Cable detection device, method, and program

Abstract

To provide a cable detection apparatus, or the like, which can contribute to detecting a cable-like object accurately while suppressing the time and effort or calculation load.SOLUTION: A cable detection apparatus includes: a straight line detection unit configured to detect a straight line by projecting a point group located in an area of an arbitrary height in point groups relating to imaging data, on a horizontal plane; and a catenary line detection unit configured to detect a catenary line as a cable by restoring the point group on the basis of the straight line detected by the straight line detection unit and projecting the point group on a predetermined vertical plane.SELECTED DRAWING: Figure 9

Description

[Technical field]

[0001] The present invention relates to a cable detection device, method, and program. [Background technology]

[0002] To prevent electric shock accidents, electric power companies must adhere to regulations (Wired Telecommunications Equipment Ordinance) regarding the distance between electric wires and surrounding structures. The distance is measured periodically by workers using measuring tools. As there are a huge number of electric wires, there is a demand for easier measurement of the distance. One way to make distance measurement easier is to use a 3D sensor to measure the distance. Measuring distance using a 3D sensor requires technology to selectively detect electric wires from the point cloud of image data acquired from the 3D sensor.

[0003] As a technology for selectively detecting electric wires from a point cloud, for example, Patent Document 1 discloses a technology for learning the regularity (shape, etc.) of a cable (electric wire) and detecting a wire constituent point cloud that constitutes the wire based on the learned cable regularity.

[0004] Patent Document 2 also discloses a technology in which constituent points that constitute a thin linear object are detected based on the positional relationship of the point included in three-dimensional point cloud information with surrounding points, straight line elements are detected from the constituent points based on tangent direction information of each of the detected constituent points, the detected straight line elements are used as a thin linear object model representing an initial thin linear object, the thin linear object model is generated based on a proximity state between thin linear object models and a predetermined connectivity index, the length of the thin linear object model is estimated from the positions of the points included in the thin linear object model, and whether or not the thin linear object model is an appropriate model is determined based on the estimated length and a predetermined threshold value.

[0005] Furthermore, Non-Patent Document 1 discloses a technique for extracting electric wires from a point cloud obtained by airborne laser scanning. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] JP 2019-109839 A [Patent Document 2] JP 2015-1901 A [Non-patent literature]

[0007] [Non-Patent Document 1] T. Melzer et al., "Extraction and Modeling of Power Lines from ALS Point Clouds", URL=https: / / publik.tuwien.ac.at / files / PubDat_119606.pdf Summary of the Invention [Problem to be solved by the invention]

[0008] The following analysis is provided by the present inventors.

[0009] However, the techniques described in Patent Documents 1 and 2 and Non-Patent Document 1 have the following problems. Patent Document 1 requires learning the regularity of the cable, which is a time-consuming process. Patent Document 2 generates a thin-line object model, which is three-dimensional point cloud data, and determines whether the model is appropriate, which results in a high computational load. Non-Patent Document 1 also performs clustering as a preprocessing step for detecting catenary lines, which are models of electric wires suspended between two points, which results in a problem of reduced detection accuracy in situations where the point cloud relating to the electric wires is sparse.

[0010] A main object of the present invention is to provide a cable detection device, method, and program that can contribute to detecting cable-like objects with high accuracy while reducing the effort and calculation load. [Means for solving the problem]

[0011] A cable detection device according to a first aspect of the present invention comprises: The object to be detected, including the cable, was photographed. Shooting data The detection target in In the point cloud related to A point cloud relating to the cable is included. In any height region The cable Project the point cloud onto a horizontal plane to detect straight lines. Direct A line detection unit and the straight line detected by the straight line detection unit. The cable included in Recover the point cloud Parallel to the line Projected onto a given vertical plane, The above cable Related to Detecting catenary Suspension A perpendicular line detection unit and The straight line detection unit converts the angle of the point cloud related to the detection object in the photographing data by using an IMU sensor or based on an angle of a wall surface of a building in the detection object so that the direction of gravity in the photographing data is downward, and detects the straight line by using the angle-converted point cloud related to the cable in the detection object. .

[0012] A cable detection method according to a second aspect of the present invention comprises: computer Using The object to be detected, including the cable, was photographed. From the photographic data, a catenary The above A cable detection method for detecting a cable, comprising: The detection target in In the point cloud related to A point cloud relating to the cable is included. A step of detecting a straight line by projecting a point cloud in an area of ​​an arbitrary height onto a horizontal plane; The cable included in Recover the point cloud Parallel to the line When projected onto a predetermined vertical plane, the cable Related to detecting a catenary; Includes.

[0013] The program related to the third perspective is as follows: The object to be detected, including the cable, was photographed. From the photographic data, a catenary The above The process of detecting cables computer The program is executed by the The detection target in In the point cloud related to A point cloud relating to the cable is included. A process of detecting a straight line by projecting a point cloud in an area of ​​a given height onto a horizontal plane, and detecting the detected straight line. The cable included in Recover the point cloud Parallel to the line When projected onto a predetermined vertical plane, the cable Related to A process for detecting a catenary. computer to execute.

