CN105352480A - Electric transmission line foreign matter kind detection method - Google Patents
Electric transmission line foreign matter kind detection method Download PDFInfo
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- CN105352480A CN105352480A CN201510649241.3A CN201510649241A CN105352480A CN 105352480 A CN105352480 A CN 105352480A CN 201510649241 A CN201510649241 A CN 201510649241A CN 105352480 A CN105352480 A CN 105352480A
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- G06V20/10—Terrestrial scenes
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- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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Abstract
The present invention relates to an electric transmission line foreign matter kind detection method which is as follows: a linear array digital aerial camera is used for electric transmission line image acquisition to obtain an electric transmission line image; a foreign body identifying device is used for image processing of the electric transmission line image for identifying foreign matter kind in the electric transmission line image; a digital signal processor is used to determine whether a foreign matter alarm signal is sent to a power management platform according to the identified foreign matter kind, and the type of the digital signal processor is TMS320LF2407A. The method further includes the step of use of a dehazing image processor for dehazing processing of the electric transmission line image to obtain a dehazed electric transmission line image. By the method, even in severe haze weather, the electric transmission line foreign matter kind of a power supply network can be quickly and accurately identified.
Description
The divisional application of the patent of " foreign bodies on transmission lines species detection method " that the present invention is application number is 201510152749.2, the applying date, to be April 1, denomination of invention in 2015 be.
Technical field
The present invention relates to power-supply unit management domain, particularly relate to a kind of foreign bodies on transmission lines species detection method.
Background technology
In the daily servicing of power transmission electric network, service object comprises transmission facility and transmission line of electricity, wherein transmission line of electricity is because position is fixed, quantity is relatively less, be easy to maintainer's fixed point and carry out inspection and maintenance, but, transmission line of electricity is as the carrier of electric power, its distribution range is extremely extensive, use manpower is safeguarded, cost is higher, and transmission line of electricity generally by frame aloft, is difficult to the concrete condition of with the naked eye going to observe transmission line of electricity, transmission line of electricity under corresponding haze weather, its concrete condition is more difficult to artificial observation.
But, if do not go to carry out daily servicing to transmission line of electricity, there will be the foreign matter of similar plastics bag, balloon, kite and branch frequently by the situation of transmission line of electricity winding, these foreign matters make high-tension limit arcing distance shorten, entail dangers to power grid security time serious, cause large-area power-cuts, even cause serious personal injury and equipment failure.At present the daily servicing of transmission line of electricity is still adopted to the mode of artificial line walking, as mentioned above, because transmission line of electricity span areas is wide, the geographical circumstance complication in place, artificial line walking not only brings larger working strength to personnel, personnel cost is high, and detection speed is comparatively slow, inefficiency, especially, under the weather that haze is serious, maintainer with the naked eye cannot observe the foreign matter type on transmission line of electricity.
Therefore, need a kind of new Maintenance of Electric Transmission Line system, the mode of artificial line walking can be replaced, the mode of detection of electrons is adopted to carry out detection rapidly and efficiently to transmission line of electricity, even if can ensure also can identify foreign bodies on transmission lines kind in time, exactly under haze weather, thus while safeguarding that power transmission electric network transports safely electricity, improve maintenance efficiency, decrease artificial expense.
Summary of the invention
In order to solve the problem, according to an aspect of the present invention, the invention provides a kind of foreign bodies on transmission lines species detection method, it comprises: utilize linear array digital aviation video camera to carry out image acquisition to transmission line of electricity, to obtain transmission line of electricity image; Foreign matter category identification equipment is utilized to carry out image procossing to described transmission line of electricity image, to identify the kind of the foreign matter in described transmission line of electricity image; Utilize digital signal processor according to described in the foreign matter kind that identifies determine whether to send foreign matter alerting signal to power supply management platform, the model of wherein said digital signal processor is TMS320LF2407A.
Preferably, foreign bodies on transmission lines species detection method of the present invention comprises further and utilizes mist elimination image processor to carry out the process of mist elimination haze to obtain the step of mist elimination haze transmission line of electricity image to described transmission line of electricity image.
