Catenary measurement device, method, and program

Abstract

To contribute to improving the accuracy of measurement of a sag and a total length of a catenary even when the catenary has a small sag or in an environment where a point group becomes sparse.SOLUTION: A catenary measuring device comprises: a coordinate acquisition unit that performs processing of acquiring coordinate information related to a starting point, an end point, and the lowest point of a catenary object from three-dimensional point group data; a model generation unit configured to generate a catenary model based on the coordinate information related to the starting point, the end point, and the lowest point; a sag measuring unit that measures a sag of the catenary model; and a total length measuring unit that measures a total length of the catenary model by using the sag. The model generation unit calculates a parameter of the catenary based on the coordinates of the starting point and the lowest point, calculates the coordinates of the true lowest point based on the parameter, and generates the catenary model based on the coordinates of the starting point and the end point and the coordinates of the true lowest point.SELECTED DRAWING: Figure 8

Description

[Technical field]

[0001] The present invention relates to a catenary measurement device, method, and program, and more particularly to a catenary measurement device, method, and program using three-dimensional point cloud data. [Background technology]

[0002] In order to prevent electric shock accidents, electric power companies must comply with regulations (Wired Telecommunications Equipment Ordinance) regarding the separation distance between electric wires and surrounding structures. The separation distance is measured periodically by workers using measuring equipment. If the measured separation distance does not comply with the regulations, the electric wire must be moved to correct it. When moving the electric wire to correct it, for example, it is necessary to assume an installation position and sag that do not violate the regulations and determine the total length of the electric wire required for that. In addition, electric power companies must measure whether the sag of the electric wire is kept constant. In addition, since measurement is dangerous, a safe measurement method is required. Furthermore, since the number of electric wires to be measured is enormous, it is required to simplify measurement and inspection. One way to simplify measurement is to automate the measurement of the sag or total length of electric wires using a 3D sensor.

[0003] As a technology for automating the measurement of the sag or total length of electric wires and the like, for example, Patent Document 1 discloses an antenna extraction system having a target area extraction unit that extracts, as a target area, an area in which point cloud data of an antenna is assumed to exist based on the coordinates of an electric pole from 3D point cloud data of a 3D shape including an antenna installed via an electric pole in the air and trees, the area being extracted based on the coordinates of the electric pole; an antenna candidate extraction unit that extracts candidate point cloud data of the antenna from the 3D point cloud data within the target area; and an antenna model estimation unit that estimates a model of the antenna based on the extracted candidate point cloud data of the antenna, wherein the antenna candidate extraction unit divides the 3D point cloud data within the target area by slice planes at regular intervals, clusters the areas divided by the slice planes to generate a plurality of clusters, and classifies the plurality of clusters by a predetermined size to extract the candidate point cloud data of the antenna.

[0004] Furthermore, Patent Document 2 discloses a distance evaluation device including an imaging device that captures an aerial image including a remote object and a power transmission line, a coordinate acquisition unit that acquires position coordinates of points representing the remote object and the power transmission line from the aerial image, a support point extraction unit that identifies at least a support point of the power transmission line based on the position coordinates, a virtual coordinate calculation unit that determines virtual position coordinates of each virtual point representing a virtual power transmission line based on the support point identified by the support point extraction unit and the lowest point of the power transmission line, an evaluation information generation unit that generates evaluation information based on the virtual position coordinates calculated by the virtual coordinate calculation unit and the position coordinates of the remote object, and a display control unit that causes a display device to display the evaluation information generated by the evaluation information generation unit.

[0005] Patent Document 3 discloses an equipment status detection device that includes an extraction processing unit that receives three-dimensional point cloud data, in which the surface of a cable stretched between two structures is expressed by points in three-dimensional coordinates, and forms a 3D model of the cable using the three-dimensional point cloud data, and a calculation unit that acquires a length, which is the distance of a straight line connecting both ends of the 3D model of the cable, and a slack, which is the amount of movement when the straight line is translated in parallel until it touches the 3D model of the cable at a single point, and calculates the tension of the cable from the length, the slack, and the cable load of a known unit length.

[0006] Patent Document 4 discloses an equipment condition detection device that detects the condition of a branch wire attached to a pole attached to the road surface using three-dimensional point cloud data representing the three-dimensional coordinates of points on the surface of an outdoor structure obtained from a measurement unit, and that includes a creation means for creating three-dimensional model data that three-dimensionally models the branch wire based on the three-dimensional point cloud data, and a calculation means for calculating the branch wire length, sag, and position information of the branch wire based on the three-dimensional model data.

[0007] Furthermore, Patent Document 5 discloses a method for measuring the sag of an electric wire stretched between first and second support points, which includes measuring a first catenary angle α at the first support point and a second catenary angle β at the second support point, and integrating an equation representing a catenary curve to calculate a length L of the electric wire stretched between the first and second support points. The calculated length L is calculated by integrating an equation representing an unknown first catenary angle α and second catenary angle β, an unknown length L, a known span length D, a known height difference H between the first support point and the second support point, and a known weight W per unit length of the electric wire. The present invention discloses a method for measuring the sag of an electric wire, the method comprising: substituting measured values ​​of the angle α and the second catenary angle β and an estimated value of the length L to obtain a calculated value of the length L; comparing the calculated value with the estimated value to determine whether the two values ​​match with a preset accuracy; if they do not match, substituting the calculated value as an estimated value into the calculation formula and repeating the calculation and determination again; if they match, determining the estimated value as the measured value of the length L of the electric wire; and calculating the sag of the electric wire based on the measured measured values ​​of the first catenary angle α and the second catenary angle β and the determined measured value of the length L. [Prior art documents] [Patent documents]

[0008] [Patent Document 1] Patent Publication No. 2021-60776 [Patent Document 2] Patent Publication No. 2021-60300 [Patent Document 3] JP 2020-98126 A [Patent Document 4] JP 2019-148464 A [Patent Document 5] JP 2006-194653 A Summary of the Invention [Problem to be solved by the invention]

[0009] The following analysis is provided by the present inventors.

