CN104729483B - Foreign bodies on transmission lines species detection platform - Google Patents
Foreign bodies on transmission lines species detection platform Download PDFInfo
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 155
- 238000001514 detection method Methods 0.000 title claims abstract description 37
- 230000005611 electricity Effects 0.000 claims abstract description 93
- 239000003595 mist Substances 0.000 claims abstract description 27
- 230000008030 elimination Effects 0.000 claims abstract description 23
- 238000003379 elimination reaction Methods 0.000 claims abstract description 23
- 238000001914 filtration Methods 0.000 claims description 25
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- 238000012545 processing Methods 0.000 claims description 24
- 230000008569 process Effects 0.000 claims description 23
- 230000003068 static effect Effects 0.000 claims description 20
- 238000003709 image segmentation Methods 0.000 claims description 14
- 230000008878 coupling Effects 0.000 claims description 9
- 238000010168 coupling process Methods 0.000 claims description 9
- 238000005859 coupling reaction Methods 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 8
- 238000012360 testing method Methods 0.000 claims description 7
- 230000011218 segmentation Effects 0.000 claims description 6
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
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- G—PHYSICS
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- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
- G06V20/13—Satellite images
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
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Abstract
The present invention relates to a kind of foreign bodies on transmission lines species detection platform, it is arranged on unmanned plane, described detection platform includes linear array digital aviation camera, foreign body category identification equipment and digital signal processor, linear array digital aviation camera is for carrying out image acquisition to transmission line of electricity, to obtain transmission line of electricity image, foreign body category identification equipment is connected with linear array digital aviation camera, for transmission line of electricity image is carried out image procossing, to identify the kind of the foreign body in transmission line of electricity image, digital signal processor is connected with foreign body category identification equipment, for determining whether that power supply management platform sends foreign body alarm signal according to the foreign body kind identified.Present invention additionally comprises mist elimination image processor, for removing the haze impact in transmission line of electricity image.By the present invention, even if at the serious weather of haze, it is also possible to identify the foreign body kind on the transmission line of electricity of supply network rapidly and accurately.
Description
Technical field
The present invention relates to power supply unit management domain, particularly relate to a kind of foreign bodies on transmission lines kind inspection
Survey platform.
Background technology
In the regular maintenance of power transmission electric network, safeguard that object includes transmission facility and transmission line of electricity, wherein
Transmission line of electricity is because position is fixed, quantity is relatively fewer, it is easy to attendant's fixed point checks and ties up
Repair, but, transmission line of electricity is as the carrier of electric power, and its distribution is extremely extensive, uses manpower dimension
Protect, relatively costly, and also transmission line of electricity is typically by frame aloft, is difficult to the naked eye go to observe power transmission line
The concrete condition on road, the transmission line of electricity under corresponding haze weather, its concrete condition is more difficult to artificial observation.
But, if not going transmission line of electricity is carried out regular maintenance, it may appear that similar plastics bag, balloon,
The situation that transmission line of electricity is wound around by the foreign body of kite and branch frequently, these foreign bodies make high-tension pole
Limit arcing distance shortens, and entail dangers to power grid security time serious causes large-area power-cuts, even results in tight
Weight personnel's injury and equipment fault.At present the regular maintenance of transmission line of electricity is still used artificial line walking
Mode, is as noted previously, as that transmission line of electricity span areas is wide, the geographical circumstance complication in place, manually patrols
Line not only brings bigger working strength to personnel, and personnel cost is high, and it is relatively slow to detect speed, effect
Rate is low, and especially under the weather that haze is serious, attendant cannot with the naked eye observe transmission line of electricity
On foreign body type.
Accordingly, it would be desirable to a kind of new Maintenance of Electric Transmission Line system, it is possible to replace the mode of artificial line walking,
The mode using detection of electrons carries out detection rapidly and efficiently to transmission line of electricity, it is possible to even if ensureing at mist
Foreign bodies on transmission lines kind can also be identified accurately and in time under haze weather, thus defeated safeguarding
While electricity power grid security fortune electricity, improve maintenance efficiency, decrease artificial expense.
Summary of the invention
In order to solve the problems referred to above, the invention provides a kind of foreign bodies on transmission lines species detection and put down
Platform, with unmanned plane as detection platform, introduces image capture device, image processing equipment realization to transmission of electricity
The high accuracy identification of foreign body kind on circuit, more it is essential that determine haze according to atmospheric attenuation model
Influence factor to image, to go the transmission line of electricity image collected under haze Severe weather
Hazeization processes, thus successfully replaces arduous artificial line walking mode, it is achieved electricity efficient, high-precision
Sub-testing mechanism.
