CN106355580A - Detection method and device of tilting pole tower - Google Patents
Detection method and device of tilting pole tower Download PDFInfo
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- CN106355580A CN106355580A CN201610841315.8A CN201610841315A CN106355580A CN 106355580 A CN106355580 A CN 106355580A CN 201610841315 A CN201610841315 A CN 201610841315A CN 106355580 A CN106355580 A CN 106355580A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
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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
- G06T2207/10004—Still image; Photographic image
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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
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
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Abstract
An embodiment of the invention discloses a detection method of a tilting pole tower and a device of the tilting pole tower. In the embodiment of the invention, the detection method comprises steps of firstly obtaining an unmanned aerial vehicle aerial image of a pole tower firstly, and extracting a first group power line located at the first side of the pole tower to be detected and a second group power line located at the second side of the pole tower to be detected from the unmanned aerial vehicle aerial image; further detecting if the pole tower to be detected is under the titling state according to the extraction result of the first group power line and the second group power line. In the embodiment of the invention, the detection method and device can rapidly response the outburst natural disaster for the unmanned aerial vehicle aerial image can be obtained conveniently; specific to the routing inspection of the pole tower at one place, the manual cost and device cost are relatively low; moreover, the extraction result of the power line can directly reflect the titling condition of the pole tower to be detected; therefore, the accuracy if the pole tower to be detected is under the titling is high according to the extraction result of the power line.
Description
Technical field
The present invention relates to unmanned aerial vehicle remote sensing market demand field, detection method and dress that more particularly, to a kind of shaft tower is toppled over
Put.
Background technology
With scientific and technological progress, social production life is more and more stronger to the dependence of electric power, and transmission line of electricity spreads all over the world.Transmission of electricity
Overhead line structures have important as main equipment wide variety of in transmission line of electricity, the detection whether electric power line pole tower is toppled over
Meaning.
The security of the lives and property in view of people and the safe operation of transmission line of electricity, existing transmission line of electricity is typically built
Scarcity, traffic relatively inconvenience region, thus lead to electric power line pole tower patrol and examine and keep in repair more inconvenience.And,
When in the face of emergency case, the such as natural disaster such as typhoon, earthquake, disaster area is big, and transmission line of electricity area of infection is big, needs again
Quickly to grasp the damage situations of transmission line of electricity and shaft tower.Therefore, in prior art, whether shaft tower is toppled over when detecting,
It is typically employed in the method that testing equipment is installed on shaft tower, for example, mounted angle detection means, when shaft tower is toppled over, this detection
Equipment will send signal to command centre.However, because testing equipment needs to be installed on shaft tower, and after substantial amounts of installation
Need regular or irregular safeguarded so that cost of labor and equipment cost are higher, and when run into typhoon etc. burst feelings
During condition, the communication link of detection means is easily affected, and leads to fail to report, thus leading to testing result inaccurate.
To sum up, need the detection method that a kind of effective shaft tower is toppled at present badly, for realizing on the basis of reduces cost,
Relatively accurately whether it is in tilt state to shaft tower to detect.
Content of the invention
Detection method and device that a kind of embodiment of the present invention shaft tower of offer is toppled over, for realizing on the basis of reduces cost
On, relatively accurately whether tilt state is in shaft tower and detects.
The detection method that a kind of shaft tower provided in an embodiment of the present invention is toppled over, comprising:
Obtain the unmanned plane image of shaft tower to be detected；
First group of electric lines of force and the position being located at described shaft tower first side to be detected is extracted from described unmanned plane image
Second group of electric lines of force in described shaft tower second side to be detected；
According to the extraction result of described first group of electric lines of force and described second group of electric lines of force, detect that described shaft tower to be detected is
No it is in tilt state.
It is preferred that according to the extraction result of described first group of electric lines of force and described second group of electric lines of force, detecting described to be checked
Whether measuring staff tower is in tilt state, comprising:
According to the extraction result of described first group of electric lines of force and described second group of electric lines of force, determine and at least extract described the
One group of electric lines of force in one group of electric lines of force and described second group of electric lines of force, and exist one group of electric lines of force show as straight line it is determined that
Described shaft tower to be detected is in non-tilt state, otherwise, it determines described shaft tower to be detected is in tilt state.
