CN103090807A - Method and system for detecting safe operations of electric transmission line - Google Patents
Method and system for detecting safe operations of electric transmission line Download PDFInfo
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- CN103090807A CN103090807A CN2013100118704A CN201310011870A CN103090807A CN 103090807 A CN103090807 A CN 103090807A CN 2013100118704 A CN2013100118704 A CN 2013100118704A CN 201310011870 A CN201310011870 A CN 201310011870A CN 103090807 A CN103090807 A CN 103090807A
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Abstract
An embodiment of the invention provides a method and a system for detecting safe operations of an electric transmission line. The method comprises that at least two cameras are used for conducting image collecting on each wire of two neighboring wires of the same segment which is arranged inside the electric transmission line and is to be detected, and image data of the two shot neighboring wires of the same segment, wherein the two shot neighboring wires of the same segment are shot from two visual angles. By utilizing the shot image data of two neighboring wires of the same segment from the two visual angles, through matching of a left camera and a right camera, three-dimension linear equations of the two neighboring wires of the same segment to be detected on a three-dimension scene are respectively obtained. The value of the distance of the two neighboring wires of the same segment is obtained to judge whether the electric transmission line is in a safe operation state or not. The technical scheme is that the distance between the wires of the electric transmission line is measured based on a double-eye stereoscopic vision mode and is reliable, safe and free of contacting, and therefore the distance between the wires can be conveniently, effectively and quickly measured, and therefore work efficiency of inspection of the electric transmission line is improved.
Description
Technical field
The present invention relates to the power system transmission line technical field, relate in particular to a kind of method and system that detects the transmission line of electricity safe operation.
Background technology
In order to guarantee the safe operation of transmission line of electricity, the wire safe spacing of the circuit of different electric pressures there is different requirements.For example, every phase conductor of 330kV and above voltage circuit will adopt the mode of split conductor to prevent corona in the ordinary course of things, needs to determine bundle spacing.Determining of spacing size should improve corona voltage value and look after again the raising transmission capacity, so wire pitch needs reasonable value and optimizes.
The transmission line wire safe spacing is one of prerequisite of the normal safe operation of circuit.But there are at present a lot of extraneous factors can affect transmission line of electricity spacing index.Modal potential safety hazard is the outside destroy factor, and due to the long-term exposed field of transmission line of electricity, and wide, line length, what have also is in densely inhabited district, and it is that fault destroys that transmission line of electricity often can be subjected to the people.For example: fall trees, cause mountain fire, barbarous construction, tractor-ploughing operation, blow out and get stone, traffic hazard and kiteflying etc.Secondly, transmission line of electricity also can be subject to the destruction of natural external force, such as thunderbolt, ice and snow, strong wind etc.In addition, also can have some problems at the design aspect of transmission line of electricity, for example shaft tower span problem also can cause wire pitch not enough.Power line conductive distance between centers of tracks deficiency can cause circuit phase fault and trip accident, causes extensive damage to electric system, even can threaten safe and stable operation and the electric power system reliability of operation of electrical network.At present about guarantee the transmission line wire safe distance patent " adjacent frame hollow wire spacing is regulated stationary installation " and " adjuster for compound conductor spacing of power transmission line " two kinds are arranged, but for power line conductive distance between centers of tracks Real-time Measuring amount, also there is no at present a kind of easy, effective, safe and non-contacting method.
Summary of the invention
The embodiment of the present invention provides a kind of method and system that detects the transmission line of electricity safe operation, so that a kind of reliable, safe, contactless technical scheme based on binocular stereo vision measurement power line conductive distance between centers of tracks to be provided.