[0010] However, catenary lines such as electric wires are in the air and are thin lines, so when they are photographed from the ground, the data becomes sparse, and there is a limit to automatically identifying the accurate coordinates of the start and end points of the catenary line when there is a lot of noise in the 3D point cloud data or when the 3D point cloud data is sparse. Note that Patent Documents 1 to 5 do not disclose how to identify the coordinates of the start and end points of the catenary line.

[0011] In addition, when measuring the total length of a catenary line, it is necessary to calculate the sag from the position of the lowest point of the catenary line, but when the sag is small or in an environment where the point cloud is sparse, there is a limit to automatically specifying the accurate coordinates of the lowest point of the catenary line. Regarding a method for specifying the coordinates of the lowest point of the catenary line, Patent Document 2 discloses a method of calculating using a nonlinear least squares method based on a total of three points, two support points and one arbitrary point, but since errors are likely to occur in the calculation of the coordinates of the lowest point of the catenary line, there is a limit to specifying the accurate coordinates of the lowest point of the catenary line using a calculation formula.

[0012] The main objective of the present invention is to provide a catenary measurement device, method, and program that can contribute to improving the accuracy of measuring the sag and total length of a catenary even when the sag of the catenary is small or in an environment where the point cloud is sparse. [Means for solving the problem]

[0013] A catenary measurement device according to a first aspect of the present invention comprises: Find the start point, end point, and Temporary A coordinate acquisition unit configured to perform a process of acquiring each piece of coordinate information related to the lowest point; an angle conversion unit configured to convert the angle of the three-dimensional point cloud data so that the direction of gravity is directed downward, and to convert the angle so that a value of a predetermined axis in a horizontal direction of each piece of coordinate information relating to the start point, the end point, and the virtual lowest point becomes common; The above The angle is converted in the angle converter. The start point, the end point, and the Temporarya model generation unit configured to generate a catenary model connecting the start point and the end point based on each piece of coordinate information related to the lowest point; a sag measurement unit configured to measure the sag of the catenary model; a total length measuring unit configured to measure a total length of the catenary model using the sag measured by the sag measuring unit; Equipped with The model generation unit The angle converted by the angle conversion unit The starting point and Temporary Coordinates of the lowest point By solving the simultaneous equations obtained by substituting each of the above into the predetermined catenary formula, A process of calculating the parameters of the catenary; Calculated The parameters The simultaneous equations obtained by substituting the coordinates of the start point and the end point into the formula for the catenary using the formula: A process of calculating the coordinates of the true lowest point; The angle converted by the angle conversion unit A process of generating the catenary model based on the coordinates of the start point and the end point and the coordinates of the true lowest point; The present invention is configured to:

[0014] A catenary measurement method according to a second aspect of the present invention comprises the steps of: A catenary measurement method for measuring a catenary using hardware resources, comprising: The start point, end point, and Temporary acquiring each coordinate information relating to the lowest point; performing angle conversion on the three-dimensional point cloud data so that the direction of gravity is directed downward, and also performing angle conversion so that the values ​​of a predetermined axis in the horizontal direction of each piece of coordinate information relating to the start point, the end point, and the virtual lowest point are common; The angle is converted The start point, the end point, and the Temporary generating a catenary model connecting the start point and the end point based on each piece of coordinate information relating to the lowest point; measuring the sag of the catenary model; measuring a total length of the catenary model using the measured sag; Including, The step of generating the catenary model comprises: The angle is converted The starting point and Temporary Coordinates of the lowest point By solving the simultaneous equations obtained by substituting each of the above into the predetermined catenary formula, calculating the parameters of the catenary; Calculated The parameters The simultaneous equations obtained by substituting the coordinates of the start point and the end point into the formula for the catenary using the formula: calculating the coordinates of the true lowest point; The angle is converted and generating the catenary model based on the coordinates of the start point and the end point and the coordinates of the true lowest point.

[0015] The program related to the third perspective is as follows: The above-mentioned suspension measurement method Hardware resources to execute do.

[0016] 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

[0017] According to the first to third aspects, it is possible to contribute to improving the accuracy of measuring the sag and total length of a catenary even when the sag of the catenary is small or in an environment where the point cloud is sparse. [Brief description of the drawings]

[0018] [Figure 1] 1 is an image diagram showing an example of measuring a catenary using the catenary measurement device according to embodiment 1. FIG. [Diagram 2]1 is a block diagram showing a schematic configuration of a catenary measurement device according to a first embodiment. [Diagram 3] 4 is a flowchart illustrating the operation of the catenary measurement device according to the first embodiment. [Figure 4] 4 is a flowchart showing in schematic form the details of the operation of measuring the total length of the catenary measurement device according to the first embodiment. [Diagram 5] 4 is a conceptual diagram showing a schematic illustration of the operation relating to angle conversion of the catenary measurement device according to the first embodiment. FIG. [Figure 6] 4 is an image diagram showing a schematic diagram of an operation related to generation of a catenary model by the catenary measurement device according to the first embodiment. FIG. [Figure 7] 1 is a conceptual diagram showing a schematic illustration of the operations relating to total length measurement and angle conversion and restoration of the catenary measurement device according to the first embodiment. FIG. [Figure 8] FIG. 11 is a block diagram showing a schematic configuration of a catenary measurement device according to a second embodiment. [Figure 9] FIG. 2 is a block diagram illustrating a schematic configuration of hardware resources. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0019] 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.