[0014] The program can be recorded in a computer-readable storage medium. The storage medium can be a non-transient medium such as a semiconductor memory, a hard disk, a magnetic recording medium, or an optical recording medium. In addition, the present disclosure can be embodied as a computer program product. The program is input to the computer device from an input device or an external device via a communication interface, stored in a storage device, drives the processor according to a predetermined step or process, and can display the processing result, including an intermediate state as necessary, at each stage via a display device, or can communicate with the outside via the communication interface. For example, a computer device for this purpose typically includes a processor, a storage device, an input device, a communication interface, and a display device as necessary, which are connectable to each other via a bus. Effect of the Invention

[0015] The first to third aspects can contribute to detecting a cable-like object with high accuracy without requiring much effort or computational load. [Brief description of the drawings]

[0016] [Figure 1] FIG. 2 is a conceptual diagram illustrating an example of a usage mode of the cable detection device according to the first embodiment. [Diagram 2] 1 is a block diagram illustrating a schematic configuration of a cable detection device according to a first embodiment. [Diagram 3] 4 is a flowchart illustrating an example of an operation of the cable detection device according to the first embodiment. [Figure 4] 5 is a flowchart illustrating in schematic detail the operation of the cable detection unit of the cable detection device according to the first embodiment. [Diagram 5] 4 is a process image of the first half of an example of the operation of the cable detection unit in the cable detection device according to the first embodiment. [Figure 6]6 is a second half process image following FIG. 5 which illustrates a schematic example of the operation of the cable detection unit in the cable detection device according to the first embodiment. [Figure 7] FIG. 11 is a conceptual diagram illustrating an example of a usage mode of the cable detection device according to the second embodiment. [Figure 8] FIG. 11 is a conceptual diagram illustrating an example of a usage mode of the cable detection device according to the third embodiment. [Figure 9] FIG. 11 is a block diagram illustrating a schematic configuration of a cable detection device according to a fourth embodiment. [Figure 10] FIG. 2 is a block diagram illustrating a schematic configuration of hardware resources. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] Hereinafter, the embodiments will be described with reference to the drawings. In addition, when drawing reference symbols are used in this application, they are intended to aid understanding only and are not intended to limit the present invention to the illustrated embodiment. In addition, the following embodiments are merely examples and do not limit the present invention. In addition, the connection lines between blocks in the drawings and the like referred to in the following description include both bidirectional and unidirectional. A unidirectional arrow is a schematic representation of the flow of a main signal (data) and does not exclude bidirectionality. Furthermore, although not explicitly shown in the circuit diagrams, block diagrams, internal configuration diagrams, connection diagrams, and the like shown in the present disclosure, an input port and an output port exist at the input end and output end of each connection line. The same is true for input / output interfaces. A program is executed via a computer device, which includes, for example, a processor, a storage device, an input device, a communication interface, and a display device as necessary, and which is configured to be able to communicate with an internal or external device (including a computer) via the communication interface, regardless of whether it is wired or wireless.

[0018] [Embodiment 1] The cable detection device according to the embodiment 1 will be described with reference to the drawings. Fig. 1 is an image diagram showing a typical example of a usage mode of the cable detection device according to the embodiment 1. Fig. 2 is a block diagram showing a typical configuration of the cable detection device according to the embodiment 1.

[0019] The cable detection device 1 is a device that selectively detects a catenary-like cable (e.g., an electric wire, an overhead line, a wire, a communication line, etc.) hanging down from both ends based on photographed data 2 related to a detection object 90 (see Figs. 1 and 2). The cable detection device 1 can be used, for example, for measuring a separation distance (e.g., the shortest distance between an electric wire and a surrounding structure) in an electric power company, for detecting and measuring a distance to a wire in the construction industry, for detecting and measuring a distance to an overhead line in the railway field, and for detecting and measuring a distance to a communication line in the communication industry. The cable detection device 1 is connected to a three-dimensional sensor 60 so as to be able to communicate with it. The cable detection device 1 acquires the photographed data 2 related to the detection object 90 from the three-dimensional sensor 60.

[0020] Here, the three-dimensional sensor 60 is a device that three-dimensionally senses and photographs the surface (surface that can be photographed) of the detection object 90 (see Fig. 1 and Fig. 2). The three-dimensional sensor 60 is connected to the cable detection device 1 so as to be able to communicate with it. The three-dimensional sensor 60 generates photographed data 2 in a predetermined format by photographing the detection object 90, and outputs the generated photographed data 2 to the cable detection device 1. For the three-dimensional sensor 60, for example, a ToF (Time of Flight) camera, a stereo camera, a 3D-LIDAR (Laser Imaging Detection And Ranging), a depth sensor, a distance measuring sensor, a distance camera, etc. can be used. The three-dimensional sensor 60 is operated by an operator. Note that the photographed data 2 is data generated by the three-dimensional sensor 60 in a predetermined format, and is point cloud data drawn with a point cloud (a collection of many points having XYZ coordinate (three-dimensional coordinate) information) (see Fig. 2). The three-dimensional sensor 60 can be changed to a sensor device with various output formats according to customer requests.

