CN106595499B - Wire icing thickness measure image processing system - Google Patents
Wire icing thickness measure image processing system Download PDFInfo
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- CN106595499B CN106595499B CN201611040869.4A CN201611040869A CN106595499B CN 106595499 B CN106595499 B CN 106595499B CN 201611040869 A CN201611040869 A CN 201611040869A CN 106595499 B CN106595499 B CN 106595499B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
Abstract
A kind of wire icing thickness measure image processing system disclosed by the invention, comprising: data inputting module is used for typing unmanned plane binocular vision image, and is used for the corresponding unmanned plane POS of typing unmanned plane binocular vision image taking and posture information data；The unmanned plane binocular vision image of data inputting module typing is carried out gaussian filtering process by image pre-processing module；Image Feature Matching module determines that characteristic point determines characteristic point principal direction, generates SIFT feature vector；Image triangulation resolves module, establishes image geodetic coordinates, calculates wire icing thickness；Image conductor detection and identification module, go out transmission line wire for conducting wire selective mechanisms, judge the transmission line wire whether icing；Image output module, for exporting the processing result image of image conductor detection with identification module and image triangulation resolving module.Detection and the recognition efficiency of ice coating wire are improved, convenient for the popularization of unmanned plane image icing disaster detection technique.
Description
Technical field
The present invention relates to wire icing thickness measurement technique fields, more specifically, are related to a kind of wire icing thickness
Measure image processing system.
Background technique
The icing of overhead transmission line gently then cause circuit overload lotus and conductor galloping etc. endanger, it is heavy then cause break,
Tower, so that power grid is paralysed.It can be seen that coated by ice of overhead power transmission line has severely impacted the reliability of power transmission network, electric power is given
The safe and stable operation of system brings huge threat.Since powerline ice-covering is mainly influenced by meteorological factor, need
Carry out the monitoring of coated by ice of overhead power transmission line situation.
Unmanned plane image electric inspection process technology has strong real-time, maneuverability, image resolution high and at low cost
The characteristics of, the emergency management and rescue of transmission line of electricity disaster can be highly suitable in high-risk areas operation.Unmanned plane image is covered
Ice damage evil detection technique be applied to natural disaster in electric power system be detected as electric system calamity emergency quick response provide it is new
Guarantee.
But transmission line of electricity network is widely distributed, area is big, and the inspection of unmanned plane binocular vision image icing disaster is carried out to it
It surveys, needs to shoot a large amount of unmanned plane binocular vision image, the image data amount of acquisition is huge, the arrangement and filing of these data
It works extremely cumbersome.Powerline ice-covering conducting wire image background is complicated, needs to carry out detection and the identifying processing of ice coating wire, energy
Enough exclusion contextual factor interference quickly, intelligent, obtain ice coating wire region, carry out the statistics and analysis of icing situation.
Summary of the invention
The object of the present invention is to provide a kind of wire icing thickness measure image processing systems, improve the detection of ice coating wire
And recognition efficiency, convenient for the popularization of unmanned plane image icing disaster detection technique.
In order to solve the above technical problem, the present invention provides following technical solutions:
A kind of wire icing thickness measure image processing system provided by the invention, for handling unmanned plane binocular vision figure
Picture, the system comprises:
Data inputting module is used for typing unmanned plane binocular vision image, and for unmanned plane binocular vision described in typing
Feel the corresponding unmanned plane POS of image taking and posture information data；
The unmanned plane binocular vision image of the data inputting module typing is carried out gaussian filtering by image pre-processing module
Processing；
Unmanned plane binocular vision image Jing Guo described image preprocessing module is carried out ruler by Image Feature Matching module
Spend spatial extrema detection, the position of precise positioning feature point and scale determine characteristic point principal direction, generate SIFT feature to
Amount；
Image triangulation resolves module, for combining unmanned plane POS and posture information data, utilizes stereo-picture triangle
Measurement method is resolved as auxiliary space coordinate, establishes image geodetic coordinates, calculates wire icing thickness；
Image conductor detection and identification module, go out transmission line wire for conducting wire selective mechanisms, judge the power transmission line
Line conductor whether icing；
Image output module, for exporting the figure of image conductor detection with identification module and image triangulation resolving module
As processing result.