It is preferred that according to the extraction result of described first group of electric lines of force and described second group of electric lines of force, judging that presence is following
During situation, determine that described shaft tower to be detected is in non-tilt state:
If extracting described first group of electric lines of force and described second group of electric lines of force, and described first group of electric lines of force and described
Two groups of electric lines of force all show as straight line it is determined that described shaft tower to be detected is in non-tilt state；Or,
If extracting described first group of electric lines of force and described second group of electric lines of force, and one group of electric lines of force of presence shows as directly
Line, another group of electric lines of force does not show straight line it is determined that described shaft tower to be detected is in non-tilt state；Or,
If only extracting one group of electric lines of force in described first group of electric lines of force and described second group of electric lines of force, and extract
This group electric lines of force shows as straight line it is determined that described shaft tower to be detected is in non-tilt state.
It is preferred that according to the extraction result of described first group of electric lines of force and described second group of electric lines of force, judging that presence is following
During situation, determine that described shaft tower to be detected is in tilt state:
If extracting described first group of electric lines of force and described second group of electric lines of force, and described first group of electric lines of force and described
Two groups of electric lines of force all do not show as straight line it is determined that described shaft tower to be detected is in tilt state；Or,
If only extracting one group of electric lines of force in described first group of electric lines of force and described second group of electric lines of force, and extract
This group electric lines of force does not show as straight line it is determined that described shaft tower to be detected is in tilt state；Or,
If not extracting described first group of electric lines of force and described second group of electric lines of force it is determined that described shaft tower to be detected is in
Tilt state.
It is preferred that extracting first group of electric power being located at described shaft tower first side to be detected from described unmanned plane image
Line and second group of electric lines of force being located at described shaft tower second side to be detected, comprising:
Image semantic classification is carried out to described unmanned plane image；
Based on pretreated unmanned plane image, rim detection is carried out using ratio operator；
Using the method for hough conversion, the straight line information of pretreated unmanned plane image is detected；
According to power line characteristic, to hough change detection to straight line information carry out differentiating screening, extract positioned at described
First group of electric lines of force of shaft tower first side to be detected and second group of electric lines of force being located at described shaft tower second side to be detected.
The embodiment of the present invention provides the detection means that a kind of shaft tower is toppled over, and this device includes:
Acquisition module, for obtaining the unmanned plane image of shaft tower to be detected；
Extraction module, is located at the first of described shaft tower first side to be detected for extracting from described unmanned plane image
Group electric lines of force and second group of electric lines of force being located at described shaft tower second side to be detected；
Detection module, for the extraction result according to described first group of electric lines of force and described second group of electric lines of force, detects institute
State whether shaft tower to be detected is in tilt state.
It is preferred that described detection module specifically for:
According to the extraction result of described first group of electric lines of force and described second group of electric lines of force, determine and at least extract described the
One group of electric lines of force in one group of electric lines of force and described second group of electric lines of force, and exist one group of electric lines of force show as straight line it is determined that
Described shaft tower to be detected is in non-tilt state, otherwise, it determines described shaft tower to be detected is in tilt state.
It is preferred that described detection module is specifically for according to described first group of electric lines of force and described second group of electric lines of force
Extract result, judge when there is situations below, determine that described shaft tower to be detected is in non-tilt state:
If extracting described first group of electric lines of force and described second group of electric lines of force, and described first group of electric lines of force and described
Two groups of electric lines of force all show as straight line it is determined that described shaft tower to be detected is in non-tilt state；Or,
If extracting described first group of electric lines of force and described second group of electric lines of force, and one group of electric lines of force of presence shows as directly
Line, another group of electric lines of force does not show straight line it is determined that described shaft tower to be detected is in non-tilt state；Or,
If only extracting one group of electric lines of force in described first group of electric lines of force and described second group of electric lines of force, and extract
This group electric lines of force shows as straight line it is determined that described shaft tower to be detected is in non-tilt state.
