CN105930804A - Power transmission equipment identification platform arranged on unmanned aerial vehicle - Google Patents
Power transmission equipment identification platform arranged on unmanned aerial vehicle Download PDFInfo
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 207
- 238000012545 processing Methods 0.000 claims abstract description 78
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- 239000003595 mist Substances 0.000 claims description 48
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- 238000001914 filtration Methods 0.000 claims description 36
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/20—Image enhancement or restoration using local operators
- G06T5/30—Erosion or dilatation, e.g. thinning
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/70—Denoising; Smoothing
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/73—Deblurring; Sharpening
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
- G06V20/176—Urban or other man-made structures
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10032—Satellite or aerial image; Remote sensing
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20024—Filtering details
- G06T2207/20032—Median filtering
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
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- Signal Processing (AREA)
- Image Analysis (AREA)
- Image Processing (AREA)
Abstract
The invention relates to a power transmission equipment identification platform arranged on an unmanned aerial vehicle. The power transmission equipment identification platform comprises an aerial photographing camera, an equipment identification system, a wireless receiving and transmitting device and a Freescale IMX6 processor. The aerial photographing camera photographs power transmission equipment on the ground so as to acquire images of the power transmission equipment. The equipment identification system performs image processing on the images of the power transmission equipment so as to identify the type of power transmission equipment in the images of the power transmission equipment. The Freescale IMX6 processor is connected with the equipment identification system and the wireless receiving and transmitting device and wirelessly transmits the type of the power transmission equipment to a far-end power supply unit management platform through the wireless receiving and transmitting device. Dehaze processing equipment is also used so as to overcome the influence of hazy weather on the images. With application of the power transmission equipment identification platform arranged on the unmanned aerial vehicle, the types of various kinds of power transmission equipment can be aerially identified accurately and rapidly in real time even under the hazy weather.
Description
The present invention is Application No. 201510155335.5, filing date April 2 in 2015 day,
The divisional application of the patent of bright entitled " the transmission facility identification platform being positioned on unmanned plane ".
Technical field
The present invention relates to transmission facility management domain, particularly relate to a kind of transmission of electricity being positioned on unmanned plane and set
Standby identification platform.
Background technology
Along with reaching its maturity and the further expansion of air photo technique, in military nothing of unmanned air vehicle technique
In man-machine application, unmanned plane is usually used in investigating the combat support of the forms such as supervision, more it is essential that
The application of civilian unmanned plane is the most increasingly extensive, including: photogrammetric, emergency disaster relief, public peace
Entirely, resource exploration, environmental monitoring, Natural calamity monitoring and assessment, urban planning and municipal administration,
The protection of forest fires pest and disease damage and monitoring etc..
Unmanned plane is utilized to carry out the various transmission facility inspections transmitted electricity, in order to power supply unit is pinpointed the problems
And safeguard in time, it is ensured that power transmission network properly functioning.Unmanned plane test mode have efficient, quick,
Reliably, low cost, not by the advantage of regional impact, but in prior art be typically by unmanned plane shoot
Transmission facility image be sent in real time power monitoring department power supply unit management platform, to treat electric power
Supervision department carries out manual observation frame by frame and judgement to the transmission facility image received, defeated to determine
The type of electricity equipment, judges transmission facility whether outward appearance defect for follow-up, if need to be serviced and carry
For data basis, this transmission facility recognition method needs the video image of artificial treatment magnanimity, work
Efficiency is low, poor real, even if there is the electronic recognition mode of some transmission facility types, identifies mould
Formula is the most backward, poor effect, and the transmission facility image of unmanned plane of the prior art shooting
Under the weather environment that haze is serious smudgy, it is difficult to carry out the kind identification of transmission facility.
Accordingly, it would be desirable to a kind of new transmission facility identification platform, it is possible to the transmission of electricity to unmanned plane shooting sets
Standby image carries out type checking targetedly, and this new identification platform can be incorporated into the electricity of unmanned plane
In subset, meanwhile, it is capable to overcome under various haze weather the adverse effect to transmission facility image,
Thus improving the efficiency and essence that ensure that unmanned plane transmission facility checks while unmanned plane globality
Degree.
Summary of the invention
In order to solve the problems referred to above, the invention provides the identification of a kind of transmission facility being positioned on unmanned plane
Platform, uses and includes that contrast strengthens equipment, gray processing processing equipment, medium filtering equipment, image
Unmanned plane is shot by the multiple image processing section of corrosion expansion process equipment and wavelet decomposition equipment
Transmission facility image carries out high-precision type identification, and uses two radio communication network interface cards to avoid nothing
The data of man-machine transmitting-receiving are disturbed, and this transmission facility identification platform can be integrated into the electronics of unmanned plane
In equipment, more crucially, it is possible to determine the haze influence factor to image according to atmospheric attenuation model,
The transmission facility image gathered under haze weather is carried out mist elimination process, it is thus achieved that transmission facility figure clearly
Picture, thus ensure the accurate identification that the most also can carry out transmission facility kind.
According to an aspect of the present invention, it is provided that a kind of transmission facility identification being positioned on unmanned plane is flat
Platform, at aerial camera, equipment recognition system, wireless transceiver device and Freescale IMX6
Reason device, ground transmission facility is shot by described aerial camera, to obtain transmission facility figure
Picture, described equipment recognition system carries out image procossing to described transmission facility image, described defeated to identify
The kind of transmission facility in electricity equipment drawing picture, described Freescale IMX6 processor is distinguished with described equipment
Recognize system and described wireless transceiver device connects respectively, by the kind of described transmission facility by described nothing
Line transceiver part is wirelessly transmitted to the power supply unit management platform of far-end.
