Three-dimensional environment map determination method and device of power transmission line, equipment, storage medium and program product

Abstract

The invention relates to a three-dimensional environment map determination method and device of a power transmission line, computer equipment, a computer readable storage medium and a computer program product. The method comprises the following steps: acquiring a plurality of inspection images of a power transmission line collected by inspection equipment, and determining a plurality of feature points based on the plurality of inspection images; determining pose information of the inspection equipment based on the plurality of feature points, and determining a point cloud model of the power transmission line according to the pose information and depth information of the plurality of feature points; and performing structured processing on the point cloud model of the power transmission line to obtain a structured point cloud model, and determining a three-dimensional environment map of the power transmission line based on the structured point cloud model, the three-dimensional environment map being used for executing an inspection task of the power transmission line. By adopting the method, the accuracy of the constructed three-dimensional environment map can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of power transmission lines, in particular to a three-dimensional environment map determination method and device for power transmission lines, computer equipment, computer readable storage medium and computer program product. BACKGROUND

[0002] With the continuous expansion of the power grid scale in China, the total mileage of power transmission lines has exceeded one million kilometers. The traditional manual inspection mode has problems such as low efficiency, high risk, and limited coverage, and intelligent inspection equipment has become the core development direction of intelligent operation and maintenance of power grids.

[0003] In the prior art, the inspection equipment collects inspection images of the power transmission line to construct a three-dimensional environment map of the power transmission line, so as to realize the inspection of the power transmission line based on the three-dimensional environment map.

[0004] However, since the existing three-dimensional environment map construction method has the problem of low accuracy, there is an urgent need for a method that can improve the accuracy of the constructed three-dimensional environment map. SUMMARY

[0005] Therefore, it is necessary to provide a three-dimensional environment map determination method, device, computer equipment, computer readable storage medium and computer program product for power transmission lines, which can improve the accuracy of the constructed three-dimensional environment map.

[0006] In a first aspect, the present application provides a three-dimensional environment map determination method for power transmission lines, comprising:

[0007] Obtaining a plurality of inspection images of the power transmission line collected by the inspection equipment, and determining a plurality of feature points based on the plurality of inspection images;

[0008] Determining the pose information of the inspection equipment based on the plurality of feature points, and determining the point cloud model of the power transmission line according to the pose information and the depth information of the plurality of feature points;

[0009] Structuring the point cloud model of the power transmission line to obtain a structured point cloud model, and determining the three-dimensional environment map of the power transmission line based on the structured point cloud model, wherein the three-dimensional environment map is used to perform the inspection task of the power transmission line.

[0010] In one embodiment, the structured point cloud model is obtained by structuring the point cloud model of the power transmission line, comprising: performing regional division optimization processing on the point cloud model of the power transmission line to obtain a regular regional point cloud model; and performing surface reconstruction processing on the regular regional point cloud model to obtain the structured point cloud model.

[0011] In one of the embodiments, the point cloud model of the power transmission line is subjected to regional division optimization processing to obtain a regular region point cloud model, including: performing division processing on the point cloud model of the power transmission line based on three-dimensional coordinate axes to obtain a plurality of initial three-dimensional space regions; and determining the regular region point cloud model based on the number of point clouds of each initial three-dimensional space region.

[0012] In one of the embodiments, the regular region point cloud model is determined based on the number of point clouds of each initial three-dimensional space region, including: determining the density of each initial three-dimensional space region based on the number of point clouds of each initial three-dimensional space region; and performing merging processing on the plurality of initial three-dimensional space regions based on the density of each initial three-dimensional space region to obtain the regular region point cloud model.

[0013] In one of the embodiments, the regular region point cloud model is subjected to surface reconstruction processing to obtain a structured point cloud model, including: determining point cloud geometric feature salient points from the regular region point cloud model based on Gaussian curvature; and determining the structured point cloud model according to the point cloud geometric feature salient points by using a minimum edge angle product algorithm.

[0014] In one of the embodiments, the three-dimensional environment map of the power transmission line is determined based on the structured point cloud model, including: obtaining a preset mapping range and structure information of the inspection device; performing octree inflation processing on the structured point cloud model based on the mapping range and the structure information to obtain an optimized point cloud model, and determining the three-dimensional environment map of the power transmission line according to the optimized point cloud model.

[0015] In a second aspect, the present application further provides a three-dimensional environment map determination device of a power transmission line, including:

[0016] The acquisition module is configured to acquire a plurality of inspection images of the power transmission line collected by the inspection device, and determine a plurality of feature points based on the plurality of inspection images;

[0017] The determination module is configured to determine the pose information of the inspection device based on the plurality of feature points, and determine the point cloud model of the power transmission line according to the pose information and the depth information of the plurality of feature points;

[0018] The execution module is configured to perform structured processing on the point cloud model of the power transmission line to obtain a structured point cloud model, and determine the three-dimensional environment map of the power transmission line based on the structured point cloud model, the three-dimensional environment map being used to perform the inspection task of the power transmission line.

[0019] In a third aspect, the present application further provides a computer device, including a memory and a processor, the memory storing a computer program, and the processor implementing the steps of the method of any one of the embodiments of the first aspect when executing the computer program.

[0020] In a fourth aspect, the present application also provides a computer readable storage medium, having stored thereon a computer program, which, when executed by a processor, implements the steps of the method according to any one of the embodiments of the first aspect.

[0021] In a fifth aspect, the present application also provides a computer program product, comprising a computer program which, when executed by a processor, implements the steps of the method according to any one of the embodiments of the first aspect.