According to an aspect of the present invention, it is provided that a kind of foreign bodies on transmission lines species detection platform, institute
State detection platform to be arranged on unmanned plane, set including linear array digital aviation camera, foreign body category identification
Standby and digital signal processor, the model of described digital signal processor is TMS320LF2407A,
Described linear array digital aviation camera is for carrying out image acquisition to transmission line of electricity, to obtain transmission line of electricity
Image, described foreign body category identification equipment is connected with described linear array digital aviation camera, for institute
State transmission line of electricity image and carry out image procossing, to identify the kind of the foreign body in described transmission line of electricity image
Class, described digital signal processor is connected with described foreign body category identification equipment, for according to described knowledge
The foreign body kind not gone out determines whether that power supply management platform sends foreign body alarm signal.
More specifically, in described foreign bodies on transmission lines species detection platform, also include: power supply electricity
Source, including solar powered device, accumulator, switching switch and electric pressure converter, described switching is opened
Close and be connected respectively with described solar powered device and described accumulator, according to accumulator dump energy certainly
Fixed whether it is switched to described solar powered device to be powered by described solar powered device, described electricity
Pressure converter is connected with described switching switch, will be converted to by the 5V voltage of switching switch input
3.3V voltage；Wireless communication interface, sets up two-way wireless communication link with the power supply management platform of far-end
Road, for receiving the control instruction that described power supply management platform sends, is additionally operable to described digital signal
Foreign body positional information and foreign body alarm signal that processor sends are transmitted to described power supply management platform, institute
State control instruction and include that transmission route survey height and transmission route survey position data；Unmanned plane drives
Device, under the control of described digital signal processor, controls described unmanned plane and flies to survey in the air
Amount position, location data corresponding to described aerial survety position include transmission route survey height and transmission of electricity
Route survey location data；Static memory, for prestoring the benchmark image template of various foreign body
And prestoring foreign body kind warning synopsis, the benchmark image template of each foreign body is the most right
The image that each benchmark foreign body carries out shooting and obtains, described foreign body kind warning synopsis is with foreign body
Kind is index, saves the alarm level of each foreign body kind, and alarm level is the highest, corresponding kind
The foreign body of class is the biggest to the harm of transmission line of electricity, and described static memory is additionally operable to prestore warning etc.
Level threshold value, various different in the described foreign body kind warning synopsis that described static memory prestores
Species includes plastic bag, balloon, kite and branch；Mist elimination image processor, is positioned at described linear array
Between digital aviation camera and described foreign body category identification equipment, it is used for receiving described transmission line of electricity figure
Picture, goes described transmission line of electricity image haze to process and removes haze transmission line of electricity image to obtain, replace
For described transmission line of electricity image, haze transmission line of electricity image is gone to input described foreign body category identification by described
Equipment；Described mist elimination image processor includes: haze Concentration Testing subset, is positioned in air, uses
In the haze concentration of detection unmanned plane position in real time, and it is strong to determine that haze is removed according to haze concentration
Degree, described haze removes intensity value between 0 to 1；Overall air light value obtains subset, with
Described linear array digital aviation camera connects to obtain described transmission line of electricity image, calculates described power transmission line
The gray value of each pixel in the image of road, using the gray value of pixel maximum for gray value as overall air
Light value；Atmospheric scattering light value obtains subset, with described linear array digital aviation camera and described haze
Concentration Testing subset connects respectively, each pixel to described transmission line of electricity image, extracts its R,
G, B tri-in Color Channel pixel value minima as target pixel value, use the Gauss keeping edge
Described target pixel value is carried out by smoothing filter EPGF (edge-preserving gaussian filter)
Target pixel value, to obtain filtered target pixel value, is deducted filtered target pixel value to obtain by Filtering Processing
Obtain object pixel difference, use EPGF to be filtered object pixel difference processing to obtain filtering mesh
Mark pixel value difference, deducts filtered target pixel value filtered target pixel value difference to obtain haze and removes base
Quasi-value, removes haze intensity and is multiplied by haze and removes reference value and remove threshold value to obtain haze, take haze
Minima in removal threshold value and target pixel value, as comparison reference, takes in comparison reference and 0
Maximum as the atmospheric scattering light value of each pixel；Medium transmission rate obtains subset, with institute
State overall air light value acquisition subset and described atmospheric scattering light value obtains subset and connects respectively, will
The atmospheric scattering light value of each pixel to obtain except value, deducts described divided by overall air light value by 1
Except value is to obtain the medium transmission rate of each pixel；Sharpening Image Acquisition subset, with described line
Battle array digital aviation camera, described overall air light value obtain subset and the acquisition of described medium transmission rate
Subset connects respectively, deducts the medium transmission rate of each pixel by 1 to obtain the first difference, will
Described first difference is multiplied by overall air light value to obtain product value, by described transmission line of electricity image often
