CN103852018A - Electric transmission line icing thickness measuring algorithm based on image processing - Google Patents
Electric transmission line icing thickness measuring algorithm based on image processing Download PDFInfo
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Abstract
The invention discloses an electric transmission line icing thickness measuring algorithm based on image processing. According to the method, images, acquired by an industrial camera installed on a tower, before and after icing of an electric transmission line serve as the object of study, image graying, image enhancement and image segmentation are conducted on the images, image coordinates are converted into world coordinates through camera calibration, and the actual icing thickness of the electric transmission line is calculated by comparing the boundary outlines of the images before and after icing. Instance analysis proves that the method is simple in operation, small in error and capable of achieving quantitative description of icing thicknesses of a wire and an insulator of the electric transmission line.
Description
Technical field
The invention belongs to power transmission line monitoring system, specific design to the electric power line ice-covering thickness Measurement Algorithm based on image procossing.
Background technology
Influenceed by macroclimate, mima type microrelief and microclimate condition, China turns into by one of country of icing disaster most serious, ice damage accident frequently occurs, icing causes the immediate cause of accident to be all a wide range of, prolonged low temperature, sleet and snow ice weather, but also reflect that power network resists harsh weather scarce capacity simultaneously, lack and the means of circuit running situation are grasped in the very first time, therefore the research monitored on-line to powerline ice-covering has major and immediate significance.Present powerline ice-covering on-line monitoring method mainly has 2 kinds.1st kind is change by monitoring weight before and after wire icing, and the weather conditions such as insulator angle of inclination and ambient wind velocity obtain the ice covering thickness of current line using wire icing THICKNESS CALCULATION model.Because this method needs in-site installation mechanics sensor, original mechanical structure is not only changed, and needs to carry out mechanics sensor the performance tests such as mechanical strength, fatigue rupture, thus application receives limit value.2nd kind is that video monitoring system is installed on shaft tower, observes live icing situation by video image, although the situation at scene is directly presented to staff by this method, icing can only be judged by human eye and the quantitative analysis to icing can not be realized.
In order to adapt to the requirement of intelligent power network construction, the image scene that video monitoring apparatus is shot using image processing techniques quantitatively calculate the ice covering thickness of wire and insulator, when ice covering thickness exceeds defined safe range, automatically alarmed, prompting relevant departments take deicing measure in time, so as to ensure safe operation of power system.
The content of the invention
The purpose of the present invention is to calculate to arrive electric power line ice-covering thickness by image processing techniques, it is proposed that the electric power line ice-covering thickness Measurement Algorithm based on image procossing.The present invention's comprises the following steps that：
Step 1：Camera calibration
Camera calibration is the necessary process for measuring electric power line ice-covering thickness, and calibration process is to determine the orientation of geometry and optical parametric and video camera relative to world coordinate system of video camera.The process of camera calibration is as follows：
Step 1.1 is selected after suitable scaling board, foundes the description file of the information such as the radius of line number and columns, the physical dimension of housing, bearing mark and circle marker of description scaling board；
The characteristics of step 1.2 is using scaling board, by Threshold segmentation, edge extracting, minimizes the feature that Algebraic error is fitted scheduling algorithm extraction Target Board, it is determined that the relation projected in the index point and its image that easily determine；
Step 1.3 determines the two-dimensional coordinate of circular index point on scaling board, and obtains the initial value of video camera external parameter；
Step 1.4 obtains the process that error is minimized by using the initial parameter of offer as initial value, optimizing search, calculates all parameters of video camera, writes down calibration result.
Step 2：Image gray processing
Transmission line of electricity collection in worksite to image be coloured image mostly, it is necessary to convert thereof into gray level image, computing formula is shown in（1）
Y=0.299R+0.587G+0.114B （1）
Wherein R, G, B are respectively red color component value, green component values and blue color component value.
Step 3：Image enhaucament
Image enhaucament is used to eliminate the various interference that may be produced during IMAQ, quantization etc. or in image transmit process and noise.The present invention carries out image enhaucament using grey level histogram, comprises the following steps that：
1）Gray average and its variance, are met the tonal range of [μ -3 δ, μ+3 δ] in statistical picture；
2）The maximum F in the range of this is drawn according to range abovemaxWith minimum value Fmin；
3）The number of valid gray level in scope of statistics, by maximum FmaxIt is mapped as 255, minimum value Fmin0 is mapped as, other valid gray levels constitute new histogram by equidistant rearrange；
4）According to the grey level histogram newly obtained by the pixel-map of original image to new gray value；
5）Image is handled using median filter.