[0022] The method, device, computer equipment, computer readable storage medium and computer program product for determining the three-dimensional environment map of the power transmission line, first acquire a plurality of inspection images of the power transmission line collected by an inspection device, and determine a plurality of feature points based on the plurality of inspection images, then determine the pose information of the inspection device based on the plurality of feature points, and determine the point cloud model of the power transmission line according to the pose information and the depth information of the plurality of feature points, then perform structured processing on the point cloud model of the power transmission line to obtain a structured point cloud model, and determine the three-dimensional environment map of the power transmission line based on the structured point cloud model, which is used to perform the inspection task of the power transmission line. The method for determining the three-dimensional environment map of the power transmission line provided by the present application not only has high accuracy of the determined pose information of the inspection device, but also determines the point cloud model of the power transmission line by using the pose information and the depth information of the plurality of feature points, and then determines the three-dimensional environment map of the power transmission line based on the point cloud model of the power transmission line, so that the determined three-dimensional environment map of the power transmission line has high accuracy. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related art, the drawings needed to be used in the description of the embodiments of the present application or the related art will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other related drawings can also be obtained by those skilled in the art without any creative effort.

[0024] Figure 1 A flowchart of the method for determining the three-dimensional environment map of the power transmission line in an embodiment;

[0025] Figure 2 A flowchart of the method for obtaining the structured point cloud model in an embodiment;

[0026] Figure 3 A flowchart of the method for obtaining the structured point cloud model in an embodiment;

[0027] Figure 4 A flowchart of the method for determining the structured point cloud model in an embodiment;

[0028] Figure 5A flowchart of a method for obtaining a structured point cloud model in an embodiment;

[0029] Figure 6 A schematic diagram of an octree in an embodiment;

[0030] Figure 7 A flowchart of a method for determining a three-dimensional environment map of a power transmission line in an embodiment;

[0031] Figure 8 A flowchart of a method for determining a three-dimensional environment map of a power transmission line in another embodiment;

[0032] Figure 9 A schematic diagram of a three-dimensional environment map in an embodiment;

[0033] Figure 10 A flowchart of a method for determining a three-dimensional environment map of a power transmission line in another embodiment;

[0034] Figure 11 A block diagram of a structure of a three-dimensional environment map determination apparatus in an embodiment;

[0035] Figure 12 An internal structure diagram of a computer device in an embodiment;

[0036] Figure 13 An internal structure diagram of a computer device in another embodiment. DETAILED DESCRIPTION

[0037] In order to make the purposes, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and should not be used to limit the present application.

[0038] It should be noted that the terms "first", "second", and the like used in the present application can be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish the first element from the second element. The terms "include" and "have" and any variations thereof used in the present application are intended to cover non-exclusive inclusion. The term "multiple" used in the present application refers to two or more. The term "and / or" used in the present application refers to one of the options or any combination of multiple options.

[0039] With the continuous expansion of the power grid scale in China, the total mileage of power transmission lines has exceeded one million kilometers. The traditional manual inspection mode has problems such as low efficiency, high risk, and limited coverage, and intelligent inspection equipment has become the core development direction of intelligent operation and maintenance of power grids.

[0040] In the prior art, most of the inspection devices collect inspection images of the power transmission line to construct a three-dimensional environment map of the power transmission line, so as to realize the inspection of the power transmission line based on the three-dimensional environment map.

[0041] However, since the existing three-dimensional environment map construction method has the problem of low accuracy, there is an urgent need for a method that can improve the accuracy of the constructed three-dimensional environment map.

[0042] Therefore, the present application provides a three-dimensional environment map determination method of a power transmission line, which first acquires a plurality of inspection images of the power transmission line collected by an inspection device, determines a plurality of feature points based on the plurality of inspection images, determines the pose information of the inspection device based on the plurality of feature points, determines the point cloud model of the power transmission line according to the pose information and the depth information of the plurality of feature points, then performs structured processing on the point cloud model of the power transmission line to obtain a structured point cloud model, and determines the three-dimensional environment map of the power transmission line based on the structured point cloud model, which is used to perform the inspection task of the power transmission line. The three-dimensional environment map determination method of the power transmission line provided by the present application not only has high accuracy of the determined pose information of the inspection device, but also determines the point cloud model of the power transmission line by using the pose information and the depth information of the plurality of feature points, and then determines the three-dimensional environment map of the power transmission line based on the point cloud model of the power transmission line, so that the determined three-dimensional environment map of the power transmission line has high accuracy.

[0043] The three-dimensional environment map determination method of the power transmission line provided by the present application can be executed by a computer device, which can be a terminal or a server.

[0044] In an exemplary embodiment, as shown in Figure 1 A three-dimensional environment map determination method of a power transmission line is provided, which comprises the following steps:

[0045] Step 101, acquiring a plurality of inspection images of the power transmission line collected by an inspection device, and determining a plurality of feature points based on the plurality of inspection images.

[0046] Optionally, the inspection device refers to a device used for the operation and inspection of the power transmission line. For example, a camera-carrying unmanned aerial vehicle, a ground inspection robot, etc.

[0047] For example, in the embodiment of the present application, the inspection device can be a camera-carrying unmanned aerial vehicle, and the camera can be a binocular camera. The resolution of the binocular camera can be 1280x720, the field of view angle can be 69x42, the maximum frame rate can be 90fps, and the depth accuracy can be ±2%.

[0048] Further, the camera can be fixed above the top of the unmanned aerial vehicle through a customized aluminum alloy support, the support adopts a 5mm-thick PA plastic hollow lightweight design, the camera optical axis has a 5° upward angle with the plane of the top of the unmanned aerial vehicle, so as to ensure that the full field of view of the tower and the conductor of the transmission line is covered during the inspection. The camera lens and the unmanned aerial vehicle body are fixed through a shock-absorbing rubber pad to avoid blurred inspection images caused by flight vibration.

