Guide rope casting trajectory planning method and system based on laser point cloud, and medium

Abstract

The invention provides a guide rope casting trajectory planning method and system based on laser point cloud and a medium, and belongs to the technical field of power construction assistance. The guiding rope casting trajectory planning method based on the laser point cloud comprises the following steps: S1, acquiring three-dimensional point cloud data of a target area in real time, and identifying three-dimensional point cloud data of a to-be-hooked wire; s2, superposing the three-dimensional point cloud data of a plurality of leads in a preset continuous time, generating a galloping boundary of the leads, and obtaining spatial data of the leads based on the three-dimensional point cloud data of the leads and the galloping boundary; s3, determining a casting drop point according to the spatial data of the lead, establishing a coordinate system by taking the casting point of the guide rope as an original point, and generating a casting track model of the guide rope based on the coordinate system and the casting drop point; and S4, correcting the casting trajectory model based on the trajectory theoretical model, and obtaining a casting trajectory planning result of the guide rope. According to the method, the operation precision of guiding rope casting can be improved through galloping wire identification, casting track construction and correction.

Description

Technical Field

[0001] The present invention belongs to the technical field of electric power construction assistance, and particularly relates to a method, system and medium for guiding rope projection trajectory planning based on laser point cloud. Background Art

[0002] With the continuous growth of energy demand and the expansion of the power system, overhead transmission lines, as important energy transmission channels, play a crucial role in modern society. However, under high wind speed and adverse weather conditions, overhead transmission lines may experience galloping, which is a vibration phenomenon that occurs when the conductor is excited by the wind. Galloping of the conductor is likely to cause faults such as broken wires and strands, damaged fittings, and flashovers of the overhead line, having an adverse impact on the entire power system.

[0003] Currently, in order to prevent the conductor from galloping, a guiding rope is usually hung on the conductor, and the conductor is prevented from galloping by tightening and fixing the guiding rope. However, as can be seen from the Chinese invention patent with the application number "202111681286.0" and the Chinese invention patent with the application number "202111672315.7", the guiding rope projection technology currently applied in the operation and maintenance construction process of transmission lines has the problem of low operation accuracy, seriously affecting the on-site operation effect and efficiency in adverse environments. Summary of the Invention

[0004] The technical problem to be solved by the present invention is how to improve the operation accuracy of guiding rope projection. In view of the deficiencies of the prior art, a method, system and medium for guiding rope projection trajectory planning based on laser point cloud are provided.

[0005] To solve the above technical problems, the technical solutions adopted by the present invention are as follows:

[0006] In the first aspect, the present invention provides a method for guiding rope projection trajectory planning based on laser point cloud, including:

[0007] S1. Real-time obtain the three-dimensional point cloud data of the target area, and identify the three-dimensional point cloud data of the conductor to be hung;

[0008] S2. Superimpose the three-dimensional point cloud data of several conductors within a preset continuous time to generate the galloping boundary of the conductor, and obtain the spatial data of the conductor based on the three-dimensional point cloud data of the conductor and the galloping boundary;

[0009] S3. Determine the projection landing point according to the spatial data of the conductor, establish a coordinate system with the projection point of the guiding rope as the origin, and generate a projection trajectory model of the guiding rope based on the coordinate system and the projection landing point;

[0010] S4. Modify the projection trajectory model based on the ballistic theory model to obtain the projection trajectory planning result of the guiding rope.

[0011] Compared with the prior art, the beneficial effects of the guiding rope projection trajectory planning method based on laser point cloud of the present invention include: it can first obtain the three-dimensional point cloud data of the area around the conductor where the guiding rope to be connected is located in real time, that is, the target area, identify the three-dimensional point cloud data of the conductor in the three-dimensional point cloud data of the target area, and then, preset a continuous time, intercept each portion of the three-dimensional point cloud data of the conductor within this continuous time, and superimpose the three-dimensional point cloud data of several conductors. At this time, through the superposition, the trajectory of the conductor during dancing within the continuous time can be obtained, and thus the dancing boundary of the conductor can be generated by determining the trajectory edge. With the dancing boundary of the conductor, combined with all the three-dimensional point cloud data of the conductor, the position and attitude of the conductor within the target area can be obtained, thereby forming spatial data. Through the analysis and processing of high-precision three-dimensional point cloud data, the positioning of the conductor to be connected can be completed, effectively improving the positioning accuracy of the conductor and providing accurate landing coordinates for the subsequent projection estimation model; on this basis, since the conductor is the target that the guiding rope needs to fall and connect during projection, therefore, based on the spatial data of the conductor, the projection landing point of the guiding rope during projection can be determined, and then, taking the projection starting point of the guiding rope as the origin, a coordinate system of the relative position between the projection landing point and the origin can be established, and then a projection trajectory model can be constructed. The projection trajectory model can form the moving trajectory of the guiding rope during projection through the corresponding data of the position of the guiding rope in the coordinate system and the projection time during the projection process, forming a projection trajectory. With such a setting, by presetting the projection speed and projection angle, the corresponding projection trajectory can be output through the projection trajectory model, so that the projection landing point is located on the corresponding coordinates of the conductor, forming a preliminary projection trajectory planning scheme, and thus the projection plan can be formulated in advance according to the projection trajectory planning scheme, improving work efficiency and realizing the accurate projection of the guiding rope; finally, considering that the projection trajectory of the guiding rope is similar to the ballistic trajectory, it is beneficial to correct the projection trajectory model with the ballistic theory model, considering the influence of external factors such as the environment, so as to reduce the influence of external factors on the obtained projection trajectory planning result of the guiding rope, further improving the accuracy of the projection trajectory planning scheme, and thus further improving the accuracy of the accurate projection of the guiding rope.