[0021] The cable detection device 1 may be a device (computer device) having functional units that constitute a computer (e.g., a processor, a storage device, an input device, a communication interface, and a display device), such as a notebook personal computer, a smartphone, or a tablet terminal. The cable detection device 1 realizes a pre-processing unit 10, a cable detection unit 20, and a user interface unit 30 by executing a predetermined program.

[0022] The pre-processing unit 10 is a functional unit that performs pre-processing on the imaging data 2 in order to detect cables (see FIG. 2). The pre-processing unit 10 outputs the pre-processed imaging data 2 to the cable detection unit 20. The pre-processing unit 10 includes a format conversion unit 11 and a noise removal unit 12. Note that the pre-processing unit 10 may include a functional unit that interpolates missing points based on imaging data from another 3D sensor or points in the imaging data 2.

[0023] The format conversion unit 11 is a functional unit that converts the format of the photographed data 2 into a common format that can be commonly used in the cable detection device 1 as pre-processing (see FIG. 2). The format conversion unit 11 outputs the photographed data 2 in the converted common format to the noise removal unit 12. Note that if the format of the photographed data 2 is originally a common format, the format conversion can be omitted.

[0024] The noise removal unit 12 is a functional unit that removes noise (points unnecessary for detection) from the point cloud in the shooting data 2 from the format conversion unit 11 as pre-processing (see FIG. 2). The noise removal unit 12 outputs the shooting data 2 from which noise has been removed to the cable detection unit 20. Examples of noise removal methods include smoothing processing, filtering (e.g., moving average filter processing, median filter processing, etc.), and outlier removal processing (e.g., outlier removal processing by chi-squared test). Note that if there is almost no noise, noise removal may be omitted.

[0025] The cable detection unit 20 is a functional unit that selectively detects a catenary-like cable (electric wire 92 in FIG. 1) hanging down from both ends of the detection object 90 from the photographed data 2 preprocessed by the preprocessing unit 10 (see FIG. 2). The cable detection unit 20 detects the cable based on the characteristics of the cable (for example, that it is a straight line when viewed from directly above, and that a catenary exists in a vertical plane including the entire straight line when viewed from the side). The cable detection unit 20 outputs the cable detection result to the user interface unit 30. The cable detection unit 20 includes a straight line detection unit 21 and a catenary detection unit 22.

[0026] The line detection unit 21 is a functional unit that detects a line by projecting a point cloud in an area of ​​an arbitrary height in the point cloud related to the photographed data 2 onto a horizontal plane (see FIG. 2). The line detection unit 21 performs angle conversion (rotation) of the point cloud related to the photographed data 2 so that the direction of gravity of the photographed data 2 at the time of photographing is downward. If the photographed data 2 is photographed so that the direction of gravity of the photographed data 2 is downward at the time of photographing, the angle conversion may be omitted. The line detection unit 21 specifies an area of ​​an arbitrary height (designated area 96 in FIG. 1) including a point cloud related to a cable (electric wire 92 in FIG. 1) in the vertical direction (Y-axis direction) in a space including the angle-converted point cloud related to the photographed data 2. The line detection unit 21 divides the specified area (designated area 96 in FIG. 1) into a plurality of small areas in the vertical direction (Y-axis direction). The line detector 21 projects the point cloud (three-dimensional data) in each divided small region onto a horizontal plane (XZ plane) and compresses it into two-dimensional data (data that uses only the XZ coordinates of the point cloud and does not use the Y coordinate). The line detector 21 detects lines from the compressed two-dimensional data. Details of the operation of the line detector 21 (see Figs. 4 to 6) will be described later.

[0027] The catenary detection unit 22 is a functional unit that restores the point cloud based on the straight line detected by the straight line detection unit 21, projects it onto a predetermined vertical plane, and detects the catenary as a cable (see FIG. 2). The catenary detection unit 22 restores the point cloud (restores the Y coordinate) based on two-dimensional data (data using only the XZ coordinates of the point cloud and not the Y coordinate) related to the straight line detected by the straight line detection unit 21, and decompresses it into three-dimensional data (data using all of the XYZ coordinates of the point cloud). The catenary detection unit 22 performs angle conversion (rotation) on a predetermined horizontal plane so that any straight line (for example, a straight line related to the electric wire 92) detected by the straight line detection unit 21 becomes parallel to the XY plane (or the YZ plane is also possible). The catenary detection unit 22 projects the angle-converted point cloud onto the XY plane (or the YZ plane is also possible) and compresses it into two-dimensional data. The catenary detection unit 22 detects the catenary as a cable from the compressed two-dimensional data. The operation of catenary detection unit 22 will be described in detail later (see FIGS. 4 to 6).