[0049] The transmission line refers to a power facility for transmitting electric energy from a power plant to a transformer substation or between transformer substations, and the core components thereof include conductors, towers, insulators, fittings and other key components.

[0050] The inspection image refers to image data of the transmission line components and the surrounding environment collected by the inspection device during the operation and maintenance of the transmission line.

[0051] The feature point can be a key image point extracted from the inspection image after enhancement processing, which usually corresponds to the core components of the transmission line or the prominent marks of the surrounding environment.

[0052] In some exemplary embodiments, the computer device can first acquire a plurality of inspection images of the transmission line collected by the inspection device.

[0053] Specifically, the computer device can be in communication connection with the inspection device, and acquire the plurality of inspection images of the transmission line collected by the inspection device through the communication connection.

[0054] For example, the inspection device can fly along a 60kV transmission line, the flight height is 5m from the conductor, the flight trajectory is an S-shaped line around the line, passes through 3 towers, 6 sections of conductors, and 12 groups of insulators, and the total length of the line is 80m. The acquisition interval is 0.1s, and a total of 2000 inspection images are acquired, which can include 800 inspection images in overcast low-illumination scenes and 700 inspection images in normal illumination scenes. Optionally, the GPS data can be synchronized during the acquisition process, and the GPS true value is recorded once every 10 frames.

[0055] Further, after acquiring the plurality of inspection images of the transmission line collected by the inspection device, the computer device can determine a plurality of feature points based on the plurality of inspection images.

[0056] Specifically, the computer device can perform image enhancement processing on each inspection image to obtain each inspection image after image enhancement processing, and then perform feature extraction on each inspection image after image enhancement processing by using a pre-configured feature extraction network to obtain a plurality of feature points.

[0057] Step 102, determining the pose information of the inspection device based on the plurality of feature points, and determining the point cloud model of the transmission line according to the pose information and the depth information of the plurality of feature points.

[0058] The pose information refers to a spatial state parameter of the inspection device when collecting the corresponding inspection image. For example, the pose information can include position information and attitude information. The position information refers to a three-dimensional spatial coordinate, i.e., a specific orientation of the inspection device on the X / Y / Z axis. The attitude information refers to a three-dimensional attitude angle, i.e., a pitch angle, a roll angle, and a yaw angle of the inspection device.

[0059] The depth information refers to distance information of each feature point in the three-dimensional space relative to the camera of the inspection device. The point cloud model of the power transmission line refers to a model composed of a large number of three-dimensional points and used to represent the three-dimensional structure of the power transmission line.

[0060] In some example embodiments, after determining the plurality of feature points, the computer device can determine the pose information of the inspection device based on the plurality of feature points.

[0061] Specifically, the computer device can first determine a plurality of inter-frame feature matching pairs based on the feature points. Each inter-frame feature matching pair includes two feature points, and the two feature points belong to different inspection images. The inter-frame feature matching pair refers to a combination of feature points of a same physical point in different images, which is determined by comparing feature similarities and verifying spatial correlations between different inspection images. For example, a feature point of an insulator of the power transmission line is P1 in the first frame of inspection image and P2 in the second frame of inspection image. After matching and verification, (P1, P2) constitutes an inter-frame feature matching pair, and the core function of the inter-frame feature matching pair is to establish a spatial correspondence between different frames of inspection images.

[0062] The computer device further acquires a camera matrix and distortion coefficients of the inspection device, and constructs a pose calculation model based on the depth information of the plurality of feature points, the camera matrix, and the distortion coefficients. Then, the computer device determines a rotation parameter and a translation parameter based on the pose calculation model, and determines the pose information of the inspection device according to the rotation parameter and the translation parameter. The rotation parameter is used to represent the spatial attitude of the inspection device, and the translation parameter is used to represent the spatial position of the inspection device.

[0063] Further, after determining the pose information of the inspection device based on the plurality of feature points, the computer device can determine the point cloud model of the power transmission line according to the pose information and the depth information of the plurality of feature points.

[0064] Specifically, the computer device can input the pose information and the depth information of the plurality of feature points into a pre-trained point cloud model construction network to obtain the point cloud model of the power transmission line output by the point cloud model construction network.

[0065] Step 103, performing a structured processing on the point cloud model of the power transmission line to obtain a structured point cloud model, and determining a three-dimensional environment map of the power transmission line based on the structured point cloud model.

[0066] The three-dimensional environment map is used to perform the inspection task of the power transmission line.

[0067] In some example embodiments, after determining the point cloud model of the power transmission line, the computer device can perform structural processing on the point cloud model of the power transmission line to obtain a structured point cloud model.

[0068] Specifically, the computer device can determine the structured point cloud model according to the point cloud model of the power transmission line by using a structural processing algorithm.

[0069] Further, after determining the structured point cloud model, the computer device can determine the three-dimensional environment map of the power transmission line based on the structured point cloud model.

[0070] Specifically, the computer device can input the structured point cloud model into a pre-trained three-dimensional environment map determination model of the power transmission line to obtain a three-dimensional environment map of the power transmission line output by the three-dimensional environment map of the power transmission line.

[0071] The above method for determining the three-dimensional environment map of the power transmission line first acquires a plurality of inspection images of the power transmission line collected by an inspection device, and determines a plurality of feature points based on the plurality of inspection images. Then, the pose information of the inspection device is determined based on the plurality of feature points, and the point cloud model of the power transmission line is determined according to the pose information and the depth information of the plurality of feature points. Then, the point cloud model of the power transmission line is subjected to structural processing to obtain a structured point cloud model. Finally, the three-dimensional environment map of the power transmission line is determined based on the structured point cloud model, and the three-dimensional environment map is used to perform the inspection task of the power transmission line. The method for determining the three-dimensional environment map of the power transmission line provided in the present application not only has high accuracy of the determined pose information of the inspection device, but also determines the point cloud model of the power transmission line by using the pose information and the depth information of the plurality of feature points, and then determines the three-dimensional environment map of the power transmission line based on the point cloud model of the power transmission line, so that the determined three-dimensional environment map of the power transmission line has high accuracy.