The pixel value of one pixel deducts described product value to obtain the second difference, by described second difference divided by
The medium transmission rate of each pixel is to obtain the sharpening pixel value of each pixel, described power transmission line
The R of each pixel during the pixel value of each pixel includes described transmission line of electricity image in the image of road,
G, B tri-Color Channel pixel value, correspondingly, it is thus achieved that the sharpening pixel value bag of each pixel
Include the R of each pixel, G, B tri-Color Channel sharpening pixel value, the sharpening of all pixels
Pixel value composition removes haze transmission line of electricity image；Described foreign body category identification equipment and described mist elimination image
Processor and described static memory connect respectively, process son including wavelet filtering subset, gray processing
Equipment, image segmentation subset and foreign body coupling subset；Described wavelet filtering subset goes with described
Mist image processor connects, for going haze transmission line of electricity image to carry out wavelet filtering, to obtain to described
Obtain filtering image；Described gray processing processes subset and is connected, based on filter with described wavelet filtering subset
In ripple image, RGB tri-color component value of each pixel calculates the gray value of each pixel, with
Obtain gray level image；Described image segmentation subset processes subset and described static state with described gray processing
Memorizer connects respectively, for gray level image, chooses each gray value of 0-255 as segmentation gray value
Gray level image is carried out the image segmentation of target and background, divides the image into the gray scale of rear target and background
The segmentation gray value of value variance maximum, as intensity slicing threshold value, uses intensity slicing threshold value to gray-scale map
As carrying out the image segmentation of target and background, i.e. there is the gray scale less than or equal to described intensity slicing threshold value
The pixel of value is targeted pixel, has the pixel of gray value more than described intensity slicing threshold value
It is confirmed as background pixel, all object pixels is formed target subimage and exports；Described foreign body
Gamete equipment is connected, at target subgraph respectively with described image segmentation subset and described static memory
The benchmark image template of a certain foreign body with the benchmark image template of various foreign bodies is identified in Xiang
The foreign body pattern joined, exports the foreign body kind of described foreign body images match and described foreign body pattern in institute
State the relative position in gray level image；Described digital signal processor is photographed with described linear array digital aviation
Machine, described mist elimination image processor, described foreign body category identification equipment, described unmanned plane driving element,
Described wireless communication interface and described static memory connect respectively, receive and parse through described control instruction
To obtain transmission route survey height and transmission route survey location data, control described unmanned plane and drive
Device is to drive described unmanned plane to fly to aerial survety position, and flies to aerial survety at described unmanned plane
Behind position, enter foreign body recognition mode；Wherein, described digital signal processor is at foreign body recognition mode
In, start described linear array digital aviation camera, described mist elimination image processor and described foreign body kind
Identification equipment, foreign body kind based on described foreign body images match is at described foreign body kind warning synopsis
The middle alarm level searching correspondence, when the alarm level found is more than or equal to described alarm level threshold value
Time, send foreign body alarm signal；Described digital signal processor is additionally based upon aerial survety position and described
The foreign body pattern relative position in described gray level image determines foreign body positional information, described foreign body position
Information includes the location data of foreign body length, foreign body width and foreign body.
More specifically, in described foreign bodies on transmission lines species detection platform, described linear array number navigates
Empty camera includes undercarriage having shock absorption function, front cover glass, camera lens, filter and image-forming electron unit, for right
Transmission line of electricity carries out image acquisition, to obtain transmission line of electricity image.
More specifically, in described foreign bodies on transmission lines species detection platform, described transmission line of electricity figure
The resolution of picture is 3840 × 2160.
More specifically, in described foreign bodies on transmission lines species detection platform, wavelet filtering subset,
Gray processing processes subset, image segmentation subset and foreign body coupling subset and is respectively adopted different
Fpga chip realizes.
More specifically, in described foreign bodies on transmission lines species detection platform, described linear array is digital
Aerocamera, described mist elimination image processor and described foreign body category identification integration of equipments are at one piece of collection
Become on circuit board.
Accompanying drawing explanation
Below with reference to accompanying drawing, embodiment of the present invention are described, wherein:
Fig. 1 is the structure square frame of an embodiment of the foreign bodies on transmission lines species detection platform of the present invention
Figure.
Fig. 2 is the structure side of the another embodiment of the foreign bodies on transmission lines species detection platform of the present invention
Block diagram.
Detailed description of the invention
Embodiment party to the foreign bodies on transmission lines species detection platform of the present invention below with reference to accompanying drawings
Case is described in detail.
In prior art, the investigation of the electric line foreign matter of power transmission electric network is mainly used artificial line walking side
Formula is carried out, but, along with high voltage, high-power, the development of long distance transmission line, power transmission network
The geographical environment passed through is increasingly sophisticated, relies on artificial line walking investigation electric line foreign matter to become more and more difficulter
Difficulty, meanwhile, frequently occurring of haze weather, more improve the difficulty of artificial inspection.