It is preferred that described detection module is specifically for according to described first group of electric lines of force and described second group of electric lines of force
Extract result, judge when there is situations below, determine that described shaft tower to be detected is in tilt state:
If extracting described first group of electric lines of force and described second group of electric lines of force, and described first group of electric lines of force and described
Two groups of electric lines of force all do not show as straight line it is determined that described shaft tower to be detected is in tilt state；Or,
If only extracting one group of electric lines of force in described first group of electric lines of force and described second group of electric lines of force, and extract
This group electric lines of force does not show as straight line it is determined that described shaft tower to be detected is in tilt state；Or,
If not extracting described first group of electric lines of force and described second group of electric lines of force it is determined that described shaft tower to be detected is in
Tilt state.
It is preferred that described extraction module specifically for:
Image semantic classification is carried out to described unmanned plane image；
Based on pretreated unmanned plane image, rim detection is carried out using ratio operator；
Using the method for hough conversion, the straight line information of pretreated unmanned plane image is detected；
According to power line characteristic, to hough change detection to straight line information carry out differentiating screening, extract positioned at described
First group of electric lines of force of shaft tower first side to be detected and second group of electric lines of force being located at described shaft tower second side to be detected.
In the above embodiment of the present invention, obtain the unmanned plane image of shaft tower to be detected first, and from described unmanned
Extract first group of electric lines of force being located at described shaft tower first side to be detected in machine Aerial Images and be located at described shaft tower to be detected the
Second group of electric lines of force of two sides, and then the extraction result according to described first group of electric lines of force and described second group of electric lines of force, detection
Whether described shaft tower to be detected is in tilt state；In the embodiment of the present invention, detected to be detected based on unmanned plane image
Whether shaft tower is in tilt state, due to the acquisition of unmanned plane image more convenient such that it is able to burst natural disaster
Make fast reaction, the shaft tower for a certain area is patrolled and examined, and required cost of labor and equipment cost are relatively low；And, electric power
The extraction result of line can directly reflect the situation of toppling over of shaft tower to be detected, therefore, is examined according to the extraction result of electric lines of force
Survey shaft tower to be detected whether be in tilt state accuracy higher.
Brief description
For the technical scheme being illustrated more clearly that in the embodiment of the present invention, will make to required in embodiment description below
Accompanying drawing briefly introduce it should be apparent that, drawings in the following description are only some embodiments of the present invention, for this
For the those of ordinary skill in field, without having to pay creative labor, it can also be obtained according to these accompanying drawings
His accompanying drawing.
Fig. 1 is the schematic flow sheet corresponding to detection method that a kind of shaft tower provided in an embodiment of the present invention is toppled over；
Schematic flow sheet corresponding to a kind of extracting method of electric lines of force provided in an embodiment of the present invention for the Fig. 2；
Fig. 3 a and Fig. 3 b is the electric lines of force schematic diagram under the normal operation of shaft tower；
Fig. 4 is in the electric lines of force schematic diagram of tilt state for shaft tower；
Fig. 5 is the structural representation of the detection means that a kind of shaft tower provided in an embodiment of the present invention is toppled over.
Specific embodiment
With reference to Figure of description, the embodiment of the present invention is described in detail.
Detection method and device that a kind of embodiment of the present invention shaft tower of offer is toppled over, for realizing on the basis of reduces cost
On, relatively accurately whether tilt state is in shaft tower and detects.
For enabling the goal of the invention of the present invention, feature, advantage more obvious and understandable, below in conjunction with the application
Accompanying drawing in embodiment, is clearly and completely described it is clear that disclosed below to the technical scheme in the embodiment of the present application
Embodiment be only the present invention a part of embodiment, and not all embodiment.Based on the embodiment in the present invention, ability
All other embodiment that domain those of ordinary skill is obtained under the premise of not making creative work, broadly falls into the present invention and protects
The scope of shield.
Term " first " in description and claims of this specification and above-mentioned accompanying drawing, " second " etc. are for distinguishing
Different objects, rather than be used for describing particular order.Additionally, term " comprising " and " having " and their any deformation it is intended that
It is to cover non-exclusive inclusion.For example include series of steps or process, method, system, product or the equipment of unit do not have
Have and be defined in the step listed or unit, but alternatively also include step or the unit do not listed, or alternatively also wrap
Include for these processes, method, product or the intrinsic other steps of equipment or unit.