[0072] In one example embodiment, as shown in Figure 2 The structural processing on the point cloud model of the power transmission line to obtain a structured point cloud model includes the following steps:

[0073] Step 201, performing regional division optimization processing on the point cloud model of the power transmission line to obtain a regular region point cloud model.

[0074] In some example embodiments, the computer device can perform regional division optimization processing on the point cloud model of the power transmission line to obtain a regular region point cloud model.

[0075] Specifically, the computer device can divide the point cloud model of the power transmission line based on three-dimensional coordinate axes to obtain a plurality of initial three-dimensional space regions, and determine the regular region point cloud model based on the number of point clouds of each initial three-dimensional space region.

[0076] The computer device can also utilize a region division optimization algorithm to perform region division optimization processing on the point cloud model of the power transmission line to obtain the regular region point cloud model.

[0077] Step 202, performing surface reconstruction processing on the regular region point cloud model to obtain a structured point cloud model.

[0078] In some exemplary embodiments, after obtaining the regular region point cloud model, the computer device can perform surface reconstruction processing on the regular region point cloud model to obtain a structured point cloud model.

[0079] Specifically, the computer device can determine point cloud geometric feature salient points from the regular region point cloud model based on Gaussian curvature, and then utilize a minimum edge angle product algorithm to determine the structured point cloud model based on the point cloud geometric feature salient points.

[0080] The computer device can also utilize a surface reconstruction algorithm to perform surface reconstruction processing on the regular region point cloud model to obtain a structured point cloud model.

[0081] In one exemplary embodiment, as shown in Figure 3 performing region division optimization processing on the point cloud model of the power transmission line to obtain the regular region point cloud model includes the following steps:

[0082] Step 301, dividing the point cloud model of the power transmission line based on three-dimensional coordinate axes to obtain a plurality of initial three-dimensional space regions.

[0083] In some exemplary embodiments, the computer device can divide the point cloud model of the power transmission line based on three-dimensional coordinate axes to obtain a plurality of initial three-dimensional space regions.

[0084] Specifically, the computer device can set a partition point at an interval of a preset distance on the X, Y, and Z axes to divide the point cloud model into a plurality of three-dimensional grids, i.e., a plurality of initial three-dimensional space regions, where the preset distance can be 0.5 meters, and the grid size of the three-dimensional grid can be 1 meter x 1 meter x 1 meter.

[0085] Step 302, determining the regular region point cloud model based on the number of point clouds of each initial three-dimensional space region.

[0086] In some example embodiments, the computer device divides the point cloud model of the power transmission line based on three-dimensional coordinate axes to obtain a plurality of initial three-dimensional space regions, and determines the regular region point cloud model based on the number of points in each initial three-dimensional space region.

[0087] Specifically, the computer device can first determine the density of each initial three-dimensional space region based on the number of points in each initial three-dimensional space region, and then merge the plurality of initial three-dimensional space regions based on the density of each initial three-dimensional space region to obtain the regular region point cloud model.

[0088] The computer device can also input the number of points in each initial three-dimensional space region into a pre-trained regular region point cloud model determination model to obtain the regular region point cloud model output by the regular region point cloud model determination model.

[0089] In one example embodiment, as shown in Figure 4 determining the regular region point cloud model based on the number of points in each initial three-dimensional space region includes the following steps:

[0090] Step 401, determining the density of each initial three-dimensional space region based on the number of points in each initial three-dimensional space region.

[0091] In some example embodiments, the computer device can determine the density of each initial three-dimensional space region based on the number of points in each initial three-dimensional space region.

[0092] Specifically, the computer device can count the number of points in each initial three-dimensional space region to calculate the point cloud density, i.e., the density, of each initial three-dimensional space region, which is measured in points per square meter. For example, the average point cloud density of the tower region is 800 points / m³, the average point cloud density of the conductor region is 150 points / m³, and the average point cloud density of the background region is 50 points / m³.

[0093] Step 402, merging the plurality of initial three-dimensional space regions based on the density of each initial three-dimensional space region to obtain the regular region point cloud model.

[0094] In some example embodiments, after determining the density of each initial three-dimensional space region based on the number of points in each initial three-dimensional space region, the computer device can merge the plurality of initial three-dimensional space regions based on the density of each initial three-dimensional space region to obtain the regular region point cloud model.

[0095] Specifically, the computer device can merge the initial three-dimensional space regions that are adjacent and have a density difference less than or equal to a preset threshold based on the density of each initial three-dimensional space region to obtain the regular region point cloud model. The preset threshold can be 100 points per cubic meter.

[0096] In one exemplary embodiment, such as Figure 5 As shown, surface reconstruction processing is performed on a regular region point cloud model to obtain a structured point cloud model, including the following steps:

[0097] Step 501: Based on Gaussian curvature, determine the salient points of geometric features of the point cloud from the regular region point cloud model.

[0098] In some exemplary embodiments, a computer device can determine salient points of geometric features of a point cloud from a regular region point cloud model based on Gaussian curvature.