Preferably, in above-mentioned wire icing thickness measure image processing system, described image output module is also used to scheme
As processing result is labeled on the unmanned plane binocular vision image of the data inputting module typing, and output it.
Preferably, in above-mentioned wire icing thickness measure image processing system, the system also includes:
Visual numeral image feature base saves described image processing result for connecting described image output module.
Preferably, in above-mentioned wire icing thickness measure image processing system, the visual numeral image feature base
Include:
Security module, for limiting the access and inquiry of the visual numeral image feature base；
Enquiry module for the inquiry of the visual numeral image feature base, and provides query result.
Preferably, in above-mentioned wire icing thickness measure image processing system, the visual numeral image feature base
Further include:
Maintenance module, for being modified, deleting to data in the visual numeral image feature base, add；
Replication module, for the duplication to the visual numeral image feature base.
Preferably, in above-mentioned wire icing thickness measure image processing system, the detection of described image conducting wire and identification module
Include:
Detection sub-module, the conducting wire selective mechanisms for Ratio edge detection, Hough lines detection and line segment synteny；
Identify submodule, for transmission line wire described in the color, gray scale and texture estimation by ice coating wire whether
Icing.
Wire icing thickness measure image processing system provided by the invention can quickly and efficiently complete a large amount of unmanned planes
The processing of binocular vision digital picture；The high-quality feature of extractable unmanned plane binocular vision digital picture out；Efficiency and reliable
Property it is high；The icing situation of unmanned plane binocular vision image can be arbitrarily checked according to user demand, and show that wire icing the condition of a disaster is believed
Breath provides reference frame for the exploration of powerline ice-covering the condition of a disaster.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, for those of ordinary skills, do not making the creative labor
Under the premise of property, it can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is the structural schematic diagram for the wire icing thickness measure image processing system that the embodiment of the present invention one provides；
Fig. 2 is the structural schematic diagram of wire icing thickness measure image processing system provided by Embodiment 2 of the present invention.
Specific embodiment
A kind of wire icing thickness measure image processing system provided in an embodiment of the present invention, improves the detection of ice coating wire
And recognition efficiency, convenient for the popularization of unmanned plane image icing disaster detection technique.
Technical solution in embodiment in order to enable those skilled in the art to better understand the present invention, and make of the invention real
The above objects, features, and advantages for applying example can be more obvious and easy to understand, with reference to the accompanying drawing to the technology in the embodiment of the present invention
Scheme is described in further detail.
With reference to attached drawing 1, the figure shows wire icing thickness measure image processing systems provided in an embodiment of the present invention
Structure specifically includes that data inputting module 1, image pre-processing module 2, Image Feature Matching module 3, image triangulation
Resolve module 4, image conductor detection and identification module 5 and image output module 6.
Data inputting module 1 is used for typing unmanned plane binocular vision image, and for unmanned plane binocular vision described in typing
Feel the corresponding unmanned plane POS of image taking and posture information data；
The unmanned plane binocular vision image of 1 typing of data inputting module is carried out Gauss filter by image pre-processing module 2
Wave processing；
Image Feature Matching module 3 carries out the unmanned plane binocular vision image Jing Guo described image preprocessing module 2
Scale space extremum extracting, the position of precise positioning feature point and scale, determine characteristic point principal direction, generate SIFT feature to
Amount；
Image triangulation resolves module 4, for combining unmanned plane POS and posture information data, utilizes stereo-picture three
Angle measuring method is resolved as auxiliary space coordinate, establishes image geodetic coordinates, calculates wire icing thickness；
Image conductor detection and identification module 5, go out transmission line wire for conducting wire selective mechanisms, judge the power transmission line
Line conductor whether icing；
Image output module 6 resolves module with identification module and image triangulation for exporting image conductor detection
Processing result image.