Preferably, described linear array digital aviation video camera, described foreign matter category identification equipment and described digital signal processor form foreign bodies on transmission lines species detection platform, and it is arranged on unmanned plane, in order to implement detection method of the present invention.Therefore, according to another aspect of the present invention, present invention also offers a kind of foreign bodies on transmission lines species detection platform, described detection platform is arranged on unmanned plane, comprise linear array digital aviation video camera, foreign matter category identification equipment and digital signal processor, the model of described digital signal processor is TMS320LF2407A, described linear array digital aviation video camera is used for carrying out image acquisition to transmission line of electricity, to obtain transmission line of electricity image, described foreign matter category identification equipment is connected with described linear array digital aviation video camera, for carrying out image procossing to described transmission line of electricity image, to identify the kind of the foreign matter in described transmission line of electricity image, described digital signal processor and described foreign matter category identification equipment connection, foreign matter kind for identifying described in basis determines whether to send foreign matter alerting signal to power supply management platform.
Further, described detection platform also comprises:
Power supply, comprise solar powered device, accumulator, change-over switch and electric pressure converter, described change-over switch is connected respectively with described solar powered device and described accumulator, determine whether be switched to described solar powered device to be powered by described solar powered device according to accumulator dump energy, described electric pressure converter is connected with described change-over switch, with the 5V voltage transitions will inputted by change-over switch for 3.3V voltage;
Wireless communication interface, two-way wireless communication link is set up with the power supply management platform of far-end, for receiving the steering order that described power supply management platform sends, also be transmitted to described power supply management platform for the foreign matter positional information that sent by described digital signal processor and foreign matter alerting signal, described steering order comprises transmission route survey height and transmission route survey locator data;
Unmanned plane driving element, under the control of described digital signal processor, controls described unmanned plane and flies to aerial survety position, and locator data corresponding to described aerial survety position comprises transmission route survey height and transmission route survey locator data;
Static memory, for prestoring the benchmark image template of various foreign matter and prestoring the foreign matter kind warning table of comparisons, the benchmark image template of each foreign matter is take to each benchmark foreign matter the image obtained in advance, the described foreign matter kind warning table of comparisons with foreign matter kind for index, save the alarm level of each foreign matter kind, alarm level is higher, the harm of foreign matter to transmission line of electricity of corresponding kind is larger, described static memory is also for prestoring alarm level threshold value, various foreign matter kinds in the described foreign matter kind warning table of comparisons that described static memory prestores comprise polybag, balloon, kite and branch,
Mist elimination image processor, between described linear array digital aviation video camera and described foreign matter category identification equipment, for receiving described transmission line of electricity image, the process of mist elimination haze is carried out to obtain mist elimination haze transmission line of electricity image to described transmission line of electricity image, substitute described transmission line of electricity image, described mist elimination haze transmission line of electricity image is inputted described foreign matter category identification equipment.
More specifically, described mist elimination image processor comprises:
Haze Concentration Testing subset, is arranged in air, for detecting the haze concentration of unmanned plane position in real time, and removes intensity according to haze concentration determination haze, and described haze removes intensity value between 0 to 1;
Overall air light value obtains subset, is connected to obtain described transmission line of electricity image, calculates the gray-scale value of each pixel in described transmission line of electricity image, by the gray-scale value of pixel maximum for gray-scale value air light value as a whole with described linear array digital aviation video camera;
Atmospheric scattering light value obtains subset, be connected respectively with described linear array digital aviation video camera and described haze Concentration Testing subset, to each pixel of described transmission line of electricity image, extract its R, G, in B tri-Color Channel pixel value, minimum value is as target pixel value, use and keep the Gaussian filter EPGF (edge-preservinggaussianfilter) at edge to carry out filtering process to obtain filtered target pixel value to described target pixel value, target pixel value is deducted filtered target pixel value to obtain object pixel difference, EPGF is used to carry out filtering process to obtain filtered target pixel value difference to object pixel difference, filtered target pixel value is deducted filtered target pixel value difference and remove reference value to obtain haze, haze is removed intensity and be multiplied by haze removal reference value to obtain haze removal threshold value, get haze and remove minimum value in threshold value and target pixel value as comparison reference, get the atmospheric scattering light value of the maximal value in comparison reference and 0 as each pixel,
Medium transmission rate obtains subset, obtain subset and described atmospheric scattering light value with described overall air light value to obtain subset and be connected respectively, the atmospheric scattering light value of each pixel is removed value divided by overall air light value to obtain, deducts 1 described except value is to obtain the medium transmission rate of each pixel;
Sharpening Image Acquisition subset, with described linear array digital aviation video camera, described overall air light value obtains subset and is connected respectively with described medium transmission rate acquisition subset, the medium transmission rate of each pixel is deducted to obtain the first difference by 1, described first difference is multiplied by overall air light value 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 the medium transmission rate of each pixel to obtain the sharpening pixel value of each pixel, in described transmission line of electricity image, the pixel value of each pixel comprises the R of each pixel in described transmission line of electricity image, G, B tri-Color Channel pixel value, correspondingly, the sharpening pixel value of each pixel obtained comprises the R of each pixel, G, B tri-Color Channel sharpening pixel value, the sharpening pixel value composition mist elimination haze transmission line of electricity image of all pixels.