More specifically, in the described transmission facility being positioned on unmanned plane identification platform, also include: supply
Electricity power supply, including solar powered device, accumulator, switching switch and electric pressure converter, described in cut
Change switch to be connected respectively with described solar powered device and described accumulator, according to accumulator residue electricity
Amount decides whether to be switched to described solar powered device to be powered by described solar powered device, institute
State electric pressure converter to be connected with described switching switch, will be turned by the 5V voltage of switching switch input
It is changed to 3.3V voltage；Portable hard drive, is used for prestoring preset height scope, preset pressure height power
Weight and preset radio elevation weight, one layer that is additionally operable to prestore the transmission facility of various species little
Wave system manifold, one layer of wavelet systems manifold of the transmission facility of each kind is by the base to each kind
Quasi-transmission facility image carries out the wavelet decomposition system of 4 decomposition subgraphs that one layer of Harr wavelet decomposition obtains
Array becomes, and the benchmark transmission facility image of each kind described is the transmission of electricity of the benchmark to each kind
Equipment shoots obtained image in advance, and described 4 are decomposed the coefficient of wavelet decomposition of subgraph respectively
Be the coefficient of wavelet decomposition of a smooth subgraph, the coefficient of wavelet decomposition of a horizontal subgraph, one hang down
The coefficient of wavelet decomposition of straight subgraph and the coefficient of wavelet decomposition of an oblique subgraph, the small echo of smooth subgraph
Decomposition coefficient is general picture coefficient, and it is all detail coefficients that its excess-three decomposes the coefficient of wavelet decomposition of subgraph；
GPS locator, is connected with GPS navigation satellite, for receiving the real-time positioning of unmanned plane position
Data；Highly sensing equipment, is connected with described portable hard drive, including pressure-altitude sensor, wireless
Electrical height sensor and microcontroller；Described pressure-altitude sensor is for according to the gas near unmanned plane
Buckling, the real-time pressure altitude of detection unmanned plane position；Described radio altitude sensor bag
Including radio transmitter, radio receiver and single-chip microcomputer, described single-chip microcomputer is launched with described radio
Machine and described radio receiver connect respectively, and radio launched earthward by described radio transmitter
Ripple, described radio receiver receives the radio wave of ground return, and described single-chip microcomputer is according to described nothing
The launch time of line electricity transmitter, the reception time of described radio receiver and radio propagation speed
Degree calculates the real-time radio electrical height of unmanned plane, and described velocity of radio wave is the light velocity；Described micro-
Controller divides with described pressure-altitude sensor, described radio altitude sensor and described portable hard drive
Do not connect, when the difference of described real-time pressure altitude and described real-time radio electrical height is in described preset height
During scope, based on described preset pressure elevation weight, described preset radio elevation weight, described reality
Time pressure altitude and described real-time radio electrical height calculate and export described real-time height, when described in real time
The difference of pressure altitude and described real-time radio electrical height is not when described preset height scope, and output is highly
Detection failure signal；Go haze processing equipment, be positioned at described aerial camera and the identification of described equipment is
Between system, it is used for receiving described transmission facility image, described transmission facility image is carried out mist elimination process
To obtain mist elimination transmission facility image, replace described transmission facility image, by described mist elimination transmission facility
Image inputs described equipment recognition system to carry out image procossing to identify described mist elimination transmission facility figure
Kind as interior transmission facility；Described mist elimination processing equipment includes: haze Concentration Testing subset, position
In air, for the haze concentration of real-time unmanned plane position, and determine mist according to haze concentration
Haze removes intensity, and described haze removes intensity value between 0 to 1；Overall air light value obtains son
Equipment, is connected with described aerial camera to obtain described transmission facility image, calculates described transmission of electricity and set
The gray value of each pixel in standby image, using the gray value of pixel maximum for gray value as overall air
Light value；Atmospheric scattering light value obtains subset, with described aerial camera and described haze Concentration Testing
Subset connects respectively, each pixel to described transmission facility image, extracts its R, G, B
In three Color Channel pixel values, minima is as target pixel value, uses the Gaussian smoothing filter keeping edge
Ripple device EPGF (edge-preserving gaussian filter) is filtered place to described target pixel value
Target pixel value, to obtain filtered target pixel value, is deducted filtered target pixel value to obtain target by reason
Pixel value difference, uses EPGF to be filtered object pixel difference processing to obtain filtered target pixel
Difference, deducts filtered target pixel value filtered target pixel value difference to obtain haze and removes reference value,
Haze is removed intensity be multiplied by haze remove reference value with obtain haze remove threshold value, take haze remove threshold
Minima in value and target pixel value, as comparison reference, takes the maximum in comparison reference and 0
It is worth the atmospheric scattering light value as each pixel；Medium transmission rate obtains subset, with described entirety
Air light value obtains subset and described atmospheric scattering light value obtains subset and connects respectively, by each
The atmospheric scattering light value of pixel divided by overall air light value to obtain except value, deduct 1 described except value with
Obtain the medium transmission rate of each pixel；Sharpening Image Acquisition subset, with described shooting of taking photo by plane
Machine, described overall air light value obtain subset and described medium transmission rate obtains subset and connects respectively
Connect, deduct the medium transmission rate of each pixel by 1 to obtain the first difference, by described first difference