In order to reduce working strength, improving work efficiency, people start to turn to sight the foreign body of electronics
Recognition method, i.e. uses high-definition camera shooting transmission line of electricity image, with the treatable side of Computing Intelligence
Foreign body in transmission line of electricity image is identified by formula, but, due to the particularity of transmission line of electricity distribution,
A kind of platform that can flexibly, quickly move is needed to deliver detecting system, in addition, it is desirable to this detection system
System can overcome the adverse effect of haze weather.At present, lack such detecting system, and, meter
Calculating quick-witted treatable mode and excessively rely on this relatively large equipment of computer, Computing Intelligence is treatable
Mode is also not carried out being accurately positioned foreign body.
The present invention has built a kind of foreign bodies on transmission lines species detection platform, flat with unmanned plane for detection
Platform, it is possible to the control instruction sent according to the power supply management platform of electric administrative department, target of flying to
Transmission line of electricity, in the way of ultra high-definition image acquisition and process, the use of haze processing apparatus of adding up,
Parse foreign body kind exactly, and with the help of unmanned plane auxiliary equipment, it is achieved to foreign body position
High accuracy search.
Fig. 1 is the structure square frame of an embodiment of the foreign bodies on transmission lines species detection platform of the present invention
Figure, described detection platform is arranged on unmanned plane, including linear array digital aviation camera 1, foreign body kind
Class identification equipment 2 and digital signal processor 3, the model of described digital signal processor 3 is
TMS320LF2407A, described linear array digital aviation camera 1 is adopted for transmission line of electricity is carried out image
Collection, to obtain transmission line of electricity image, described foreign body category identification equipment 2 and described linear array digital aviation
Camera 1 connects, for described transmission line of electricity image is carried out image procossing, described defeated to identify
The kind of the foreign body in electric line image, described digital signal processor 3 and described foreign body category identification
Equipment 2 connects, and determines whether that power supply management platform is sent out for the foreign body kind identified described in basis
Go out foreign body alarm signal.
Unlike Fig. 1, the foreign bodies on transmission lines species detection platform of Fig. 2 adds mist elimination figure
As processor 4, between linear array digital aviation camera 1 and foreign body category identification equipment 2.With
Under, the block diagram of the foreign bodies on transmission lines species detection platform of Fig. 2 is carried out further
Bright.
Described detection platform also includes: power supply, including solar powered device, accumulator, cuts
Change switch and electric pressure converter, described switching switch and described solar powered device and described accumulator
Connect respectively, according to accumulator dump energy decide whether to be switched to described solar powered device with by
Described solar powered device is powered, and described electric pressure converter is connected with described switching switch, leading to
The 5V voltage crossing switching switch input is converted to 3.3V voltage.
Described detection platform also includes: wireless communication interface, sets up double with the power supply management platform of far-end
To wireless communication link, for receive described power supply management platform send control instruction, be additionally operable to
The foreign body positional information sent by described digital signal processor and foreign body alarm signal are transmitted to described
Power supply management platform, described control instruction includes that transmission route survey height and transmission route survey position
Data.
Described detection platform also includes: unmanned plane driving element, at described digital signal processor
Under the control of 3, controlling described unmanned plane and fly to aerial survety position, described aerial survety position is corresponding
Location data include transmission route survey height and transmission route survey position data.
Described detection platform also includes: static memory, for prestoring the reference map of various foreign body
As template and prestore foreign body kind warning synopsis, the benchmark image template of each foreign body is
The image in advance each benchmark foreign body shot and obtain, described foreign body kind warning synopsis
With foreign body kind for index, saving the alarm level of each foreign body kind, alarm level is the highest,
The foreign body of corresponding kind is the biggest to the harm of transmission line of electricity, and described static memory is additionally operable to prestore
Alarm level threshold value, in the described foreign body kind warning synopsis that described static memory prestores
Various foreign body kinds include plastic bag, balloon, kite and branch.
Described mist elimination image processor 4, is positioned at described linear array digital aviation camera 1 and described foreign body
Between category identification equipment 2, it is used for receiving described transmission line of electricity image, to described transmission line of electricity image
Carry out haze process and remove haze transmission line of electricity image to obtain, substitute described transmission line of electricity image, will
Described go haze transmission line of electricity image input described foreign body category identification equipment 2.