[0012] Optionally, the S1 includes:

[0013] S11. Based on the point cloud scanning device, obtain the three-dimensional point cloud data of the target area in real time;

[0014] S12. Perform preprocessing on the three-dimensional point cloud data of the target area, where the preprocessing includes at least one of filtering processing and downsampling;

[0015] S13. Construct a depth image according to the three-dimensional point cloud data of the target area;

[0016] S14. Extract key points from the depth image to obtain the feature extraction result;

[0017] S15. According to the feature extraction result, identify the 3D point cloud data of the wire through a target recognition method, where the target recognition method includes at least one of geometric recognition and semantic recognition.

[0018] Optionally, S14 includes:

[0019] S141. Traverse each depth image point of the depth image, perform edge detection on the positions where there are depth mutations in the adjacent area of the depth image point, and obtain the surface change result of the adjacent area;

[0020] S142. According to the surface change result of the adjacent area, obtain the main direction of change of the depth image point;

[0021] S143. Quantify and assign values to the main direction to obtain the interest value of the depth image point;

[0022] S144. Denoise the interest value, compare the denoised interest value, and determine the key points of the depth image by non-maximum suppression to obtain the feature extraction result.

[0023] Optionally, S2 includes:

[0024] S21. Obtain the 3D point cloud data of several wires within the preset continuous time;

[0025] S22. Stack the 3D point cloud data of several wires to obtain the position information of the wire at the preset time point, and extract the dancing boundary of the wire according to the position information;

[0026] S23. According to the dancing boundary of the wire and the 3D point cloud data of the wire, obtain the spatial data of the wire, and the spatial data includes the position and attitude of the wire.

[0027] Optionally, S3 includes:

[0028] S31. Determine the projectile landing point according to the spatial data of the wire, and establish a coordinate system with the projectile point of the guiding rope as the origin;

[0029] S32. Construct a projectile trajectory equation based on the coordinate system, and the projectile trajectory equation is as follows:

[0030]

[0031] Wherein, the x and the y respectively represent the horizontal and vertical coordinates of the projectile, the v0 represents the initial velocity of the projectile, the g represents the acceleration due to gravity, the θ represents the projection angle, and the t represents the movement time;

[0032] S33. Generate a projection trajectory model of the guide rope according to the coordinate system, the projection trajectory equation, and the projection landing point.

[0033] Optionally, the S4 includes:

[0034] S41. Obtain the ballistic theory equation, and the ballistic theory equation is as follows:

[0035]

[0036] Wherein, the C is the ballistic coefficient and satisfies The i is the form factor, the d is the projectile diameter, the m is the projectile mass, the H(y) is the air density function and satisfies The Π(y) is the air pressure function related to the height, the R is the gas constant, the g is the acceleration due to gravity, the τ is the virtual temperature of the actual height, and the τ ON Is the virtual temperature on the ground, the virtual temperature is replaced by the temperature, the G(v) is the drag function and satisfies The F(v)=0.00007454v 2 , the v x , v y And v z Are respectively the velocities in the three directions of the coordinate system;

[0037] S42. Generate the ballistic theory model according to the ballistic theory equation and the projection landing point, correct the projection trajectory model based on the ballistic theory model, and obtain the projection trajectory planning result of the guide rope.

[0038] Optionally, the S42 includes:

[0039] S421. Correct the ballistic theory equation according to the atmospheric wind speed to obtain the first ballistic theory equation, and the first ballistic theory equation is as follows:

[0040]

[0041] Wherein, the w x And the w z Are respectively the atmospheric wind speeds in the X-axis direction and the Z-axis direction in the coordinate system;

[0042] S422. Generate the ballistic theory model according to the first ballistic theory equation and the projectile landing point, correct the projectile trajectory model based on the ballistic theory model, and obtain the projectile trajectory planning result of the guiding rope.