Topple over the importance of situation based on detection electric power line pole tower, and the deficiency in the presence of existing detection method,
Present inventor is studied by toppling over situation to detection shaft tower, and proposes one kind based on electric power in unmanned plane image
The extraction result of line, the method to detect shaft tower tilt state, thus provide a kind of new thinking for detection shaft tower tilt state
And method.
Fig. 1 is the schematic flow sheet corresponding to detection method that a kind of shaft tower provided in an embodiment of the present invention is toppled over, such as Fig. 1
Shown, the method includes:
Step 101, obtains the unmanned plane image of shaft tower to be detected；
Step 102, extracts first group of electricity being located at described shaft tower first side to be detected from described unmanned plane image
The line of force and second group of electric lines of force being located at described shaft tower second side to be detected；
Step 103, according to the extraction result of described first group of electric lines of force and described second group of electric lines of force, detects described to be checked
Whether measuring staff tower is in tilt state.
In the embodiment of the present invention, detect whether shaft tower to be detected is in tilt state based on unmanned plane image, by
Acquisition in unmanned plane image more convenient such that it is able to fast reaction be made to burst natural disaster, for a certain
The shaft tower in area is patrolled and examined, and required cost of labor and equipment cost are relatively low；And, the extraction result of electric lines of force can directly reflect
Go out the situation of toppling over of shaft tower to be detected, therefore, detect whether shaft tower to be detected is according to the extraction result of electric lines of force and topple over
The accuracy of state is higher.
Specifically, in a step 102, extract from described unmanned plane image and be located at described shaft tower first to be detected
First group of electric lines of force of side and be located at described shaft tower second side to be detected second group of electric lines of force method can have multiple, this
A kind of bright embodiment extracting method of offer is: first with line detection method, detects all line segments of entire image, then
The angle of every line segment, positional information are carried out approximation (distance difference) and the relative analyses of synteny (angle difference), sentences
Whether broken string section belongs to same wire.If belonging to same wire, merging, obtaining complete electric lines of force, then in conjunction with transmission line of electricity
Semantic knowledge (can be power line characteristic), is removed to being unsatisfactory for electric lines of force semanteme rule.The method can be based on ratio
Operator and hough change bring realization.
As shown in Fig. 2 the schematic flow sheet corresponding to a kind of extracting method of electric lines of force provided in an embodiment of the present invention,
Specifically include:
Step 201, carries out Image semantic classification to described unmanned plane image.
Specifically, because the content of unmanned plane image is complex, the feature according to image carries out pretreatment meeting
Improve the precision of identification, wherein it is possible to the pretreatment carrying out includes filtering and binaryzation.Medium filtering pair can be adopted in the application
Image carries out denoising, and medium filtering can filter high-frequency noise, also can avoid the loss of image edge detailss simultaneously, preferably protects
Protect the edge of image.Then, binary conversion treatment is carried out to image, in order to the edge of prominent image.
Step 202, based on pretreated unmanned plane image, carries out rim detection using ratio operator.
Specifically, ratio operator mainly comprises three parameters, and first is template size, in order to suppress noise, and examines
The size considering amount of calculation template is 5 × 5 by test and Selection；Second number for detection of straight lines direction, unmanned plane line walking
During power transmission line be typically in near-horizontal state, the ratio operator that can have been used up horizontal direction carries out threaded rim
Detection；3rd is threshold value, in order that threshold adaptive image, can be chosen for 3 times of threaded rim image average.
Step 203, using the method for hough conversion, is carried out to the straight line information of pretreated unmanned plane image
Detection.
Step 204, according to power line characteristic, to hough change detection to straight line information carry out differentiating screening, extract
First group of electric lines of force positioned at described shaft tower first side to be detected and second group of electric power being located at described shaft tower second side to be detected
Line.
Specifically, carry out the conversion of accumulated probability hough after threaded rim is detected, obtain a series of line segments, then carry out
Line segment connects, and the line segment on same straight line is connected as greatest length, then chooses line between-pi/4 to pi/4 for the angle
Section, and ask for nose section m, all line segments being approximately parallel to m all can be identified as electric lines of force.