[0099] Specifically, the computer equipment can search for neighboring points within a preset neighborhood range for each point cloud in the regularized region point cloud model. The neighborhood search radius can be set to 0.1m to adapt to the size of power transmission line components. Then, based on the neighboring points, a quadratic surface is fitted, and the Gaussian curvature K of that point is calculated using the principal curvature of the quadratic surface (Gaussian curvature K = principal curvature). × Principal curvature (Unit: 1 / m²); Set a Gaussian curvature threshold range, for example, K≥501 / m² or K≤-201 / m², and determine the points that meet the threshold conditions as significant points of point cloud geometric features. Among them, significant points of positive curvature correspond to convex structures such as tower corners and insulator tops, while significant points of negative curvature correspond to concave structures such as the connection between conductors and insulators and the area below tower crossarms.

[0100] For example, the Gaussian curvature of the point cloud in the tower area is mostly concentrated in the range of 80~1201 / m², while the Gaussian curvature of the point cloud in the conductor area is mostly concentrated in the range of -10~101 / m². Therefore, points with K≥501 / m² in the tower area and points with K≤-201 / m² in the conductor-insulator connection area are selected to form a set of points with significant geometric features in the point cloud.

[0101] Step 502: Using the least side-angle product algorithm, determine the structured point cloud model based on the salient points of the point cloud's geometric features.

[0102] In some exemplary embodiments, after determining the salient points of the point cloud geometric features, the computer device can use the least side-angle product algorithm to determine the structured point cloud model based on the salient points of the point cloud geometric features.

[0103] Specifically, the computer equipment can sort the salient points of the point cloud geometric features in an ordered manner, for example, grouping them according to the type of transmission line components: tower salient points, conductor salient points, and insulator salient points respectively; for each group of salient points, a neighborhood search algorithm is used to determine 3 to 5 neighboring salient points of each salient point, forming a candidate point set; for each salient point, two adjacent points are selected from the candidate point set to form a triangular patch, and the side-angle product of the triangle is calculated, where the side-angle product = the product of the lengths of the two adjacent sides of the triangle × the sine of the angle between the two adjacent sides; the triangular patch with the smallest side-angle product is selected as the optimal patch. The smallest side-angle product can ensure that the patch shape is close to an equilateral triangle, avoiding model distortion caused by slender patches. The preset side-angle product threshold can be 0.005m², and abnormal patches with side-angle products greater than the threshold are removed;

[0104] Repeat the above steps to construct triangular patches for all salient points. Then, stitch together and smooth the patch sets of different components. For example, use the Laplace smoothing algorithm to optimize the patch connection transition to obtain a structured point cloud model. This structured point cloud model can clearly distinguish the columnar structure of the tower, the linear structure of the conductor, and the disk-shaped structure of the insulator. The average side length error of its surface patches is ≤0.05m.

[0105] In an optional embodiment of this application, adjacent regions with a point cloud density difference ≤100 points / m³ are merged and repeatedly divided until the number of point clouds in the region is ≤500, generating an 8-layer octree structure. The octree nodes use binary encoding; for example, a tower node is encoded as 10110010, and a conductor node as 10101101. After division, the tower region has 320 nodes, the conductor region has 860 nodes, and the background region has 150 nodes. The initial octree nodes are decomposed layer by layer, with the decomposition threshold set to "a single node contains ≥2 types of transmission line targets," until the leaf nodes contain only a single transmission line target. Tower component leaf nodes: bounding box size 0.3m × 0.3m × 2m, containing 450-500 point clouds. For example, the minimum bounding box coordinates of a tower crossarm node are... Record the bounding box coordinates and target type label for each leaf node. For example... Figure 6 As shown, Figure 6 An exemplary octree for a power transmission line is shown.

[0106] The curvature of each vertex in the point cloud is calculated using the Gaussian curvature formula:

[0107] ;

[0108] in, The area of ​​the Voronoi region corresponding to the vertex; The angle between the vertices of the triangle containing the vertex; when The surface of the model is convex. The surface of the model is concave.

[0109] By constructing a point cloud surface within the bounding box of a leaf node using the Gaussian curvature calculation formula, salient geometric features of the point cloud are extracted. Based on the selected feature points, the minimum side-angle product method is used to construct triangular patches of the point cloud, each containing multiple point cloud points.

[0110] The active sides of a triangle are denoted as the three sides of the triangle. Search for neighboring points along the active edge. Define the influence area of ​​the active edge using these neighboring points. Based on the above preparatory conditions, assume... It is a point within the affected area. arrive and The distance is and The formula for calculating the side-angle product is:

[0111] ;

[0112] Select by calculation using the above formula The nearest points of the minimum value, and the vertex and The other vertex forms a triangle. While constructing the triangle, [the following is done / does something else]... Mark it. If If it has already been used, then define it. As the activity point, Remove edges from the edge calculation queue, including overlapping edges, and add newly created edges to the calculation queue; if If not used, then define As the activity point, Remove the edge from the edge calculation queue, and add the two newly created edges to the calculation queue. Through continuous iteration of the above calculations, all triangles are eventually constructed. After completing the point cloud slicing, each leaf node constructs 300-500 triangles, and each leaf node in the constructed point cloud slice retains ≤1000 point clouds.

[0113] In one exemplary embodiment, such as Figure 7 As shown, the process of determining a 3D environmental map of a transmission line based on a structured point cloud model includes the following steps:

[0114] Step 701: Obtain the preset mapping range and structural information of the inspection equipment.

[0115] Optionally, the preset mapping range can be pre-set by technicians according to actual needs. This can be used to limit the effective area of ​​the mapping and avoid redundant irrelevant environmental data. For example, it is defined based on the centerline of the transmission line, and the three-dimensional coordinate range is specified in combination with the inspection task requirements, such as the specific extension distance in the X, Y, and Z axes. It only covers the core components of the line and the surrounding key obstacle avoidance areas. Core components include towers, conductors, insulators, etc., while irrelevant environmental data such as distant trees and buildings are excluded.