More specifically, described foreign matter category identification equipment is connected respectively with described mist elimination image processor and described static memory, comprises wavelet filtering subset, gray processing process subset, Iamge Segmentation subset and foreign matter coupling subset, described wavelet filtering subset is connected with described mist elimination image processor, for carrying out wavelet filtering, to obtain filtering image to described mist elimination haze transmission line of electricity image, described gray processing process subset is connected with described wavelet filtering subset, and RGB tri-color component value based on each pixel in filtering image calculates the gray-scale value of each pixel, to obtain gray level image, described Iamge Segmentation subset is connected respectively with described gray processing process subset and described static memory, for gray level image, choose each gray-scale value of 0-255 carries out target and background to gray level image Iamge Segmentation as segmentation gray-scale value, using segmentation gray-scale value maximum for the gray-scale value variance of target and background after Iamge Segmentation as intensity slicing threshold value, intensity slicing threshold value is used gray level image to be carried out to the Iamge Segmentation of target and background, the pixel namely with the gray-scale value being less than or equal to described intensity slicing threshold value is confirmed as object pixel, the pixel with the gray-scale value being greater than described intensity slicing threshold value is confirmed as background pixel, all object pixels are formed target subimage and exports, described foreign matter coupling subset is connected respectively with described Iamge Segmentation subset and described static memory, in target subimage, identify the foreign matter pattern of the benchmark image template matches of a certain foreign matter in the benchmark image template with various foreign matter, export foreign matter kind and the relative position of described foreign matter pattern in described gray level image of described foreign matter images match.
More specifically, described digital signal processor is connected respectively with described linear array digital aviation video camera, described mist elimination image processor, described foreign matter category identification equipment, described unmanned plane driving element, described wireless communication interface and described static memory, receive and resolve described steering order to obtain transmission route survey height and transmission route survey locator data, control described unmanned plane driving element and fly to aerial survety position to drive described unmanned plane, and after described unmanned plane flies to aerial survety position, enter foreign matter recognition mode; Wherein said digital signal processor is in foreign matter recognition mode, start described linear array digital aviation video camera, described mist elimination image processor and described foreign matter category identification equipment, foreign matter kind based on described foreign matter images match searches corresponding alarm level in the described foreign matter kind warning table of comparisons, when the alarm level found is more than or equal to described alarm level threshold value, send foreign matter alerting signal; Described digital signal processor is the relative position determination foreign matter positional information in described gray level image based on aerial survety position and described foreign matter pattern also, and described foreign matter positional information comprises the locator data of foreign matter length, foreign matter width and foreign matter.
More specifically, in described foreign bodies on transmission lines species detection platform, described linear array digital aviation video camera comprises undercarriage having shock absorption function, front cover glass, camera lens, filter and image-forming electron unit.
More specifically, in described foreign bodies on transmission lines species detection platform, the resolution of described transmission line of electricity image is 3840 × 2160.
More specifically, in described foreign bodies on transmission lines species detection platform, wavelet filtering subset, gray processing process subset, Iamge Segmentation subset and foreign matter coupling subset adopts different fpga chips to realize respectively.
More specifically, in described foreign bodies on transmission lines species detection platform, described linear array digital aviation video camera, described mist elimination image processor and described foreign matter category identification integration of equipments are on one piece of surface-mounted integrated circuit.
Foreign bodies on transmission lines species detection method of the present invention, take unmanned plane as detection platform, introduce image capture device, the high precision identification of image processing equipment realization to foreign bodies on transmission lines kind, more crucially, according to atmospheric attenuation model determination haze to the influence factor of image, to carry out the process of mist elimination haze under haze Severe weather to the transmission line of electricity image collected, thus successfully replace arduous artificial line walking mode, realize efficient, high-precision detection of electrons mechanism.
Accompanying drawing explanation
Below with reference to accompanying drawing, embodiment of the present invention are described, wherein:
Fig. 1 is the block diagram of an embodiment of the foreign bodies on transmission lines species detection platform implementing detection method.