It is multiplied by overall air light value to obtain product value, by the picture of each pixel in described transmission facility image
Element value deducts described product value to obtain the second difference, by described second difference divided by each pixel
Medium transmission rate is to obtain the sharpening pixel value of each pixel, each in described transmission facility image
The pixel value of individual pixel includes the R of each pixel in described transmission facility image, G, B tri-color
Passage pixel value, correspondingly, it is thus achieved that the sharpening pixel value of each pixel include each pixel
R, G, B tri-Color Channel sharpening pixel value, the sharpening pixel value composition of all pixels goes
Mist transmission facility image；Described equipment recognition system and described mist elimination processing equipment and described portable hard drive
Connect respectively, strengthen equipment, gray processing processing equipment, medium filtering equipment, image including contrast
Corrosion expansion process equipment and wavelet decomposition equipment；Described contrast strengthens equipment and processes with described mist elimination
Equipment connects, for described mist elimination transmission facility image is carried out contrast enhancement processing, it is thus achieved that strengthen
Image；Described gray processing processing equipment strengthens equipment with described contrast and is connected, for described enhancing
Image carries out gray processing process, it is thus achieved that gray level image；At described medium filtering equipment and described gray processing
Reason equipment connects, for described gray level image being carried out medium filtering, to remove making an uproar in gray level image
Sound point, it is thus achieved that filtering image；Described Image erosion expansion process equipment is with described medium filtering equipment even
Connecing, processing, to remove for described filtering image being carried out successively Image erosion process and image expansion
The border of transmission facility in the bright spot formed because of light in filtering image smothing filtering image, it is thus achieved that
Image after corrosion expansion process；Described wavelet decomposition equipment and described Image erosion expansion process equipment
Connect respectively with described portable hard drive, the image after corrosion expansion process is carried out one layer of little wavelength-division of Harr
Solve, the coefficient of wavelet decomposition of 4 the decomposition subgraphs obtained is formed real-time one layer of wavelet systems manifold, will
Real-time one layer of wavelet systems manifold is mated one by one with one layer of wavelet systems manifold of the transmission facility of various species,
It fails to match then output without transmission facility signal, the match is successful then output exist transmission facility signal and general
The kind of the transmission facility matched is as the kind of transmission facility in described mist elimination transmission facility image
Output；Described wireless transceiver device includes the first wireless network card and the second wireless network card, the first wireless network
The control instruction that card sends for wireless receiving power supply unit management platform, described control instruction includes
The purpose gps data of the ground transmission facility position that will shoot and purpose shooting height,
Second wireless network card for being sent to power supply unit management platform by markd for band image wireless；Described
Freescale IMX6 processor and described aerial camera, described mist elimination processing equipment, described GPS
Localizer, described highly sensing equipment, described equipment recognition system and described wireless transceiver device are respectively
Connect, by defeated in described real time positioning data, described real-time height and described mist elimination transmission facility image
The kind of electricity equipment is all tagged on described mist elimination transmission facility image carry markd image to obtain,
The second wireless network card of described wireless transceiver device will be sent to markd image, described in fly think card
That IMX6 processor, will height when receiving height detection failure signal or without transmission facility signal
Detect failure signal or be sent to the first wireless network of described wireless transceiver device without transmission facility signal
Card is so that described first wireless network card is forwarded to power supply unit management platform；Wherein, fly described in think card
That IMX6 processor is according to described real time positioning data, described real-time height, described purpose GPS number
According to adjusting the driving signal being sent to unmanned plane drive mechanism with described purpose shooting height, in order to institute
State unmanned plane drive mechanism and adjust the flight attitude of unmanned plane according to described driving signal；Described first nothing
Gauze card uses TCP transmission agreement, described second wireless network card to use UDP host-host protocol.
More specifically, in the described transmission facility being positioned on unmanned plane identification platform: contrast is increased
Strong equipment, gray processing processing equipment, medium filtering equipment, Image erosion expansion process equipment and small echo
Resolving device is respectively adopted different fpga chips and realizes.
More specifically, in the described transmission facility being positioned on unmanned plane identification platform: contrast is increased
Strong equipment, gray processing processing equipment, medium filtering equipment, Image erosion expansion process equipment and small echo
Resolving device is integrated on one piece of surface-mounted integrated circuit.
More specifically, in the described transmission facility being positioned on unmanned plane identification platform: contrast strengthens
Equipment, gray processing processing equipment, medium filtering equipment, Image erosion expansion process equipment and little wavelength-division
The type selecting of the fpga chip that solution equipment is used is all the Artix-7 series of Xilinx company.
More specifically, in the described transmission facility being positioned on unmanned plane identification platform: contrast is increased
Strong equipment, gray processing processing equipment, medium filtering equipment, Image erosion expansion process equipment and small echo
Resolving device is integrated in same fpga chip.
More specifically, in the described transmission facility being positioned on unmanned plane identification platform: each kind described
The transmission facility of class includes the anti-of the power transmission tower of each model, the insulator of each model and each model
Shake hammer.