[0028] The user interface unit 30 is a functional unit having a user interface (see FIG. 2). The user interface unit 30 includes a display unit 31 and an input unit 32.

[0029] The display unit 31 is a functional unit that displays information (see FIG. 2). The display unit 31 displays the detection result of the cable (electric wire 92 in FIG. 1) detected by the cable detection unit 20.

[0030] The input unit 32 is a functional unit that inputs information to the cable detection device 1 through a user's operation (see FIG. 2). When detecting a cable with the cable detection unit 20, the input unit 32 can be used to specify an area (specified area 96 in FIG. 1) in which a cable (e.g., electric wire 92 in FIG. 1) exists, or to specify (select) an area in which a cable to be detected exists from among multiple cables.

[0031] Next, the operation of the cable detection device according to the embodiment 1 will be described with reference to the drawings. Fig. 3 is a flow chart that illustrates the operation of the cable detection device according to the embodiment 1. Please refer to Figs. 1 and 2 for the configuration of the cable detection device and an image of an object to be measured.

[0032] First, the preprocessing unit 10 of the cable detection device 1 acquires the photographed data 2 relating to the detection object 90 photographed by the three-dimensional sensor 60 (step A1).

[0033] Next, as preprocessing, the format conversion unit 11 of the preprocessing unit 10 of the cable detection device 1 converts the format of the photographed data 2 acquired in step A1 into a common format that can be commonly used in the cable detection device 1 (step A2). Note that if the format of the photographed data 2 is originally a common format, the format conversion may be omitted.

[0034] Next, the noise removal unit 12 of the pre-processing unit 10 of the cable detection device 1 removes noise from the point cloud in the photographed data 2 converted into the common format in step A2 (step A3) as pre-processing. Note that if there is almost no noise, noise removal may be omitted.

[0035] Next, the straight line detector 21 of the cable detector 20 of the cable detector 1 detects straight lines by projecting the point cloud in an area of ​​an arbitrary height in the point cloud related to the photographed data 2 from which noise has been removed in step A3 onto a horizontal plane (step A4). The area of ​​an arbitrary height can be a height input (specified, selected) by a user's operation at the input unit 32, or a height that has been set in advance. Details of the detection of straight lines (see Figs. 4 to 6) will be described later.

[0036] Finally, catenary detection unit 22 of cable detection unit 20 of cable detection device 1 restores the point cloud based on the straight line detected by straight line detection unit 21 and projects it onto a predetermined vertical plane to detect the catenary as a cable (step A5). Details of catenary detection (see Figs. 4 to 6) will be described later.

[0037] Next, the operation of the cable detection device according to the first embodiment when detecting a straight line and a catenary will be described with reference to the drawings. Fig. 4 is a flow chart that typically illustrates the details of the operation of the cable detection unit of the cable detection device according to the first embodiment. Fig. 5 is a schematic first half process image of an example of the operation of the cable detection unit in the cable detection device according to the first embodiment. Fig. 6 is a schematic second half process image following Fig. 5 that typically illustrates an example of the operation of the cable detection unit in the cable detection device according to the first embodiment.

[0038] First, the straight line detection unit 21 of the cable detection unit 20 of the cable detection device 1 performs angle conversion (rotation) of the point cloud related to the photographed data 2 so that the direction of gravity of the photographed data 2 at the time of photographing is downward (step B1).

[0039] Here, as a method of angle conversion, for example, there is a method of converting the angle by adjusting the inclination of the shooting data 2 at the time of shooting to the direction of gravity using an IMU (Inertial Measurement Unit) sensor. Also, instead of using the IMU sensor, angle conversion may be performed based on the angle of the wall of the building 93 so that the wall becomes a vertical surface.

[0040] Next, the straight line detection unit 21 of the cable detection unit 20 of the cable detection device 1 designates an area of ​​any height (designated area 96 in FIG. 5(A)) including the point cloud related to the cable (electric wire 92 in FIG. 5(A)) in the vertical direction (Y-axis direction) in a space including the point cloud related to the shooting data 2 angle-converted in step B1 (step B2).

[0041] Here, the area of ​​any height (corresponding to the designated area 96) can be a height input (specified, selected) by the user's operation on the input unit 32, or can be a preset height. The designated area 96 is designated to include a point cloud relating to the entire electric wire 92, but not to include a point cloud relating to a structure that impedes detection of the electric wire 92 (a building 94 that overlaps with the electric wire 92 when viewed from directly above in FIG. 5(A)).