[0043] Optionally, S422 includes:

[0044] S4221. Set a projectile body to be connected to the end of the projectile rope, and divide the projectile rope into n nodes along the length direction;

[0045] S4222. Correct the first ballistic theory equation according to the influence of rope traction, and obtain the second ballistic theory equation of the projectile body as follows:

[0046]

[0047] where x1, y1, and z1 are the coordinates of the first node of the projectile rope respectively, the connection point of the projectile body and the projectile rope is the 0th node, T1 is the tension between the projectile body and the first node, and △l1 is the length between the tail of the projectile body and the first node;

[0048] S4223. Generate the ballistic theory model according to the second ballistic theory equation and the projectile landing point, correct the projectile trajectory equation based on the ballistic theory model, and obtain the projectile trajectory equation of the ith node of the corrected projectile rope. The projectile trajectory equation is as follows:

[0049]

[0050] where ρ is the air density, C x 、C y and C z are the nodal aerodynamic forces of the unit node of the projectile rope in the three directions of the coordinate system, and A x 、A y and A z are the cross-sectional areas facing the wind of the unit node of the projectile rope in the three directions of the coordinate system;

[0051] S4224. When i = n, obtain the projectile trajectory equation when the nth node of the projectile rope is being pulled out. The projectile trajectory equation is as follows:

[0052]

[0053] S4225. Generate the projectile trajectory model according to the coordinate system, the projectile landing point, and the corrected projectile trajectory equation, and obtain the projectile trajectory planning result of the guiding rope according to the projectile trajectory model.

[0054] In a second aspect, the present invention further provides a guiding rope throwing trajectory planning system based on laser point cloud, including a memory, a processor, and a computer program stored on the memory and executable on the processor. It is characterized in that when the processor executes the computer program, the guiding rope throwing trajectory planning method based on laser point cloud as described above is implemented.

[0055] Compared with the prior art, the beneficial effects of the guiding rope throwing trajectory planning system based on laser point cloud of the present invention are the same as those of the guiding rope throwing trajectory planning method based on laser point cloud as described above, and will not be elaborated herein.

[0056] In a third aspect, the present invention further provides a computer storage medium, on which a computer program is stored. When the computer program is executed by a processor, the guiding rope throwing trajectory planning method based on laser point cloud as described above is implemented.

[0057] Compared with the prior art, the beneficial effects of the computer storage medium of the present invention are the same as those of the guiding rope throwing trajectory planning method based on laser point cloud as described above, and will not be elaborated herein. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] The present invention will be further described in detail below with reference to the drawings.

[0059] Figure 1 : Flowchart of the guiding rope throwing trajectory planning method based on laser point cloud in an embodiment of the present invention;

[0060] Figure 2 : Figure 1 Sub-flowchart of S1 shown in ;

[0061] Figure 3 : Figure 2 Sub-flowchart of S14 shown in ;

[0062] Figure 4 : Figure 1 Sub-flowchart of S2 shown in ;

[0063] Figure 5 : Figure 1 Sub-flowchart of S3 shown in ;

[0064] Figure 6 : Figure 1 Sub-flowchart of S4 shown in ;

[0065] Figure 7 : Figure 6 Sub-flowchart of S42 shown in ;

[0066] Figure 8 : Figure 7 Sub-flowchart of S422 shown in. Detailed implementation manners

[0067] To better understand the present invention, the content of the present invention will be further clearly described below in conjunction with embodiments. However, the protected content of the present invention is not limited to the following embodiments. In the following description, a large number of specific details are given to provide a more thorough understanding of the present invention. However, it is obvious to those skilled in the art that the present invention can be implemented without one or more of these details.

[0068] As used herein, the term "including" and its variants are open-ended, that is, "including but not limited to"; the term "based on" means "at least partially based on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "optional embodiment". The relevant definitions of other terms will be given in the following description. It should be noted that the concepts such as "first" and "second" mentioned in the present invention are only used to distinguish different devices, modules or units, and are not used to limit the order or mutual dependence relationship of the functions performed by these devices, modules or units.

[0069] It should be noted that the modifications of "one" and "a plurality" mentioned in the present invention are illustrative rather than restrictive. Those skilled in the art should understand that unless otherwise clearly specified in the context, it should be understood as "one or more".

[0070] In the related art, galloping of overhead lines is a vibration phenomenon that occurs when conductors are excited by wind. Galloping is more likely to occur when the lines are iced. The frequency of conductor galloping is low, the amplitude is large, and the duration is long, which easily leads to faults such as broken wires and strands, damaged fittings, and flashovers of overhead lines. In severe cases, even accidents such as tower collapses may occur, causing serious impacts on the entire power system. In on-site operations such as transmission line construction and operation and maintenance, guiding rope connection is a common construction operation content and is widely used in operations such as large-span line construction, live working, ice removal on lines in harsh winter weather, and galloping emergency disposal. Currently, the commonly used guiding rope connection methods mainly include projectile connection and UAV traction connection technologies, both of which can meet the conventional guiding rope connection requirements in good working environments. However, for the operation requirements in harsh environmental conditions, especially in winter rain and snow weather, the UAV has problems such as wing icing and inability to take off in a low-temperature and high-humidity environment, and there are restrictions such as unstable communication and limited vision in a foggy environment, making it impossible to carry out operations. Compared with UAV technology, the guiding rope projectile connection technology has better adaptability under harsh operating conditions and has the basic conditions for operating in various harsh environments. However, the guiding rope projectile technology currently applied in the operation and maintenance construction process of transmission lines has problems such as simple equipment and low operation accuracy, seriously affecting the on-site operation effect and efficiency in harsh environments. Specifically, it is manifested as follows: 1. The automation degree of the projectile equipment is low, lacking the measurement function of basic parameters, and it is not convenient for field operations; 2. It is difficult to predict the trajectory under the action of the traction rope, and conditions such as strong winds exacerbate the difficulty of correction; 3. Facing moving objects such as galloping conductors, it is difficult to locate the target, the success rate of guiding rope projectile connection is low, and the operation difficulty is large.