Accompanying drawing explanation
Below with reference to accompanying drawing, embodiment of the present invention are described, wherein:
Fig. 1 is to recognize platform according to the transmission facility being positioned on unmanned plane shown in embodiment of the present invention
Block diagram.
Detailed description of the invention
The reality of the transmission facility identification the platform below with reference to accompanying drawings present invention being positioned on unmanned plane
The scheme of executing is described in detail.
UAV is called for short " unmanned plane ", and english abbreviation is " UAV ", is to utilize radio
The most manned aircraft that remote control equipment and the presetting apparatus provided for oneself are handled.Unmanned plane is the most unmanned
Drive the general designation of aircraft, can be divided into from technical standpoint definition: depopulated helicopter, unmanned fixed-wing
These several big classes of machine, unmanned multi-rotor aerocraft, unmanned airship, unmanned parasol.Without driving on unmanned plane
Sail cabin, but the equipment such as automatic pilot, presetting apparatus is installed.On ground, naval vessels or machine tool
It, by the equipment such as radar, is tracked, positions, remote control, remote measurement and numeral pass by remote control station personnel
Defeated.
Unmanned plane is flexible, motor-driven, the feature of low cost has also attracted the attention of power monitoring department.Right
For power monitoring department, each transmission facility of the power transmission network of its subordinate is distributed in different terrain
Extensive area in, if by the way of hand inspection, certainly will take time and effort, and use instead unmanned
The mode that machine checks in the air, just can improve the efficiency checked, reduces the cost checked.
In order to find the transmission facility of outward appearance defect so that the timely of later stage is safeguarded, it is necessary first to identify
The type of transmission facility, then with the type of transmission facility as starting point, it is judged that the transmission of electricity of current check
Equipment is the most consistent with benchmark transmission facility outward appearance, inconsistent, needs to safeguard in time.Here, transmission of electricity
The determination of device type is a difficult problem, owing to unmanned plane has passed substantial amounts of transmission facility image back, adopts
The highest by the mode of hand inspection then work efficiency, electronic recognition patterns more of the prior art also go out
The problem of existing accuracy of identification difference.
It addition, electronic recognition pattern of the prior art cannot overcome the haze weather unfavorable shadow to image
Ring, so, easily in the case of haze weather is serious, to ambiguous transmission facility image without
Method is accurately identified transmission facility type therein.
To this end, the present invention has built a kind of transmission facility being positioned on unmanned plane identification platform, based on defeated
The feature of electricity equipment, has customized and has included that contrast strengthens equipment, gray processing processing equipment, medium filtering
The multiple image processing section of equipment, Image erosion expansion process equipment and wavelet decomposition equipment is to unmanned
The transmission facility image of machine shooting carries out high-precision type identification, and core is based on dissimilar transmission of electricity
The wavelet character value of equipment is different and have employed the pattern of wavelet character value coupling and carries out transmission facility class
The identification of type, meanwhile, adds mist elimination processing equipment to be effectively realized under haze weather transmission of electricity
The sharpening of equipment drawing picture processes.
Under fair weather, the block diagram of the transmission facility identification platform being positioned on unmanned plane can be such as
Lower design, described platform includes aerial camera, equipment recognition system, wireless transceiver device and flies to think
Karr IMX6 processor, ground transmission facility is shot by described aerial camera, to obtain
Obtaining transmission facility image, described equipment recognition system carries out image procossing to described transmission facility image,
With the kind of transmission facility, described Freescale IMX6 processor in the described transmission facility image of identification
It is connected respectively with described equipment recognition system and described wireless transceiver device, by the kind of described transmission facility
Class is wirelessly transmitted to the power supply unit management platform of far-end by described wireless transceiver device.
Under haze weather, the block diagram of the transmission facility identification platform being positioned on unmanned plane can be such as
It is designed shown in Fig. 1, below, the transmission facility that design under haze weather is positioned on unmanned plane
The concrete structure of identification platform is further detailed.
Relative to the platform under fair weather, the platform shown in Fig. 1 also includes: power supply, bag
Include solar powered device, accumulator, switching switch and electric pressure converter, described switching switch and institute
State solar powered device and described accumulator connects respectively, decide whether according to accumulator dump energy
Being switched to described solar powered device to be powered by described solar powered device, described voltage is changed
Device is connected with described switching switch, will be converted to 3.3V electricity by the 5V voltage of switching switch input
Pressure.
Platform shown in Fig. 1 also includes: portable hard drive, is used for prestoring preset height scope, pre-
If pressure altitude weight and preset radio elevation weight, it is additionally operable to prestore the transmission of electricity of various species
One layer of wavelet systems manifold of equipment, one layer of wavelet systems manifold of the transmission facility of each kind is by often
The benchmark transmission facility image of one kind carries out 4 decomposition subgraphs that one layer of Harr wavelet decomposition obtains
Coefficient of wavelet decomposition composition, the benchmark transmission facility image of each kind described be to each kind
The benchmark transmission facility of class shoots obtained image, described 4 small echos decomposing subgraph in advance
Decomposition coefficient is respectively the coefficient of wavelet decomposition of a smooth subgraph, the wavelet decomposition of a horizontal subgraph
Coefficient, the coefficient of wavelet decomposition of a vertical subgraph and the coefficient of wavelet decomposition of an oblique subgraph are flat
The coefficient of wavelet decomposition of slider figure is general picture coefficient, and its excess-three decomposes the coefficient of wavelet decomposition of subgraph all
It it is detail coefficients.