Described mist elimination image processor 4 includes with lower component:
Haze Concentration Testing subset, is positioned in air, for detection unmanned plane position in real time
Haze concentration, and determine that intensity removed by haze according to haze concentration, described haze is removed intensity value and is existed
Between 0 to 1；
Overall air light value obtains subset, is connected with described linear array digital aviation camera 1 to obtain
Described transmission line of electricity image, calculates the gray value of each pixel in described transmission line of electricity image, by gray scale
The gray value of the pixel that value is maximum is as overall air light value；
Atmospheric scattering light value obtains subset, with described linear array digital aviation camera 1 and described haze
Concentration Testing subset connects respectively, each pixel to described transmission line of electricity image, extracts its R,
G, B tri-in Color Channel pixel value minima as target pixel value, use the Gauss keeping edge
Described target pixel value is carried out by smoothing filter EPGF (edge-preserving gaussian filter)
Target pixel value, to obtain filtered target pixel value, is deducted filtered target pixel value to obtain by Filtering Processing
Obtain object pixel difference, use EPGF to be filtered object pixel difference processing to obtain filtering mesh
Mark pixel value difference, deducts filtered target pixel value filtered target pixel value difference to obtain haze and removes base
Quasi-value, removes haze intensity and is multiplied by haze and removes reference value and remove threshold value to obtain haze, take haze
Minima in removal threshold value and target pixel value, as comparison reference, takes in comparison reference and 0
Maximum as the atmospheric scattering light value of each pixel；
Medium transmission rate obtains subset, obtains subset and described air with described overall air light value
Scattering light value obtains subset and connects respectively, by big divided by entirety for the atmospheric scattering light value of each pixel
Gas light value, to obtain except value, deducts described except value is to obtain the medium transmission rate of each pixel by 1；
Sharpening Image Acquisition subset is big with described linear array digital aviation camera 1, described entirety
Gas light value obtains subset and described medium transmission rate obtains subset and connects respectively, deducts each by 1
Described first difference, to obtain the first difference, is multiplied by overall air light value by the medium transmission rate of individual pixel
To obtain product value, the pixel value of each pixel in described transmission line of electricity image is deducted described product
Value to obtain the second difference, by described second difference divided by each pixel medium transmission rate with obtain
The sharpening pixel value of each pixel, the pixel value bag of each pixel in described transmission line of electricity image
Include the R of each pixel in described transmission line of electricity image, G, B tri-Color Channel pixel value, accordingly
Ground, it is thus achieved that the sharpening pixel value of each pixel include the R of each pixel, G, B tri-face
Chrominance channel sharpening pixel value, the sharpening pixel value composition of all pixels removes haze transmission line of electricity figure
Picture.
Described foreign body category identification equipment 2 and described mist elimination image processor 4 and described static memory
Connect respectively, including wavelet filtering subset, gray processing process subset, image segmentation subset and
Foreign body coupling subset.
Described wavelet filtering subset is connected with described mist elimination image processor 4, for described mist elimination
Haze transmission line of electricity image carries out wavelet filtering, to obtain filtering image.
Described gray processing processes subset and is connected with described wavelet filtering subset, based in filtering image
RGB tri-color component value of each pixel calculates the gray value of each pixel, to obtain gray scale
Image.
Described image segmentation subset processes subset with described gray processing and described static memory divides
Do not connect, for gray level image, choose each gray value of 0-255 as segmentation gray value to gray-scale map
As carrying out the image segmentation of target and background, divide the image into the gray value variance of rear target and background
Big segmentation gray value, as intensity slicing threshold value, uses intensity slicing threshold value that gray level image is carried out mesh
The image segmentation of mark and background, i.e. has the pixel of gray value less than or equal to described intensity slicing threshold value
It is targeted pixel, has and be confirmed as more than the pixel of the gray value of described intensity slicing threshold value
All object pixels are formed target subimage and export by background pixel.
Described foreign body coupling subset and described image segmentation subset and described static memory difference
Connect, target subimage identifies a certain foreign body with the benchmark image template of various foreign bodies
The foreign body pattern of benchmark image template matching, exports foreign body kind and the institute of described foreign body images match
State the foreign body pattern relative position in described gray level image.
Described digital signal processor 3 and described linear array digital aviation camera 1, described mist elimination image
Processor 4, described foreign body category identification equipment 2, described unmanned plane driving element, described channel radio
Letter interface and described static memory connect respectively, receive and parse through described control instruction to obtain transmission of electricity
Route survey height and transmission route survey position data, control described unmanned plane driving element to drive
Described unmanned plane flies to aerial survety position, and after described unmanned plane flies to aerial survety position, enters
Enter foreign body recognition mode.
Wherein, described digital signal processor 3, in foreign body recognition mode, starts described linear array digital
Aerocamera 1, described mist elimination image processor 4 and described foreign body category identification equipment 2, based on
The foreign body kind of described foreign body images match searches correspondence in described foreign body kind warning synopsis
Alarm level, when the alarm level found is more than or equal to described alarm level threshold value, sends foreign body
Alarm signal；Described digital signal processor 3 is additionally based upon aerial survety position and described foreign body pattern exists
Relative position in described gray level image determines foreign body positional information, and described foreign body positional information includes different
The location data of thing length, foreign body width and foreign body.