On the one hand, the embodiment of the present invention provides a kind of method that detects the transmission line of electricity safe operation, and the method for described detection transmission line of electricity safe operation comprises:
Utilize at least two cameras to carry out respectively image acquisition to each wire in same section adjacent two wires to be detected in transmission line of electricity, obtain from two visual angles described same section adjacent two view data that wire is taken;
Utilize described from two visual angles to described same section adjacent two view data that wire is taken, mate by left and right cameras, obtain respectively the 3 d-line equation of described same section adjacent two wires to be detected under three-dimensional scenic;
According to the 3 d-line equation of described same section adjacent two wires, obtain the distance value of described same section adjacent two wires, to judge that whether transmission line of electricity is under the safe operation state.
optionally, in an embodiment of the present invention, described utilize described from two visual angles to described same section adjacent two view data that wire is taken, mate by left and right cameras, obtain respectively the 3 d-line equation of described same section adjacent two wires to be detected under three-dimensional scenic, comprise: according to the calibrating parameters of described two cameras, utilize described from two visual angles to described same section adjacent two view data that wire is taken, mate by left and right cameras, obtain respectively the 3 d-line equation of described same section adjacent two wires to be detected under three-dimensional scenic.
optionally, in an embodiment of the present invention, described utilize described from two visual angles to described same section adjacent two view data that wire is taken, mate by left and right cameras, obtain respectively the 3 d-line equation of described same section adjacent two wires to be detected under three-dimensional scenic, comprise: utilize described from two visual angles to described same section adjacent two view data that wire is taken, utilize the method extract minutiae of yardstick invariant features conversion SIFT feature extraction, then mate by left and right cameras, obtain respectively the 3 d-line equation of described same section adjacent two wires to be detected under three-dimensional scenic.
optionally, in an embodiment of the present invention, described utilize described from two visual angles to described same section adjacent two view data that wire is taken, mate by left and right cameras, obtain respectively the 3 d-line equation of described same section adjacent two wires to be detected under three-dimensional scenic, comprise: utilize described from two visual angles to described same section adjacent two view data that wire is taken, after mating and carry out error measure and correct by left and right cameras, obtain respectively the 3 d-line equation of described same section adjacent two wires to be detected under three-dimensional scenic.
Optionally, in an embodiment of the present invention, described utilize described from two visual angles to described same section adjacent two view data that wire is taken, mate by left and right cameras, obtain respectively the 3 d-line equation of described same section adjacent two wires to be detected under three-dimensional scenic, comprise: utilize described from two visual angles to described same section adjacent two view data that wire is taken, mate by left and right cameras, and obtain respectively the 3 d-line equation of described same section adjacent two wires to be detected under three-dimensional scenic by Hough transformation.
On the other hand, the embodiment of the present invention provides a kind of system that detects the transmission line of electricity safe operation, and the system of described detection transmission line of electricity safe operation comprises:
Binocular camera, be used for to utilize at least two cameras to carry out respectively image acquisition to each wire in transmission line of electricity same section adjacent two wires to be detected, obtain from two visual angles described same section adjacent two view data that wire is taken;
Signal conditioning package, be connected with described binocular camera, be used for utilizing described from two visual angles to described same section adjacent two view data that wire is taken, mate by left and right cameras, obtain respectively the 3 d-line equation of described same section adjacent two wires to be detected under three-dimensional scenic; According to the 3 d-line equation of described same section adjacent two wires, obtain the distance value of described same section adjacent two wires, to judge that whether transmission line of electricity is under the safe operation state.
Optionally, in an embodiment of the present invention, described signal conditioning package, be further used for the calibrating parameters according to described two cameras, utilize described from two visual angles to described same section adjacent two view data that wire is taken, mate by left and right cameras, obtain respectively the 3 d-line equation of described same section adjacent two wires to be detected under three-dimensional scenic.
Optionally, in an embodiment of the present invention, described signal conditioning package, be further used for utilizing described from two visual angles to described same section adjacent two view data that wire is taken, utilize the method extract minutiae of yardstick invariant features conversion SIFT feature extraction, then mate by left and right cameras, obtain respectively the 3 d-line equation of described same section adjacent two wires to be detected under three-dimensional scenic.