[0042] Next, the straight line detection unit 21 of the cable detection unit 20 of the cable detection device 1 divides the area of ​​the arbitrary height specified in step B2 (specified area 96 in FIG. 5(A)) into multiple small areas (small areas 96a, 96b, 96c in FIG. 5(A)) in the vertical direction (Y-axis direction) (step B3).

[0043] Next, the straight line detection unit 21 of the cable detection unit 20 of the cable detection device 1 projects the point cloud (three-dimensional data) in each small area divided in step B3 onto a horizontal plane (XZ plane) and compresses it into two-dimensional data (step B4).

[0044] Here, the two-dimensional data can be data that uses only the XZ coordinates of the point cloud and does not use the Y coordinate, and can be data that is obtained by projecting the point cloud of utility pole 91, power wire 92, and building designated area portion 93a (the part of building 93 that is within designated area 96) onto the XZ plane and representing it linearly (straight or curved) on the XZ plane, as shown in Figure 5(B).

[0045] Next, the straight line detector 21 of the cable detector 20 of the cable detector 1 detects straight lines from the two-dimensional data compressed in step B4 (step B5). As a result, as shown in Fig. 5(C), only the electric wire 92 and the building designated area 93a related to the straight lines are detected, and the electric pole 91 related to the curved lines is excluded.

[0046] Here, an example of a method for detecting a straight line is a method for detecting a straight line from an image that has been subjected to a Hough transform. When detecting a straight line, if the point cloud relating to a portion of the electric wire 92 that is far from the shooting position becomes sparse and the straight line cannot be adequately detected from the Hough transformed image, the point cloud may be weighted according to the distance from a predetermined position (e.g., the origin) when voting for the HOUGH transform. For example, the distance of the target point from the origin (0,0,0) may be calculated, and the number of votes may be multiplied by a coefficient according to the distance from the origin to cast a vote. Regarding the coefficient and vote, if the distance (m) from the origin is the same, the coefficient value may be the same, and if the distance from the origin is 1 m, the coefficient may be 1 and the number of votes may be 1, and if the distance is 5 m, the coefficient may be 5 and the number of votes may be 5.

[0047] Next, the catenary detection unit 22 of the cable detection unit 20 of the cable detection device 1 restores the point cloud (restores the Y coordinate) based on the two-dimensional data (data that uses only the XZ coordinates of the point cloud and does not use the Y coordinate) related to the straight line detected in step B5, and decompresses it into three-dimensional data (step B6). As a result, the three-dimensional data can be one in which only the electric wire 92 related to the straight line and the building designated area portion 93a are shown, as shown in Fig. 5(D).

[0048] Next, the catenary detection unit 22 of the cable detection unit 20 of the cable detection device 1 performs angle conversion (rotation) of the point cloud related to the decompressed three-dimensional data so that any straight line detected by the straight line detection unit 21 (for example, the straight line related to the electric wire 92 in FIG. 5(C)) becomes parallel to the XY plane (a predetermined vertical plane; the YZ plane is also acceptable) (step B7). This makes it possible to make the point cloud related to the electric wire 92 parallel to the XY plane as shown in FIG. 6(A).

[0049] Next, the catenary detection unit 22 of the cable detection unit 20 of the cable detection device 1 projects the point cloud angle-converted in step B7 onto a vertical plane (the XY plane in Figure 6 (B); the YZ plane is also possible) and compresses it into two-dimensional data (step B8).

[0050] Here, the two-dimensional data can be data that uses only the XY coordinates of the point cloud and does not use the Z coordinate, and can be data that projects the point cloud of the power lines 92 and the building designated area portion 93a onto the XY plane and represents them as catenary lines and planes on the XY plane, as shown in Figure 6(B).

[0051] Finally, the catenary detection unit 22 of the cable detection unit 20 of the cable detection device 1 selects and detects the catenary as a cable (electric wire 92) from the two-dimensional data compressed in step B8 (step B9). As a result, as shown in Fig. 6(C), only the electric wire 92 related to the catenary is detected, and the building designated area portion 93a related to the plan is excluded.

[0052] Here, an example of a method for detecting catenary lines is a method for detecting catenary lines from an image that has been subjected to HOUGH transformation.

[0053] According to the first embodiment, by combining techniques with low effort and computational load, such as angle transformation, projection, and point cloud restoration, it is possible to contribute to selectively detecting cable-like objects with high accuracy from three-dimensional data (point cloud).

[0054] Furthermore, according to embodiment 1, cable-like objects can be selectively detected with high accuracy from three-dimensional data, facilitating the measurement of the distance between cables and structures in the power industry, for example.

[0055] Furthermore, according to the first embodiment, even in detecting catenary cables such as the various electric cables 92 having different degrees of slack (degree of slackness of the wire stretched between two points), it is possible to detect cables without using machine learning.