[0116] In some exemplary embodiments, the computer device can obtain the core basic parameters required to build a three-dimensional environment map through preset configuration or device communication interface, ensuring that the map is adapted to the actual needs of the power transmission line inspection scenario.

[0117] Specifically, the preset mapping range is a localized focus area for the transmission line, with the three-dimensional spatial boundary defined based on the line centerline to avoid interference from redundant environmental data. For example, the X-axis direction, which is the direction of line extension, is ±3m; the Y-axis direction, which is the direction perpendicular to the horizontal direction of the line, is ±3m; and the Z-axis direction, which is the direction perpendicular to the ground height, is ±5m, covering only the core components of the line and the surrounding critical obstacle avoidance areas.

[0118] The core structural information of inspection equipment lies in the key dimensional parameters of the equipment's fuselage, which are used for subsequent obstacle avoidance adaptation. These mainly include the approximate radius of the equipment's fuselage and the sensor installation offset. For example, if the radius of a drone's fuselage is 0.3m and the installation offset of the camera sensor relative to the center of the fuselage is 0.1m, this parameter directly determines the accuracy of the obstacle avoidance safety distance calculation.

[0119] Step 702: Perform octree expansion processing on the structured point cloud model based on the mapping range and structural information to obtain an optimized point cloud model, and determine the three-dimensional environment map of the transmission line based on the optimized point cloud model.

[0120] In some exemplary embodiments, the computer device achieves obstacle avoidance adaptation and data normalization of the structured point cloud model through octree dilation processing, and finally generates a three-dimensional environment map that can be directly used for inspection tasks.

[0121] Specifically, the computer equipment first performs spatial clipping on the structured point cloud model based on the preset mapping range, eliminating redundant point clouds outside the mapping range, such as irrelevant environmental points like distant trees and buildings, while retaining the point cloud data of the line components and surrounding key areas; then, an octree data structure is constructed to divide the clipped point cloud model into uniformly sized voxels, with the voxel size set to 0.05m to balance modeling accuracy and data volume.

[0122] Based on the structural information of the inspection equipment, the point cloud of the obstacle voxels in the octree, corresponding to the non-touchable components such as transmission line towers and conductors, is expanded using the body radius as the expansion radius. The empty voxels adjacent to the obstacle voxels are marked as potential obstacle areas to simulate the safety avoidance boundary during equipment inspection and prevent collisions between the equipment and line components.

[0123] The optimized point cloud model obtained after dilation processing has the characteristics of accurate restoration of core components, clear marking of obstacle avoidance boundaries, and simplified and efficient data volume. The spatial position error of the line components is ≤0.03m, and the distance between the obstacle avoidance boundary and the actual component is equal to the fuselage radius + 0.1m safety redundancy.

[0124] Finally, the computer equipment optimizes the point cloud model and stores it in binary format, adapts it to the real-time calling interface of the inspection system, and completes the determination of the three-dimensional environment map of the transmission line. This map can directly support the core inspection tasks of the inspection equipment, such as path planning, real-time obstacle avoidance, and defect location, ensuring the safety and efficiency of the inspection process.

[0125] In one exemplary embodiment, such as Figure 8 As shown, another method for determining the three-dimensional environment map of a transmission line is provided, which includes the following steps:

[0126] Step 801: Acquire multiple inspection images of the transmission line collected by the inspection equipment, and determine multiple feature points based on the multiple inspection images; determine the pose information of the inspection equipment based on the multiple feature points, and determine the point cloud model of the transmission line based on the pose information and the depth information of the multiple feature points.

[0127] Step 802: Divide the point cloud model of the transmission line based on the three-dimensional coordinate axis to obtain multiple initial three-dimensional spatial regions; determine the density of each initial three-dimensional spatial region based on the number of point clouds in each initial three-dimensional spatial region; merge the multiple initial three-dimensional spatial regions based on the density of each initial three-dimensional spatial region to obtain a regular regional point cloud model.

[0128] Step 803: Based on Gaussian curvature, determine the salient points of geometric features of the point cloud from the regular region point cloud model; use the least side-angle product algorithm to determine the structured point cloud model based on the salient points of geometric features of the point cloud, and obtain the preset mapping range and the structural information of the inspection equipment;

[0129] Step 804: Based on the mapping range and structural information, perform octree expansion processing on the structured point cloud model to obtain an optimized point cloud model, and determine the three-dimensional environment map of the transmission line based on the optimized point cloud model. The three-dimensional environment map is used to perform the inspection task of the transmission line.

[0130] In one exemplary embodiment, such as Figure 9 andFigure 10 As shown, Figure 9 This is a three-dimensional environmental map of the transmission line determined based on the method provided in this application. Figure 10 This is a comparison chart of the positioning trajectory accuracy of this application and that of the traditional ORB-SLAM2.

[0131] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages in other steps. It is understood that the steps in different embodiments can be freely combined as needed, and all non-contradictory solutions formed by such combinations are within the scope of protection of this application.

[0132] Based on the same inventive concept, this application also provides a device for determining a three-dimensional environment map of a transmission line to implement the aforementioned method for determining a three-dimensional environment map of a transmission line. The solution provided by this device is similar to the solution described in the above method. Therefore, the specific limitations of one or more embodiments of the device for determining a three-dimensional environment map of a transmission line provided below can be found in the limitations of the method for determining a three-dimensional environment map of a transmission line described above, and will not be repeated here.