Fig. 2 is the block diagram of another embodiment of the foreign bodies on transmission lines species detection platform implementing detection method.
Embodiment
Below with reference to accompanying drawings the embodiment of the foreign bodies on transmission lines species detection platform implementing detection method is described in detail.
In prior art, artificial line walking mode is mainly adopted to carry out to the investigation of the electric line foreign matter of power transmission electric network, but, along with the development of high voltage, high-power, long distance transmission line, the geographical environment that power transmission network passes through is increasingly sophisticated, relies on artificial line walking to investigate electric line foreign matter and becomes more and more difficult, simultaneously, the frequent appearance of haze weather, more improves the difficulty of artificial inspection.
In order to reduce working strength, increase work efficiency, people start foreign matter recognition method sight being turned to electronics, namely use high-definition camera shooting transmission line of electricity image, in Computing Intelligence treatable mode, the foreign matter in transmission line of electricity image is identified, but, due to the singularity of transmission line of electricity distribution, need a kind of can flexibly, the platform of movement fast delivery detection system, and, need this detection system can overcome the adverse effect of haze weather.At present, lack such detection system, and the treatable mode of Computing Intelligence too relies on this relatively large equipment of computing machine, and the treatable mode of Computing Intelligence does not realize the accurate location to foreign matter yet.
The present invention establishes a kind of foreign bodies on transmission lines species detection method, and built detection platform, take unmanned plane as carrier, the steering order that can send according to the power supply management platform of electric administrative department, target of flying to transmission line of electricity, in the mode of ultra high-definition image acquisition and process, to add up the use of haze processing apparatus, parse foreign matter kind exactly, and under the help of unmanned plane utility appliance, realize searching for the high precision of foreign matter position.
Fig. 1 is the block diagram of an embodiment of the foreign bodies on transmission lines species detection platform implementing detection method, described detection platform is arranged on unmanned plane, comprise linear array digital aviation video camera 1, foreign matter category identification equipment 2 and digital signal processor 3, the model of described digital signal processor 3 is TMS320LF2407A, described linear array digital aviation video camera 1 is for carrying out image acquisition to transmission line of electricity, to obtain transmission line of electricity image, described foreign matter category identification equipment 2 is connected with described linear array digital aviation video camera 1, for carrying out image procossing to described transmission line of electricity image, to identify the kind of the foreign matter in described transmission line of electricity image, described digital signal processor 3 is connected with described foreign matter category identification equipment 2, foreign matter kind for identifying described in basis determines whether to send foreign matter alerting signal to power supply management platform.
With Fig. 1 unlike, the foreign bodies on transmission lines species detection platform of Fig. 2 adds mist elimination image processor 4, between linear array digital aviation video camera 1 and foreign matter category identification equipment 2.Below, the block diagram of Fig. 2 is further detailed.
Described detection platform also comprises: power supply, comprise solar powered device, accumulator, change-over switch and electric pressure converter, described change-over switch is connected respectively with described solar powered device and described accumulator, determine whether be switched to described solar powered device to be powered by described solar powered device according to accumulator dump energy, described electric pressure converter is connected with described change-over switch, with the 5V voltage transitions will inputted by change-over switch for 3.3V voltage.
Described detection platform also comprises: wireless communication interface, two-way wireless communication link is set up with the power supply management platform of far-end, for receiving the steering order that described power supply management platform sends, also be transmitted to described power supply management platform for the foreign matter positional information that sent by described digital signal processor and foreign matter alerting signal, described steering order comprises transmission route survey height and transmission route survey locator data.
Described detection platform also comprises: unmanned plane driving element, for under the control of described digital signal processor 3, control described unmanned plane and fly to aerial survety position, locator data corresponding to described aerial survety position comprises transmission route survey height and transmission route survey locator data.
Described detection platform also comprises: static memory, for prestoring the benchmark image template of various foreign matter and prestoring the foreign matter kind warning table of comparisons, the benchmark image template of each foreign matter is take to each benchmark foreign matter the image obtained in advance, the described foreign matter kind warning table of comparisons with foreign matter kind for index, save the alarm level of each foreign matter kind, alarm level is higher, the harm of foreign matter to transmission line of electricity of corresponding kind is larger, described static memory is also for prestoring alarm level threshold value, various foreign matter kinds in the described foreign matter kind warning table of comparisons that described static memory prestores comprise polybag, balloon, kite and branch.