Data inputting module 1 directly receives the unmanned plane binocular vision image of the formats such as JPG, png, bmp, tif, will be described
Wire icing thickness measure image processing system described in unmanned plane binocular vision image typing, while by unmanned plane binocular vision figure
As shooting corresponding unmanned plane POS (Positioning and Orientation System, POS, i.e. positioning and orientation system)
With wire icing thickness measure image processing system described in posture information data inputting.General circumstances, unmanned plane binocular vision figure
As carrying unmanned plane POS and posture information.
Image pre-processing module 2 carries out gaussian filtering process to the unmanned plane binocular vision image of typing, and gaussian filtering is just
It is the process being weighted and averaged to entire image, the value of each pixel, all by other pixels in itself and neighborhood
Value obtains after being weighted averagely.The concrete operations of gaussian filtering are: in a template (or convolution, mask) scan image
Each pixel, the weighted average gray value of pixel goes the value of alternate template central pixel point in the neighborhood determined with template.
The image smoothing effect of gaussian filtering process is preferable, improves brightness, and closer original image.After image pre-processing module 2 pre-processes
Image pass to Image Feature Matching module 3 and image conductor detection with identification module 5.
Image Feature Matching module 3 carries out scale space extremum extracting (ruler to the unmanned plane binocular vision image received
Spatial extrema detection is spent in addition to using), in order to detect the maximum value and minimum value in the space DOG, establish DOG scale space gold word
Tower, the position of precise positioning feature point and the scale at place after determining characteristic point principal direction, generate SIFT Scale-
Invariant feature transform, SIFT, i.e. Scale invariant features transform) feature vector, complete SIFT feature
Match, matching result is passed into image triangulation and resolves module 4.
Image triangulation resolves module 4, in conjunction with unmanned plane POS and posture information data, surveys with stereo-picture triangle
Amount method is resolved as auxiliary space coordinate, establishes image geodetic coordinates, with the help of image geodetic coordinates, carries out wire icing
The measurement of thickness.The left images of unmanned plane binocular vision sensor are carried out to certain coordinate conversion, it is desirable that go out spin matrix
It can be obtained by the three dimensional space coordinate of testee point, the coordinatometer under the image coordinate system of a certain culture point with translation vector
Spending information is space coordinate that is random, being obtained by two culture points, recycles aspect and holder posture information can
Resolving obtains the relative positional relationship of two culture points.
Image conductor detection and identification module 5, are detected by optical sieving through the pretreated nothing of image pre-processing module 2
Man-machine binocular vision image filters out the transmission line wire of unmanned plane binocular vision image, and carries out transmission line wire and be
The judgement of no icing.The measurement of wire icing thickness is carried out when wire icing of transmission line.Preferably, image conductor detection with
Identification module 5 includes detection sub-module and identification submodule, and detection sub-module is used for Ratio edge detection, Hough lines detection
With the conducting wire selective mechanisms of line segment synteny, identify that submodule is used for color, gray scale and the texture estimation institute by ice coating wire
State transmission line wire whether icing.
Image output module 6, the processing result by above-mentioned resume module are exported by image output module 6, just
In checking for wire icing thickness measure image processing system provided in an embodiment of the present invention treated result.Preferably, scheme
As output module 6, processing result is exported with the format of JPG and is saved to the customized save location of user.
In wire icing thickness measure image processing system provided in an embodiment of the present invention, data inputting module 1, image are pre-
Processing module 2, Image Feature Matching module 3, image triangulation resolves module 4, image output module 6 is sequentially connected；Nobody
Machine binocular vision digital picture preprocessing module 2 detects and identification module 5 with Image Feature Matching module 3, image conductor respectively
Connection, and image conductor detection is connect with identification module 5 with image output module 6.Wire icing provided in an embodiment of the present invention
Thickness measure image processing system can quickly and efficiently complete the processing of a large amount of unmanned plane binocular vision digital pictures；It is extractable
The high-quality feature of unmanned plane binocular vision digital picture out；Efficiency and reliability is high；Nothing can be arbitrarily checked according to user demand
The icing situation of man-machine binocular vision image, and obtain wire icing the condition of a disaster information, it is provided for the exploration of powerline ice-covering the condition of a disaster
Reference frame.
Preferably, image output module 6 is also used to for processing result image being labeled in the data inputting module typing
On unmanned plane binocular vision image, and output it.In this way, checking for output result is more intuitive.
