3D Reconstruction of Power Grid Facilities Based on Keyframe Extraction and Image Recognition

doi:10.11930/j.issn.1004-9649.202306018

Abstract

Abstract:

A digital reconstruction scheme for power grid facilities based on video keyframe extraction and image recognition is proposed. Shoot a video sequence of the facility to be reconstructed through a mobile homework terminal, extract key frames from the video, and use YOLOv5 network to recognize and extract anchor frames of power facilities to remove environmental background, constructing an image set; Then, based on the principle of motion recovery structure, 3D reconstruction is carried out, and an improved directional fast rotation algorithm is proposed to improve the accuracy of camera pose calculation. Thereby achieving the reconstruction of 3D models of power grid facilities; Finally, taking common transformers in the power grid as an example, it is verified that the proposed method can effectively complete the 3D model reconstruction of power facilities.

Key words: digital twins, keyframe extraction, image recognition

Zhiyong CHEN, Jinglin HAN, Yang LIU, Guangyi LI, Yu JIANG, Ruitian CAI. 3D Reconstruction of Power Grid Facilities Based on Keyframe Extraction and Image Recognition[J]. Electric Power, 2024, 57(9): 217-223.

Add to citation manager EndNote|Ris|BibTeX

URL: https://www.electricpower.com.cn/EN/10.11930/j.issn.1004-9649.202306018

https://www.electricpower.com.cn/EN/Y2024/V57/I9/217

Figures/Tables 11

Fig.1 Architecture of the 3D reconstruction method based on video keyframe extraction and image recognition

Fig.2 The three-dimensional reconstruction method based on video keyframe extraction and image recognition

Fig.3 Schematic diagram of the clarity assessment

Fig.4 Transformer recognition test results

Fig.5 Sparse feature point extraction results

Table 1 Comparison of feature detection algorithms

算法	提取特征数/个	正确匹配特征/对	匹配准确率/%
SIFT	327	233	71.3
SURF	286	209	73.1
原始ORB	397	304	76.6
本文改进ORB	348	286	82.2