Described mist elimination image processor 4, between described linear array digital aviation video camera 1 and described foreign matter category identification equipment 2, for receiving described transmission line of electricity image, the process of mist elimination haze is carried out to obtain mist elimination haze transmission line of electricity image to described transmission line of electricity image, substitute described transmission line of electricity image, described mist elimination haze transmission line of electricity image is inputted described foreign matter category identification equipment 2.
Described mist elimination image processor 4 comprises with lower component:
Haze Concentration Testing subset, is arranged in air, for detecting the haze concentration of unmanned plane position in real time, and removes intensity according to haze concentration determination haze, and described haze removes intensity value between 0 to 1;
Overall air light value obtains subset, is connected to obtain described transmission line of electricity image, calculates the gray-scale value of each pixel in described transmission line of electricity image, by the gray-scale value of pixel maximum for gray-scale value air light value as a whole with described linear array digital aviation video camera 1;
Atmospheric scattering light value obtains subset, be connected respectively with described linear array digital aviation video camera 1 and described haze Concentration Testing subset, to each pixel of described transmission line of electricity image, extract its R, G, in B tri-Color Channel pixel value, minimum value is as target pixel value, use and keep the Gaussian filter EPGF (edge-preservinggaussianfilter) at edge to carry out filtering process to obtain filtered target pixel value to described target pixel value, target pixel value is deducted filtered target pixel value to obtain object pixel difference, EPGF is used to carry out filtering process to obtain filtered target pixel value difference to object pixel difference, filtered target pixel value is deducted filtered target pixel value difference and remove reference value to obtain haze, haze is removed intensity and be multiplied by haze removal reference value to obtain haze removal threshold value, get haze and remove minimum value in threshold value and target pixel value as comparison reference, get the atmospheric scattering light value of the maximal value in comparison reference and 0 as each pixel,
Medium transmission rate obtains subset, obtain subset and described atmospheric scattering light value with described overall air light value to obtain subset and be connected respectively, the atmospheric scattering light value of each pixel is removed value divided by overall air light value to obtain, deducts 1 described except value is to obtain the medium transmission rate of each pixel;
Sharpening Image Acquisition subset, with described linear array digital aviation video camera 1, described overall air light value obtains subset and is connected respectively with described medium transmission rate acquisition subset, the medium transmission rate of each pixel is deducted to obtain the first difference by 1, described first difference is multiplied by overall air light value 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 the medium transmission rate of each pixel to obtain the sharpening pixel value of each pixel, in described transmission line of electricity image, the pixel value of each pixel comprises the R of each pixel in described transmission line of electricity image, G, B tri-Color Channel pixel value, correspondingly, the sharpening pixel value of each pixel obtained comprises the R of each pixel, G, B tri-Color Channel sharpening pixel value, the sharpening pixel value composition mist elimination haze transmission line of electricity image of all pixels.
Described foreign matter category identification equipment 2 is connected respectively with described mist elimination image processor 4 and described static memory, comprises wavelet filtering subset, gray processing process subset, Iamge Segmentation subset and foreign matter coupling subset.
Described wavelet filtering subset is connected with described mist elimination image processor 4, for carrying out wavelet filtering, to obtain filtering image to described mist elimination haze transmission line of electricity image.
Described gray processing process subset is connected with described wavelet filtering subset, and RGB tri-color component value based on each pixel in filtering image calculates the gray-scale value of each pixel, to obtain gray level image.
Described Iamge Segmentation subset is connected respectively with described gray processing process subset and described static memory, for gray level image, choose each gray-scale value of 0-255 carries out target and background to gray level image Iamge Segmentation as segmentation gray-scale value, using segmentation gray-scale value maximum for the gray-scale value variance of target and background after Iamge Segmentation as intensity slicing threshold value, intensity slicing threshold value is used gray level image to be carried out to the Iamge Segmentation of target and background, the pixel namely with the gray-scale value being less than or equal to described intensity slicing threshold value is confirmed as object pixel, the pixel with the gray-scale value being greater than described intensity slicing threshold value is confirmed as background pixel, all object pixels are formed target subimage and exports.
Described foreign matter coupling subset is connected respectively with described Iamge Segmentation subset and described static memory, in target subimage, identify the foreign matter pattern of the benchmark image template matches of a certain foreign matter in the benchmark image template with various foreign matter, export foreign matter kind and the relative position of described foreign matter pattern in described gray level image of described foreign matter images match.