Platform shown in Fig. 1 also includes: GPS locator, is connected with GPS navigation satellite, is used for connecing
Receive the real time positioning data of unmanned plane position.
Platform shown in Fig. 1 also includes: highly sensing equipment, is connected with described portable hard drive, including
Pressure-altitude sensor, radio altitude sensor and microcontroller；Described pressure-altitude sensor is used
According to the air pressure change near unmanned plane, the real-time pressure altitude of detection unmanned plane position；Institute
State radio altitude sensor and include radio transmitter, radio receiver and single-chip microcomputer, described list
Sheet machine is connected respectively with described radio transmitter and described radio receiver, and described radio is launched
Radio wave launched earthward by machine, and described radio receiver receives the radio wave of ground return, institute
State single-chip microcomputer according to the launch time of described radio transmitter, described radio receiver reception time
Between and velocity of radio wave calculate unmanned plane real-time radio electrical height, described radio propagation
Speed is the light velocity；Described microcontroller and described pressure-altitude sensor, described radio altitude sensing
Device and described portable hard drive connect respectively, when described real-time pressure altitude and described real-time radio electrical height
Difference when described preset height scope, based on described preset pressure elevation weight, described preset wireless
Electrical height weight, described real-time pressure altitude and described real-time radio electrical height calculate and export described reality
Shi Gaodu, when the difference of described real-time pressure altitude and described real-time radio electrical height is not at described default height
During degree scope, export height detection failure signal.
Platform shown in Fig. 1 also includes: go haze processing equipment 5, is positioned at described aerial camera 1
And between described equipment recognition system 2, be used for receiving described transmission facility image, described transmission of electricity is set
Standby image carries out mist elimination and processes to obtain mist elimination transmission facility image, replaces described transmission facility image,
Described mist elimination transmission facility image is inputted described equipment recognition system to carry out image procossing to identify
The kind of transmission facility in described mist elimination transmission facility image.
Described mist elimination processing equipment 5 includes: haze Concentration Testing subset, is positioned in air, is used for
The haze concentration of unmanned plane position in real time, and determine that haze removes intensity, institute according to haze concentration
State haze and remove intensity value between 0 to 1.
Described mist elimination processing equipment 5 includes: overall air light value obtains subset, takes the photograph with described taking photo by plane
Camera 1 connects to obtain described transmission facility image, calculates each pixel in described transmission facility image
Gray value, using the gray value of pixel maximum for gray value as overall air light value.
Described mist elimination processing equipment 5 includes: atmospheric scattering light value obtains subset, takes the photograph with described taking photo by plane
Camera 1 and described haze Concentration Testing subset connect respectively, each to described transmission facility image
Individual pixel, extracts its R, G, B tri-in Color Channel pixel value minima as target pixel value,
Use and keep the Gaussian filter EPGF (edge-preserving gaussian filter) at edge right
Described target pixel value is filtered processing to obtain filtered target pixel value, is deducted by target pixel value
Filtered target pixel value, to obtain object pixel difference, uses EPGF to filter object pixel difference
Ripple processes to obtain filtered target pixel value difference, filtered target pixel value is deducted filtered target pixel poor
It is worth to obtain haze removal reference value, haze is removed intensity and is multiplied by haze removal reference value to obtain mist
Haze removes threshold value, takes haze and removes the minima in threshold value and target pixel value as comparison reference,
Take the atmospheric scattering light value as each pixel of the maximum in comparison reference and 0.
Described mist elimination processing equipment 5 includes: medium transmission rate obtains subset, with described overall air
Light value obtains subset and described atmospheric scattering light value obtains subset and connects respectively, by each pixel
Atmospheric scattering light value divided by overall air light value to obtain except value, deduct described except value is with acquisition by 1
The medium transmission rate of each pixel.
Described mist elimination processing equipment 5 includes: sharpening Image Acquisition subset, with described shooting of taking photo by plane
Machine 1, described overall air light value obtain subset and described medium transmission rate obtains subset and connects respectively
Connect, deduct the medium transmission rate of each pixel by 1 to obtain the first difference, by described first difference
It is multiplied by overall air light value to obtain product value, by the picture of each pixel in described transmission facility image
Element value deducts described product value to obtain the second difference, by described second difference divided by each pixel
Medium transmission rate is to obtain the sharpening pixel value of each pixel, each in described transmission facility image
The pixel value of individual pixel includes the R of each pixel in described transmission facility image, G, B tri-color
Passage pixel value, correspondingly, it is thus achieved that the sharpening pixel value of each pixel include each pixel
R, G, B tri-Color Channel sharpening pixel value, the sharpening pixel value composition of all pixels goes
Mist transmission facility image.