[0071] To solve the above technical problems, on the one hand, an embodiment of the present invention provides a guiding rope projectile trajectory planning method based on laser point cloud, including: S1. Obtain the three-dimensional point cloud data of the target area in real time and identify the three-dimensional point cloud data of the conductor to be connected; S2. Superimpose the three-dimensional point cloud data of several conductors within a preset continuous time to generate the galloping boundary of the conductor, and obtain the spatial data of the conductor based on the three-dimensional point cloud data of the conductor and the galloping boundary; S3. Determine the projectile landing point according to the spatial data of the conductor, establish a coordinate system with the projectile point of the guiding rope as the origin, and generate a projectile trajectory model of the guiding rope based on the coordinate system and the projectile landing point; S4. Modify the projectile trajectory model based on the ballistic theory model to obtain the guiding rope projectile trajectory planning result.

[0072] In this alternative embodiment, as Figure 1As shown in S1 to S4, the three-dimensional point cloud data of the area around the wire to which the guiding rope is to be attached in real time, that is, the target area, can be obtained first. Then, the three-dimensional point cloud data of the wire is identified from the three-dimensional point cloud data of the target area. Next, a continuous time is preset, and each portion of the three-dimensional point cloud data of the wire within this continuous time is intercepted. The three-dimensional point cloud data of several wires are superimposed. At this time, through the superposition, the trajectory of the wire during dancing within the continuous time can be obtained. Thus, by determining the edge of the trajectory, the dancing boundary of the wire can be generated. With the dancing boundary of the wire, combined with all the three-dimensional point cloud data of the wire, the position and attitude of the wire within the target area can be obtained, thereby forming spatial data. Through the analysis and processing of the high-precision three-dimensional point cloud data, the positioning of the wire to be attached can be completed, effectively improving the positioning accuracy of the wire and providing accurate landing coordinates for the subsequent projection estimation model. On this basis, since the wire is the target that the guiding rope needs to fall and attach to during projection, based on the spatial data of the wire, the projection landing point of the guiding rope during projection can be determined. Then, taking the projection starting point of the guiding rope as the origin, a coordinate system for the relative position between the projection landing point and the origin can be established, and then a projection trajectory model can be constructed. The projection trajectory model can form the moving trajectory of the guiding rope during projection through the corresponding data of the position of the guiding rope in the coordinate system and the projection time during the projection process, forming a projection trajectory. With such a setting, by presetting the projection speed and projection angle, the corresponding projection trajectory can be output through the projection trajectory model, making the projection landing point located on the corresponding coordinate of the wire, forming a preliminary projection trajectory planning scheme. Thus, the projection plan can be formulated in advance according to the projection trajectory planning scheme, improving work efficiency and achieving the precise projection of the guiding rope. Finally, considering that the projection trajectory of the guiding rope is similar to the ballistic trajectory, it is beneficial to use the ballistic theory model to correct the projection trajectory model, taking into account the influence of external factors such as the environment, thereby reducing the influence of external factors on the obtained projection trajectory planning result of the guiding rope and further improving the accuracy of the projection trajectory planning scheme, and thus further improving the accuracy of the precise projection of the guiding rope.

[0073] Optionally, S1 includes: S11, obtaining the three-dimensional point cloud data of the target area in real time based on a point cloud scanning device; S12, preprocessing the three-dimensional point cloud data of the target area, where the preprocessing includes at least one of filtering processing and downsampling; S13, constructing a depth image based on the three-dimensional point cloud data of the target area; S14, extracting key points from the depth image to obtain a feature extraction result; S15, according to the feature extraction result, identifying the three-dimensional point cloud data of the wire through a target recognition method, where the target recognition method includes at least one of geometric recognition and semantic recognition.

[0074] Specifically, the point cloud scanning device can be a lidar, a structured light scanner, a binocular / multiocular stereovision device that uses multiple cameras to take pictures from different perspectives, a time-of-flight sensor, a photogrammetry device, etc.

[0075] In this alternative embodiment, in order to obtain the three-dimensional point cloud data of the wire for subsequent steps, as shown in S11 to S15 in Figure 2 , first, the three-dimensional point cloud data of the target area is obtained in real time through a point cloud scanning device. For example, the surrounding area of the wire is scanned by a lidar to obtain the complete three-dimensional point cloud data of the target area. Then, the three-dimensional point cloud data of the target area can be preprocessed by filtering or downsampling. For example, the bilateral filtering algorithm is used to correct the position of the current sampling point by taking the weighted average of adjacent sampling points to achieve the filtering effect and improve the accuracy of the projectile trajectory planning. Or, by reducing the data volume or resolution, some representative samples or features are extracted from the original data to reduce the computational complexity or storage requirements and improve the speed of the projectile trajectory planning. Then, a depth image is constructed based on the three-dimensional point cloud data of the target area. For example, according to the internal and external parameters of the camera device, each point in the three-dimensional point cloud is projected onto the two-dimensional image plane, and its depth value is recorded to construct the depth image. At this time, in order to ensure the recognition of the three-dimensional point cloud data of the wire, key points are extracted from the depth image to obtain the feature extraction result of the wire. Finally, based on the feature extraction result, the three-dimensional point cloud data of the wire is recognized through target recognition methods such as geometric recognition and semantic recognition, and then the three-dimensional point cloud data of the wire for subsequent steps is obtained.