Step 4：Image segmentation
Because the image background before and after powerline ice-covering has very big difference, it is therefore necessary to which transmission line of electricity is extracted from image.The present invention carries out image segmentation using fuzzy algorithmic approach, and specific algorithm is as follows：
1）The initial main person in servitude's function mu of selectionI(x,y)
[0034] initial value T is given, then initial primary membership is：
In formula, α, β is respectively the average of target and background, and C is a constant, to ensure 0.5≤μI(x,y)≤1。
2）Obfuscation factor-alpha (g) is calculated, obtains expressing the Interval fuzzy set of image.
Utilize formula（2）α (g) is calculated, by formula（3）Determine upper and lower degree of membership.
In formula,
, (g=01 ..., gmax- 1) fuzzy histogram for being image I, μI(g)=max 0,1 ,-(| g-f (x, y) |)/p }, p is the shape of control fuzzy set,
Accessed for the gray scale of image, 0 ＜ k ＜ 1 control influence of the tonal range to fuzzy factor.
3）Using the fuzzy entropy of the Interval fuzzy set of neotectonics, the fuzzy entropy of each gray value is calculated.
Using formula（4）Construct the fuzzy entropy of Interval fuzzy set.
In formula, X ＇={ xi|A-(xi) 0.5 ＜ A of ＜+(xi) }。
4）Determine image segmentation optimal threshold
The extreme value g of fuzzy entropy is determined using the minimum thresholding selection rule of fuzzy entropyopt, then the gray value g corresponding to the extreme value of fuzzy entropyoptIt is exactly the optimal threshold of image segmentation.
Step 5：Ice covering thickness is calculated
Live transmission line wire and insulation subgraph to collection are handled according to above-mentioned image processing method, the approximate distance between the edge that image zooming-out is arrived before and after calculating icing.The image before and after powerline ice-covering is converted into world coordinate system from image coordinate system using camera calibration, calculated respectively under world coordinate system before and after icing between image conductor and insulator contour apart from D, D ＇, then the average ice covering thickness of metric unit's transmission line of electricity be：
H=(D ＇-D)/2.
The present invention obtains the actual ice covering thickness of transmission line of electricity by the difference of the edge contour of insulator and wire image before and after image processing method calculating icing, this method is demonstrated by instance analysis easy to operate, error is smaller, the quantitative description of transmission line wire and covering ice for insulator thickness can be realized, wire icing thickness can only be provided by making up previous methods, and to deficiency that covering ice for insulator thickness can not be quantitatively described, a kind of new means are provided for the safety detection of transmission line of electricity, substantial amounts of cost of human resources can be saved again, improve the utilization ratio of on-line monitoring system.
Brief description of the drawings
Fig. 1 is the flow chart of the present invention.
Embodiment
With reference to Fig. 1, implementation steps of the invention are as follows：
Step 1：Camera calibration
Step 2：Image gray processing
Transmission line of electricity collection in worksite to image be coloured image mostly, it is necessary to convert thereof into gray level image, computing formula is shown in（1）
Step 3：Image enhaucament
The present invention carries out image enhaucament using grey level histogram.
Step 4：Image segmentation
The present invention carries out image segmentation using fuzzy algorithmic approach, and specific algorithm is as follows：
Step 5：Ice covering thickness is calculated
In order to verify the feasibility of the present invention, the 220KV image scenes that Shaanxi electric company gathers are handled, ice covering thickness at that time is calculated.Table 1 gives image detection result and the result of artificial observation, from table 1, and the ice covering thickness maximum difference that ice covering thickness and the image detection of artificial observation are obtained is less than 2mm.The main cause that its thickness has gap is the ice covering thickness for the transmission line of electricity that manual observation station estimates actual motion using the ice covering thickness on simulated test line segment, but the factor of influence line ice coating thickness is excessively complicated, such as diameter of wire, temperature, air humidity, actual wind speed size, circuit electric field strong and weak, by contrast, the electric power line ice-covering thickness measurement more accurate and effective based on image detection.
The image detection of table 1 and the ice covering thickness contrast of artificial observation measurement
| Time | Artificial observation thickness | Image detection thickness |
| 2012.7 | 2.4 | 3.5 |
| 2012.8 | 3.2 | 5.1 |
| 2012.9 | 3.3 | 4.5 |
| 2012.10 | 3.1 | 4.6 |
Claims (3)
1. the electric power line ice-covering thickness Measurement Algorithm based on image procossing, it is concretely comprised the following steps：1）Camera calibration；2）Image gray processing processing；3）Image enhaucament；4）Image segmentation；5）Ice covering thickness is calculated.