According to practical situation, when shaft tower is not toppled over, the electric lines of force in unmanned plane image shows as straight line, such as Fig. 3 a
With the electric lines of force schematic diagram under shown in Fig. 3 b, to be that shaft tower is normal run.If shaft tower is toppled over, electric lines of force can be led to come off pine
Relax, thus straight line can not be shown as in unmanned plane image, as shown in figure 4, be in the electric lines of force of tilt state for shaft tower
Schematic diagram；Or, shaft tower is toppled over and be also can result in the electric lines of force embedment atural object such as the weeds woods, and cannot be from unmanned plane figure
Extract in picture.Therefore, in step 103, the extraction according to described first group of electric lines of force and described second group of electric lines of force is tied
Really, detect whether described shaft tower to be detected is in tilt state, it may include: according to described first group of electric lines of force and described second group
The extraction result of electric lines of force, determines one group of electric power at least extracting in described first group of electric lines of force and described second group of electric lines of force
Line, and one group of electric lines of force of presence shows as straight line it is determined that described shaft tower to be detected is in non-tilt state, otherwise, it determines institute
State shaft tower to be detected and be in tilt state.
Specifically, in the embodiment of the present invention, according to the extraction of described first group of electric lines of force and described second group of electric lines of force
As a result, judge to exist during following three kinds of situations it may be determined that described shaft tower to be detected is in non-tilt state:
Situation one: if extracting described first group of electric lines of force and described second group of electric lines of force, and described first group of electric lines of force
All show as straight line (as best shown in figures 3 a and 3b) with described second group of electric lines of force it is determined that described shaft tower to be detected is in and non-topples over
State.
Situation two: if extracting described first group of electric lines of force and described second group of electric lines of force, and there is one group of electric lines of force table
It is now straight line, another group of electric lines of force does not show straight line it is determined that described shaft tower to be detected is in non-tilt state.For example, first
Group electric lines of force shows as straight line, and second group of electric lines of force shows as curve, and this situation is often as positioned at shaft tower to be detected
The adjacent shaft tower of the second side is in tilt state or electric lines of force breaks, and leads to second group of electric lines of force to show as curve, because
This, now can primarily determine that shaft tower to be detected is in non-tilt state, and can be pointed to the adjacent stems of shaft tower second side to be detected
Tower is further detected, in order to confirm the accuracy of result.
Situation three: if only extracting one group of electric lines of force in described first group of electric lines of force and described second group of electric lines of force, and
This group electric lines of force extracting shows as straight line it is determined that described shaft tower to be detected is in non-tilt state.For example, only extract
First group of electric lines of force, and first group of electric lines of force shows as straight line, does not extract second group of electric lines of force, this situation is often as
Adjacent shaft tower positioned at shaft tower second side to be detected is in tilt state or electric lines of force breaks, and leads to second group of electric lines of force
Cannot extract in the atural objects such as the embedment weeds woods, therefore, now can primarily determine that shaft tower to be detected is in non-tilt state,
And the adjacent shaft tower of shaft tower second side to be detected can be pointed to further detected, in order to confirm the accuracy of result.
Specifically, in the embodiment of the present invention, according to the extraction of described first group of electric lines of force and described second group of electric lines of force
As a result, judge to exist during following three kinds of situations it may be determined that described shaft tower to be detected is in tilt state:
Situation one: if extracting described first group of electric lines of force and described second group of electric lines of force, and described first group of electric lines of force
All do not show as straight line (as shown in Figure 4) with described second group of electric lines of force it is determined that described shaft tower to be detected is in tilt state.
Situation two: if only extracting one group of electric lines of force in described first group of electric lines of force and described second group of electric lines of force, and
This group electric lines of force extracting does not show as straight line it is determined that described shaft tower to be detected is in tilt state.
Situation three: if not extracting described first group of electric lines of force and described second group of electric lines of force it is determined that described to be detected
Shaft tower is in tilt state.