[0076] It should be noted that geometric recognition judges the type and shape of the target by analyzing the geometric features of the target, such as shape, size, and contour. Semantic recognition judges the type and state of the target by analyzing the semantic features of the target, such as color, texture, and motion.

[0077] Optionally, S14 includes: S141, traversing each depth image point of the depth image, performing edge detection on the positions where there are depth mutations in the adjacent area of the depth image point to obtain the surface change result of the adjacent area; S142, obtaining the main direction of change of the depth image point according to the surface change result of the adjacent area; S143, quantifying and assigning values to the main direction to obtain the interest value of the depth image point; S144, denoising the interest value, comparing the denoised interest value, and determining the key points of the depth image by non-maximum suppression to obtain the feature extraction result.

[0078] Specifically, the present invention uses the method of calculating descriptors and normal vector estimation for key point extraction, and finally forms the feature extraction result.

[0079] In this alternative embodiment, as Figure 3As shown in S141 to S144 in [reference], first traverse each depth image point of the depth image, perform edge detection on the positions where there are depth mutations in the adjacent area of the depth image point to obtain the surface change result of the adjacent area. In this way, the conductor can be initially identified through the depth mutations generated by the depth difference between the conductor image and the image around the target area. On this basis, according to the surface change result of the adjacent area, the main direction of change of the depth image point can be obtained, so as to determine the contour of the conductor. Then, the main direction can be assigned by means of quantization assignment, that is, the difference value between the main direction and other directions is represented by the assignment, and finally the interest value of the depth image point is obtained. Finally, denoise the interest value, compare the denoised interest value, and obtain the relatively large interest value in the adjacent area through the preset interest value threshold. The depth image point corresponding to this interest value is the key point, that is, the key points of the depth image are determined by using the non-maximum suppression method, and then the feature extraction result is obtained.

[0080] Optionally, S2 includes: S21, obtaining the three-dimensional point cloud data of several conductors within a preset continuous time; S22, superimposing the three-dimensional point cloud data of several conductors to obtain the position information of the conductors at the preset time points, and extracting the dancing boundary of the conductors according to the position information; S23, obtaining the spatial data of the conductors according to the dancing boundary of the conductors and the three-dimensional point cloud data of the conductors, and the spatial data includes the position and attitude of the conductors.

[0081] In this optional embodiment, in order to ensure the accuracy of obtaining the spatial data of the conductors, as Figure 4 shown in S21 to S23 in [reference], first preset a continuous time, obtain all the three-dimensional point cloud data of the conductors obtained within this continuous time, that is, the three-dimensional point cloud data of each time node. Then, superimpose the several three-dimensional point cloud data within this continuous time. The CPS data and IMU data can be fused to fuse the three-dimensional point cloud data of the conductors at different times or from different perspectives, and then the position information of the conductors at each preset time point can be obtained. By corresponding all the position information, the edge position of the conductors can be determined, and then the dancing boundary of the conductors during the dancing process can be extracted. On this basis, according to the determined dancing boundary and the three-dimensional point cloud data of the conductors within the dancing boundary area, the spatial data including the position and attitude of the conductors can be obtained, ensuring the accuracy of obtaining the spatial data of the conductors, and further providing accurate data reference for subsequent determination of the coordinates of the projection landing point.

[0082] Optionally, S3 includes:

[0083] S31, determining the projection landing point according to the spatial data of the conductors, taking the projection point of the guide rope as the origin to establish a coordinate system;

[0084] S32, constructing a projection trajectory equation based on the coordinate system, and the projection trajectory equation is as follows:

[0085]

[0086] Among them, x and y respectively represent the horizontal and vertical coordinates of the projectile, v0 represents the initial velocity of the projectile, g represents the acceleration due to gravity, θ represents the projection angle, and t represents the movement time;

[0087] S33. Generate a projection trajectory model of the guide rope according to the coordinate system, the projectile trajectory equation, and the projection landing point.