Wherein, described linear array digital aviation camera 1 can include undercarriage having shock absorption function, front cover glass, mirror
Head, filter and image-forming electron unit, for carrying out image acquisition to transmission line of electricity, to obtain power transmission line
Road image；The resolution of described transmission line of electricity image is chosen as 3840 × 2160；Wavelet filtering subset,
Gray processing processes subset, image segmentation subset and foreign body coupling subset can be respectively adopted difference
Fpga chip realize, and, alternatively, by described linear array digital aviation camera 1, institute
State mist elimination image processor 4 and described foreign body category identification equipment 2 is integrated in one piece of surface-mounted integrated circuit
On.
It addition, haze image can remove haze by what a series of images processing equipment realized image,
To obtain the image of sharpening, improve the visibility of image.These image processing equipments perform not respectively
Same image processing function, the principle formed based on haze, reach to remove the effect of haze.Haze figure
The sharpening of picture processes all has great using value, military domain bag for dual-use field
Including military and national defense, remote sensing navigation etc., civil area includes road monitoring, target following and automatic Pilot
Deng.
The process that haze image is formed can be described by atmospheric attenuation process, in haze image and reality
The medium of the available overall air light value of the relation between image i.e. sharpening image and each pixel passes
Defeated rate is stated, i.e. in the case of known haze image, according to overall air light value and each picture
The medium transmission rate of element, can solve sharpening image.
There are some and have in the solving of medium transmission rate for overall air light value and each pixel
Effect and through the means of checking, such as, for the medium transmission rate of each pixel, need to obtain whole
Body atmosphere light value and the atmospheric scattering light value of each pixel, and the atmospheric scattering light value of each pixel
Can be at the Gaussian smoothing that each pixel pixel value in haze image is carried out twice holding edge
Filtering and obtain, therebetween, the intensity that haze is removed is adjustable；And the acquisition pattern of entirety air light value has
Two kinds, a kind of mode is, (i.e. can make in haze image by obtaining the black channel of haze image
The black channel value of some pixels is the lowest, black channel is R, and G, B tri-is in Color Channel
A kind of), in haze image, the multiple pixels bigger than normal by finding black channel pixel value are found
The pixel of gray value maximum obtains, and gray value that will search out, gray value is maximum pixel is made
For overall air light value, participate in the sharpening of each pixel in haze image and process；It addition, it is overall
Air light value also can obtain in the following manner: calculates the gray value of each pixel in haze image, will
The gray value of the pixel that gray value is maximum is as overall air light value.
Relation between concrete haze image and real image i.e. sharpening image, and parameters
Between relation can be found in above content.
By the discussion to haze image formation basic theory, build between haze image and sharpening image
Relation, represent this relation by multiple parameters, subsequently by the multiple parameter values obtained and haze figure
The image that picture the most reducible acquisition definition is higher, owing to some statistical means have been used in the acquisition of parameter
And empirical means, the image that the most described definition is higher can not be fully equivalent to real image, but
Have and considerable degree of gone haze effect, provide effectively for the every field operation under haze weather
Ensure.
Use the foreign bodies on transmission lines species detection platform of the present invention, manually patrol in prior art
Inspection power transmission electric network Research Work of Power Transmission Line inefficiency, cost of labor be high and is difficult to examine under haze weather
The technical problem surveyed, the unmanned plane by scope flexible, wide is transmission line faultlocating platform, will have pin
Acquisition technology, the image processing techniques of property is combined, accurately to determine the kind of transmission line of electricity,
And the hazardness of kind based on transmission line of electricity determines whether to carry out foreign body warning in real time, is simultaneously based on
Atmospheric attenuation model introduces and goes haze device that transmission line of electricity carries out corresponding sharpening process, widens
The scope of application of detection platform of the present invention.
Although it is understood that the present invention discloses as above with preferred embodiment, but above-mentioned enforcement
Example is not limited to the present invention.For any those of ordinary skill in the art, without departing from
Under technical solution of the present invention ambit, all may utilize the technology contents of the disclosure above to the technology of the present invention
Scheme makes many possible variations and modification, or is revised as the Equivalent embodiments of equivalent variations.Therefore,
Every content without departing from technical solution of the present invention, the technical spirit of the foundation present invention is to above example
Any simple modification, equivalent variations and the modification done, all still falls within technical solution of the present invention protection
In the range of.