[0020] [Embodiment 1] The catenary measurement device according to the embodiment 1 will be described with reference to the drawings. Fig. 1 is an image diagram showing an example of measuring a catenary using the catenary measurement device according to the embodiment 1. Fig. 2 is a block diagram showing a schematic configuration of the catenary measurement device according to the embodiment 1.

[0021] The catenary measurement device 200 is a device that measures the sag and total length of a catenary object (for example, an electric wire 20 in FIG. 1, other wires, overhead lines, communication lines, etc.) that is a measurement target based on the three-dimensional point cloud data 100 (see FIG. 2). The catenary measurement device 200 can measure the sag and total length of a catenary model 10 by changing the start point 11, end point 12, and lowest point 13 of the catenary object (electric wire 20 in FIG. 1) (see FIG. 1). The catenary measurement device 200 can be used to measure the sag and total length of, for example, electric wires in the power industry, wires in the construction industry, overhead lines in the railway industry, communication lines in the communication industry, etc. The catenary measurement device 200 may be connected to a three-dimensional sensor (300 in FIG. 1) so as to be able to communicate (wireless communication, wired communication). The catenary measurement device 200 acquires, from a three-dimensional sensor 300, three-dimensional point cloud data 100 relating to a measurement object (electric wire 20 in FIG. 1).

[0022] Here, the three-dimensional sensor 300 is a device that three-dimensionally senses and photographs the surface of a measurement object (electric wire 20 in FIG. 1) (see FIG. 1). The three-dimensional sensor 300 may be communicably connected to the catenary measurement device 200. The three-dimensional sensor 300 generates three-dimensional point cloud data 100 in a predetermined format by photographing the measurement object (electric wire 20 in FIG. 1), and outputs the generated three-dimensional point cloud data 100 to the catenary measurement device 200. Note that the three-dimensional point cloud data 100 may be generated by the catenary measurement device 200 instead of by the three-dimensional sensor 300. For the three-dimensional sensor 300, for example, a ToF (Time of Flight) camera, a stereo camera, a three-dimensional-LIDAR (Laser Imaging Detection And Ranging), a depth sensor, a distance sensor, a distance camera, or the like may be used. The three-dimensional sensor 300 is operated by an operator. The three-dimensional point cloud data 100 is data generated in a specified format by the three-dimensional sensor 300, and is point cloud data depicted as a point cloud (a collection of many points having XYZ coordinate (three-dimensional coordinate) information) (see FIG. 2). The three-dimensional sensor 300 can be changed to a sensor device with various output formats according to customer requests.

[0023] The catenary measurement device 200 may be a device (computer device) equipped with functional units constituting a computer (e.g., a processor, a storage device, an input device, a communication interface, and a display device), and may be, for example, a notebook personal computer, a smartphone, a tablet terminal, etc. The catenary measurement device 200 executes a predetermined program to realize a configuration equipped with a preprocessing unit 210, a measuring unit 220, and a user interface unit 230 (see FIG. 2).

[0024] The pre-processing unit 210 is a functional unit that performs pre-processing on the input three-dimensional point cloud data 100 (see FIG. 2). The pre-processing unit 210 includes a format conversion unit 211 and a noise removal unit 212.

[0025] The format conversion unit 211 is a functional unit that converts the format of the input three-dimensional point cloud data 100 into a common format that can be commonly used in the catenary measurement device 200 as pre-processing (see FIG. 2). The format conversion unit 211 outputs the converted three-dimensional point cloud data 100 in the common format to the noise removal unit 212. Note that if the format of the three-dimensional point cloud data 100 is originally a common format, the format conversion process in the format conversion unit 211 may be omitted.

[0026] The noise removal unit 212 is a functional unit that removes noise (points unnecessary for measurement) from the points in the 3D point cloud data 100 from the format conversion unit 211 as pre-processing (see FIG. 2). The noise removal unit 212 outputs the 3D point cloud data 100 from which noise has been removed to the angle conversion unit 221 of the measurement unit 220. 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-square test). Note that if there is almost no noise, the noise removal processing in the noise removal unit 212 may be omitted.

[0027] The measurement unit 220 is a functional unit that generates a catenary model 10 based on the start point 11, end point 12, and lowest point 13 specified by the user from the preprocessed three-dimensional point cloud data 100, and measures (calculates) the sag and total length of the generated catenary model 10. The measurement unit 220 includes an angle conversion unit 221, a model generation unit 222, a sag measurement unit 223, and a total length measurement unit 224.

[0028] The angle conversion unit 221 is a functional unit that performs angle conversion on the three-dimensional point cloud data 100 from the noise removal unit 212 as a pre-processing of the measurement (see FIG. 2). The angle conversion unit 221 performs angle conversion on the three-dimensional point cloud data 100 so that the gravity direction (vertical direction) is downward. As an angle conversion method for the gravity direction, for example, a method of converting the angle by matching the inclination of the three-dimensional point cloud data 100 at the time of shooting with the gravity direction using an IMU (Inertial Measurement Unit) sensor (not shown) can be mentioned. As an angle conversion method for the gravity direction, a wall surface of a building (23 in FIG. 1) may be detected based on the three-dimensional point cloud data 100, and angle conversion may be performed so that the detected wall surface becomes a vertical surface. As an angle conversion method for the gravity direction, a ground surface (24 in FIG. 1) may be detected based on the three-dimensional point cloud data 100, and angle conversion may be performed so that the detected ground surface 24 becomes a horizontal surface. As an angle conversion method of the gravity direction, a utility pole (21 or 22 in FIG. 1) may be detected based on the three-dimensional point cloud data 100, and angle conversion may be performed so that the extension direction of the detected utility poles 21 and 22 becomes vertical. As an angle conversion method of the gravity direction, angle conversion may be performed by a user's operation (manual). The angle conversion unit 221 performs angle conversion so that the values ​​of a predetermined axis in the horizontal direction of each piece of coordinate information related to the start point 11, the end point 12, and the lowest point 13 are common. For example, the angle conversion may be performed so that the lowest point 13 is located on an xy plane (or a yz plane) at the position of the start point 11 on the z axis (or the x axis) without changing the relative positions of the start point 11, the end point 12, and the lowest point 13, with the start point 11 as the center. The angle conversion unit 221 outputs the angle-converted three-dimensional point cloud data 100 to the model generation unit 222.

