recording medium and run therein.

[0108] Embodiment 3:

[0109] like Figure 6 As shown, this implementation provides an electronic device, which includes a processor 1001, a communication interface 1002, and a computer-readable storage medium 1003. The processor 1001, the communication interface 1002, and the computer-readable storage medium 1003 may be connected via a bus or other means.

[0110] Among them, the communication interface 1002 is used to receive and send data, the computer-readable storage medium 1003 can be stored in the memory of the electronic device, the computer-readable storage medium 1003 is used to store a computer program, the computer program includes program instructions, and the processor 1001 is used to execute the program instructions stored in the computer-readable storage medium 1003.

[0111] The processor 1001 (or CPU (Central Processing Unit)) is the computing core and control core of the electronic device, which is suitable for implementing one or more instructions, and specifically suitable for loading and executing one or more instructions to implement corresponding method processes or corresponding functions.

[0112] The processor 1001 is configured to execute the following process:

[0113] Obtain the aerial survey point cloud data of the built transmission line, and determine the X-axis, Y-axis and Z-axis coordinates of each point in the aerial survey point cloud data, where the X-axis and Y-axis are coordinate axes perpendicular to each other in the horizontal direction, and the Z-axis is the coordinate axis in the height direction;

[0114] Perform straight line fitting on the aerial survey point cloud data in the X-axis and Y-axis directions, and determine the fitting plane where the fitted straight line is located according to the straight line fitting results;

[0115] Projecting the points in the aerial survey point cloud data onto the fitting plane to obtain the point coordinates after projection of the points in the aerial survey point cloud data, and extracting the X-axis coordinates and the Z-axis coordinates in the projected point coordinates;

[0116] Perform polynomial fitting according to the X-axis coordinate and the Z-axis coordinate to determine a fitting curve;

[0117] Acquire total station point cloud data on the power transmission line cable actually measured in the field by a total station, project the points in the total station point cloud data onto the fitting plane, and obtain the X-axis coordinates of the projected measured points and the Z-axis coordinates of the projected measured points;

[0118] Substitute the X-axis coordinate of the projected measured point into the fitting curve to obtain the Z-axis fitting coordinate, and subtract the Z-axis coordinate of the projected measured point from the Z-axis fitting coordinate to obtain the elevation difference. When the elevation difference of one measurement is less than the set threshold, or the elevation differences of multiple measurements are all less than the set threshold, the calibration is successful.

[0119] The specific working process is described in Example 1 and will not be repeated here.

[0120] Embodiment 4:

[0121] This implementation provides a computer-readable storage medium (Memory), which is a memory device in an electronic device for storing programs and data. It is understandable that the computer-readable storage medium here can include both built-in storage media in the electronic device and, of course, extended storage media supported by the electronic device. The computer-readable storage medium provides a storage space that stores the processing system of the electronic device.

[0122] In addition, the storage space also stores one or more instructions suitable for being loaded and executed by the processor, and these instructions may be one or more computer programs (including program codes). It should be noted that the computer-readable storage medium here may be a high-speed RAM memory, or a non-volatile memory, such as at least one disk memory; optionally, it may also be at least one computer-readable storage medium located away from the aforementioned processor.

[0123] In one embodiment, the computer-readable storage medium stores one or more instructions; the processor loads and executes the one or more instructions stored in the computer-readable storage medium to implement the following process:

[0124] Obtain the aerial survey point cloud data of the built transmission line, and determine the X-axis, Y-axis and Z-axis coordinates of each point in the aerial survey point cloud data, where the X-axis and Y-axis are coordinate axes perpendicular to each other in the horizontal direction, and the Z-axis is the coordinate axis in the height direction;

[0125] Perform straight line fitting on the aerial survey point cloud data in the X-axis and Y-axis directions, and determine the fitting plane where the fitted straight line is located according to the straight line fitting results;

[0126] Projecting the points in the aerial survey point cloud data onto the fitting plane to obtain the point coordinates after projection of the points in the aerial survey point cloud data, and extracting the X-axis coordinates and the Z-axis coordinates in the projected point coordinates;

[0127] Perform polynomial fitting according to the X-axis coordinate and the Z-axis coordinate to determine a fitting curve;

[0128] Acquire total station point cloud data on the power transmission line cable actually measured in the field by a total station, project the points in the total station point cloud data onto the fitting plane, and obtain the X-axis coordinates of the projected measured points and the Z-axis coordinates of the projected measured points;

[0129] Substitute the X-axis coordinate of the projected measured point into the fitting curve to obtain the Z-axis fitting coordinate, and subtract the Z-axis coordinate of the projected measured point from the Z-axis fitting coordinate to obtain the elevation difference. When the elevation difference of one measurement is less than the set threshold, or the elevation differences of multiple measurements are all less than the set threshold, the calibration is successful.