Optionally, in an embodiment of the present invention, described signal conditioning package, be further used for utilizing described from two visual angles to described same section adjacent two view data that wire is taken, after mating and carry out error measure and correct by left and right cameras, obtain respectively the 3 d-line equation of described same section adjacent two wires to be detected under three-dimensional scenic.
Optionally, in an embodiment of the present invention, described signal conditioning package, be further used for utilizing described from two visual angles to described same section adjacent two view data that wire is taken, mate by left and right cameras, and obtain respectively the 3 d-line equation of described same section adjacent two wires to be detected under three-dimensional scenic by Hough transformation.
Technique scheme has following beneficial effect: because adopt the method for described detection transmission line of electricity safe operation, comprise: utilize at least two cameras to carry out respectively image acquisition to each wire in same section adjacent two wires to be detected in transmission line of electricity, obtain from two visual angles described same section adjacent two view data that wire is taken; Utilize described from two visual angles to described same section adjacent two view data that wire is taken, mate by left and right cameras, obtain respectively the 3 d-line equation of described same section adjacent two wires to be detected under three-dimensional scenic; 3 d-line equation according to described same section adjacent two wires, obtain the distance value of described same section adjacent two wires, to judge that whether transmission line of electricity is for the technological means under the safe operation state, so reached following technique effect: by adopting reliable, safe, the contactless technical scheme based on binocular stereo vision measurement power line conductive distance between centers of tracks, Quick Measuring measures wire pitch easily and effectively, improve the work efficiency of polling transmission line, ensured the security of operation of power networks.
Description of drawings
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, the below will do to introduce simply to the accompanying drawing of required use in embodiment or description of the Prior Art, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is a kind of method flow diagram that detects the transmission line of electricity safe operation of the embodiment of the present invention;
Fig. 2 forms schematic diagram for the embodiment of the present invention provides a kind of system that detects the transmission line of electricity safe operation;
Fig. 3 is application example binocular imaging schematic diagram of the present invention;
Fig. 4 is that application example of the present invention is based on the schematic flow sheet of the wire pitch measuring method of binocular vision.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, rather than whole embodiment.Based on the embodiment in the present invention, those of ordinary skills belong to the scope of protection of the invention not making the every other embodiment that obtains under the creative work prerequisite.
As shown in Figure 1, detect the method flow diagram of transmission line of electricity safe operation for the embodiment of the present invention is a kind of, the method for described detection transmission line of electricity safe operation comprises:
101, utilize at least two cameras to carry out respectively image acquisition to each wire in same section adjacent two wires to be detected in transmission line of electricity, obtain from two visual angles described same section adjacent two view data that wire is taken;
102, utilize described from two visual angles to described same section adjacent two view data that wire is taken, mate by left and right cameras, obtain respectively the 3 d-line equation of described same section adjacent two wires to be detected under three-dimensional scenic;
103, according to the 3 d-line equation of described same section adjacent two wires, obtain the distance value of described same section adjacent two wires, to judge that whether transmission line of electricity is under the safe operation state.
Optionally, described utilize described from two visual angles to described same section adjacent two view data that wire is taken, mate by left and right cameras, obtain respectively the 3 d-line equation of described same section adjacent two wires to be detected under three-dimensional scenic, comprise: according to the calibrating parameters of described two cameras, utilize described from two visual angles to described same section adjacent two view data that wire is taken, mate by left and right cameras, obtain respectively the 3 d-line equation of described same section adjacent two wires to be detected under three-dimensional scenic.
optionally, described utilize described from two visual angles to described same section adjacent two view data that wire is taken, mate by left and right cameras, obtain respectively the 3 d-line equation of described same section adjacent two wires to be detected under three-dimensional scenic, comprise: utilize described from two visual angles to described same section adjacent two view data that wire is taken, utilize the method extract minutiae of yardstick invariant features conversion SIFT feature extraction, then mate by left and right cameras, obtain respectively the 3 d-line equation of described same section adjacent two wires to be detected under three-dimensional scenic.