In the above embodiment of the present invention, obtain the unmanned plane image of shaft tower to be detected first, and from described unmanned
Extract first group of electric lines of force being located at described shaft tower first side to be detected in machine Aerial Images and be located at described shaft tower to be detected the
Second group of electric lines of force of two sides, and then the extraction result according to described first group of electric lines of force and described second group of electric lines of force, detection
Whether described shaft tower to be detected is in tilt state；In the embodiment of the present invention, detected to be detected based on unmanned plane image
Whether shaft tower is in tilt state, due to the acquisition of unmanned plane image more convenient such that it is able to burst natural disaster
Make fast reaction, the shaft tower for a certain area is patrolled and examined, and required cost of labor and equipment cost are relatively low；And, electric power
The extraction result of line can directly reflect the situation of toppling over of shaft tower to be detected, therefore, is examined according to the extraction result of electric lines of force
Survey shaft tower to be detected whether be in tilt state accuracy higher.
For said method flow process, the embodiment of the present invention also provides the detection means that a kind of shaft tower is toppled over, the tool of this device
Internal appearance is referred to said method and implements.
Fig. 5 is the structural representation of the detection means that a kind of shaft tower provided in an embodiment of the present invention is toppled over, as shown in figure 5,
This device includes:
Acquisition module 501, for obtaining the unmanned plane image of shaft tower to be detected；
Extraction module 502, is located at described shaft tower first side to be detected for extracting from described unmanned plane image
First group of electric lines of force and second group of electric lines of force being located at described shaft tower second side to be detected；
Detection module 503, for the extraction result according to described first group of electric lines of force and described second group of electric lines of force, detects
Whether described shaft tower to be detected is in tilt state.
It is preferred that described detection module 503 specifically for:
According to the extraction result of described first group of electric lines of force and described second group of electric lines of force, determine and at least extract described the
One group of electric lines of force in one group of electric lines of force and described second group of electric lines of force, and exist one group of electric lines of force show as straight line it is determined that
Described shaft tower to be detected is in non-tilt state, otherwise, it determines described shaft tower to be detected is in tilt state.
It is preferred that described detection module 503 is specifically for according to described first group of electric lines of force and described second group of electric lines of force
Extraction result, judge when there is situations below, determine that described shaft tower to be detected is in non-tilt state:
If extracting described first group of electric lines of force and described second group of electric lines of force, and described first group of electric lines of force and described
Two groups of electric lines of force all show as straight line it is determined that described shaft tower to be detected is in non-tilt state；Or,
If extracting described first group of electric lines of force and described second group of electric lines of force, and one group of electric lines of force of presence shows as directly
Line, another group of electric lines of force does not show straight line it is determined that described shaft tower to be detected is in non-tilt state；Or,
If only extracting one group of electric lines of force in described first group of electric lines of force and described second group of electric lines of force, and extract
This group electric lines of force shows as straight line it is determined that described shaft tower to be detected is in non-tilt state.
It is preferred that described detection module 503 is specifically for according to described first group of electric lines of force and described second group of electric lines of force
Extraction result, judge when there is situations below, determine that described shaft tower to be detected is in tilt state:
If extracting described first group of electric lines of force and described second group of electric lines of force, and described first group of electric lines of force and described
Two groups of electric lines of force all do not show as straight line it is determined that described shaft tower to be detected is in tilt state；Or,
If only extracting one group of electric lines of force in described first group of electric lines of force and described second group of electric lines of force, and extract
This group electric lines of force does not show as straight line it is determined that described shaft tower to be detected is in tilt state；Or,
If not extracting described first group of electric lines of force and described second group of electric lines of force it is determined that described shaft tower to be detected is in
Tilt state.
It is preferred that described extraction module 502 specifically for:
Image semantic classification is carried out to described unmanned plane image；
Based on pretreated unmanned plane image, rim detection is carried out using ratio operator；
Using the method for hough conversion, the straight line information of pretreated unmanned plane image is detected；
According to power line characteristic, to hough change detection to straight line information carry out differentiating screening, extract positioned at described
First group of electric lines of force of shaft tower first side to be detected and second group of electric lines of force being located at described shaft tower second side to be detected.