[0088] In this optional embodiment, as Figure 5 shown in S31 to S33, first determine the projection landing point according to the spatial data of the wire. Taking the projection point of the guide rope as the origin, establish an accurate spatial coordinate system. Then, based on the projectile motion trajectory equation proposed by the British physicist Bairdex, eliminate the time t by simultaneously solving the equations to obtain the projectile trajectory equation. At this time, according to the trajectory equation, when the projection velocity v0 and the projection angle θ are determined, this equation gives the relationship between x and y, that is, it gives a trajectory. However, in a broader sense, this is an equation containing four parameters, namely x, y, v0, and tgθ. To accurately understand this equation, we make some discussions closely related to solving the problem:

[0089] Let the projection point be the origin of the coordinates, the magnitude of the initial projection velocity v0 is known, and (x, y) is a determined point in the vertical projection plane. Assuming that this point can be hit, let's take a look at what the projection angle is at this time. For this purpose, rewrite the previous equation as

[0090]

[0091] Solve for tgθ:

[0092]

[0093] Usually, tgθ has two solutions, which means that in this case, the same projectile can use two different projection angles θ l and θ2 can both hit the point (x, y), so as to obtain the accurate coordinates of the projection trajectory, ensure the accuracy of the projection trajectory planning. Finally, according to the above projectile trajectory equation and the coordination of the coordinate system and the projection landing point, generate a projection trajectory model of the guide rope, so that when a projection landing point is input, the accurate projection trajectory of the guide rope can be obtained, forming a projection trajectory planning scheme.

[0094] Optionally, S4 includes:

[0095] S41. Obtain the ballistic theory equation, and the ballistic theory equation is as follows:

[0096]

[0097] Among them, C is the ballistic coefficient and satisfies i is the form factor, d is the projectile diameter, m is the projectile mass, Hy is the air density function and satisfies ∏(y) is the air pressure function related to altitude, R is the gas constant, g is the acceleration due to gravity, τ is the virtual temperature at the actual altitude, τ ON is the virtual temperature at the ground, and the virtual temperature is replaced by the temperature. G(v) is the drag function and satisfies F(v) = 0.00007454v 2 , v x , v y and v z are the velocities in the three directions of the coordinate system respectively;

[0098] S42. Generate a ballistic theory model according to the ballistic theory equation and the projectile landing point, correct the projectile trajectory model based on the ballistic theory model, and obtain the projectile trajectory planning result of the guide rope.

[0099] In this optional embodiment, as Figure 6 in S41 and S42, it can be seen that in the classical external ballistics, in order to simplify the model, the following assumptions are made: the angle of attack of the projectile is 0 during the entire flight time, it is under standard meteorological conditions, the acceleration due to gravity is taken as 9.8 m / s 2 and the Coriolis acceleration caused by the earth's rotation is ignored. Based on the above simplified model, a ballistic theory equation is formed. Then, a ballistic theory model is generated using the ballistic theory equation and the projectile landing point. In the ballistic theory model, the projectile of the guide rope is simulated by the projectile body, and then the projectile trajectory model is corrected to eliminate the influence of some external factors on the projectile process of the guide rope, and then the accurate projectile trajectory planning result of the guide rope is obtained

[0100] Optionally, S42 includes:

[0101] S421. Correct the ballistic theory equation according to the atmospheric wind speed to obtain the first ballistic theory equation. The first ballistic theory equation is as follows:

[0102]

[0103] Among them, w x and w z are the atmospheric wind speeds in the X-axis direction and Z-axis direction in the coordinate system respectively;

[0104] S422. Generate a ballistic theory model according to the first ballistic theory equation and the projectile landing point, correct the projectile trajectory model based on the ballistic theory model, and obtain the projectile trajectory planning result of the guide rope.

[0105] In this optional embodiment, considering the influence of the atmospheric wind speed, i.e., the environmental wind speed, on the projectile process, as Figure 7As can be seen from S421 and S422, the environmental wind acting on the projectile during flight can be decomposed into the ballistic longitudinal wind (abbreviated as longitudinal wind) wx and the ballistic crosswind (abbreviated as crosswind) wy. The longitudinal wind is parallel to the projection plane (xy plane), with the projection direction being positive (x direction); the crosswind is perpendicular to the projection plane (xy plane), and is positive from left to right along the projection direction (z direction). All the vs in the ballistic theoretical equation are the velocities relative to the ground, so the velocity of the projectile relative to the atmosphere (abbreviated as relative velocity) is v r = v - w, which can be decomposed in the ground coordinate system as v r = (v x - w x )i + v y j + (v z - w z )k, and the numerical expression is At this time, corresponding corrections are made to the ballistic theoretical equation, and the corrected first ballistic theoretical equation can be obtained. The first ballistic theoretical equation can eliminate the influence of the environmental wind on the projection process and further improve the accuracy of the projection trajectory planning. Finally, based on the first ballistic theoretical equation and the projection landing point, a ballistic theoretical model is generated, and the projection trajectory model is corrected based on the ballistic theoretical model, so as to obtain the projection trajectory planning result of the guide rope.