Optionally, described utilize described from two visual angles to described same section adjacent two view data that wire is taken, mate by left and right cameras, obtain respectively the 3 d-line equation of described same section adjacent two wires to be detected under three-dimensional scenic, comprise: utilize described from two visual angles to described same section adjacent two view data that wire is taken, after mating and carry out error measure and correct by left and right cameras, obtain respectively the 3 d-line equation of described same section adjacent two wires to be detected under three-dimensional scenic.
Optionally, described utilize described from two visual angles to described same section adjacent two view data that wire is taken, mate by left and right cameras, obtain respectively the 3 d-line equation of described same section adjacent two wires to be detected under three-dimensional scenic, comprise: utilize described from two visual angles to described same section adjacent two view data that wire is taken, mate by left and right cameras, and obtain respectively the 3 d-line equation of described same section adjacent two wires to be detected under three-dimensional scenic by Hough transformation.
Corresponding to said method embodiment, as shown in Figure 2, for providing a kind of system that detects the transmission line of electricity safe operation, the embodiment of the present invention forms schematic diagram, and the system of described detection transmission line of electricity safe operation comprises:
Optionally, described signal conditioning package 22, be further used for the calibrating parameters according to described two cameras, utilize described from two visual angles to described same section adjacent two view data that wire is taken, mate by left and right cameras, obtain respectively the 3 d-line equation of described same section adjacent two wires to be detected under three-dimensional scenic.
Optionally, described signal conditioning package 22, be further used for utilizing described from two visual angles to described same section adjacent two view data that wire is taken, utilize the method extract minutiae of yardstick invariant features conversion SIFT feature extraction, then mate by left and right cameras, obtain respectively the 3 d-line equation of described same section adjacent two wires to be detected under three-dimensional scenic.
Optionally, described signal conditioning package 22, be further used for utilizing described from two visual angles to described same section adjacent two view data that wire is taken, after mating and carry out error measure and correct by left and right cameras, obtain respectively the 3 d-line equation of described same section adjacent two wires to be detected under three-dimensional scenic.
Optionally, described signal conditioning package 22, be further used for utilizing described from two visual angles to described same section adjacent two view data that wire is taken, mate by left and right cameras, and obtain respectively the 3 d-line equation of described same section adjacent two wires to be detected under three-dimensional scenic by Hough transformation.
Embodiment of the present invention technique scheme has following beneficial effect: because adopt the method for described detection transmission line of electricity safe operation, comprise: utilize at least two cameras to carry out respectively image acquisition to each wire in same section adjacent two wires to be detected in transmission line of electricity, obtain from two visual angles described same section adjacent two view data that wire is taken; Utilize described from two visual angles to described same section adjacent two view data that wire is taken, mate by left and right cameras, obtain respectively the 3 d-line equation of described same section adjacent two wires to be detected under three-dimensional scenic; 3 d-line equation according to described same section adjacent two wires, obtain the distance value of described same section adjacent two wires, to judge that whether transmission line of electricity is for the technological means under the safe operation state, so reached following technique effect: by adopting reliable, safe, the contactless technical scheme based on binocular stereo vision measurement power line conductive distance between centers of tracks, Quick Measuring measures wire pitch easily and effectively, improve the work efficiency of polling transmission line, ensured the security of operation of power networks.
Below be elaborated by application example:
Application example of the present invention provides a kind of work high above the ground that do not need for measuring the power line conductive distance between centers of tracks, easy, safe non-contact measurement method fast,, by binocular vision system and principle of triangulation, the wire pitch of transmission line of electricity is measured, judged according to the result of survey record whether this section power line conductive distance between centers of tracks meets the safe operation rules.