To advanced optimize technical solution, wire icing thickness measure image processing system provided in an embodiment of the present invention is also
Including visual numeral image feature base 7, visual numeral image feature base is used to connect described image output module 6,
Save described image processing result.Convenient for the management of inquiry and the application of processing result.
Preferably, visual numeral image feature base 7 includes: security module 701, for limiting the visual numeral figure
As the access and inquiry of property data base；Enquiry module 702, for the inquiry of the visual numeral image feature base,
And provide query result.Further, visual numeral image feature base further include: maintenance module 703, for the view
Feel that data are modified, delete, add in digital image feature database；Replication module 704, for the visual numeral figure
As the duplication of property data base, referring to attached drawing 2.
In visual numeral image feature base 7 provided in an embodiment of the present invention, security module 701 respectively with enquiry module
702, maintenance module 703 and replication module 704 connect.Security module 701 is set in visual numeral image feature base 7, is looked into
Module 702, maintenance module 703 and replication module 704 are ask, it is steady to be conducive to the processing result exported in raising image output module 6
Qualitative, safety and the management for facilitating processing result.The inquiry of icing the condition of a disaster information and data can be provided for different users
Duplication, popularization after the maintenance and update in library and database are authorized.
Security module 701 generally refers to enter visual numeral figure by two kinds of authentication modes of finger print identifying and cipher authentication
As property data base 7.Security module 701 is responsible for certification and management to user right, and user right is set as three-level, and first etc.
Grade is onsite user, which can be verified using password or fingerprint, be verified, can use visual numeral
Enquiry module 702 in image feature base 7；Second grade is technical staff, the class user can using password or
Fingerprint is verified, and is verified, and the enquiry module 702 in visual numeral image feature base 7 not only can be used, can also make
With maintenance module 703；The tertiary gradient is wire icing thickness measure unmanned plane binocular vision digital image feature database institute
The side of having, the class user are that highest weight limits the use of family, it is necessary to and only allow to be verified with fingerprint, by rear, wire icing thickness
Measurement opens all modules to it with unmanned plane binocular vision digital image feature database, and can be to user in security module
Permission is modified.
Enquiry module 702, can according to the demand of inquiry carry out self-setting, such as according to be arranged shooting date, shooting location,
Feature name, four class query type of shaft tower number carry out data in library after user selects query type and improves querying condition
It inquires and provides query result.The query result when user needs can with and only allow with pdf format export checked for user；
Query result export after, this module will automatically generate the system log that can not be changed and delete, the log contain querying condition,
The information such as query result, query time, user account.
The secondary-confirmation that maintenance module 703 generally requires security module 701 can just be operated.Allow the second grade and with
Upper user enters, and the re-authentication of need for confidentiality module, and by rear, this library opens image in library file and library to it and provides
Source folder.User can modify to the basic setup of visual numeral image feature base 7 by maintenance module, may be used also
User right in security module 701 in addition to highest Permission Levels person is modified and added, it more can be to nothing original in library
Man-machine binocular vision image, ice covering thickness detection binocular vision image and its memory file are modified, are deleted.It is wanted for secrecy
Ask, all maintenance results require highest permission person carry out within 48 hours the side of approval calculate safeguard successfully, the otherwise secondary maintenance
Fail, data restore to this state before safeguarding in library；After safeguarding successfully, this module will automatically generate and can not change and delete
System log, the log contain maintenance time, maintenance object, maintenance concrete operation step, execute user, when safeguarding successfully
Between and the confirmation information such as user.
The safety that replication module 704 helps to improve processing result is set, while being carried out in the file copied
Confidentiality setting.Replication module 704 only allows highest permission class user to enter, and the re-authentication of need for confidentiality module 701,
Authentication mode is necessary for fingerprint, and by rear, user can be in library file, library raw image files, planting modes on sink characteristic image, planting modes on sink characteristic figure
As single choice in the resource types such as memory file, system log or the multiselect file to be copied, and user's selected type is related to
Associated documents be packaged and save to specified location in user；After the packaging file saves, this module calls security module automatically
And it requires user to carry out new user right to the packaging file and sets；Setting finishes, this module, which will automatically generate, to be changed
With the system log of deletion, which contains doubling time, duplication object, executes the information such as user.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment
Dividing may refer to each other, and the highlights of each of the examples are differences from other embodiments.