[0029] The model generation unit 222 is a functional unit that generates the catenary model 10 based on each piece of coordinate information relating to the points (start point 11, end point 12, lowest point 13) acquired by the coordinate acquisition unit 231 (see FIG. 2). The catenary model generation method will be described later in detail.

[0030] The sag measurement unit 223 is a functional unit that measures the sag of the generated catenary model 10 (see Figs. 1 and 2). The method of measuring the sag of the catenary model 10 will be described in detail later.

[0031] Total length measuring unit 224 is a functional unit that uses the measured sag to measure the total length of the generated catenary model 10 (see FIG. 2). Details of a method for measuring the total length of catenary model 10 will be described later.

[0032] The user interface unit 230 is a functional unit that performs visualization, manipulation, and display of measurement results of the three-dimensional point cloud data 100 (see FIG. 2). The user interface unit 230 includes a coordinate acquisition unit 231, a display unit 232, an input unit 233, and a measurement result correction unit 234.

[0033] The coordinate acquisition unit 231 is a functional unit that acquires coordinate information related to the points of the catenary object (start point 11, end point 12, and lowest point 13 in FIG. 1) from the three-dimensional point cloud data 100 (see FIG. 2). As for the coordinate acquisition method, for example, the coordinate information related to the points of the catenary object may be acquired from the three-dimensional point cloud data 100 by a user's designation using the input unit 233. As for the coordinate acquisition method, the three-dimensional point cloud data 100 may be visualized, and the coordinate information related to the points of the catenary object may be acquired from the three-dimensional point cloud data 100 by point picking on the visualized screen. As for the coordinate acquisition method, the catenary object may be detected from the three-dimensional point cloud data 100 by clustering, and the coordinate information related to the points of the catenary object may be acquired from the detection result. As for the coordinate acquisition method, a method such as a Hough transform may be used to detect the catenary object from the three-dimensional point cloud data 100, and the coordinate information related to the points of the catenary object may be acquired from the detection result. Furthermore, regarding the coordinate acquisition method, reflection intensity data may be acquired from the three-dimensional sensor 300, the acquired reflection intensity data may be used to detect a catenary object from the three-dimensional point cloud data 100, and coordinate information relating to the points of the catenary object may be acquired from the detection result.

[0034] The display unit 232 is a functional unit that displays any information (for example, a catenary model, its sag and total length, etc.) (see FIG. 2).

[0035] The input unit 233 is a functional unit that inputs information operated by a user (see FIG. 2).

[0036] The measurement result correction unit 234 is a functional unit that adjusts a predetermined correction parameter when an error occurs in the measurement result, to correct the measurement result of the total length measurement unit 224 (see FIG. 2). The predetermined correction parameter can be, for example, a sag or a parameter of the catenary, and may be the coordinate of any of the start point 11, the end point 12, and the lowest point 13 designated by the user. In correcting the measurement result, the user can adjust the predetermined correction parameter by operating the input unit 233. In addition, in correcting the measurement result, the generated catenary model 10 may be compared with a point cloud related to the electric wire 20 in the three-dimensional point cloud data 100, and the predetermined correction parameter may be adjusted so that the catenary model 10 is automatically aligned with the point cloud related to the electric wire 20.

[0037] In the example of Fig. 1, the catenary measurement device 200 as described above photographs an electric wire 20, which is a measurement target, at a measurement site using a three-dimensional sensor 300, and acquires three-dimensional point cloud data 100 of the electric wire 20. The catenary measurement device 200 reads the acquired three-dimensional point cloud data 100, and acquires the coordinates of a starting point 11, an end point 12, and a lowest point 13, which are the basis of a catenary model 10 relating to an actual electric wire or a virtual electric wire, according to a user's operation. The catenary measurement device 200 calculates a parameter of the catenary based on the acquired coordinates of the starting point 11 and the lowest point 13, calculates a true lowest point using the calculated parameter, generates (draws) a catenary model (10 in Fig. 1) based on the coordinates of the starting point 11 and the end point 12 and the coordinate of the true lowest point, and measures (calculates) a sag and a total length of the generated catenary model 10. The catenary measurement device 200 displays the generated catenary model and the sag and total length of the measured catenary model. As described above, it is possible to measure the total length of an actual electric wire without contact, which can be useful for measuring the distance between the actual electric wire and a surrounding structure (e.g., building 23). In addition, the sag can be freely changed to simulate the total length of a virtual electric wire that does not actually exist, which can be useful when correcting the position of the electric wire 20.

[0038] Next, the operation of the catenary measurement 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 catenary measurement device according to the embodiment 1. Please refer to Fig. 2 and its description for the configuration of the catenary measurement device.

[0039] First, the preprocessing unit 210 of the catenary measurement device 200 acquires three-dimensional point cloud data 100 relating to the measurement object (catenary object; electric wire 20 in FIG. 1) photographed and generated by the three-dimensional sensor 300 (step A1).

[0040] Next, as preprocessing, the format conversion unit 211 of the preprocessing unit 210 of the catenary measurement device 200 converts the format of the acquired 3D point cloud data 100 into a common format that can be commonly used in the catenary measurement device 200 (step A2).

[0041] Next, the noise removal unit 212 of the preprocessing unit 210 of the catenary measurement device 200 removes noise from the point cloud in the three-dimensional point cloud data 100 whose format has been converted by the format conversion unit 211, as preprocessing (step A3).