Measure power line conductive distance between centers of tracks system based on binocular vision and mainly comprise binocular camera, signal conditioning package and output unit as a result.Binocular camera carries out image taking from two visual angles to transmission line of electricity to be measured, with the view data input message treating apparatus that collects.Signal conditioning package is the nucleus module of whole system, and mainly completing of task is that the image information that is collected is carried out analyzing and processing, calculates the information such as position, size of target to be measured under the true three-dimension scene.At last measurement result is carried out data output and 3-D view and exports, realized in the situation that not contact wire to the surveying work of power line conductive distance between centers of tracks.
Binocular stereo vision is based on principle of parallax and utilize imaging device from two width images of different position acquisition testees, by the position deviation between the computed image corresponding point, obtains the method for object dimensional geological information.Merge the image that two eyes obtain and observe difference between them, make application example of the present invention can obtain obvious depth perception, set up the corresponding relation between feature, the photosites of the same space physical points in different images is mapped, this difference, application example of the present invention is called anaglyph.
As shown in Figure 3, be application example binocular imaging schematic diagram of the present invention, the distance of the line of the projection centre of two cameras, namely the baseline distance is b.The initial point of camera coordinate system is at the photocentre place of camera lens, left and right imaging plane C
1Be plotted in f place before the photocentre of camera lens with Cr.The initial point of left and right image coordinate system is at the intersection point O on camera optical axis and plane
1And O
rCorresponding coordinate is respectively a to certain some A (X, Y, Z) in the space (some A is the arbitrfary point, not necessarily on wire to be measured) in left image and right image
1(u
1, v
1) and a
r(u
r, v
r).Suppose the image of two video cameras at grade, the Y coordinate of putting the A image is identical, i.e. v
1=v
rObtained by the triangle geometric relationship:
(x in following formula
1, y
1, z
1) being the coordinate of A in left camera coordinate system, b is the baseline distance, f is the focal length of two video cameras, (u
1, v
1) and (u
r, v
r) be respectively the coordinate of an A in left image and right image.
Parallax is defined as certain some alternate position spike of respective point in two width images:
The coordinate of some A in left camera coordinate system that can calculate thus in the space is:
Therefore, as long as can find the respective point of certain point on the video camera image planes of two of left and right in the space, and obtain camera interior and exterior parameter by camera calibration, just can determine the three-dimensional coordinate of this point.
As shown in Figure 4, be the schematic flow sheet of application example of the present invention based on the wire pitch measuring method of binocular vision, specifically comprise:
401, at first utilize the binocular stereo vision video camera to carry out image acquisition to transmission line of electricity conductor part to be detected, the data that collect are the view data of same section circuit being taken from two visual angles.
402, the camera calibration of making a video recording.Because each pixel in view data obtains by the projection projection, therefore need to carry out camera calibration, to reach the purpose of setting up the relation between image pixel positions and scene point location.Comprise image information is carried out the three-dimensional scaling that two dimension is demarcated and carried out on the basis that two dimension is demarcated, correcting image distortion, the coordinate of recovery real scene.
403, the fundamental purpose of image processing is that the two-way digital picture that collects is carried out pre-service, and utilize SIFT(Scale-invariant feature transform, yardstick invariant features conversion) the method extract minutiae of feature extraction is convenient to carry out coupling and the three-dimensional location of two width images.At first the SIFT algorithm will carry out feature detection at metric space, and the position of definite key point and the residing yardstick of key point, then uses the principal direction of key point neighborhood gradient as the direction character of this point, to realize that operator is to the independence of yardstick and direction.The generating algorithm of one sub-picture SIFT proper vector mainly comprised for four steps: the direction and the generating feature descriptor that detect yardstick spatial extrema, refining characteristic point position, specific characteristic point.The picture that left and right two video cameras are taken carries out the generation of SIFT proper vector, describes for next step Stereo matching provides the feature of point of interest.