Described digital signal processor 3 is connected respectively with described linear array digital aviation video camera 1, described mist elimination image processor 4, described foreign matter category identification equipment 2, described unmanned plane driving element, described wireless communication interface and described static memory, receive and resolve described steering order to obtain transmission route survey height and transmission route survey locator data, control described unmanned plane driving element and fly to aerial survety position to drive described unmanned plane, and after described unmanned plane flies to aerial survety position, enter foreign matter recognition mode.
Wherein, described digital signal processor 3 is in foreign matter recognition mode, start described linear array digital aviation video camera 1, described mist elimination image processor 4 and described foreign matter category identification equipment 2, foreign matter kind based on described foreign matter images match searches corresponding alarm level in the described foreign matter kind warning table of comparisons, when the alarm level found is more than or equal to described alarm level threshold value, send foreign matter alerting signal; Described digital signal processor 3 is the relative position determination foreign matter positional information in described gray level image based on aerial survety position and described foreign matter pattern also, and described foreign matter positional information comprises the locator data of foreign matter length, foreign matter width and foreign matter.
Wherein, described linear array digital aviation video camera 1 can comprise undercarriage having shock absorption function, front cover glass, camera lens, filter and image-forming electron unit, for carrying out image acquisition to transmission line of electricity, to obtain transmission line of electricity image; The resolution of described transmission line of electricity image is chosen as 3840 × 2160; Wavelet filtering subset, gray processing process subset, Iamge Segmentation subset and foreign matter coupling subset can adopt different fpga chips to realize respectively, and alternatively, described linear array digital aviation video camera 1, described mist elimination image processor 4 and described foreign matter category identification equipment 2 are integrated on one piece of surface-mounted integrated circuit.
In addition, haze image can realize the mist elimination haze of image by a series of images treatment facility, to obtain the image of sharpening, improves the visibility of image.These image processing equipments perform different image processing functions respectively, based on the principle that haze is formed, reach the effect removing haze.The sharpening process of haze image all has great using value for dual-use field, and military domain comprises military and national defense, remote sensing navigation etc., and civil area comprises road monitoring, target following and automatic Pilot etc.
The process that haze image is formed can be described by atmospheric attenuation process, relation between haze image and real image and sharpening image can be stated by the medium transmission rate of overall air light value and each pixel, namely when known haze image, according to the medium transmission rate of overall air light value with each pixel, sharpening image can be solved.
There are some effective and through verifying means in the solving of medium transmission rate for overall air light value and each pixel, such as, for the medium transmission rate of each pixel, need the atmospheric scattering light value obtaining overall air light value and each pixel, and the atmospheric scattering light value of each pixel can obtain carrying out the Gaussian smoothing filter at twice maintenance edge to the pixel value of each pixel in haze image, therebetween, the intensity of haze removal is adjustable; And the acquisition pattern of overall air light value has two kinds, a kind of mode is, black channel by obtaining haze image (namely makes the black channel value of some pixels very low in haze image, black channel is R, G, one in B tri-Color Channel), in haze image, obtain by finding the maximum pixel of gray-scale value in multiple pixels that searching black channel pixel value is bigger than normal, be about to the gray-scale value air light value as a whole of that search out, that gray-scale value is maximum pixel, participate in the sharpening process of each pixel in haze image; In addition, overall air light value is also by obtaining with under type: the gray-scale value calculating each pixel in haze image, by the gray-scale value of pixel maximum for gray-scale value air light value as a whole.
Relation between concrete haze image and real image and sharpening image, and the relation between parameters can see above content.
By the discussion to haze image formation basic theory, build the relation between haze image and sharpening image, by this relation of multiple Parametric Representation, subsequently by the multiple parameter values that obtain and haze image and the higher image of reducible acquisition sharpness, some statistical means and empirical means have been used in acquisition due to parameter, therefore the image that described sharpness is higher can not be equal to real image completely, but there is the mist elimination haze effect of certain degree, for the every field operation under haze weather provides effective guarantee.
Adopt foreign bodies on transmission lines species detection method of the present invention, for manual inspection power transmission electric network Research Work of Power Transmission Line inefficiency in prior art, the technical matters detected is difficult under the high and haze weather of cost of labor, by flexibly, the unmanned plane of wide region is transmission line faultlocating platform, to acquisition technology targetedly, image processing techniques combines, accurately to determine the kind of transmission line of electricity, and determine whether to carry out foreign matter warning based on the harmfulness of the kind of transmission line of electricity in real time, introduce mist elimination haze device based on atmospheric attenuation model simultaneously and corresponding sharpening process is carried out to transmission line of electricity, widen the scope of application of detection platform of the present invention.