[0106] Optionally, S422 includes:

[0107] S4221. Set that the end of the projection rope is connected to the projectile, and divide the projection rope into n nodes along its length;

[0108] S4222. Correct the first ballistic theoretical equation according to the influence of the rope traction, and obtain the second ballistic theoretical equation of the projectile as follows:

[0109]

[0110] where x1, y1, and z1 are the coordinates of the first node of the projection rope respectively. The connection point between the projectile and the projection rope is the 0th node, T1 is the tension between the projectile and the first node, and △l1 is the length between the tail of the projectile and the first node;

[0111] S4223. Generate a ballistic theoretical model according to the second ballistic theoretical equation and the projection landing point, correct the projection trajectory equation based on the ballistic theoretical model, and obtain the projection trajectory equation of the ith node of the corrected projection rope. The projection trajectory equation is as follows:

[0112]

[0113] where ρ is the air density, C x 、C y and C z are the nodal aerodynamic forces of the unit node of the projection rope in the three directions of the coordinate system, Ax , A y and A z are the cross-sectional areas of the unit nodes of the projectile rope in the three directions of the coordinate system facing the wind;

[0114] S4224. When i = n, obtain the projectile trajectory equation when the nth node of the projectile rope is being pulled out. The projectile trajectory equation is as follows:

[0115]

[0116] S4225. Generate a projectile trajectory model based on the coordinate system, the projectile landing point, and the corrected projectile trajectory equation, and obtain the projectile trajectory planning result of the guide rope according to the projectile trajectory model.

[0117] In this alternative embodiment, as can be seen from S4221 to S4225 in Figure 8 , since the guide rope is a rope-like structure, while considering the environmental wind, it is also necessary to consider the influence of the rope pulling on the projectile trajectory. Therefore, it is assumed that the projectile and the rope move in the same vertical plane, and an inertial coordinate system is established with the position of the projectile launching point as the coordinate origin, the horizontal direction of the shooting direction as the x-axis, and the vertical direction as the y-axis; the rope participating in the flight is evenly discretized into n units, and the labels from the pulling end of the projectile to the end just leaving the ground are 1, 2, 3,..., n in sequence. The mass of each unit is concentrated at the node at the end far from the projectile, and the interaction force and external force between them act on this series of nodes. The lengths of the first n - 1 units are l i , and the nth unit is a variable-length and variable-mass unit. During the process of continuously pulling out the units, when the length of the last segment reaches the set condition, the length no longer changes, and a new rope segment n + 1 is pulled up. With such a setting, the first ballistic theory equation can be corrected by the rope pulling and the environmental wind to obtain the second ballistic theory equation of the projectile. Then, a ballistic theory model is generated based on the second ballistic theory equation and the projectile landing point, the projectile trajectory equation is corrected based on the ballistic theory model, and finally, a projectile trajectory model is generated based on the coordinate system, the projectile landing point, and the corrected projectile trajectory equation, and the projectile trajectory planning result of the guide rope is obtained according to the projectile trajectory model. The projectile accuracy of the guide rope is effectively improved.

[0118] In a second aspect, an embodiment of the present invention provides a guide rope projectile trajectory planning system based on laser point cloud, including a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that when the processor executes the computer program, it implements the above-mentioned guide rope projectile trajectory planning method based on laser point cloud.

[0119] The technical effects of the guide rope projectile trajectory planning system based on laser point cloud in this embodiment are similar to those of the above-mentioned guide rope projectile trajectory planning method based on laser point cloud, and will not be elaborated here.

[0120] In a third aspect, an embodiment of the present invention provides a computer storage medium, on which a computer program is stored. When the computer program is executed by a processor, the above-mentioned method for planning the throwing trajectory of a guiding rope based on laser point cloud is implemented.

[0121] The technical effect of the computer storage medium in this embodiment is similar to that of the above-mentioned method for planning the throwing trajectory of a guiding rope based on laser point cloud, and will not be elaborated here.

[0122] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A method for planning the throwing trajectory of a guiding rope based on laser point cloud, characterized in that Including: S1. Obtain the three-dimensional point cloud data of the target area in real time, and identify the three-dimensional point cloud data of the wire to be hung; S2. Superimpose the three-dimensional point cloud data of several said wires within a preset continuous time, generate the dancing boundary of the wire, and obtain the spatial data of the wire based on the three-dimensional point cloud data of the wire and the dancing boundary; S3. Determine the projection landing point according to the spatial data of the wire, establish a coordinate system with the projection point of the guiding rope as the origin, and generate the projection trajectory model of the guiding rope based on the coordinate system and the projection landing point; S4. Modify the projection trajectory model based on the ballistic theory model to obtain the projection trajectory planning result of the guiding rope.

2. The method for planning the throwing trajectory of a guiding rope based on laser point cloud according to claim 1, wherein The S1 includes: S11. Obtain the three-dimensional point cloud data of the target area in real time based on the point cloud scanning device; S12. Preprocess the three-dimensional point cloud data of the target area, where the preprocessing includes at least one of filtering processing and downsampling; S13. Construct a depth image according to the three-dimensional point cloud data of the target area; S14. Extract key points from the depth image to obtain a feature extraction result; S15. According to the feature extraction result, identify the three-dimensional point cloud data of the wire by a target recognition method, where the target recognition method includes at least one of geometric recognition and semantic recognition.