[0056] Furthermore, according to embodiment 1, cables can be accurately detected from three-dimensional data using only the three-dimensional sensor 60 and the cable detection device 1, such as a notebook personal computer or a tablet terminal, so that workers can easily detect cables without using a dedicated detection device, etc.

[0057] Furthermore, according to embodiment 1, the three-dimensional data captured by the three-dimensional sensor 60 can be used, so that when performing photography work in dangerous locations such as high places or dark places, photography work can be performed from a safe location without going to the cable that is the object to be detected.

[0058] [Embodiment 2] The cable detection device according to the second embodiment will be described with reference to the drawings. Fig. 7 is a schematic conceptual diagram showing an example of a usage mode of the cable detection device according to the second embodiment.

[0059] The second embodiment is a modification of the first embodiment, and uses a cable detection device 1 with a built-in three-dimensional sensor unit 40. As the cable detection device 1, for example, a portable information processing device such as a smartphone or tablet terminal that originally has a built-in three-dimensional sensor unit 40 (e.g., a depth sensor, a ToF camera, etc.) can be used. The configuration and operation of the cable detection device 1 according to the second embodiment, other than the three-dimensional sensor unit 40, are similar to the configuration and operation of the cable detection device according to the first embodiment (see FIG. 2).

[0060] According to embodiment 2, similarly to embodiment 1, by combining techniques with low effort and computational load such as angle transformation, projection, and point cloud restoration, it is possible to contribute to selectively detecting cable-like objects with high accuracy from three-dimensional data (point cloud) and to make it easier to handle the cable detection device 1.

[0061] [Embodiment 3] The cable detection device according to the third embodiment will be described with reference to the drawings. Fig. 8 is a schematic conceptual diagram showing an example of a usage mode of the cable detection device according to the third embodiment.

[0062] The third embodiment is a modification of the first embodiment, and has a configuration in which the cable detection device 1 is communicably connected to an information communication terminal 70 having a built-in three-dimensional sensor unit 71 via a network 80.

[0063] The cable detection device 1 may be the same as the cable detection device according to the first embodiment (see FIG. 2), and may be a cloud-based device or a server device. The cable detection device 1 is connected to a network 80 so as to be capable of wired communication, but may also be connected to the network 80 so as to be capable of wireless communication. The operation of the cable detection device 1 is the same as the operation of the cable detection device according to the first embodiment (see FIGS. 3 to 5).

[0064] The information communication terminal 70 is a terminal device that communicates information. For example, a smartphone, tablet terminal, or the like that originally has a built-in three-dimensional sensor unit 71 (e.g., a depth sensor, a ToF camera, or the like) can be used as the information communication terminal 70. The information communication terminal 70 is connected to the network 80 so as to be capable of wireless communication, but may also be connected to the network 80 so as to be capable of wired communication. The information communication terminal 70 has a function of transmitting, to the cable detection device 1, photographed data (corresponding to 2 in FIG. 2) of the detection target 90 photographed by the three-dimensional sensor unit 71.

[0065] The network 80 is an information and communication network that communicatively connects the cable detection device 1 and the information and communication terminal 70. For example, a communication network such as a personal area network (PAN), a local area network (LAN), a metropolitan area network (MAN), a wide area network (WAN), or a global area network (GAN) can be used as the network 80. The network 80 includes wireless base stations, communication facilities, wired cables, and the like.

[0066] According to embodiment 3, similarly to embodiment 1, by combining techniques with low effort and computational load such as angle transformation, projection, and point cloud restoration, it is possible to contribute to selectively detecting cable-like objects with high accuracy from three-dimensional data (point cloud), and also to simultaneously photographing the detection target object 90 at multiple locations and performing cable detection in one location, thereby contributing to centralized management of the distance between the cable and the structure.

[0067] [Embodiment 4] The cable detection device according to the fourth embodiment will be described with reference to the drawings. Fig. 9 is a block diagram showing a schematic configuration of the cable detection device according to the fourth embodiment.

[0068] The cable detection device 1 is a device that detects a catenary-shaped cable from the photographed data 2. The cable detection device 1 includes a straight line detection unit 21 and a catenary line detection unit 22. The straight line detection unit 21 is configured to detect a straight line by projecting a point cloud in an area of ​​an arbitrary height in the point cloud related to the photographed data 2 onto a horizontal plane. The catenary line detection unit 22 is configured to reconstruct the point cloud based on the straight line detected by the straight line detection unit and project it onto a predetermined vertical plane, thereby detecting a catenary line as a cable.

[0069] According to the fourth embodiment, a combination of techniques with low effort and computational load, such as projection and point cloud restoration, can contribute to selectively detecting cable-like objects with high accuracy from a point cloud related to the captured data.

[0070] The cable detection device according to the first to fourth embodiments can be configured by so-called hardware resources (information processing device, computer), and can use one having the configuration shown in Fig. 10. For example, the hardware resource 100 includes a processor 101, a memory 102, a network interface 103, and the like, which are connected to each other by an internal bus 104.