Be understandable that, although the present invention with preferred embodiment disclose as above, but above-described embodiment and be not used to limit the present invention.For any those of ordinary skill in the art, do not departing under technical solution of the present invention ambit, the technology contents of above-mentioned announcement all can be utilized to make many possible variations and modification to technical solution of the present invention, or be revised as the Equivalent embodiments of equivalent variations.Therefore, every content not departing from technical solution of the present invention, according to technical spirit of the present invention to any simple modification made for any of the above embodiments, equivalent variations and modification, all still belongs in the scope of technical solution of the present invention protection.
Claims (1)
1. a foreign bodies on transmission lines species detection method, it comprises: utilize linear array digital aviation video camera to carry out image acquisition to transmission line of electricity, to obtain transmission line of electricity image; Foreign matter category identification equipment is utilized to carry out image procossing to described transmission line of electricity image, to identify the kind of the foreign matter in described transmission line of electricity image; Utilize digital signal processor according to described in the foreign matter kind that identifies determine whether to send foreign matter alerting signal to power supply management platform, the model of wherein said digital signal processor is TMS320LF2407A;
Comprise further and utilize mist elimination image processor to carry out the process of mist elimination haze to obtain the step of mist elimination haze transmission line of electricity image to described transmission line of electricity image;
Described linear array digital aviation video camera, described foreign matter category identification equipment and described digital signal processor form foreign bodies on transmission lines species detection platform, it is arranged on unmanned plane, described foreign matter category identification equipment is connected with described linear array digital aviation video camera, described digital signal processor and described foreign matter category identification equipment connection;
Described detection platform also comprises:
Power supply, comprise solar powered device, accumulator, change-over switch and electric pressure converter, described change-over switch is connected respectively with described solar powered device and described accumulator, determine whether be switched to described solar powered device to be powered by described solar powered device according to accumulator dump energy, described electric pressure converter is connected with described change-over switch, with the 5V voltage transitions will inputted by change-over switch for 3.3V voltage;
Wireless communication interface, two-way wireless communication link is set up with the power supply management platform of far-end, for receiving the steering order that described power supply management platform sends, also be transmitted to described power supply management platform for the foreign matter positional information that sent by described digital signal processor and foreign matter alerting signal, described steering order comprises transmission route survey height and transmission route survey locator data;
Unmanned plane driving element, under the control of described digital signal processor, controls described unmanned plane and flies to aerial survety position, and locator data corresponding to described aerial survety position comprises transmission route survey height and transmission route survey locator data;
Static memory, for prestoring the benchmark image template of various foreign matter and prestoring the foreign matter kind warning table of comparisons, the benchmark image template of each foreign matter is take to each benchmark foreign matter the image obtained in advance, the described foreign matter kind warning table of comparisons with foreign matter kind for index, save the alarm level of each foreign matter kind, alarm level is higher, the harm of foreign matter to transmission line of electricity of corresponding kind is larger, described static memory is also for prestoring alarm level threshold value, various foreign matter kinds in the described foreign matter kind warning table of comparisons that described static memory prestores comprise polybag, balloon, kite and branch,
Mist elimination image processor, between described linear array digital aviation video camera and described foreign matter category identification equipment, for receiving described transmission line of electricity image, the process of mist elimination haze is carried out to obtain mist elimination haze transmission line of electricity image to described transmission line of electricity image, substitute described transmission line of electricity image, described mist elimination haze transmission line of electricity image is inputted described foreign matter category identification equipment;
Described mist elimination image processor comprises:
Haze Concentration Testing subset, is arranged in air, for detecting the haze concentration of unmanned plane position in real time, and removes intensity according to haze concentration determination haze, and described haze removes intensity value between 0 to 1;
Overall air light value obtains subset, is connected to obtain described transmission line of electricity image, calculates the gray-scale value of each pixel in described transmission line of electricity image, by the gray-scale value of pixel maximum for gray-scale value air light value as a whole with described linear array digital aviation video camera;
