Method for measuring the distance between excavator and high-voltage transmission line

A method for measuring the distance between an excavator and a high-voltage transmission line, comprising:

• defining a coordinate system, and marking an existing camera through the Zhang's Checkerboard calibration method so as to obtain an internal parameter matrix and an external parameter matrix of the camera;
• fixing the installation height of the camera and the tilt angle θ of the camera, measuring the height of the camera from the ground by using an infrared ranging meter, and obtaining the tilt angle θ of the camera through PTZ (Pan, Tilt, Zoom) information of the camera in real time;
• detecting images collected by the camera through the YOLOV5 algorithm, detecting and positioning targets in the images, obtaining a rectangular frame of the minimum area of the targets fully entering the field of view of the camera, and calculating depth information of the targets from the camera plane on the basis;
• classifying the targets into large, medium and small through the partitioning clustering algorithm, analyzing lengths, widths and heights of 3D models of excavators in each category, calculating the geometric mean of each cluster of the excavators, and carrying out overall averaging;
• and
• measuring the lowest height of the high-voltage transmission line through a millimeter wave radar, and obtaining the height of the target object and the distance between the high-voltage transmission line and the target through calculation.