404, the left and right cameras coupling, also be Stereo matching, and fundamental purpose is to seek Same Scene at two or the corresponding relation of multiple cameras from the two dimensional image that different visual angles are taken.After the two width images that left and right cameras is taken generate the SIFT proper vector, adopt the Euclidean distance of key point proper vector as key point similarity determination tolerance in two width images.For example, get certain key point in left image, and find out Euclidean distance and its two nearest key point in right image, in these two key points, if nearest distance is less than proportion threshold value except the following near distance, accept this a pair of match point.In addition, due to occlusion effect and the factor such as constraint condition is not strict, the result of two width images match need to be carried out error measure and rectification, improve the degree of accuracy of measuring.
405, three-dimensional location: after basic Studies About Reconstruction of Three-Dimension Information, the image that photographs is carried out edge detection process, extract the edge pixel of prospect in current scene.Then, come the straight-line segment in detected image by Digital Image Processing Hough transformation (Hough Transform).The ultimate principle of Hough transformation is as follows:
In plane of delineation rectangular coordinate (X, Y), the equation of straight line can be expressed as:
y＝kx+b。
For definite point (x on straight line
0, y
0), have:
y
0＝kx
0+b。
Following formula can represent the straight line in parameter plane (k, b).Therefore, the straight line in the corresponding parameter plane of a point in image, a point of the corresponding parameter plane of the straight line in image.Marginal points all in the plane of delineation is carried out Hough transformation, and what the straight line that finally will detect was corresponding must be that the parameter plane cathetus intersects that maximum points, thereby detects the straight line in the plane of delineation.
406, calculate wire pitch: the method for service condition constraint is carried out transmission line wire identification with the straight-line segment classification that detects.The wire that identifies is carried out the three dimensions fitting a straight line, after obtaining the 3 d-line equation of wire to be measured, space coordinates in conjunction with video camera, calculate wire pitch to be measured, namely according to the 3 d-line equation of same section adjacent two wires, obtain the distance value of described same section adjacent two wires.
407, information output to the computing machines such as the coordinates of targets position that measures and wire pitch are carried out on-line analysis and process, judge whether the power line conductive distance between centers of tracks reaches the safe operation standard.
The beneficial effect of application example technical scheme of the present invention: power line conductive distance between centers of tracks deficiency is the key factor that threatens the transmission line of electricity safe operation, and its potential safety hazard of bringing has a lot of aspects, such as: tripping operation, generation corona etc.Application example of the present invention has adopted Binocular Vision Principle, observe simultaneously the same section lead of transmission line of electricity from two cameras, to obtain the perceptual image under different visual angles, obtain the distance between wire by the position deviation between principle of triangulation computed image pixel (being parallax).In the state information collection process of repair based on condition of component, automatically detect mancarried device by using the wire pitch based on binocular vision, facilitated timely collection wire status data, be convenient to the succeeding state service work.By adopting reliable, safe, contactless Binocular Stereo Vision System to measure the power line conductive distance between centers of tracks, Quick Measuring measures wire pitch easily and effectively, has improved the work efficiency of polling transmission line, has ensured the security of operation of power networks.
Those skilled in the art can also recognize the various illustrative components, blocks (illustrative logical block) that the embodiment of the present invention is listed, the unit, and step can pass through electronic hardware, computer software, or both combinations realize.Be the clear replaceability (interchangeability) of showing hardware and software, above-mentioned various illustrative components (illustrative components), unit and step have been described their function generally.Such function is to realize depending on the designing requirement of specific application and whole system by hardware or software.Those skilled in the art can be for every kind of specific application, and can make ins all sorts of ways realizes described function, but this realization should not be understood to exceed the scope of embodiment of the present invention protection.