Atmospheric scattering light value obtains subset, be connected respectively with described linear array digital aviation video camera and described haze Concentration Testing subset, to each pixel of described transmission line of electricity image, extract its R, G, in B tri-Color Channel pixel value, minimum value is as target pixel value, use and keep the Gaussian filter EPGF at edge to carry out filtering process to obtain filtered target pixel value to described target pixel value, target pixel value is deducted filtered target pixel value to obtain object pixel difference, EPGF is used to carry out filtering process to obtain filtered target pixel value difference to object pixel difference, filtered target pixel value is deducted filtered target pixel value difference and remove reference value to obtain haze, haze is removed intensity and be multiplied by haze removal reference value to obtain haze removal threshold value, get haze and remove minimum value in threshold value and target pixel value as comparison reference, get the atmospheric scattering light value of the maximal value in comparison reference and 0 as each pixel,
Medium transmission rate obtains subset, obtain subset and described atmospheric scattering light value with described overall air light value to obtain subset and be connected respectively, the atmospheric scattering light value of each pixel is removed value divided by overall air light value to obtain, deducts 1 described except value is to obtain the medium transmission rate of each pixel;
Sharpening Image Acquisition subset, with described linear array digital aviation video camera, described overall air light value obtains subset and is connected respectively with described medium transmission rate acquisition subset, the medium transmission rate of each pixel is deducted to obtain the first difference by 1, described first difference is multiplied by overall air light value 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 the medium transmission rate of each pixel to obtain the sharpening pixel value of each pixel, in described transmission line of electricity image, the pixel value of each pixel comprises the R of each pixel in described transmission line of electricity image, G, B tri-Color Channel pixel value, correspondingly, the sharpening pixel value of each pixel obtained comprises the R of each pixel, G, B tri-Color Channel sharpening pixel value, the sharpening pixel value composition mist elimination haze transmission line of electricity image of all pixels,
Described digital signal processor is connected respectively with described linear array digital aviation video camera, described mist elimination image processor, described foreign matter category identification equipment, described unmanned plane driving element, described wireless communication interface and described static memory, receive and resolve described steering order to obtain transmission route survey height and transmission route survey locator data, control described unmanned plane driving element and fly to aerial survety position to drive described unmanned plane, and after described unmanned plane flies to aerial survety position, enter foreign matter recognition mode;
Wherein said digital signal processor is in foreign matter recognition mode, start described linear array digital aviation video camera, described mist elimination image processor and described foreign matter category identification equipment, foreign matter kind based on described foreign matter images match searches corresponding alarm level in the described foreign matter kind warning table of comparisons, when the alarm level found is more than or equal to described alarm level threshold value, send foreign matter alerting signal; Described digital signal processor is the relative position determination foreign matter positional information in described gray level image based on aerial survety position and described foreign matter pattern also, and described foreign matter positional information comprises the locator data of foreign matter length, foreign matter width and foreign matter;
Described foreign matter category identification equipment is connected respectively with described mist elimination image processor and described static memory, comprises wavelet filtering subset, gray processing process subset, Iamge Segmentation subset and foreign matter coupling subset, described wavelet filtering subset is connected with described mist elimination image processor, for carrying out wavelet filtering, to obtain filtering image to described mist elimination haze transmission line of electricity image, described gray processing process subset is connected with described wavelet filtering subset, and RGB tri-color component value based on each pixel in filtering image calculates the gray-scale value of each pixel, to obtain gray level image, described Iamge Segmentation subset is connected respectively with described gray processing process subset and described static memory, for gray level image, choose each gray-scale value of 0-255 carries out target and background to gray level image Iamge Segmentation as segmentation gray-scale value, using segmentation gray-scale value maximum for the gray-scale value variance of target and background after Iamge Segmentation as intensity slicing threshold value, intensity slicing threshold value is used gray level image to be carried out to the Iamge Segmentation of target and background, the pixel namely with the gray-scale value being less than or equal to described intensity slicing threshold value is confirmed as object pixel, the pixel with the gray-scale value being greater than described intensity slicing threshold value is confirmed as background pixel, all object pixels are formed target subimage and exports, described foreign matter coupling subset is connected respectively with described Iamge Segmentation subset and described static memory, in target subimage, identify the foreign matter pattern of the benchmark image template matches of a certain foreign matter in the benchmark image template with various foreign matter, export foreign matter kind and the relative position of described foreign matter pattern in described gray level image of described foreign matter images match,
Described wavelet filtering subset, described gray processing process subset, described Iamge Segmentation subset and described foreign matter coupling subset adopts different fpga chips to realize respectively.
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