[0133] In one exemplary embodiment, such as Figure 11 As shown, a three-dimensional environment map determination device 1100 for power transmission lines is provided, comprising: an acquisition module 1101, a determination module 1102, and an execution module 1103, wherein:

[0134] The acquisition module 1101 is used to acquire multiple inspection images of the transmission line collected by the inspection equipment, and determine multiple feature points based on the multiple inspection images.

[0135] The determination module 1102 is used to determine the pose information of the inspection equipment based on multiple feature points, and to determine the point cloud model of the transmission line based on the pose information and the depth information of multiple feature points.

[0136] The execution module 1103 is used to perform structuring processing on the point cloud model of the transmission line to obtain a structured point cloud model, and to determine a three-dimensional environment map of the transmission line based on the structured point cloud model. The three-dimensional environment map is used to perform the inspection task of the transmission line.

[0137] In one embodiment, the execution module 1103 is specifically used to perform region division optimization processing on the point cloud model of the transmission line to obtain a regular region point cloud model; and to perform surface reconstruction processing on the regular region point cloud model to obtain a structured point cloud model.

[0138] In one embodiment, the execution module 1103 is specifically used to divide the point cloud model of the transmission line based on the three-dimensional coordinate axis to obtain multiple initial three-dimensional spatial regions; and to determine the regularized region point cloud model based on the number of point clouds in each initial three-dimensional spatial region.

[0139] In one embodiment, the execution module 1103 is specifically used to determine the density of each initial three-dimensional spatial region based on the number of point clouds in each initial three-dimensional spatial region; and to merge multiple initial three-dimensional spatial regions based on the density of each initial three-dimensional spatial region to obtain a regular region point cloud model.

[0140] In one embodiment, the execution module 1103 is specifically used to determine the salient points of geometric features of the point cloud from the regular region point cloud model based on Gaussian curvature; and to determine the structured point cloud model based on the salient points of geometric features of the point cloud using the minimum side-angle product algorithm.

[0141] In one embodiment, the execution module 1103 is specifically used to obtain a preset mapping range and structural information of the inspection equipment; perform octree expansion processing on the structured point cloud model based on the mapping range and structural information to obtain an optimized point cloud model; and determine a three-dimensional environmental map of the transmission line based on the optimized point cloud model.

[0142] The modules in the aforementioned three-dimensional environment map determination device for power transmission lines can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0143] In one exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 12As shown, the computer device includes a processor, memory, input / output interfaces (I / O), and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores data. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communicating with external terminals via a network connection. When executed by the processor, the computer program implements a method for determining a three-dimensional environmental map of a power transmission line.

[0144] In one exemplary embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 13 As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, Near Field Communication (NFC), or other technologies. When executed by the processor, the computer program implements a method for determining a three-dimensional environmental map of a power transmission line. The display unit is used to form a visually visible image and can be a display screen, projection device, or virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0145] Those skilled in the art will understand that Figure 12 and Figure 13The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0146] In one exemplary embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0147] Multiple inspection images of the transmission line collected by the inspection equipment are acquired, and multiple feature points are determined based on the multiple inspection images;

[0148] The pose information of the inspection equipment is determined based on multiple feature points, and the point cloud model of the transmission line is determined based on the pose information and the depth information of multiple feature points.

[0149] The point cloud model of the transmission line is structured to obtain a structured point cloud model, and a three-dimensional environment map of the transmission line is determined based on the structured point cloud model. The three-dimensional environment map is used to perform the inspection task of the transmission line.

[0150] In one embodiment, when the processor executes the computer program, it further performs the following steps: performing region division optimization processing on the point cloud model of the transmission line to obtain a regular region point cloud model; and performing surface reconstruction processing on the regular region point cloud model to obtain a structured point cloud model.

[0151] In one embodiment, when the processor executes the computer program, it further performs the following steps: dividing the point cloud model of the transmission line based on the three-dimensional coordinate axes to obtain multiple initial three-dimensional spatial regions; and determining the regularized region point cloud model based on the number of point clouds in each initial three-dimensional spatial region.

[0152] In one embodiment, when the processor executes the computer program, it further performs the following steps: determining the density of each initial three-dimensional spatial region based on the number of point clouds in each initial three-dimensional spatial region; and merging multiple initial three-dimensional spatial regions based on the density of each initial three-dimensional spatial region to obtain a regularized region point cloud model.

[0153] In one embodiment, when the processor executes the computer program, it also performs the following steps: determining salient points of geometric features of the point cloud from the regular region point cloud model based on Gaussian curvature; and determining a structured point cloud model based on the salient points of geometric features of the point cloud using the minimum side-angle product algorithm.

[0154] In one embodiment, when the processor executes the computer program, it also performs the following steps: obtaining a preset mapping range and structural information of the inspection equipment; performing octree expansion processing on the structured point cloud model based on the mapping range and structural information to obtain an optimized point cloud model; and determining a three-dimensional environmental map of the transmission line based on the optimized point cloud model.

[0155] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0156] Multiple inspection images of the transmission line collected by the inspection equipment are acquired, and multiple feature points are determined based on the multiple inspection images;

[0157] The pose information of the inspection equipment is determined based on multiple feature points, and the point cloud model of the transmission line is determined based on the pose information and the depth information of multiple feature points.

[0158] The point cloud model of the transmission line is structured to obtain a structured point cloud model, and a three-dimensional environment map of the transmission line is determined based on the structured point cloud model. The three-dimensional environment map is used to perform the inspection task of the transmission line.

[0159] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: performing region division optimization processing on the point cloud model of the transmission line to obtain a regular region point cloud model; and performing surface reconstruction processing on the regular region point cloud model to obtain a structured point cloud model.

[0160] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: dividing the point cloud model of the transmission line based on the three-dimensional coordinate axes to obtain multiple initial three-dimensional spatial regions; and determining the regularized region point cloud model based on the number of point clouds in each initial three-dimensional spatial region.