[0130] The specific working process is described in Example 1 and will not be repeated here.

[0131] Embodiment 5:

[0132] The present implementation provides a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of an electronic device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the electronic device performs the following process:

[0133] Obtain the aerial survey point cloud data of the built transmission line, and determine the X-axis, Y-axis and Z-axis coordinates of each point in the aerial survey point cloud data, where the X-axis and Y-axis are coordinate axes perpendicular to each other in the horizontal direction, and the Z-axis is the coordinate axis in the height direction;

[0134] Perform straight line fitting on the aerial survey point cloud data in the X-axis and Y-axis directions, and determine the fitting plane where the fitted straight line is located according to the straight line fitting results;

[0135] Projecting the points in the aerial survey point cloud data onto the fitting plane to obtain the point coordinates after projection of the points in the aerial survey point cloud data, and extracting the X-axis coordinates and the Z-axis coordinates in the projected point coordinates;

[0136] Perform polynomial fitting according to the X-axis coordinate and the Z-axis coordinate to determine a fitting curve;

[0137] Acquire total station point cloud data on the power transmission line cable actually measured in the field by a total station, project the points in the total station point cloud data onto the fitting plane, and obtain the X-axis coordinates of the projected measured points and the Z-axis coordinates of the projected measured points;

[0138] Substitute the X-axis coordinate of the projected measured point into the fitting curve to obtain the Z-axis fitting coordinate, and subtract the Z-axis coordinate of the projected measured point from the Z-axis fitting coordinate to obtain the elevation difference. When the elevation difference of one measurement is less than the set threshold, or the elevation differences of multiple measurements are all less than the set threshold, the calibration is successful.

[0139] The specific working process is described in Example 1 and will not be repeated here.

[0140] A person skilled in the art can appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed in this application can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. A person skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0141] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loading and executing computer program instructions on a computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network or other programmable device. The computer instruction can be stored in a computer-readable storage medium or transmitted by a computer-readable storage medium. The computer instruction can be transmitted from a website site, a computer, a server or a data center to another website site, a computer, a server or a data center by wired (for example, coaxial cable, optical fiber, digital line (DSL)) or wireless (for example, infrared, wireless, microwave, etc.) mode. The computer-readable storage medium can be any available medium that a computer can access or a data processing device such as a server, a data center, etc. that contains one or more available media integrated. Available media can be magnetic media (for example, floppy disk, hard disk, tape), optical media (for example, DVD), or semiconductor media (for example, solid-state drive (Solid State Disk, SSD)) and the like.

[0142] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for checking a point cloud of a power transmission line crossing, characterized in that: The process includes: Obtain the aerial survey point cloud data of the built transmission line, and determine the X-axis, Y-axis and Z-axis coordinates of each point in the aerial survey point cloud data, where the X-axis and Y-axis are coordinate axes perpendicular to each other in the horizontal direction, and the Z-axis is the coordinate axis in the height direction; Perform straight line fitting on the aerial survey point cloud data in the X-axis and Y-axis directions, and determine the fitting plane where the fitted straight line is located according to the straight line fitting results; Projecting the points in the aerial survey point cloud data onto the fitting plane to obtain the point coordinates after projection of the points in the aerial survey point cloud data, and extracting the X-axis coordinates and the Z-axis coordinates in the projected point coordinates; Perform polynomial fitting according to the X-axis coordinate and the Z-axis coordinate to determine a fitting curve; Acquire total station point cloud data on the power transmission line cable actually measured in the field by a total station, project the points in the total station point cloud data onto the fitting plane, and obtain the X-axis coordinates of the projected measured points and the Z-axis coordinates of the projected measured points; Substitute the X-axis coordinate of the projected measured point into the fitting curve to obtain the Z-axis fitting coordinate, and subtract the Z-axis coordinate of the projected measured point from the Z-axis fitting coordinate to obtain the elevation difference. When the elevation difference of one measurement is less than the set threshold, or the elevation differences of multiple measurements are all less than the set threshold, the calibration is successful.