[0042] Next, the coordinate acquisition unit 231 of the user interface unit 230 of the catenary measurement device 200 acquires each coordinate information related to the start point, end point, and lowest point (e.g., start point 11, end point 12, and lowest point 13 in Figure 1) specified by the user operating the input unit 233 from the 3D point cloud data 100 preprocessed by the preprocessing unit 210 (step A4).

[0043] Next, the measuring unit 220 of the catenary measurement device 200 measures the total length of the catenary connecting the starting point 11 and the end point 12 based on the acquired coordinate information of the starting point 11, the end point 12, and the lowest point 13 (step A5). Details of the total length measurement method will be described later.

[0044] Next, the display unit 232 of the user interface unit 230 of the catenary measurement device 200 displays the measurement results (step A6).

[0045] Next, the measurement result correction unit 234 of the user interface unit 230 of the catenary measurement device 200 compares the measurement result with the three-dimensional point cloud data 100 of the electric wire 20 to determine whether an error occurs in the measurement result (step A7). The determination in step A7 may be made by the user. If no error occurs (NO in step A7), the process ends.

[0046] If an error has occurred (YES in step A7), the measurement result correction unit 234 of the user interface unit 230 of the catenary measurement device 200 adjusts the correction parameters (for example, the coordinates of any of the start point 11, end point 12, and lowest point 13, the sag, parameters of the catenary, etc.) to correct the measurement result (step A8). The correction parameters may be adjusted by the user operating the input unit 233.

[0047] Next, the display unit 232 of the user interface unit 230 of the catenary measurement device 200 displays the corrected measurement result (step A9), and then the process ends.

[0048] Next, the operation of total length measurement of the catenary measurement device according to the first embodiment will be described with reference to the drawings. FIG. 4 is a flow chart showing in schematic detail the operation of total length measurement of the catenary measurement device according to the first embodiment. FIG. 5 is an image diagram showing in schematic detail the operation of angle conversion of the catenary measurement device according to the first embodiment. FIG. 6 is an image diagram showing in schematic detail the operation of catenary model generation of the catenary measurement device according to the first embodiment. FIG. 7 is an image diagram showing in schematic detail the operation of total length measurement and angle conversion restoration of the catenary measurement device according to the first embodiment. For the configuration of the catenary measurement device, please refer to FIG. 2 and its description.

[0049] Specifically, the total length measurement in step A5 in FIG. 3 is performed as follows.

[0050] First, the angle conversion unit 221 of the measurement unit 220 of the catenary measurement device 200 converts the angle of the 3D point cloud data 100 preprocessed by the preprocessing unit 210 so that the direction of gravity is vertically downward. Then, the start point 11, the end point 12, and the lowest point 13 acquired by the coordinate acquisition unit 231 are aligned so that their positions on the z axis (or the x axis) are constant (in FIG. 5, the start point 11, the end point 12, and the lowest point 13 are aligned on the z axis). 1 (Step B1, see FIG. 5)

[0051] Here, in the angle transformation so that the z-axis positions of the starting point 11, the end point 12, and the lowest point 13 are constant, for example, as shown in Figure 5, angle θ is calculated from the coordinates of the starting point 11 and the end point 12, and the angle transformation is performed by rotating counterclockwise by (90-θ) degrees around the starting point 11 as the center without changing the relative positions of the starting point 11, the end point 12, and the lowest point 13, and the direction of gravity (moving the coordinates of the end point 12 and the lowest point 13 so that they are on the xy plane (or yz plane) at the z-axis (or x-axis) position of the starting point 11).

[0052] Next, the model generating unit 222 of the measuring unit 220 of the catenary measurement device 200 calculates a parameter a of the catenary based on the coordinates of the starting point 11 and the lowest point 13 acquired by the coordinate acquiring unit 231 (step B2).

[0053] Here, considering the formula for the catenary: Equation 1, as shown in the lower part of Figure 5, the coordinates of the lowest point 13 (x 1 +l 1 ,y 3 ,z 1 ) to the distance s=x 1 +l 1 , t=y 3 In addition, in formula 1, Y=y 1 , X=x 1 By doing so, the parameter a of the catenary passing through the starting point 11 and the lowest point 13 can be found. [Formula 1] TIFF0007679959000001.tif1138

[0054] Next, the model generating unit 222 of the measuring unit 220 of the catenary measurement device 200 calculates the coordinates of the true lowest point based on the calculated parameter a (step B3, see FIG. 6).

[0055] Here, when considering a catenary of parameter a that passes through starting point 11 and ending point 12, the true lowest point of this catenary does not necessarily pass through lowest point 13 obtained by coordinate acquisition. Therefore, the coordinates of the true lowest point of the catenary must be found by calculation. The coordinates of the true lowest point of the catenary can be found by calculating the amounts of movement s and t of the catenary that connects starting point 11 and ending point 12 based on Equation 2 using parameter a calculated in step B2. That is, 1 andy 2 The amount of movement s of the catenary in the x direction is calculated from Equation 3, which is obtained from the difference between the x and y directions. The calculated amount of movement s is substituted into Equation 2 to calculate the amount of movement t of the catenary in the y direction. The coordinates of the true lowest point (s, t, z 1 ) is obtained.

[0056] [Formula 2] TIFF0007679959000002.tif1543

[0057] [Formula 3] TIFF0007679959000003.tif971

[0058] Next, the model generation unit 222 of the measurement unit 220 of the catenary measurement device 200 generates a catenary model 10 connecting the starting point 11 and the end point 12 based on the coordinates of the starting point 11 and the end point 12 and the coordinates of the true lowest point (step B4, see Figure 6).