[0071] 10 is not intended to limit the hardware configuration of the hardware resource 100. The hardware resource 100 may include hardware (e.g., an input / output interface) that is not shown. Furthermore, the number of units such as the processor 101 included in the device is not intended to be limited to the example shown in FIG. 10, and for example, multiple processors 101 may be included in the hardware resource 100. For example, a CPU (Central Processing Unit), an MPU (Micro Processor Unit), a GPU (Graphics Processing Unit), etc. may be used as the processor 101.

[0072] The memory 102 may be, for example, a random access memory (RAM), a read only memory (ROM), a hard disk drive (HDD), a solid state drive (SSD), or the like.

[0073] The network interface 103 may be, for example, a LAN (Local Area Network) card, a network adapter, a network interface card, or the like.

[0074] The functions of the hardware resource 100 are realized by the above-mentioned processing module. The processing module is realized, for example, by the processor 101 executing a program stored in the memory 102. The program can be updated by downloading it via a network or by using a storage medium storing the program. Furthermore, the processing module may be realized by a semiconductor chip. That is, it is sufficient that the functions performed by the processing module are realized by executing software on some kind of hardware.

[0075] A part or all of the above-described embodiments may be described as, but is not limited to, the following supplementary notes.

[0076] [Appendix 1] a straight line detection unit configured to detect a straight line by projecting a point cloud in an area of ​​a given height in the point cloud related to the photographing data onto a horizontal plane; a catenary detection unit configured to reconstruct a point cloud based on the straight line detected by the straight line detection unit and project the point cloud onto a predetermined vertical plane to detect a catenary as a cable; Equipped with Cable detection device. [Appendix 2] the straight line detection unit is configured to convert an angle of the point cloud related to the imaging data so that the gravity direction of the imaging data is downward, and to detect the straight line using the point cloud related to the imaging data that has been subjected to the angle conversion. 2. The cable detection apparatus of claim 1. [Appendix 3] Further comprising an input unit for inputting information, The straight line detection unit is configured to specify, in a space including the point cloud related to the shooting data, an area of ​​the arbitrary height including the point cloud related to the cable in a vertical direction based on the information input by the input unit. 3. The cable detection device according to claim 1 or 2. [Appendix 4] the straight line detection unit is configured to divide the specified area at the arbitrary height into a plurality of small areas in the vertical direction, and detect the straight line by projecting a point cloud in each of the divided small areas onto the horizontal plane. 4. The cable detection apparatus of claim 3. [Appendix 5] The catenary detection unit is configured to perform angle conversion of the restored point cloud so that any straight line detected by the straight line detection unit becomes parallel to a predetermined vertical plane, and to detect the catenary using the angle-converted point cloud. 5. A cable detection device according to any one of claims 1 to 4. [Appendix 6] The catenary detection unit is configured to project the angle-transformed point cloud onto the predetermined vertical plane to detect the catenary. 6. The cable detection apparatus of claim 5. [Appendix 7] The cable detection device is configured to be communicatively connected to a three-dimensional sensor that photographs an object to be measured and outputs the photographed data. 7. A cable detection device according to any one of claims 1 to 6. [Appendix 8] Further comprising a three-dimensional sensor unit for photographing the measurement object and outputting the photographed data. 7. A cable detection device according to any one of claims 1 to 6. [Appendix 9] The cable detection device is configured to be communicably connected via a network to a mobile communication terminal having a three-dimensional sensor unit that photographs an object to be measured and outputs the photographed data. 7. A cable detection device according to any one of claims 1 to 6. [Appendix 10] A cable detection method for detecting a catenary cable from imaging data using hardware resources, comprising: A step of detecting a straight line by projecting a point cloud in an area of ​​a given height in the point cloud related to the photographing data onto a horizontal plane; A step of recovering the point cloud based on the detected straight line and projecting the point cloud onto a predetermined vertical plane to detect the catenary as the cable; Including, Cable detection methods. [Appendix 11] A program for causing a hardware resource to execute a process for detecting a catenary cable from photographed data, A process of detecting a straight line by projecting a point cloud in an area of ​​a given height in the point cloud related to the photographing data onto a horizontal plane; A process of recovering a point cloud based on the detected straight line and projecting the point cloud onto a predetermined vertical plane to detect a catenary as the cable; causing the hardware resource to execute program.