3. The method for planning the throwing trajectory of the guiding rope based on laser point cloud according to claim 2, wherein The S14 includes: S141. Traverse each depth image point of the depth image, perform edge detection on the position where there is a depth mutation in the adjacent area of the depth image point, and obtain the surface change result of the adjacent area; S142. Obtain the main direction of change of the depth image point according to the surface change result of the adjacent area; S143. Quantify and assign values to the main direction to obtain the interest value of the depth image point; S144. Denoise the interest value, compare the denoised interest value, and determine the key points of the depth image by non-maximum suppression to obtain the feature extraction result.

4. The method for planning the throwing trajectory of the guiding rope based on laser point cloud according to claim 1, wherein, The S2 includes: S21. Obtain the three-dimensional point cloud data of several said wires within the preset continuous time; S22. Superimpose the three-dimensional point cloud data of several said wires, obtain the position information of the wire at the preset time point, and extract the dancing boundary of the wire according to the position information; S23. Obtain the spatial data of the wire according to the dancing boundary of the wire and the three-dimensional point cloud data of the wire, where the spatial data includes the position and attitude of the wire.

5. The method for planning the throwing trajectory of the guiding rope based on laser point cloud according to any one of claims 1 to 5, characterized in that, The S3 includes: S31. Determine the projection landing point according to the spatial data of the wire, and establish a coordinate system with the projection point of the guiding rope as the origin; S32. Construct a projection trajectory equation based on the coordinate system, and the projection trajectory equation is as follows: Wherein, the x and the y respectively represent the horizontal and vertical coordinates of the projectile, the v0 represents the initial velocity of the projectile, the g represents the acceleration due to gravity, the θ represents the projection angle, and the t represents the movement time; S33. Generate the projection trajectory model of the guiding rope according to the coordinate system, the projection trajectory equation and the projection landing point.

6. The method for planning the throwing trajectory of a guiding rope based on laser point cloud according to any one of claims 1 to 5, characterized in that, The S4 includes: S41. Obtain the ballistic theory equation, and the ballistic theory equation is as follows: wherein, C is the ballistic coefficient and satisfies i is the form factor, d is the projectile diameter, m is the projectile mass, and H(y) is the air density function and satisfies Π(y) is the air pressure function related to altitude, R is the gas constant, g is the acceleration due to gravity, τ is the virtual temperature at the actual altitude, and τ ON is the virtual temperature at the ground. The virtual temperature is replaced by the temperature. G(v) is the drag function and satisfies F(v) = 0.00007454v 2 , where v x , v y and v z are the velocities in the three directions of the coordinate system respectively; S42. Generate the ballistic theory model according to the ballistic theory equation and the projectile landing point, correct the projectile trajectory model based on the ballistic theory model, and obtain the projectile trajectory planning result of the guide rope.

7. The method for planning the throwing trajectory of the guiding rope based on the laser point cloud according to claim 6, wherein The S42 includes: S421. Correct the ballistic theory equation according to the atmospheric wind speed to obtain the first ballistic theory equation, and the first ballistic theory equation is as follows: wherein, the w x and the w z are respectively the atmospheric wind speeds in the X-axis direction and the Z-axis direction in the coordinate system; S422. Generate the ballistic theory model according to the first ballistic theory equation and the projectile landing point, correct the projectile trajectory model based on the ballistic theory model, and obtain the projectile trajectory planning result of the guide rope.

8. The method for planning the throwing trajectory of a guiding rope based on laser point cloud according to claim 5, wherein, The S422 includes: S4221. Set that the end of the projectile rope is connected with a projectile body, and divide the projectile rope into n nodes along the length direction; S4222. Correct the first ballistic theory equation according to the influence of rope traction to obtain the second ballistic theory equation of the projectile body as follows: Wherein, x1, y1 and z1 are the coordinates of the first node of the projectile rope respectively, the connection point of the projectile body and the projectile rope is the 0th node, T1 is the tension between the projectile body and the first node, and △l1 is the length between the tail of the projectile body and the first node; S4223. Generate the ballistic theory model according to the second ballistic theory equation and the projectile landing point, correct the projectile trajectory equation based on the ballistic theory model, and obtain the projectile trajectory equation of the ith node of the corrected projectile rope, and the projectile trajectory equation is as follows: Among them, ρ is the air density, and C x , C y and C z are the nodal aerodynamic forces of the unit node of the projectile rope in the three directions of the coordinate system, and A x , A y and A z are the cross-sectional areas facing the wind of the unit node of the projectile rope in the three directions of the coordinate system; S4224. When i = n, obtain the projectile trajectory equation when the nth node of the projectile rope is being pulled out, and the projectile trajectory equation is as follows: S4225. Generate the projectile trajectory model according to the coordinate system, the projectile landing point and the corrected projectile trajectory equation, and obtain the projectile trajectory planning result of the guide rope according to the projectile trajectory model.

9. A guiding rope projection trajectory planning system based on laser point cloud, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the guide rope projectile trajectory planning method based on laser point cloud according to any one of claims 1 to 8.

10. A computer storage medium, characterized in that, A computer program is stored thereon, and when the computer program is executed by a processor, it implements the guide rope projectile trajectory planning method based on laser point cloud according to any one of claims 1 to 8.

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