The above is only a specific embodiment of the invention, is made skilled artisans appreciate that or realizing this hair
It is bright.Various modifications to these embodiments will be apparent to one skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (6)
1. a kind of wire icing thickness measure image processing system, for handling unmanned plane binocular vision image, which is characterized in that
The system comprises:
Data inputting module is used for typing unmanned plane binocular vision image, and for unmanned plane binocular vision figure described in typing
As shooting corresponding unmanned plane POS and posture information data；
Image pre-processing module carries out the unmanned plane binocular vision image of the data inputting module typing at gaussian filtering
Reason；
Unmanned plane binocular vision image Jing Guo described image preprocessing module it is empty to be carried out scale by Image Feature Matching module
Between extremum extracting, the position of precise positioning feature point and scale, determine characteristic point principal direction, generate SIFT feature vector；
Image triangulation resolves module, for combining unmanned plane binocular vision image, unmanned plane POS and posture information data,
It is resolved using stereo-picture triangulation method as auxiliary space coordinate, establishes image geodetic coordinates, calculate wire icing thickness；
Image conductor detection and identification module, go out transmission line wire for conducting wire selective mechanisms, judge the power line conductive
Line whether icing；
Image output module resolves at the image of module for exporting image conductor detection with identification module and image triangulation
Manage result.
2. wire icing thickness measure image processing system according to claim 1, which is characterized in that described image output
Module is also used to for processing result image being labeled on the unmanned plane binocular vision image of the data inputting module typing, and will
It is exported.
3. wire icing thickness measure image processing system according to claim 1, which is characterized in that the system is also wrapped
It includes:
Visual numeral image feature base saves described image processing result for connecting described image output module.
4. wire icing thickness measure image processing system according to claim 3, which is characterized in that the visual numeral
Image feature base includes:
Security module, for limiting the access and inquiry of the visual numeral image feature base；
Enquiry module for the inquiry of the visual numeral image feature base, and provides query result.
5. wire icing thickness measure image processing system according to claim 3 or 4, which is characterized in that the vision
Digital image feature database further include:
Maintenance module, for being modified, deleting to data in the visual numeral image feature base, add；
Replication module, for the duplication to the visual numeral image feature base.
6. wire icing thickness measure image processing system according to any one of claims 1-4, which is characterized in that institute
Image conductor detection, which is stated, with identification module includes:
Detection sub-module, the conducting wire selective mechanisms for Ratio edge detection, Hough lines detection and line segment synteny；
Identify submodule, for transmission line wire described in the color, gray scale and texture estimation by ice coating wire whether icing.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108645347A (en) * | 2018-06-19 | 2018-10-12 | 贵州电网有限责任公司 | A kind of electric power line ice-covering thickness measuring device and its application method |
| CN108919838B (en) * | 2018-08-27 | 2021-03-26 | 河海大学常州校区 | Binocular vision-based automatic tracking method for power transmission line of unmanned aerial vehicle |
| CN109297419A (en) * | 2018-11-13 | 2019-02-01 | 天津送变电工程有限公司 | It is a kind of based on the unmanned plane of image processing techniques in ice detection system and its working method |
| CN109631776B (en) * | 2018-12-27 | 2019-12-27 | 南京航空航天大学 | Automatic measurement method for icing thickness of high-voltage transmission line conductor |
| CN110211342A (en) * | 2019-05-31 | 2019-09-06 | 云南电网有限责任公司电力科学研究院 | A kind of monitoring warning device and method of ultra-high-tension power transmission line ice covering thickness |
| CN110516618B (en) * | 2019-08-29 | 2022-04-12 | 苏州大学 | Assembly robot and assembly method and system based on vision and force position hybrid control |
| CN111174697A (en) * | 2019-12-13 | 2020-05-19 | 中国南方电网有限责任公司超高压输电公司柳州局 | Stereoscopic vision image accurate measurement method based on unmanned aerial vehicle |
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