2. The method for checking the point cloud of a power transmission line crossing as claimed in claim 1, characterized in that: After multiple measurements, when the degree of the fitted polynomial is 4 and the elevation deviations of the calibration points are all less than the set threshold, the calibration is successful.

3. The method for checking the point cloud of a power transmission line crossing as claimed in claim 1, characterized in that: The fitting curve is used to represent the height variation trend of the built transmission line on the horizontal plane.

4. The method for checking the point cloud of a power transmission line crossing as claimed in claim 1, characterized in that: Calculate the coordinates of the intersection point E of the path of the transmission line to be built and the fitting plane where the built transmission line is located; According to the index of the line segment where the intersection point E is located in the path of the line to be built, obtain the line segment DX, translate the line segment DX to the left by a distance d to obtain the line segment G, and translate it to the right by a distance d to obtain the line segment H, and calculate the coordinates of the intersection points Z and Y of the line segments G and H with the fitting plane respectively; According to the function values ​​of the fitting curve at the X-axis coordinates corresponding to the intersection Z, the intersection E and the intersection Y, the Z-axis coordinates of the intersection Z, the intersection E and the intersection Y are determined, thereby obtaining the coordinates of the new point P_left, the new point P_center and the new point P_right corresponding to the intersection Z, the intersection E and the intersection Y; According to the coordinates of the new point P_left, the new point P_center and the new point P_right, the spatial relationship between the transmission line to be built and the existing transmission line at the crossing point is evaluated.

5. The method for checking the point cloud of a power transmission line crossing as claimed in claim 4, characterized in that: Combining the coordinates of the new point P_left, the new point P_center and the new point P_right, a three-dimensional schematic diagram and a two-dimensional schematic diagram are generated to show the crossing situation of the transmission lines and the relationship between key points.

6. The method for checking the point cloud of a power transmission line crossing as claimed in any one of claims 1 to 5, characterized in that: An improved algorithm based on the least squares method is used for straight line fitting, and spline curve fitting is used to process the height changes of point cloud data and polynomial fitting is performed.

7. A transmission line crossing point cloud verification system, characterized in that: include: The data acquisition unit is configured to: acquire the aerial survey point cloud data of the built transmission line, and determine the X-axis, Y-axis and Z-axis coordinates of each point in the aerial survey point cloud data, wherein the X-axis and the Y-axis are coordinate axes perpendicular to each other in the horizontal direction, and the Z-axis is a coordinate axis in the height direction; The plane fitting unit is configured to: perform straight line fitting on the aerial survey point cloud data in the X-axis and Y-axis directions, and determine the fitting plane where the fitted straight line is located according to the straight line fitting result; The aerial survey point projection unit is configured to: project the points in the aerial survey point cloud data onto the fitting plane to obtain the point coordinates after the projection of the points in the aerial survey point cloud data, and extract the X-axis coordinates and the Z-axis coordinates in the projected point coordinates; The curve fitting unit is configured to: perform polynomial fitting according to the X-axis coordinate and the Z-axis coordinate to determine a fitting curve; The measured point projection unit is configured to: obtain total station point cloud data on the transmission line cable actually measured in the field by a total station, project the points in the total station point cloud data onto the fitting plane, and obtain the projected X-axis coordinates of the measured points and the projected Z-axis coordinates of the measured points; The elevation verification unit is configured to: substitute the X-axis coordinate of the projected measured point into the fitting curve to obtain the Z-axis fitting coordinate, and subtract the Z-axis coordinate of the projected measured point from the Z-axis fitting coordinate to obtain the elevation difference. When the elevation difference of a single measurement is less than a set threshold, or the elevation differences of multiple measurements are all less than the set threshold, the verification is successful.

8. A computer device, characterized in that: include: A processor and a computer readable storage medium; a processor adapted to execute a computer program; A computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by the processor, the method for verifying the point cloud of a transmission line crossing as claimed in any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and the computer program is suitable for being loaded by a processor and executing the transmission line crossing point cloud verification method according to any one of claims 1 to 6.

10. A computer program product, characterized in that The computer program product includes a computer program, and when the computer program is executed by a processor, it implements the transmission line crossing point cloud verification method as described in any one of claims 1 to 6.

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