Various illustrative logical block described in the embodiment of the present invention, or the unit can pass through general processor, digital signal processor, special IC (ASIC), field programmable gate array or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or the design of above-mentioned any combination realizes or operates described function.General processor can be microprocessor, and alternatively, this general processor also can be any traditional processor, controller, microcontroller or state machine.Processor also can realize by the combination of calculation element, for example digital signal processor and microprocessor, multi-microprocessor, Digital Signal Processor Core of one or more microprocessors associating, or any other similarly configuration realize.
Method described in the embodiment of the present invention or the step of algorithm can directly embed hardware, the software module of processor execution or the two combination.Software module can be stored in the storage medium of other arbitrary form in RAM storer, flash memory, ROM storer, eprom memory, eeprom memory, register, hard disk, moveable magnetic disc, CD-ROM or this area.Exemplarily, storage medium can be connected with processor so that processor can be from storage medium reading information, and can deposit write information to storage medium.Alternatively, storage medium can also be integrated in processor.Processor and storage medium can be arranged in ASIC, and ASIC can be arranged in user terminal.Alternatively, processor and storage medium also can be arranged in different parts in user terminal.
In one or more exemplary designs, the described above-mentioned functions of the embodiment of the present invention can realize in hardware, software, firmware or this three's combination in any.If realize in software, these functions can be stored on medium with computer-readable, or are transmitted on the medium of computer-readable with one or more instructions or code form.The computer-readable medium comprises the computer storage medium and is convenient to make allows computer program transfer to other local telecommunication media from a place.Storage medium can be the useable medium that any general or special computer can access.For example, such computer readable media can include but not limited to RAM, ROM, EEPROM, CD-ROM or other optical disc storage, disk storage or other magnetic storage device, or other anyly can be used for carrying or storage and can be read by general or special computer or general or special processor the medium of the program code of form with instruction or data structure and other.In addition, any connection can suitably be defined as the computer-readable medium, for example, if software is by a concentric cable, fiber optic cables, twisted-pair feeder, Digital Subscriber Line (DSL) or also being comprised in defined computer-readable medium with wireless way for transmittings such as infrared, wireless and microwave from a web-site, server or other remote resource.Described video disc (disk) and disk (disc) comprise Zip disk, radium-shine dish, CD, DVD, floppy disk and Blu-ray Disc, and disk is usually with the magnetic duplication data, and video disc carries out the optical reproduction data with laser usually.Above-mentioned combination also can be included in the computer-readable medium.
Above-described embodiment; purpose of the present invention, technical scheme and beneficial effect are further described; institute is understood that; the above is only the specific embodiment of the present invention; the protection domain that is not intended to limit the present invention; within the spirit and principles in the present invention all, any modification of making, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (10)
1. a method that detects the transmission line of electricity safe operation, is characterized in that, the method for described detection transmission line of electricity safe operation comprises:
Utilize at least two cameras to carry out respectively image acquisition to each wire in same section adjacent two wires to be detected in transmission line of electricity, obtain from two visual angles described same section adjacent two view data that wire is taken;
Utilize described from two visual angles to described same section adjacent two view data that wire is taken, mate by left and right cameras, obtain respectively the 3 d-line equation of described same section adjacent two wires to be detected under three-dimensional scenic;
According to the 3 d-line equation of described same section adjacent two wires, obtain the distance value of described same section adjacent two wires, to judge that whether transmission line of electricity is under the safe operation state.
2. detect as claimed in claim 1 the method for transmission line of electricity safe operation, it is characterized in that, described utilize described from two visual angles to described same section adjacent two view data that wire is taken, mate by left and right cameras, obtain respectively the 3 d-line equation of described same section adjacent two wires to be detected under three-dimensional scenic, comprising:
Calibrating parameters according to described two cameras, utilize described from two visual angles to described same section adjacent two view data that wire is taken, mate by left and right cameras, obtain respectively the 3 d-line equation of described same section adjacent two wires to be detected under three-dimensional scenic.