[0077] The disclosures of the above patent documents and non-patent documents are incorporated herein by reference and may be used as the basis or part of the present invention as necessary. Within the framework of the entire disclosure of the present invention (including the claims and drawings), and further based on the basic technical idea, modifications and adjustments of the embodiments and examples are possible. Furthermore, within the framework of the entire disclosure of the present invention, various combinations or selections (or non-selection as necessary) of various disclosed elements (including each element of each claim, each element of each embodiment or example, each element of each drawing, etc.) are possible. In other words, the present invention naturally includes various modifications and corrections that a person skilled in the art would be able to make according to the entire disclosure and technical idea, including the claims and drawings. Furthermore, with regard to the numerical values ​​and numerical ranges described in this application, any intermediate value, lower numerical value, and small range are deemed to be described even if not specified. Furthermore, the disclosures of the above cited documents may be used in part or in whole in combination with the descriptions in this document as part of the disclosure of the present invention as necessary, in accordance with the spirit of the present invention, and are deemed to be included (belong) to the disclosures of this application. [Explanation of symbols]

[0078] 1 Cable detection device 2. Shooting data 10 Pretreatment section 11 Format conversion section 12 Noise Reduction Section 20 Cable detector 21 Straight line detector 22 Catenary detection unit 30 User Interface Section 31 Display section 32 Input section 40 3D sensor section 60 3D Sensor 70 Information and communication terminals 71 3D sensor section 80 Network 90 Detection target 91 Electric pole 92 Electric wire 93, 94 Building 93a Building Designated Area Section 95 Ground 96 Specified area 96a, 96b, 96c small area 100 Hardware Resources 101 Processor 102 Memory 103 Network Interface 104 Internal Bus

Claims

1. a line detection unit that detects a line by projecting a point cloud related to the cable, which is in an arbitrary height region including the point cloud related to the cable, in a point cloud related to the detection object in imaging data obtained by imaging the detection object including the cable, onto a horizontal surface; a catenary detection unit that detects catenary lines associated with the cable by restoring a point cloud associated with the cable that is included in the straight line detected by the straight line detection unit and projecting the point cloud onto a predetermined vertical plane that is parallel to the straight line; Equipped with the straight line detection unit converts an angle of a point cloud related to the detection object in the photographing data by using an IMU sensor or based on an angle of a wall surface of a building in the detection object so that the direction of gravity in the photographing data is downward, and detects the straight line by using the angle-converted point cloud related to the cable in the detection object. Cable detection device.

2. An input unit for inputting information related to the area at any height including the point cloud related to the cable, the straight line detection unit, based on the information input by the input unit, specifies, in a space including the point cloud related to the imaging data, an area of ​​the arbitrary height including the point cloud related to the cable in a vertical direction; 2. The cable detection device of claim 1.

3. the straight line detection unit divides the specified region at the arbitrary height into a plurality of small regions in the vertical direction, and projects a point cloud in each of the divided small regions onto the horizontal plane to detect the straight line; 3. The cable detection device of claim 2.

4. the catenary detection unit performs angle conversion on a point cloud related to the cable included in the restored straight line so that any of the straight lines detected by the straight line detection unit becomes parallel to the predetermined vertical plane, and detects a catenary related to the cable using the angle-converted point cloud related to the cable.

4. A cable detection device according to claim 1.

5. the catenary detection unit projects the angle-converted point cloud relating to the cable onto the predetermined vertical plane to detect catenary lines relating to the cable.

5. The cable detection device of claim 4.

6. The cable detection device is communicatively connected to a three-dimensional sensor that captures an image of the detection object and outputs the captured image data.

6. A cable detection device according to any one of the preceding claims.

7. Further comprising a three-dimensional sensor unit that captures an image of the detection object and outputs the captured image data.

6. A cable detection device according to any one of the preceding claims.

8. A cable detection method for detecting a catenary cable from image data obtained by photographing an object to be detected, the object including a cable, using a computer, comprising: a step of detecting a straight line by projecting a point cloud in an arbitrary height region including the point cloud related to the cable in the point cloud related to the detection object in the photographing data onto a horizontal plane; A step of detecting a catenary of the cable by recovering a point cloud related to the cable included in the detected straight line and projecting the point cloud onto a predetermined vertical plane parallel to the straight line; Including, In the step of detecting the straight line, an angle conversion is performed on a point cloud related to the detection object in the photographing data, using an IMU sensor or based on an angle of a wall surface of a building in the detection object, so that the direction of gravity in the photographing data is downward, and the straight line is detected using the angle-converted point cloud related to the cable in the detection object. Cable detection methods.

9. A program for causing a computer to execute a process for detecting a catenary-shaped cable from image data obtained by photographing a detection object including a cable, A process of detecting a straight line by projecting a point cloud in an arbitrary height region including the point cloud related to the cable in the point cloud related to the detection object in the photographing data onto a horizontal plane; A process of recovering a point cloud related to the cable included in the detected straight line and projecting the point cloud onto a predetermined vertical plane parallel to the straight line to detect a catenary related to the cable; causing the computer to execute In the process of detecting the straight line, an angle conversion is performed on a point cloud related to the detection object in the photographing data, using an IMU sensor or based on an angle of a wall surface of a building in the detection object, so that the direction of gravity in the photographing data is downward, and the straight line is detected using the angle-converted point cloud related to the cable in the detection object. program.

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