Claims (1)
1. a foreign bodies on transmission lines species detection platform, is arranged on unmanned plane, described detection
Platform includes linear array digital aviation camera, foreign body category identification equipment and digital signal processor, institute
The model stating digital signal processor is TMS320LF2407A, described linear array digital aviation camera
For transmission line of electricity is carried out image acquisition, to obtain transmission line of electricity image, described foreign body category identification
Equipment is connected with described linear array digital aviation camera, for described transmission line of electricity image is carried out image
Process, to identify the kind of the foreign body in described transmission line of electricity image, described digital signal processor
It is connected with described foreign body category identification equipment, determines whether for the foreign body kind identified described in basis
Foreign body alarm signal is sent to power supply management platform；
It is characterized in that, described detection platform also includes:
Power supply, including solar powered device, accumulator, switching switch and electric pressure converter,
Described switching switch is connected, according to accumulator respectively with described solar powered device and described accumulator
Dump energy decides whether to be switched to described solar powered device with by described solar powered device
Power supply, described electric pressure converter is connected with described switching switch, with by the 5V by switching switch input
Voltage is converted to 3.3V voltage；
Wireless communication interface, sets up two-way wireless communication link with the power supply management platform of far-end, uses
In receiving the control instruction that described power supply management platform sends, it is additionally operable to described digital signal processor
The foreign body positional information and the foreign body alarm signal that send are transmitted to described power supply management platform, described control
Instruction includes that transmission route survey height and transmission route survey position data；
Unmanned plane driving element, under the control of described digital signal processor, controls described nothing
Man-machine aerial survety position of flying to, location data corresponding to described aerial survety position include transmission line of electricity
Measure height and transmission route survey positions data；
Static memory, for prestoring the benchmark image template of various foreign body and prestoring different
Species warning synopsis, the benchmark image template of each foreign body is in advance to each benchmark foreign body
The image carrying out shooting and obtain, described foreign body kind warning synopsis, with foreign body kind for index, is protected
Having deposited the alarm level of each foreign body kind, alarm level is the highest, and the foreign body of corresponding kind is to transmission of electricity
The harm of circuit is the biggest, and described static memory is additionally operable to prestore alarm level threshold value, described quiet
Various foreign body kinds in the described foreign body kind warning synopsis that state memorizer prestores include moulding
Pocket, balloon, kite and branch；
Mist elimination image processor, is positioned at described linear array digital aviation camera and described foreign body category identification
Between equipment, it is used for receiving described transmission line of electricity image, described transmission line of electricity image is removed haze
Process and remove haze transmission line of electricity image to obtain, substitute described transmission line of electricity image, remove haze by described
Transmission line of electricity image inputs described foreign body category identification equipment；
Described mist elimination image processor includes:
Haze Concentration Testing subset, is positioned in air, in place for detection unmanned plane institute in real time
The haze concentration put, and determine that intensity removed by haze according to haze concentration, described haze is removed intensity and is taken
Value is between 0 to 1；
Overall air light value obtains subset, is connected to obtain with described linear array digital aviation camera
Obtain described transmission line of electricity image, calculate the gray value of each pixel in described transmission line of electricity image, by ash
The gray value of the pixel that angle value is maximum is as overall air light value；
Atmospheric scattering light value obtains subset, with described linear array digital aviation camera and described mist
Haze Concentration Testing subset connects respectively, each pixel to described transmission line of electricity image, extracts it
R, G, B tri-in Color Channel pixel value minima as target pixel value, use the height keeping edge
Described target pixel value is filtered processing to obtain filtered target pixel by this smoothing filter EPGF
Value, deducts filtered target pixel value to obtain object pixel difference by target pixel value, use EPGF
It is filtered object pixel difference processing to obtain filtered target pixel value difference, by filtered target pixel
Value deducts filtered target pixel value difference and removes reference value to obtain haze, haze is removed intensity and is multiplied by mist
Haze is removed reference value and is removed threshold value to obtain haze, takes haze and removes in threshold value and target pixel value
Little value as comparison reference, takes big as each pixel of the maximum in comparison reference and 0
Gas scattering light value；
Medium transmission rate obtains subset, obtains subset and described with described overall air light value
Atmospheric scattering light value obtains subset and connects respectively, by the atmospheric scattering light value of each pixel divided by whole
Body atmosphere light value, to obtain except value, deducts described except value is to obtain the medium transmission of each pixel by 1
Rate；
Sharpening Image Acquisition subset, with described linear array digital aviation camera, described entirety
Air light value obtains subset and described medium transmission rate obtains subset and connects respectively, deducts every by 1
Described first difference, to obtain the first difference, is multiplied by overall atmosphere light by the medium transmission rate of one pixel
Value to obtain product value, the pixel value of each pixel in described transmission line of electricity image is deducted described in take advantage of
Product value is to obtain the second difference, by described second difference divided by the medium transmission rate of each pixel to obtain