2. the electric power line ice-covering thickness Measurement Algorithm according to claim 1 based on image procossing, it is characterised in that carry out image enhaucament using based on grey level histogram, comprise the following steps that：
1）Gray average and its variance in statistical picture；
2）The maximum and minimum value in the range of this are drawn according to range above；
3）The number of valid gray level in scope of statistics, is mapped as 255, minimum value is mapped as 0 by maximum, and other valid gray levels constitute new histogram by equidistant rearrange；
4）According to the grey level histogram newly obtained by the pixel-map of original image to new gray value；
5）Image is handled using median filter.
3. the electric power line ice-covering thickness Measurement Algorithm according to claim 1 based on image procossing, it is characterised in that image segmentation is carried out using fuzzy algorithmic approach, comprised the following steps that：
1）The initial main person in servitude's function of selection
Initial value T is given, then initial primary membership is：
In formula,The respectively average of target and background, C is a constant；
2）The obfuscation factor is calculated, obtains expressing the Interval fuzzy set of image
Utilize formula（1）Calculate
, by formula（2）Determine upper and lower degree of membership
In formula,
,
For image I fuzzy histogram,
, P is the shape of control fuzzy set,
Accessed for the gray scale of image, 0<k<Influence of the 1 control tonal range to fuzzy factor；
3）Using the fuzzy entropy of the Interval fuzzy set of neotectonics, the fuzzy entropy of each gray value is calculated
Using formula（3）Construct the fuzzy entropy of Interval fuzzy set
In formula,
；
4）Determine image segmentation optimal threshold
The extreme value of fuzzy entropy is determined using the minimum thresholding selection rule of fuzzy entropy, then the gray value corresponding to the extreme value of fuzzy entropy
It is exactly the optimal threshold of image segmentation.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105138976A (en) * | 2015-08-16 | 2015-12-09 | 东北石油大学 | Power transmission line icing thickness identification method based on genetic wavelet neural network |
| CN106839999A (en) * | 2016-11-22 | 2017-06-13 | 云南电网有限责任公司电力科学研究院 | A kind of powerline ice-covering detection method based on unmanned plane infrared image |
| CN107358259A (en) * | 2017-07-13 | 2017-11-17 | 国家电网公司 | Covering ice for insulator detection method based on GLOH descriptions and GVF Snake models |
| CN107805999A (en) * | 2017-09-28 | 2018-03-16 | 韦彩霞 | A kind of effective pavement disease detecting system |
| 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 |
| CN109631774A (en) * | 2018-12-12 | 2019-04-16 | 云南电网有限责任公司带电作业分公司 | A kind of unmanned plane binocular vision transmission line icing measuring system |
| CN111798478A (en) * | 2020-07-07 | 2020-10-20 | 重庆大学 | Method for measuring icing thickness of front edge of blade of wind driven generator |
| CN113643352A (en) * | 2021-08-09 | 2021-11-12 | 贵州电网有限责任公司 | Natural icing on-line monitoring running wire image icing degree evaluation method |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105138976A (en) * | 2015-08-16 | 2015-12-09 | 东北石油大学 | Power transmission line icing thickness identification method based on genetic wavelet neural network |
| CN106839999A (en) * | 2016-11-22 | 2017-06-13 | 云南电网有限责任公司电力科学研究院 | A kind of powerline ice-covering detection method based on unmanned plane infrared image |
| CN107358259A (en) * | 2017-07-13 | 2017-11-17 | 国家电网公司 | Covering ice for insulator detection method based on GLOH descriptions and GVF Snake models |
| CN107805999A (en) * | 2017-09-28 | 2018-03-16 | 韦彩霞 | A kind of effective pavement disease detecting system |
| 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 |
| CN109631774A (en) * | 2018-12-12 | 2019-04-16 | 云南电网有限责任公司带电作业分公司 | A kind of unmanned plane binocular vision transmission line icing measuring system |
| CN111798478A (en) * | 2020-07-07 | 2020-10-20 | 重庆大学 | Method for measuring icing thickness of front edge of blade of wind driven generator |
| CN113643352A (en) * | 2021-08-09 | 2021-11-12 | 贵州电网有限责任公司 | Natural icing on-line monitoring running wire image icing degree evaluation method |
| CN113643352B (en) * | 2021-08-09 | 2024-05-24 | 贵州电网有限责任公司 | Natural icing on-line monitoring running wire image icing degree evaluation method |
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Address after: 710077, block 13, building A, Jiayu building, No. 58, Kam Yip Road, Xi'an hi tech Zone, Shaanxi, China Applicant after: XI'AN YUANSHUO SCIENCE & TECHNOLOGY CO., LTD. Address before: 710077 Shaanxi city of Xi'an province high tech Zone Jinye Road No. 69 business R & D Park C District No. 1 gazelle Valley E room 503 Applicant before: XI'AN YUANSHUO SCIENCE & TECHNOLOGY CO., LTD. |
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