It can be seen from the above: in the above embodiment of the present invention, obtains the unmanned plane boat of shaft tower to be detected first
Clap image, and extract first group of electric lines of force and the position being located at described shaft tower first side to be detected from described unmanned plane image
In second group of electric lines of force of described shaft tower second side to be detected, and then according to described first group of electric lines of force and described second group of electric power
The extraction result of line, detects whether described shaft tower to be detected is in tilt state；In the embodiment of the present invention, based on unmanned plane
Image detecting whether shaft tower to be detected is in tilt state, because the acquisition of unmanned plane image is more convenient, so as to
Enough fast reaction is made to burst natural disaster, the shaft tower for a certain area is patrolled and examined, required cost of labor and equipment
Cost is relatively low；And, the extraction result of electric lines of force can directly reflect the situation of toppling over of shaft tower to be detected, therefore, according to electric power
The extraction result of line come to detect shaft tower to be detected whether be in tilt state accuracy higher.
Those skilled in the art are it should be appreciated that embodiments of the invention can be provided as method or computer program.
Therefore, the present invention can adopt complete hardware embodiment, complete software embodiment or combine the embodiment of software and hardware aspect
Form.And, the present invention can be deposited using can use in one or more computers wherein including computer usable program code
The shape of the upper computer program implemented of storage media (including but not limited to disk memory, cd-rom, optical memory etc.)
Formula.
Although preferred embodiments of the present invention have been described, but those skilled in the art once know basic creation
Property concept, then can make other change and modification to these embodiments.So, claims are intended to be construed to including excellent
Select embodiment and fall into being had altered and changing of the scope of the invention.
Obviously, those skilled in the art can carry out the various changes and modification essence without deviating from the present invention to the present invention
God and scope.So, if these modifications of the present invention and modification belong to the scope of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to comprise these changes and modification.
Claims (10)
1. the detection method that a kind of shaft tower is toppled over is it is characterised in that the method includes:
Obtain the unmanned plane image of shaft tower to be detected；
Extract first group of electric lines of force being located at described shaft tower first side to be detected and be located at institute from described unmanned plane image
State second group of electric lines of force of shaft tower second side to be detected；
According to the extraction result of described first group of electric lines of force and described second group of electric lines of force, detect whether described shaft tower to be detected is located
In tilt state.
2. the method for claim 1 is it is characterised in that according to described first group of electric lines of force and described second group of electric lines of force
Extraction result, detect described shaft tower to be detected whether be in tilt state, comprising:
According to the extraction result of described first group of electric lines of force and described second group of electric lines of force, determine and at least extract described first group
One group of electric lines of force in electric lines of force and described second group of electric lines of force, and there is one group of electric lines of force and show as straight line it is determined that described
Shaft tower to be detected is in non-tilt state, otherwise, it determines described shaft tower to be detected is in tilt state.
3. method as claimed in claim 1 or 2 it is characterised in that according to described first group of electric lines of force and described second group electricity
The extraction result of the line of force, judges when there is situations below, determines that described shaft tower to be detected is in non-tilt state:
If extract described first group of electric lines of force and described second group of electric lines of force, and described first group of electric lines of force and described second group
Electric lines of force all shows as straight line it is determined that described shaft tower to be detected is in non-tilt state；Or,
If extracting described first group of electric lines of force and described second group of electric lines of force, and one group of electric lines of force of presence shows as straight line, separately
One group of electric lines of force does not show straight line it is determined that described shaft tower to be detected is in non-tilt state；Or,
If only extract one group of electric lines of force in described first group of electric lines of force and described second group of electric lines of force, and this group extracted
Electric lines of force shows as straight line it is determined that described shaft tower to be detected is in non-tilt state.
4. method as claimed in claim 1 or 2 it is characterised in that according to described first group of electric lines of force and described second group electricity
The extraction result of the line of force, judges when there is situations below, determines that described shaft tower to be detected is in tilt state:
If extract described first group of electric lines of force and described second group of electric lines of force, and described first group of electric lines of force and described second group
Electric lines of force does not all show as straight line it is determined that described shaft tower to be detected is in tilt state；Or,
If only extract one group of electric lines of force in described first group of electric lines of force and described second group of electric lines of force, and this group extracted
Electric lines of force does not show as straight line it is determined that described shaft tower to be detected is in tilt state；Or,
If not extracting described first group of electric lines of force and described second group of electric lines of force it is determined that described shaft tower to be detected is in and topples over
State.