Obtain the sharpening pixel value of each pixel, the pixel value of each pixel in described transmission line of electricity image
Including the R of each pixel in described transmission line of electricity image, G, B tri-Color Channel pixel value, phase
Ying Di, it is thus achieved that the sharpening pixel value of each pixel include the R, G, B tri-of each pixel
Color Channel sharpening pixel value, the sharpening pixel value composition of all pixels removes haze transmission line of electricity figure
Picture；
Described foreign body category identification equipment divides with described mist elimination image processor and described static memory
Do not connect, process subset, image segmentation subset and different including wavelet filtering subset, gray processing
Thing coupling subset；Described wavelet filtering subset is connected with described mist elimination image processor, for right
Described haze transmission line of electricity image is gone to carry out wavelet filtering, to obtain filtering image；At described gray processing
Reason subset is connected with described wavelet filtering subset, based on the RGB of each pixel in filtering image
Three color component value calculate the gray value of each pixel, to obtain gray level image；Described image is split
Subset processes subset with described gray processing and described static memory is connected, respectively for gray-scale map
Picture, chooses each gray value of 0-255, as segmentation gray value, gray level image is carried out target and background
Image is split, and divides the image into the segmentation gray value conduct that the gray value variance of rear target and background is maximum
Intensity slicing threshold value, the image using intensity slicing threshold value that gray level image is carried out target and background divides
Cut, i.e. have and be targeted picture less than or equal to the pixel of the gray value of described intensity slicing threshold value
Element, has and is confirmed as background pixel more than the pixel of the gray value of described intensity slicing threshold value, by institute
Formed target subimage by object pixel and export；Described foreign body coupling subset is split with described image
Subset and described static memory connect respectively, identify and various foreign bodies in target subimage
In benchmark image template, the foreign body pattern of the benchmark image template matching of a certain foreign body, exports described different
The foreign body kind of object image coupling and the described foreign body pattern relative position in described gray level image；
Described digital signal processor processes with described linear array digital aviation camera, described mist elimination image
Device, described foreign body category identification equipment, described unmanned plane driving element, described wireless communication interface and
Described static memory connects respectively, receives and parses through described control instruction to obtain transmission route survey
Height and transmission route survey position data, control described unmanned plane driving element described unmanned to drive
Aerial survety position flown to by machine, and after described unmanned plane flies to aerial survety position, enters foreign body and know
Other pattern；
Wherein, described digital signal processor, in foreign body recognition mode, starts described linear array number boat
Empty camera, described mist elimination image processor and described foreign body category identification equipment, based on described foreign body
The foreign body kind of images match searches the alarm level of correspondence in described foreign body kind warning synopsis,
When the alarm level found is more than or equal to described alarm level threshold value, send foreign body alarm signal；
Described digital signal processor is additionally based upon aerial survety position and described foreign body pattern at described gray-scale map
Relative position in Xiang determines that foreign body positional information, described foreign body positional information include foreign body length, different
The location data of thing width and foreign body；
Described linear array digital aviation camera includes undercarriage having shock absorption function, front cover glass, camera lens, filter and becomes
As electronic unit, for transmission line of electricity being carried out image acquisition, to obtain transmission line of electricity image；
The resolution of described transmission line of electricity image is 3840 × 2160；
Wavelet filtering subset, gray processing process subset, image segmentation subset and foreign body coupling
Equipment is respectively adopted different fpga chips and realizes；
Described linear array digital aviation camera, described mist elimination image processor and described foreign body kind are known
Other integration of equipments is on one piece of surface-mounted integrated circuit.
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| CN201510650481.5A CN105300358B (en) | 2015-04-01 | 2015-04-01 | Foreign bodies on transmission lines species detection platform |
| CN201510153569.6A CN104729483B (en) | 2015-04-01 | 2015-04-01 | Foreign bodies on transmission lines species detection platform |
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| CN107729803A (en) * | 2017-08-18 | 2018-02-23 | 国网上海市电力公司 | The suspicious flying object recognition methods of power transmission line |
| CN109541411A (en) * | 2018-12-05 | 2019-03-29 | 国网江西省电力有限公司电力科学研究院 | Overhead transmission line hidden danger electric discharge monitoring and warning system |
| CN111539355A (en) * | 2020-04-27 | 2020-08-14 | 东北电力大学 | Photovoltaic panel foreign matter detection system and detection method based on deep neural network |
| JP7354946B2 (en) * | 2020-07-06 | 2023-10-03 | トヨタ自動車株式会社 | Vehicle and vehicle interior/exterior monitoring system |
| CN112614313B (en) * | 2020-11-30 | 2023-02-03 | 国网山东省电力公司滨州供电公司 | Transmission line synthesizes self-defined management alarm terminal |
| CN113131399A (en) * | 2021-05-27 | 2021-07-16 | 国网河北省电力有限公司保定供电分公司 | Aiming cutting method and aiming cutting system |
| CN113972586B (en) * | 2021-10-29 | 2023-04-18 | 国网山东省电力公司梁山县供电公司 | High-voltage transmission line unmanned aerial vehicle carrying laser foreign matter removing system and method |
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| CN102570345A (en) * | 2011-09-19 | 2012-07-11 | 天津全华时代航天科技发展有限公司 | UAV (unmanned aerial vehicle) transmission-line patrolling system |
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| CN103839194A (en) * | 2014-03-07 | 2014-06-04 | 国家电网公司 | Unmanned aerial vehicle routing inspection image retrieval system and method based on electric transmission line and GIS |
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