[0059] Next, sag measurement unit 223 and total length measurement unit 224 of measurement unit 220 of catenary measurement device 200 calculate the sag and total length of the generated catenary model 10 (step B5).

[0060] Here, the total length L of the catenary model can be calculated using Equation 4. x 2 =x 1 +l2 Therefore, Equation 4 becomes Equation 5.

[0061] [Formula 4] TIFF0007679959000004.tif959

[0062] [Formula 5] TIFF0007679959000005.tif960

[0063] Finally, the angle conversion unit 221 of the measurement unit 220 of the catenary measurement device 200 performs restoration of the angle conversion (step B6, see FIG. 7). In the restoration of the angle conversion, restoration of the angle conversion in the gravity direction may be excluded.

[0064] Here, in the restoration of the angle transformation, for example, as shown in Figure 7, the starting point (x 1 ,y 1 ,z 1 ) and rotate it clockwise (90-θ) degrees to perform the angle transformation.

[0065] According to embodiment 1, coordinate information relating to the start point, end point, and lowest point of a catenary-like object is obtained, and the catenary parameter variables and the coordinates of the true lowest point are calculated to generate and measure a catenary model 10. This contributes to accurate and easy measurement of the sag and total length of a catenary even in an environment where the sag of the catenary is small or the point cloud is sparse.

[0066] Moreover, according to the first embodiment, even in an environment where the sag of the catenary is small or the point cloud is sparse, if an error occurs in the measurement result, the correction parameters are adjusted to correct the measurement result, which can contribute to improving the accuracy of the measurement of the sag and total length of the catenary. For example, even in a situation where it is difficult to select the lowest point 13, such as when the sag of the electric wire 20 is small or when the point cloud of the lowest point 13 is missing, the correction of the measurement result can contribute to performing an accurate measurement.

[0067] Moreover, according to the first embodiment, the total length of the overhead electric wire 20 can be measured without contact. Moreover, according to the first embodiment, the total length of various electric wires 20 having different sags and shapes can be measured by the same method. Moreover, according to the first embodiment, the fourth effect can be calculated by simply acquiring the coordinates of three points, the start point 11, the end point 12, and the lowest point 13, so that the total length can be measured quickly. Moreover, according to the first embodiment, the correction parameters can be adjusted, so that the total length and the distance from the surroundings when the sag of an existing electric wire 20 is changed can be simulated. Moreover, according to the first embodiment, it is possible to create a pseudo electric wire in a space where no electric wire actually exists, and to simulate the total length and the distance from the surroundings.

[0068] Moreover, according to the first embodiment, a complex nonlinear least squares method is not used, but a parameter (catenary number) is calculated by a simultaneous equation of the start point and the temporary lowest point, and a true lowest point is calculated by a simultaneous equation of the start point and the end point, and the sag and total length of the catenary line can be calculated by only two simultaneous equations. In addition, in Patent Document 2, the catenary number and lowest point of the catenary line are calculated using a nonlinear least squares method based on a total of three points, two support points and one arbitrary point.

[0069] According to the first embodiment, the coordinates of the start point and the end point are manually selected by the user, so that the coordinates of the start point and the end point can be acquired without any problem even when there is a lot of noise. Note that Patent Document 2 does not describe a method for acquiring the coordinates of the two support points, and for example, when there is a lot of noise in the point cloud data around the support points, or conversely, when the point cloud is sparse, it is difficult or impossible to acquire the coordinates of the two support points.

[0070] Furthermore, according to embodiment 1, even in an environment where the start point and end point cannot be obtained, the coordinates of the start point and end point can be corrected by user operation, so that a catenary model can be generated without problems even if the point cloud is sparse.

[0071] [Embodiment 2] The catenary measurement device according to the second embodiment will be described with reference to the drawings. Fig. 8 is a block diagram showing a schematic configuration of the catenary measurement device according to the second embodiment.

[0072] The catenary measurement device 200 is a device that measures a catenary of a catenary-like object from the three-dimensional point cloud data 100. The catenary measurement device 200 includes a coordinate acquisition unit 231, a model generation unit 222, a sag measurement unit 223, and a total length measurement unit 224.

[0073] The coordinate acquisition unit 231 is configured to perform processing for acquiring coordinate information relating to the start point, end point, and lowest point of a catenary-like object from the three-dimensional point cloud data 100. The model generation unit 222 is configured to generate a catenary model connecting the start point and the end point based on the coordinate information relating to the start point, end point, and lowest point acquired by the coordinate acquisition unit 231. The sag measurement unit 223 is configured to measure the sag of the catenary model generated by the model generation unit 222. The full length measurement unit 224 is configured to measure the full length of the catenary model using the sag measured by the sag measurement unit 223.

[0074] The model generation unit 222 is configured to perform the following processes: calculating catenary parameters based on the coordinates of the starting point and the lowest point acquired by the coordinate acquisition unit 231; calculating the coordinates of the true lowest point based on the calculated parameters; and generating a catenary model based on the coordinates of the starting point and the end point acquired by the coordinate acquisition unit 231 and the coordinates of the true lowest point.

[0075] According to embodiment 2, coordinate information relating to the start point, end point, and lowest point of a catenary-like object is obtained, and the parameters of the catenary and the coordinates of the true lowest point are calculated to generate and measure a catenary model 10. This contributes to accurate and easy measurement of the sag and total length of a catenary even in an environment where the sag of the catenary is small or the point cloud is sparse.

[0076] The catenary measurement device according to the first and second embodiments can be configured by so-called hardware resources (information processing device, computer), and can use one having the configuration shown in Fig. 9. For example, the hardware resource 1000 includes a processor 1001, a memory 1002, a network interface 1003, and the like, which are connected to each other by an internal bus 1004.