Described equipment recognition system 2 connects respectively with described mist elimination processing equipment 5 and described portable hard drive
Connect, strengthen equipment, gray processing processing equipment, medium filtering equipment, Image erosion including contrast swollen
Swollen processing equipment and wavelet decomposition equipment；Described contrast strengthens equipment and described mist elimination processing equipment 5
Connect, for described mist elimination transmission facility image is carried out contrast enhancement processing, it is thus achieved that strengthen image；
Described gray processing processing equipment strengthens equipment with described contrast and is connected, for entering described enhancing image
Row gray processing processes, it is thus achieved that gray level image；Described medium filtering equipment and described gray processing processing equipment
Connect, for described gray level image is carried out medium filtering, to remove the noise spot in gray level image,
Obtain filtering image；Described Image erosion expansion process equipment is connected with described medium filtering equipment, uses
In described filtering image being carried out successively Image erosion process and image expansion process, to remove filtering figure
The border of transmission facility in the bright spot formed because of light in Xiang smothing filtering image, it is thus achieved that corrode swollen
Image after swollen process；Described wavelet decomposition equipment and described Image erosion expansion process equipment and described
Portable hard drive connects respectively, and the image after corrosion expansion process is carried out one layer of Harr wavelet decomposition, will
The coefficient of wavelet decomposition of 4 the decomposition subgraphs obtained forms real-time one layer of wavelet systems manifold, by real-time one
Layer wavelet systems manifold is mated one by one with one layer of wavelet systems manifold of the transmission facility of various species, and coupling is lost
Lose then output without transmission facility signal, the match is successful then export there is transmission facility signal and will match to
Transmission facility kind as in described mist elimination transmission facility image transmission facility kind output.
Described wireless transceiver device 3 includes the first wireless network card and the second wireless network card, the first wireless network
The control instruction that card sends for wireless receiving power supply unit management platform, described control instruction includes
The purpose gps data of the ground transmission facility position that will shoot and purpose shooting height,
Second wireless network card for being sent to power supply unit management platform by markd for band image wireless.
Described Freescale IMX6 processor 4 processes set with described aerial camera 1, described mist elimination
Standby 5, described GPS locator, described highly sensing equipment, described equipment recognition system 2 and described
Wireless transceiver device 3 connects respectively, by described real time positioning data, described real-time height with described go
In mist transmission facility image the kind of transmission facility be all tagged on described mist elimination transmission facility image with
Obtain and carry markd image, the of described wireless transceiver device 3 will be sent to markd image
Two wireless network cards, described Freescale IMX6 processor 4 receive height detection failure signal or
During signal without transmission facility, it is sent to described nothing by height detection failure signal or without transmission facility signal
First wireless network card of line transceiver part 3 is so that described first wireless network card is forwarded to power supply unit pipe
Platform.
Wherein, described Freescale IMX6 processor 4 is according to described real time positioning data, described reality
Shi Gaodu, described purpose gps data and described purpose shooting height adjust and are sent to unmanned plane driving machine
The driving signal of structure, in order to described unmanned plane drive mechanism adjusts unmanned plane according to described driving signal
Flight attitude；Described first wireless network card uses TCP transmission agreement, and described second wireless network card is adopted
Use UDP host-host protocol.
Wherein, alternatively, in the described transmission facility being positioned on unmanned plane identification platform, will contrast
Degree enhancing equipment, gray processing processing equipment, medium filtering equipment, Image erosion expansion process equipment and
Wavelet decomposition equipment is respectively adopted different fpga chips and realizes；Contrast is strengthened equipment, ash
Degreeization processing equipment, medium filtering equipment, Image erosion expansion process equipment and wavelet decomposition equipment collection
On Cheng Yi block surface-mounted integrated circuit；Contrast enhancing equipment, gray processing processing equipment, medium filtering set
The type selecting of the fpga chip that standby, Image erosion expansion process equipment and wavelet decomposition equipment are used is all
Artix-7 series for Xilinx company；Contrast is strengthened equipment, gray processing processing equipment, in
Value filtering equipment, Image erosion expansion process equipment and wavelet decomposition integration of equipments are at same FPGA
In chip；And the transmission facility of described various species can include the power transmission tower of each model, each type
Number insulator and the stockbridge damper of each model.
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 transmission facility being positioned on the unmanned plane identification platform of the present invention, defeated for existing unmanned plane
Electricity equipment recognition mechanism inefficiency, the highest and that haze weather cannot be overcome the to affect technology of precision are asked
Topic, have developed a kind of based on the transmission facility type identification that transmission facility wavelet character value coupling is core
Pattern, has built a transmission of electricity being made up of the image processing section of multiple customization around this recognition mode
Equipment identification platform, also adds double netcard communication interface, in high precision in transmission facility identification platform
The electronic units such as height sensor, it is often more important that, the introducing of mist elimination processing equipment ensures to be somebody's turn to do in high precision
Platform also can normally work under the weather that haze is serious, thus improve transmission facility unmanned plane comprehensively
The reliability identified.
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 (2)
1. the transmission facility identification platform that a kind is positioned on unmanned plane, it is characterised in that described platform
Including aerial camera, equipment recognition system, wireless transceiver device and Freescale IMX6 processor,
Ground transmission facility is shot by described aerial camera, to obtain transmission facility image, and institute
State equipment recognition system and described transmission facility image is carried out image procossing, to identify described transmission facility
The kind of transmission facility in image, described Freescale IMX6 processor and described equipment recognition system
Connect respectively with described wireless transceiver device, by the kind of described transmission facility by described wireless receiving and dispatching
Device is wirelessly transmitted to the power supply unit management platform of far-end.