5. the method for claim 1 is it is characterised in that extract positioned at described to be checked from described unmanned plane image
First group of electric lines of force of measuring staff tower first side and second group of electric lines of force being located at described shaft tower second side to be detected, comprising:
Image semantic classification is carried out to described unmanned plane image；
Based on pretreated unmanned plane image, rim detection is carried out using ratio operator；
Using the method for hough conversion, the straight line information of pretreated unmanned plane image is detected；
According to power line characteristic, to hough change detection to straight line information carry out differentiating screening, extract positioned at described to be checked
First group of electric lines of force of measuring staff tower first side and second group of electric lines of force being located at described shaft tower second side to be detected.
6. the detection means that a kind of shaft tower is toppled over is it is characterised in that this device includes:
Acquisition module, for obtaining the unmanned plane image of shaft tower to be detected；
Extraction module, for extracting first group of electricity being located at described shaft tower first side to be detected from described unmanned plane image
The line of force and second group of electric lines of force being located at described shaft tower second side to be detected；
Detection module, for the extraction result according to described first group of electric lines of force and described second group of electric lines of force, treats described in detection
Whether detection shaft tower is in tilt state.
7. device as claimed in claim 6 it is characterised in that described detection module specifically for:
According to the extraction result of described first group of electric lines of force and described second group of electric lines of force, determine and at least extract described first group
One group of electric lines of force in electric lines of force and described second group of electric lines of force, and there is one group of electric lines of force and show as straight line it is determined that described
Shaft tower to be detected is in non-tilt state, otherwise, it determines described shaft tower to be detected is in tilt state.
8. device as claimed in claims 6 or 7 is it is characterised in that described detection module is specifically for according to described first group
Electric lines of force and the extraction result of described second group of electric lines of force, when judging to there is situations below, determine that described shaft tower to be detected is in
Non- tilt state:
If extract described first group of electric lines of force and described second group of electric lines of force, and described first group of electric lines of force and described second group
Electric lines of force all shows as straight line it is determined that described shaft tower to be detected is in non-tilt state；Or,
If extracting described first group of electric lines of force and described second group of electric lines of force, and one group of electric lines of force of presence shows as straight line, separately
One group of electric lines of force does not show straight line it is determined that described shaft tower to be detected is in non-tilt state；Or,
If only extract one group of electric lines of force in described first group of electric lines of force and described second group of electric lines of force, and this group extracted
Electric lines of force shows as straight line it is determined that described shaft tower to be detected is in non-tilt state.
9. device as claimed in claims 6 or 7 is it is characterised in that described detection module is specifically for according to described first group
Electric lines of force and the extraction result of described second group of electric lines of force, when judging to there is situations below, determine that described shaft tower to be detected is in
Tilt state:
If extract described first group of electric lines of force and described second group of electric lines of force, and described first group of electric lines of force and described second group
Electric lines of force does not all show as straight line it is determined that described shaft tower to be detected is in tilt state；Or,
If only extract one group of electric lines of force in described first group of electric lines of force and described second group of electric lines of force, and this group extracted
Electric lines of force does not show as straight line it is determined that described shaft tower to be detected is in tilt state；Or,
If not extracting described first group of electric lines of force and described second group of electric lines of force it is determined that described shaft tower to be detected is in and topples over
State.
10. device as claimed in claim 6 it is characterised in that described extraction module specifically for:
Image semantic classification is carried out to described unmanned plane image；
Based on pretreated unmanned plane image, rim detection is carried out using ratio operator；
Using the method for hough conversion, the straight line information of pretreated unmanned plane image is detected；
According to power line characteristic, to hough change detection to straight line information carry out differentiating screening, extract positioned at described to be checked
First group of electric lines of force of measuring staff tower first side and second group of electric lines of force being located at described shaft tower second side to be detected.
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