[0077] 9 is not intended to limit the hardware configuration of the hardware resource 1000. The hardware resource 1000 may include hardware (e.g., an input / output interface) that is not shown. Furthermore, the number of units such as the processor 1001 included in the device is not intended to be limited to the example shown in FIG. 9, and for example, a plurality of processors 1001 may be included in the hardware resource 1000. For example, a CPU (Central Processing Unit), an MPU (Micro Processor Unit), a GPU (Graphics Processing Unit), etc. may be used as the processor 1001.

[0078] The memory 1002 may be, for example, a random access memory (RAM), a read only memory (ROM), a hard disk drive (HDD), or a solid state drive (SSD).

[0079] The network interface 1003 may be, for example, a LAN (Local Area Network) card, a network adapter, a network interface card, or the like.

[0080] The functions of the hardware resource 1000 are realized by the above-mentioned processing module. The processing module is realized, for example, by the processor 1001 executing a program stored in the memory 1002. The program can be updated by downloading it via a network or by using a storage medium on which the program is stored. 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.

[0081] A part or all of the above-described embodiments may be described as, but is not limited to, the following supplementary notes.

[0082] [Appendix 1] A coordinate acquisition unit configured to perform a process of acquiring coordinate information relating to a start point, an end point, and a lowest point of a catenary object from the three-dimensional point cloud data; a model generation unit configured to generate a catenary model connecting the start point and the end point based on the coordinate information related to the start point, the end point, and the lowest point acquired by the coordinate acquisition unit; a sag measurement unit configured to measure the sag of the catenary model; a total length measuring unit configured to measure a total length of the catenary model using the sag measured by the sag measuring unit; Equipped with The model generation unit A process of calculating a parameter of a catenary based on the coordinates of the start point and the lowest point acquired by the coordinate acquisition unit; Calculating the coordinates of the true lowest point based on the parameters; A process of generating the catenary model based on the coordinates of the start point and the end point acquired by the coordinate acquisition unit and the coordinates of the true lowest point;

[0023] Catenary measuring device. [Appendix 2] The coordinate acquisition unit A process of acquiring coordinate information relating to the start point, the end point, and the lowest point of the catenary-like object from the three-dimensional point cloud data according to a user's designation; a process of visualizing the three-dimensional point cloud data and acquiring coordinate information relating to the start point, the end point, and the lowest point of the catenary-like object from the three-dimensional point cloud data by point picking on the visualized screen; detecting the catenary object from the three-dimensional point cloud data by clustering, and acquiring coordinate information relating to the start point, the end point, and the lowest point of the catenary object from the detection result; detecting the catenary object from the three-dimensional point cloud data using a Hough transform and acquiring coordinate information relating to points of the catenary object from the detection result; and a process of acquiring reflection intensity data from a three-dimensional sensor, detecting the catenary object from the three-dimensional point cloud data using the reflection intensity data, and acquiring coordinate information relating to points of the catenary object from the detection result; The method is configured to perform any one of the following processes: 2. The catenary measurement apparatus according to claim 1. [Appendix 3] An input unit for inputting information operated by a user is further provided, The coordinate acquisition unit is configured to acquire coordinate information relating to the start point, the end point, and the lowest point in accordance with information input to the input unit. 3. The catenary measurement device according to claim 1 or 2. [Appendix 4] An angle conversion unit configured to convert the angle of the three-dimensional point cloud data so that the direction of gravity is directed downward, and to convert the angle of the three-dimensional point cloud data so that a value of a predetermined axis in a horizontal direction of each piece of coordinate information relating to the start point, the end point, and the lowest point is common, The coordinate acquisition unit is configured to process the three-dimensional point cloud data angle-converted by the angle conversion unit. 4. A catenary measurement device according to any one of claims 1 to 3. [Appendix 5] A measurement result correction unit that adjusts a predetermined correction parameter to correct the measurement result of the full length measurement unit. 5. A catenary measurement device according to any one of claims 1 to 4. [Appendix 6] The predetermined correction parameter is a sag, a parameter of a catenary, or a coordinate of any one of the start point, the end point, and the lowest point. 6. The catenary measurement apparatus of claim 5. [Appendix 7] The measurement result correction unit is configured to adjust the predetermined correction parameters by a user operation. 7. The catenary measurement device according to claim 5 or 6. [Appendix 8] the measurement result correction unit is configured to compare the catenary model with a point cloud related to the catenary object, and automatically adjust a predetermined correction parameter so as to align the catenary model with the point cloud related to the catenary object. 7. The catenary measurement device according to claim 5 or 6. [Appendix 9] A catenary measurement method for measuring a catenary using hardware resources, comprising: acquiring coordinate information relating to a start point, an end point, and a lowest point of the catenary object from the three-dimensional point cloud data; generating a catenary model connecting the start point and the end point based on the acquired coordinate information of the start point, the end point, and the lowest point; measuring the sag of the catenary model; measuring a total length of the catenary model using the measured sag; Including, The step of generating the catenary model comprises: calculating parameters of a catenary based on the coordinates of the starting point and the lowest point; calculating the coordinates of the true lowest point based on the parameters; generating the catenary model based on the coordinates of the start point and the end point and the coordinates of the true lowest point; A catenary measurement method, comprising: [Appendix 10] A program for causing hardware resources to execute a process for measuring a catenary, A process of acquiring coordinate information relating to a start point, an end point, and a lowest point of a catenary object from the three-dimensional point cloud data; A process of generating a catenary model connecting the start point and the end point based on the acquired coordinate information of each of the start point, the end point, and the lowest point; measuring the sag of the catenary model; measuring a total length of the catenary model using the measured sag; on the hardware resource; The process of generating the catenary model includes: A process of calculating a parameter of a catenary based on the coordinates of the starting point and the lowest point; Calculating the coordinates of the true lowest point based on the parameters; A process of generating the catenary model based on the coordinates of the start point and the end point and the coordinates of the true lowest point; Including, the program.