The transmission facility identification platform being positioned at the most as claimed in claim 1 on unmanned plane, its feature
Being, described 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；
Portable hard drive, is used for prestoring preset height scope, preset pressure elevation weight and default nothing
Line electrical height weight, is additionally operable to prestore one layer of wavelet systems manifold of the transmission facility of various species,
One layer of wavelet systems manifold of the transmission facility of each kind is set by transmitting electricity the benchmark of each kind
Standby image carries out the coefficient of wavelet decomposition composition of 4 decomposition subgraphs that one layer of Harr wavelet decomposition obtains,
The benchmark transmission facility image of each kind described is that the benchmark transmission facility to each kind enters
Row shoots the image obtained in advance, and described 4 coefficient of wavelet decomposition decomposing subgraph are respectively one
The smooth coefficient of wavelet decomposition of subgraph, the coefficient of wavelet decomposition of a horizontal subgraph, a vertical subgraph
Coefficient of wavelet decomposition and the coefficient of wavelet decomposition of an oblique subgraph, the wavelet decomposition system of smooth subgraph
Number is general picture coefficient, and it is all detail coefficients that its excess-three decomposes the coefficient of wavelet decomposition of subgraph；
GPS locator, is connected with GPS navigation satellite, for receiving the real-time of unmanned plane position
Location data；
Highly sensing equipment, is connected with described portable hard drive, including pressure-altitude sensor, radio
Height sensor and microcontroller；Described pressure-altitude sensor is for according to the air pressure near unmanned plane
Change, the real-time pressure altitude of detection unmanned plane position；Described radio altitude sensor includes
Radio transmitter, radio receiver and single-chip microcomputer, described single-chip microcomputer and described radio transmitter
Connecting respectively with described radio receiver, radio wave launched earthward by described radio transmitter,
Described radio receiver receives the radio wave of ground return, and described single-chip microcomputer is according to described radio
The launch time of transmitter, the reception time of described radio receiver and velocity of radio wave meter
Calculating the real-time radio electrical height of unmanned plane, described velocity of radio wave is the light velocity；Described microcontroller
Device connects respectively with described pressure-altitude sensor, described radio altitude sensor and described portable hard drive
Connect, when the difference of described real-time pressure altitude and described real-time radio electrical height is in described preset height scope
Time, based on described preset pressure elevation weight, described preset radio elevation weight, described real-time gas
Pressure height and described real-time radio electrical height calculate and export described real-time height, when described real-time air pressure
The difference of height and described real-time radio electrical height, not when described preset height scope, exports height detection
Failure signal；
Go haze processing equipment, between described aerial camera and described equipment recognition system, use
In receiving described transmission facility image, described transmission facility image is carried out mist elimination and processes to obtain mist elimination
Transmission facility image, replaces described transmission facility image, and described mist elimination transmission facility image is inputted institute
State equipment recognition system and set to transmit electricity in identifying described mist elimination transmission facility image to carry out image procossing
Standby kind；
Described mist elimination processing equipment includes:
Haze Concentration Testing subset, is positioned in air, for real-time unmanned plane position
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 to obtain described defeated with described aerial camera
Electricity equipment drawing picture, calculates the gray value of each pixel in described transmission facility image, and gray value is maximum
The gray value of pixel as overall air light value；
Atmospheric scattering light value obtains subset, examines with described aerial camera and described haze concentration
Survey subset to connect respectively, each pixel to described transmission facility image, extract its R, G, B
In three Color Channel pixel values, minima is as target pixel value, uses the Gaussian smoothing filter keeping edge
Described target pixel value is filtered processing to obtain filtered target pixel value, by mesh by ripple device EPGF
Mark pixel value deducts filtered target pixel value to obtain object pixel difference, and EPGF is to target picture in use
Element difference is filtered processing to obtain filtered target pixel value difference, and filtered target pixel value is deducted filter
Ripple object pixel difference removes reference value to obtain haze, haze is removed intensity and is multiplied by haze removal base
Quasi-value removes threshold value to obtain haze, takes haze and removes the minima conduct in threshold value and target pixel value
Comparison reference, takes the atmospheric scattering light as each pixel of the maximum in comparison reference and 0
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 aerial camera, described overall air light value
Obtain subset and described medium transmission rate obtains subset and connects respectively, deduct each pixel by 1
Medium transmission rate to obtain the first difference, described first difference is multiplied by overall air light value to obtain
Product value, deducts described product value to obtain by the pixel value of each pixel in described transmission facility image
The second difference, by described second difference divided by the medium transmission rate of each pixel to obtain each
The sharpening pixel value of pixel, in described transmission facility image, the pixel value of each pixel includes described
The R of each pixel in transmission facility image, G, B tri-Color Channel pixel value, correspondingly, obtains
The sharpening pixel value of each pixel include the R of each pixel, G, B tri-Color Channel
Sharpening pixel value, the sharpening pixel value composition mist elimination transmission facility image of all pixels；
Described equipment recognition system is connected respectively with described mist elimination processing equipment and described portable hard drive, bag
Include contrast and strengthen equipment, gray processing processing equipment, medium filtering equipment, Image erosion expansion process
Equipment and wavelet decomposition equipment；Described contrast strengthens equipment and is connected with described mist elimination processing equipment, uses
In described mist elimination transmission facility image is carried out contrast enhancement processing, it is thus achieved that strengthen image；Described ash
Degreeization processing equipment strengthens equipment with described contrast and is connected, for described enhancing image is carried out gray scale
Change processes, it is thus achieved that gray level image；Described medium filtering equipment is connected with described gray processing processing equipment,
For described gray level image is carried out medium filtering, to remove the noise spot in gray level image, it is thus achieved that filter
Ripple image；Described Image erosion expansion process equipment is connected with described medium filtering equipment, for institute
State filtering image carry out successively Image erosion process and image expansion process, with remove in filtering image because of
The border of transmission facility in the bright spot formed for light smothing filtering image, it is thus achieved that corrosion expansion process
After image；Described wavelet decomposition equipment is hard with described Image erosion expansion process equipment and described movement
Dish connects respectively, the image after corrosion expansion process is carried out one layer of Harr wavelet decomposition, by obtain
4 coefficient of wavelet decomposition decomposing subgraph form real-time one layer of wavelet systems manifold, by real-time one layer of small echo
Coefficient set is mated one by one with one layer of wavelet systems manifold of the transmission facility of various species, and it is the most defeated that it fails to match
Go out without transmission facility signal, the match is successful then output there is transmission facility signal the transmission of electricity that will match to
The kind of equipment is as the kind output of transmission facility in described mist elimination transmission facility image；
Described wireless transceiver device includes the first wireless network card and the second wireless network card, the first wireless network card
The control instruction sent for wireless receiving power supply unit management platform, described control instruction includes i.e.