3. detect as claimed in claim 1 the method for transmission line of electricity safe operation, it is characterized in that, described utilize described from two visual angles to described same section adjacent two view data that wire is taken, mate by left and right cameras, obtain respectively the 3 d-line equation of described same section adjacent two wires to be detected under three-dimensional scenic, comprising:
Utilize described from two visual angles to described same section adjacent two view data that wire is taken, utilize the method extract minutiae of yardstick invariant features conversion SIFT feature extraction, then mate by left and right cameras, obtain respectively the 3 d-line equation of described same section adjacent two wires to be detected under three-dimensional scenic.
4. detect as claimed in claim 1 the method for transmission line of electricity safe operation, it is characterized in that, described utilize described from two visual angles to described same section adjacent two view data that wire is taken, mate by left and right cameras, obtain respectively the 3 d-line equation of described same section adjacent two wires to be detected under three-dimensional scenic, comprising:
Utilize described from two visual angles to described same section adjacent two view data that wire is taken, after mating and carry out error measure and correct by left and right cameras, obtain respectively the 3 d-line equation of described same section adjacent two wires to be detected under three-dimensional scenic.
5. detect as claimed in claim 1 the method for transmission line of electricity safe operation, it is characterized in that, described utilize described from two visual angles to described same section adjacent two view data that wire is taken, mate by left and right cameras, obtain respectively the 3 d-line equation of described same section adjacent two wires to be detected under three-dimensional scenic, comprising:
Utilize described from two visual angles to described same section adjacent two view data that wire is taken, mate by left and right cameras, and obtain respectively the 3 d-line equation of described same section adjacent two wires to be detected under three-dimensional scenic by Hough transformation.
6. a system that detects the transmission line of electricity safe operation, is characterized in that, the system of described detection transmission line of electricity safe operation comprises:
Binocular camera, be used for to utilize at least two cameras to carry out respectively image acquisition to each wire in transmission line of electricity same section adjacent two wires to be detected, obtain from two visual angles described same section adjacent two view data that wire is taken;
Signal conditioning package, be connected with described binocular camera, be used for utilizing described from two visual angles to described same section adjacent two view data that wire is taken, mate by left and right cameras, obtain respectively the 3 d-line equation of described same section adjacent two wires to be detected under three-dimensional scenic; According to the 3 d-line equation of described same section adjacent two wires, obtain the distance value of described same section adjacent two wires, to judge that whether transmission line of electricity is under the safe operation state.
7. detect as claimed in claim 6 the system of transmission line of electricity safe operation, it is characterized in that,
Described signal conditioning package, be further used for the calibrating parameters according to described two cameras, utilize described from two visual angles to described same section adjacent two view data that wire is taken, mate by left and right cameras, obtain respectively the 3 d-line equation of described same section adjacent two wires to be detected under three-dimensional scenic.
8. detect as claimed in claim 6 the system of transmission line of electricity safe operation, it is characterized in that,
Described signal conditioning package, be further used for utilizing described from two visual angles to described same section adjacent two view data that wire is taken, utilize the method extract minutiae of yardstick invariant features conversion SIFT feature extraction, then mate by left and right cameras, obtain respectively the 3 d-line equation of described same section adjacent two wires to be detected under three-dimensional scenic.
9. detect as claimed in claim 6 the system of transmission line of electricity safe operation, it is characterized in that,
Described signal conditioning package, be further used for utilizing described from two visual angles to described same section adjacent two view data that wire is taken, after mating and carry out error measure and correct by left and right cameras, obtain respectively the 3 d-line equation of described same section adjacent two wires to be detected under three-dimensional scenic.
10. detect as claimed in claim 6 the system of transmission line of electricity safe operation, it is characterized in that,
Described signal conditioning package, be further used for utilizing described from two visual angles to described same section adjacent two view data that wire is taken, mate by left and right cameras, and obtain respectively the 3 d-line equation of described same section adjacent two wires to be detected under three-dimensional scenic by Hough transformation.
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