[0083] The disclosures of the above 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, including the claims and drawings, and the technical idea. 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) in the disclosures of this application. [Explanation of symbols]

[0084] 10 Catenary Model 11 Starting point 12 End Point 13 Lowest point 20 Electric wire 21, 22 Electric pole 23 Building 24 Ground 100 3D point cloud data 200 Catenary Measuring Device 210 Pretreatment section 211 Format conversion unit 212 Noise removal section 220 Measurement Division 221 Angle conversion unit 222 Model Generation Unit 223 Sag Meter 224 Total length measurement section 230 User Interface Section 231 Coordinate Acquisition Unit 232 Display section 233 Input section 234 Measurement result correction section 300 3D Sensor 1000 Hardware Resources 1001 Processor 1002 Memory 1003 Network Interface 1004 Internal Bus

Claims

1. a coordinate acquisition unit configured to perform a process of acquiring coordinate information relating to a start point, an end point, and a provisional lowest point of a catenary object from the three-dimensional point cloud data; an angle conversion unit configured to convert the three-dimensional point cloud data into an angle such that the direction of gravity is directed downward, and to convert the three-dimensional point cloud data into an angle such that a value of a predetermined axis in a horizontal direction of each piece of coordinate information relating to the start point, the end point, and the virtual lowest point becomes common; a model generation unit configured to generate a catenary model connecting the start point and the end point based on each piece of coordinate information related to the start point, the end point, and the temporary lowest point that have been angle-converted by the angle conversion unit; and a sag measurement unit configured to measure the sag of the catenary model; a total length measuring unit configured to measure a total length of the catenary model using the sag measured by the sag measuring unit; Equipped with The model generation unit a process of calculating parameters of a catenary line by solving simultaneous equations obtained by substituting the coordinates of the starting point and the provisional lowest point, which have been angle-converted by the angle conversion unit, into a predetermined catenary line formula; A process of calculating the coordinates of the true lowest point by solving simultaneous equations obtained by substituting the coordinates of the start point and the end point into the formula of the catenary using the calculated parameters; A process of generating the catenary model based on the coordinates of the start point and the end point that have been angle-converted by the angle conversion unit and the coordinates of the true lowest point; A catenary measurement device configured to:

2. The coordinate acquisition unit A process of acquiring coordinate information relating to the start point, the end point, and the provisional lowest point of the catenary-like object from the three-dimensional point cloud data in response to a user's designation; a process of visualizing the three-dimensional point cloud data, and acquiring coordinate information relating to the start point, the end point, and the provisional lowest point of the catenary-like object from the three-dimensional point cloud data by point picking on the visualized screen; detecting the catenary object from the three-dimensional point cloud data by clustering, and acquiring coordinate information relating to the start point, the end point, and the provisional lowest point of the catenary object from the detection result; detecting the catenary object from the three-dimensional point cloud data using a Hough transform and acquiring coordinate information relating to points of the catenary object from the detection result; and a process of acquiring reflection intensity data from a three-dimensional sensor, detecting the catenary object from the three-dimensional point cloud data using the reflection intensity data, and acquiring coordinate information relating to points of the catenary object from the detection result; The method is configured to perform any one of the following processes:

2. The catenary measurement device according to claim 1.

3. An input unit for inputting information operated by a user is further provided, The coordinate acquisition unit is configured to acquire coordinate information relating to the start point, the end point, and the temporary lowest point in response to information input to the input unit.

3. The catenary measurement device according to claim 1 or 2.

4. The angle conversion unit restores the angle conversion after the total length measurement unit measures the total length of the catenary model.

4. A catenary measurement device according to claim 1.

5. A display unit that displays the measurement result by the total length measuring unit; a measurement result correction unit that adjusts a predetermined correction parameter to correct the measurement result of the full length measurement unit, The display unit further displays the corrected measurement result after the correction by the measurement result correction unit.

5. A catenary measurement device according to claim 1.

6. The predetermined correction parameter is a sag, a parameter of a catenary, or a coordinate of any one of the start point, the end point, and the temporary lowest point.

6. The catenary measurement device according to claim 5.

7. The measurement result correction unit is configured to adjust the predetermined correction parameters by a user operation.

7. The catenary measurement device according to claim 5 or 6.

8. the measurement result correction unit is configured to compare the catenary model with a point cloud related to the catenary object, and automatically adjust a predetermined correction parameter so as to align the catenary model with the point cloud related to the catenary object.

7. The catenary measurement device according to claim 5 or 6.

9. A catenary measurement method for measuring a catenary using hardware resources, comprising: acquiring coordinate information relating to a start point, an end point, and a provisional lowest point of the catenary object from the three-dimensional point cloud data; performing angle conversion on the three-dimensional point cloud data so that the direction of gravity faces downward, and also performing angle conversion so that values ​​of a predetermined axis in the horizontal direction of each piece of coordinate information relating to the start point, the end point, and the temporary lowest point become common; generating a catenary model connecting the start point and the end point based on the angle-converted coordinate information of the start point, the end point, and the temporary lowest point; measuring the sag of the catenary model; measuring a total length of the catenary model using the measured sag; Including, The step of generating the catenary model comprises: calculating parameters of the catenary by solving simultaneous equations obtained by substituting the angle-converted coordinates of the starting point and the provisional lowest point into a predetermined catenary formula; calculating the coordinates of the true lowest point by solving simultaneous equations obtained by substituting the coordinates of the start point and the end point into the formula of the catenary using the calculated parameters; generating the catenary model based on the angle-transformed coordinates of the start point and the end point and the coordinates of the true lowest point; A catenary measurement method, comprising:

10. A program for causing hardware resources to execute the catenary measurement method described in claim 9.

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