By purpose gps data and the purpose shooting height of the ground transmission facility position of shooting, the
Two wireless network cards for being sent to power supply unit management platform by markd for band image wireless；
Described Freescale IMX6 processor and described aerial camera, described mist elimination processing equipment,
Described GPS locator, described highly sensing equipment, described equipment recognition system and described wireless receiving and dispatching
Device connects respectively, by described real time positioning data, described real-time height and described mist elimination transmission facility
In image, the kind of transmission facility is all tagged on described mist elimination transmission facility image obtain with mark
The image of note, will be sent to the second wireless network card of described wireless transceiver device with markd image,
Described Freescale IMX6 processor is receiving height detection failure signal or without transmission facility signal
Time, by height detection failure signal or be sent to the of described wireless transceiver device without transmission facility signal
One wireless network card is so that described first wireless network card is forwarded to power supply unit management platform；
Wherein, described Freescale IMX6 processor according to described real time positioning data, described in real time
Highly, described purpose gps data and described purpose shooting height adjust and are sent to unmanned plane drive mechanism
Driving signal, in order to described unmanned plane drive mechanism adjusts unmanned plane according to described driving signal
Flight attitude；
Wherein, described first wireless network card uses TCP transmission agreement, described second wireless network card to use
UDP host-host protocol；
Contrast is strengthened equipment, gray processing processing equipment, medium filtering equipment, Image erosion expansion
Processing equipment and wavelet decomposition equipment are respectively adopted different fpga chips and realize；
Contrast strengthens at equipment, gray processing processing equipment, medium filtering equipment, Image erosion expansion
The type selecting of the fpga chip that reason equipment and wavelet decomposition equipment are used is all Xilinx company
Artix-7 series.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610259752.9A CN105930804A (en) | 2015-04-02 | 2015-04-02 | Power transmission equipment identification platform arranged on unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510155335.5A CN104735423B (en) | 2015-04-02 | 2015-04-02 | The transmission facility identification platform being positioned on unmanned plane |
| CN201610259752.9A CN105930804A (en) | 2015-04-02 | 2015-04-02 | Power transmission equipment identification platform arranged on unmanned aerial vehicle |
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| CN201610259752.9A Withdrawn CN105930804A (en) | 2015-04-02 | 2015-04-02 | Power transmission equipment identification platform arranged on unmanned aerial vehicle |
| CN201610259751.4A Withdrawn CN105847753A (en) | 2015-04-02 | 2015-04-02 | Transmission device identification platform located on unmanned aerial vehicle |
| CN201510155335.5A Active CN104735423B (en) | 2015-04-02 | 2015-04-02 | The transmission facility identification platform being positioned on unmanned plane |
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| CN105052867B (en) * | 2015-08-28 | 2017-08-25 | 淄博职业学院 | A kind of intelligent mosquito catching-killing method |
| CN107333732B (en) * | 2015-08-28 | 2020-07-14 | 广东广昆有害生物防治科技实业发展有限公司 | Fixed intelligent mosquito killing system |
| CN105227846A (en) * | 2015-10-26 | 2016-01-06 | 广东图谷网络科技有限公司 | Unmanned plane oblique photograph platform |
| CN108665502B (en) * | 2018-03-22 | 2019-02-15 | 上海赛邮云计算有限公司 | Feasibility cloud computing analysis method |
| CN109147082B (en) * | 2018-03-22 | 2019-06-14 | 南京微云信息科技有限公司 | Feasibility cloud computing analysis system |
| CN110335210B (en) * | 2019-06-11 | 2022-05-13 | 长江勘测规划设计研究有限责任公司 | Underwater image restoration method |
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| CN101834989B (en) * | 2010-05-25 | 2012-05-30 | 广州科易光电技术有限公司 | Real-time data acquisition and storage system of helicopter in electric inspection process |
| EP2527787B1 (en) * | 2011-05-23 | 2019-09-11 | Kabushiki Kaisha TOPCON | Aerial photograph image pickup method and aerial photograph image pickup apparatus |
| CN103839194B (en) * | 2014-03-07 | 2017-02-08 | 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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| CN104735423A (en) | 2015-06-24 |
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Application publication date: 20160907 |