Fig.6 Reconstruction of the on-load tap changer transformer

Fig.7 Reconstruction of the common transformer

Fig.8 Reconstruction based on the original image

Fig.9 Comparison of reprojection error point cloud

Fig.10 Comparison of point cloud average reprojection error

References 25

1	苏寅生, 周挺辉, 郑外生, 等. 基于云计算的电力系统计算分析平台构建[J]. 南方电网技术, 2022, 16 (7): 67- 75.
	SU Yinsheng, ZHOU Tinghui, ZHENG Waisheng, et al. Construction of power system computing and analysis platform based on cloud computing[J]. Southern Power System Technology, 2022, 16 (7): 67- 75.
2	孙超, 夏晨, 吕志强, 等. 省地一体化稳态分析服务弹性调度系统设计[J]. 电力系统保护与控制, 2022, 50 (5): 136- 145.
	SUN Chao, XIA Chen, LÜ Zhiqiang, et al. Design of a service elastic scheduling system for steady state analysis across provincial and regional dispatching centers[J]. Power System Protection and Control, 2022, 50 (5): 136- 145.
3	何永胜, 罗丹, 鲁宗相. 特高压阀侧套管数字孪生系统集成设计方法[J]. 中国电力, 2024, 57 (6): 165- 173.
	HE Yongsheng, LUO Dan, LU Zongxiang. Integration of digital twin model system for ultra-high voltage converter transformer valve-side bushing[J]. Electric Power, 2024, 57 (6): 165- 173.
4	孙毅, 陈恺, 左强, 等. 考虑5G通信负荷协同优化的云边计算网络能量管理模型[J]. 中国电机工程学报, 2023, 43 (23): 9020- 9033.
	SUN Yi, CHEN Kai, ZUO Qiang, et al. Energy management model of cloud-edge computing network considering the coordinated optimization of 5G communication load[J]. Proceedings of the CSEE, 2023, 43 (23): 9020- 9033.
5	梁珩, 黄耕, 侯宾, 等. 工业用户连续参与需求响应的用户基线负荷精准计算方法[J]. 中国电力, 2024, 57 (3): 34- 42.
	LIANG Heng, HUANG Geng, HOU Bin, et al. Accurate estimation method of customer baseline load for continuous participation of industrial users in demand response[J]. Electric Power, 2024, 57 (3): 34- 42.
6	李博, 方彤. 北斗卫星导航系统(BDS)在智能电网的应用与展望[J]. 中国电力, 2020, 53 (8): 107- 116.
	LI Bo, FANG Tong. Application and prospect of BeiDou navigation satellite system(BDS) in smart grid[J]. Electric Power, 2020, 53 (8): 107- 116.
7	朱睿, 欧乙丁, 李筱天, 等. 基于外特性等值的虚拟电厂灵活性资源价值评估[J]. 中国电力, 2024, 57 (1): 30- 39.
	ZHU Rui, OU Yiding, LI Xiaotian, et al. Evaluation of virtual power plant flexibility resources based on external characteristic equivalence[J]. Electric Power, 2024, 57 (1): 30- 39.
8	刘林, 王大龙, 綦晓, 等. 基于双锁相环的海上风场综合惯量调频策略研究[J]. 发电技术, 2024, 45 (2): 282- 290. DOI
	LIU Lin, WANG Dalong, QI Xiao, et al. Study on double phase-locked loop on the synthetic inertia control of offshore wind farm frequency regulation[J]. Power Generation Technology, 2024, 45 (2): 282- 290. DOI
9	钱仲豪, 胡骏, 沈思辰, 等. 考虑条件风险价值的多源协调优化运行策略[J]. 发电技术, 2023, 44 (6): 781- 789. DOI
	QIAN Zhonghao, HU Jun, SHEN Sichen, et al. Multi-power coordinated optimization operation strategy considering conditional value at risk[J]. Power Generation Technology, 2023, 44 (6): 781- 789. DOI
10	杜夏恒, 赫玉莹, 邹文, 等. 跟网型和构网型逆变器的阻抗无源化方法综述[J]. 东北电力大学学报, 2024, 44 (2): 12- 20.
	DU Xiaheng, HE Yuying, ZOU Wen, et al. An overview of impedance passivation methods for grid-following and grid-forming inverters[J]. Journal of Northeast Electric Power University, 2024, 44 (2): 12- 20.
11	陈继开, 侯文宇, 李浩茹, 等. 一种基于虚拟惯量控制的非故障雷击多端柔直低频振荡平抑方法[J]. 东北电力大学学报, 2023, 43 (4): 10- 19.
	CHEN Jikai, HOU Wenyu, LI Haoru, et al. A non-fault lightning strike multi-terminal flexible low-frequency oscillation suppression method based on virtual inertia control[J]. Journal of Northeast Electric Power University, 2023, 43 (4): 10- 19.
12	赵辉, 韩璟琳, 李光毅, 等. 基于运动恢复结构原理的电网设施三维静态重建方法[J/OL]. 现代电力: 1–9[2023-06-05]. https://doi.org/10.19725/j.cnki.1007-2322.2022.0402.
	ZHAO Hui, HAN Jinglin, LI Guangyi, et al. 3D static reconstruction method of power grid facilities based on structure from motion principle[J/OL]. Modern Electric Power: 1–9[2023-06-05]. https://doi.org/10.19725/j.cnki.1007-2322.2022.0402.
13	ZHANG K, YAN M Z, HUANG T Y, et al. 3D reconstruction of complex spatial weld seam for autonomous welding by laser structured light scanning[J]. Journal of Manufacturing Processes, 2019, 39, 200- 207. DOI
14	冯欣楠, 鲁志伟, 梁记云, 等. 基于三维模型法500 kV交流输电线路绕击耐雷性能分析[J]. 东北电力大学学报, 2022, 42 (1): 87- 95.
	FENG Xinnan, LU Zhiwei, LIANG Jiyun, et al. Analysis of lightning protection performance of 500 kV AC transmission lines based on three-dimensional model method[J]. Journal of Northeast Electric Power University, 2022, 42 (1): 87- 95.
15	李智韬. 基于无人机摄影测量的架空输电线路三维实景建模研究与应用[D]. 广州: 华南理工大学, 2019.
	LI Zhitao. Studies and apllications of overhead transmission lines' 3D real scene modeling based on drones equiped with imaging and measuring devices[D]. Guangzhou: South China University of Technology, 2019.
16	郑恩. 基于无人机航拍输电线路杆塔的三维重建[D]. 南宁: 广西大学, 2017.
	ZHENG En. 3D reconstruction of tower of aerial transmission line based on UAV[D]. Nanning: Guangxi University, 2017.
17	刘磊, 孙敏, 任翔, 等. 基于无人机影像序列的三维重建方法综述[J]. 北京大学学报(自然科学版), 2017, 53 (6): 1165- 1178.
	LIU Lei, SUN Min, REN Xiang, et al. Review on methods of 3D reconstruction from UAV image sequences[J]. Acta Scientiarum Naturalium Universitatis Pekinensis, 2017, 53 (6): 1165- 1178.
18	张童, 谭南林, 包辰铭. 应用于嵌入式平台的实时红外行人检测方法[J]. 激光与红外, 2020, 50 (2): 239- 245.
	ZHANG Tong, TAN Nanlin, BAO Chenming. Real-time infrared pedestrian detection method applied to embedded platform[J]. Laser & Infrared, 2020, 50 (2): 239- 245.
19	ZHOU H Y, ZHANG T. The combination of SfM and monocular SLAM[C]//The 26th Chinese Control and Decision Conference (2014 CCDC). Changsha, China. IEEE, 2014: 5282–5286.
20	苏凯第, 赵巧娥. 基于YOLOv5算法的无人机电力巡检快速图像识别[J]. 电力科学与工程, 2022, 38 (4): 43- 48. DOI
	SU Kaidi, ZHAO Qiaoe. Fast image recognition of UAV power inspection based on YOLOv5 algorithm[J]. Electric Power Science and Engineering, 2022, 38 (4): 43- 48. DOI
21	庞博, 鲍志远, 杨明坤, 等. 基于YOLOv5的电力巡检图像缺陷识别研究[J]. 四川电力技术, 2022, 45 (5): 48- 53, 94.
	PANG Bo, BAO Zhiyuan, YANG Mingkun, et al. Research on defect recognition of power patrol images based on YOLOv5[J]. Sichuan Electric Power Technology, 2022, 45 (5): 48- 53, 94.
22	王文斌, 刘桂华, 刘先勇, 等. 本质矩阵五点算法伪解的两种剔除策略[J]. 光电工程, 2010, 37 (8): 46- 52.
	WANG Wenbin, LIU Guihua, LIU Xianyong, et al. Two removal tacties of pseudo solutions for essential matrix five-point algorithm[J]. Opto-Electronic Engineering, 2010, 37 (8): 46- 52.
23	姚依妮, 王玮. Harris角点检测算法的应用研究[J]. 智能计算机与应用, 2022, 12 (8): 148- 151. DOI
	YAO Yini, WANG Wei. Application research on Harris corner detection algorithms[J]. Intelligent Computer and Applications, 2022, 12 (8): 148- 151. DOI
24	张炎, 野莹莹, 马永轩, 等. KLT跟踪算法[J]. 信息技术与信息化, 2021, (5): 21- 23. DOI
	ZHANG Yan, YE Yingying, MA Yongxuan, et al. KLT tracking algorithm[J]. Information Technology and Informatization, 2021, (5): 21- 23. DOI
25	别治峰, 刘守山, 黄春凤. 基于SURF-RANSAC配准的三维重建[J]. 科学技术与工程, 2019, 19 (28): 239- 244. DOI
	BIE Zhifeng, LIU Shoushan, HUANG Chunfeng. 3D reconstruction based on SURF-RANSAC matching[J]. Science Technology and Engineering, 2019, 19 (28): 239- 244. DOI