[0161] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: determining the density of each initial three-dimensional spatial region based on the number of point clouds in each initial three-dimensional spatial region; and merging multiple initial three-dimensional spatial regions based on the density of each initial three-dimensional spatial region to obtain a regularized region point cloud model.

[0162] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: determining salient points of geometric features of the point cloud from the regular region point cloud model based on Gaussian curvature; and determining a structured point cloud model based on the salient points of geometric features of the point cloud using the minimum side-angle product algorithm.

[0163] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: obtaining a preset mapping range and structural information of the inspection equipment; performing octree expansion processing on the structured point cloud model based on the mapping range and structural information to obtain an optimized point cloud model; and determining a three-dimensional environmental map of the transmission line based on the optimized point cloud model.

[0164] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps:

[0165] Multiple inspection images of the transmission line collected by the inspection equipment are acquired, and multiple feature points are determined based on the multiple inspection images;

[0166] The pose information of the inspection equipment is determined based on multiple feature points, and the point cloud model of the transmission line is determined based on the pose information and the depth information of multiple feature points.

[0167] The point cloud model of the transmission line is structured to obtain a structured point cloud model, and a three-dimensional environment map of the transmission line is determined based on the structured point cloud model. The three-dimensional environment map is used to perform the inspection task of the transmission line.

[0168] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: performing region division optimization processing on the point cloud model of the transmission line to obtain a regular region point cloud model; and performing surface reconstruction processing on the regular region point cloud model to obtain a structured point cloud model.

[0169] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: dividing the point cloud model of the transmission line based on the three-dimensional coordinate axes to obtain multiple initial three-dimensional spatial regions; and determining the regularized region point cloud model based on the number of point clouds in each initial three-dimensional spatial region.

[0170] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: determining the density of each initial three-dimensional spatial region based on the number of point clouds in each initial three-dimensional spatial region; and merging multiple initial three-dimensional spatial regions based on the density of each initial three-dimensional spatial region to obtain a regularized region point cloud model.

[0171] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: determining salient points of geometric features of the point cloud from the regular region point cloud model based on Gaussian curvature; and determining a structured point cloud model based on the salient points of geometric features of the point cloud using the minimum side-angle product algorithm.

[0172] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: obtaining a preset mapping range and structural information of the inspection equipment; performing octree expansion processing on the structured point cloud model based on the mapping range and structural information to obtain an optimized point cloud model; and determining a three-dimensional environmental map of the transmission line based on the optimized point cloud model.

[0173] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0174] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0175] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for determining a three-dimensional environmental map of a power transmission line, characterized in that, The method includes: Multiple inspection images of the transmission line collected by the inspection equipment are acquired, and multiple feature points are determined based on the multiple inspection images; The pose information of the inspection equipment is determined based on the multiple feature points, and the point cloud model of the transmission line is determined based on the pose information and the depth information of the multiple feature points. The point cloud model of the transmission line is processed to obtain a structured point cloud model, and a three-dimensional environment map of the transmission line is determined based on the structured point cloud model. The three-dimensional environment map is used to perform the inspection task of the transmission line.

2. The method according to claim 1, characterized in that, The step of structuring the point cloud model of the transmission line to obtain a structured point cloud model includes: The point cloud model of the transmission line is subjected to region division optimization processing to obtain a regular region point cloud model; The regular regional point cloud model is subjected to surface reconstruction processing to obtain the structured point cloud model.

3. The method according to claim 2, characterized in that, The process of performing region division optimization on the point cloud model of the transmission line to obtain a regular region point cloud model includes: The point cloud model of the transmission line is divided based on the three-dimensional coordinate axes to obtain multiple initial three-dimensional spatial regions. The regularized region point cloud model is determined based on the number of point clouds in each of the initial three-dimensional spatial regions.

4. The method according to claim 3, characterized in that, Determining the regularized region point cloud model based on the number of point clouds in each of the initial three-dimensional spatial regions includes: The density of each initial three-dimensional spatial region is determined based on the number of point clouds in each initial three-dimensional spatial region. Based on the density of each initial three-dimensional spatial region, the multiple initial three-dimensional spatial regions are merged to obtain the regularized region point cloud model.

5. The method according to claim 2, characterized in that, The step of performing surface reconstruction processing on the regular region point cloud model to obtain the structured point cloud model includes: Based on Gaussian curvature, significant points of geometric features of the point cloud are determined from the regular region point cloud model; The structured point cloud model is determined based on the salient points of the point cloud's geometric features using the least side-angle product algorithm.

6. The method according to any one of claims 1 to 4, characterized in that, The process of determining the three-dimensional environmental map of the transmission line based on the structured point cloud model includes: Obtain the preset mapping range and the structural information of the inspection equipment; Based on the mapping range and the structural information, the structured point cloud model is subjected to octree dilation to obtain an optimized point cloud model, and the three-dimensional environment map of the transmission line is determined based on the optimized point cloud model.

7. A device for determining a three-dimensional environment map of a power transmission line, characterized in that, The device includes: The acquisition module is used to acquire multiple inspection images of the transmission line collected by the inspection equipment, and determine multiple feature points based on the multiple inspection images; The determination module is used to determine the pose information of the inspection equipment based on the plurality of feature points, and to determine the point cloud model of the transmission line based on the pose information and the depth information of the plurality of feature points; The execution module is used to perform structuring processing on the point cloud model of the transmission line to obtain a structured point cloud model, and to determine a three-dimensional environment map of the transmission line based on the structured point cloud model. The three-dimensional environment map is used to perform the inspection task of the transmission line.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

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