[1]	ZHAO Yongliang, FU Xin, GUO Yang, BIAN Yingying, WANG Sining. Intelligent Storage and Retrieval of Power Accessories Based on Deep Learning and Image Recognition [J]. Electric Power, 2021, 54(3): 55-60.
[2]	ZHOU Junhuang, HUANG Tingcheng, XIE Xiaoyu, FAN Wenjun, YI Tingting, ZHANG Yongjun. Review of Application Research of Video Image Intelligent Recognition Technology in Power Transmission and Distribution Systems [J]. Electric Power, 2021, 54(1): 124-134,166.
[3]	JIANG Jing, ZHAO Yangyang, FAN Hongwei, ZHOU Zhenyu, DONG Chaoyang, YANG Qingbo, WANG Xiaoli. Application of Image Recognition in On-Line Monitoring System of UHVDC Valve Element Faults [J]. Electric Power, 2020, 53(11): 126-132.
[4]	LAI Qiupin, YANG Jun, TAN Bendong, WANG Liang, FU Siyao, HAN Liwei. An Automatic Recognition and Defect Diagnosis Model of Transmission Line Insulator Based on YOLOv2 Network [J]. Electric Power, 2019, 52(7): 31-39.
[5]	JIA Siqi, LI Jun Hui, DU Dongmei, LIU Bin, HE Qing. Image Recognition of Icing Thickness of Transmission Line Based on Random Hough Transform [J]. Electric Power, 2019, 52(12): 39-45,53.
[6]	ZHANG Yujiao, YANG Qi, JIANG Lan, XU Tianyong, DONG Xiaohu. Vibration Frequency Identification and Analysis for UHV Line Shield Ring [J]. Electric Power, 2018, 51(3): 35-41.