CN106525859A - Method for detecting strand breakage defect of high-voltage electric transmission wire by unmanned aerial vehicle in real time - Google Patents
Method for detecting strand breakage defect of high-voltage electric transmission wire by unmanned aerial vehicle in real time Download PDFInfo
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- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
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- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
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Abstract
The invention relates to a method for detecting the strand breakage defect of a high-voltage electric transmission wire by an unmanned aerial vehicle in real time. The method comprises the following steps: 1, acquiring an image of the high-voltage electric transmission wire by a mobile terminal through the unmanned aerial vehicle, compacting the acquired image and transmitting the image to a PC end in real time; 2, performing edge detection on the acquired image and performing closed operation and binaryzation optimization to obtain a smooth edge; 3, acquiring the edge of the high-voltage electric transmission wire by an improved Hough transformation method; 4, acquiring seed points of an electric transmission wire area; 5, performing area growth to acquire the electric transmission wire area; and 6, analyzing the change of column pixel sum to detect the strand breakage defect. The method has the advantages of low labor intensity, low cost, low risk, easiness in operation and control, high line patrol efficiency, high identification rate of the strand breakage defect, capability of detecting the strand breakage defect in real time and the like.
Description
Technical field
A kind of the present invention relates to technical field of transmission pressure detection, more particularly to unmanned plane real-time detection high voltage power transmission
The method of wire strand breakage defect.
Background technology
Ultra-high-tension power transmission line failure and he causes power failure, cause huge economy to people's lives, industrial undertaking and country
Loss, so finding the hidden danger and defect of transmission line of electricity in time and being repaired, prevents trouble before it happens, it appears particularly important, in this regard,
Power transmission line must regularly be patrolled and examined.
The routine inspection mode of current power transmission circuit mainly has：
1) manually patrol and examine along the line：By line walking workman using range estimation or by methods such as telescope, thermal infrared imagers along circuit
Patrol and examine, be the main method of line walking absolutely domestic at present.Which has the disadvantage high labor intensive, patrol and examine that efficiency is low and danger is higher.
2) robot is patrolled and examined：Creeped on wire or ground wire using robot carry sensors or photographic head and patrolled and examined.Which lacks
Point is that technical requirements are high, it is more difficult to popularized.
3) liter machine is patrolled and examined：Referring to, the equipment such as thermal infrared imager and visible light camera is carried by helicopter is patrolled and examined.Which is excellent
Point is line walking efficiency high, can be applicable to bad environments section；Have the disadvantage line walking cost intensive, affected by weather.
4) unmanned plane is patrolled and examined：Similar to helicopter routing inspection, simply helicopter is changed into unmanned plane line walking.Its advantage is low wind
Danger, high efficiency, easily low cost, manipulation.Which has the disadvantage the restriction due to technology, and the effect of acquisition is not satisfactory, performance inspection
Surveying result, flase drop, discrimination easily occur not high, is easily affected by background environment, and cannot realize real-time online detection.
The content of the invention
It is an object of the invention to overcome the deficiencies in the prior art, there is provided a kind of labor intensive is little, low cost, risk
Low, easy manipulation, line walking efficiency high, the high stranded defect of unmanned plane real-time detection high voltage electricity transmission conductive wire of discrimination of stranded defect
Method.
For achieving the above object, technical scheme provided by the present invention is：It includes following steps：
1) mobile terminal obtains the image of high voltage electricity transmission conductive wire by unmanned plane, is sent to after the compression of images for getting in real time
PC ends；
2) image for getting is carried out into rim detection, then through closed operation and the optimization of binaryzation, obtains smooth
Edge；
3) improved Hough transformation method, obtains high voltage electricity transmission conductive wire edge；
4) obtain the seed point in power transmission line region；
5) region growing obtains power transmission line region；
6) change-detection for analyzing row pixel sum goes out stranded defect.
Further, the step 1) in by mobile terminal SDK secondary development, realize the mobile-terminated picture transfer being subject to
To PC ends.
Further, the step 1) in pass and connect and adopt ICP/IP protocol, use Winsock nets between mobile terminal and PC ends
Network programming technique carries out radio communication, and the connection procedure between socket is divided into:Server monitoring, client request and connection
Confirm.
Further, the step 2) rim detection is carried out to image using Laplacian operators.
Further, the step 3) improved Hough transformation method comprises the following steps：
1)) straight line in rim detection is obtained using cvHoughLinesP () function in opencv, by improving function ginseng
Number preliminary screening straight line, especially " threshold " parameter；
2) inclination angle of every straight line) is obtained, if inclination angle exceeds [- 45 °, 45 °], gives up the straight line；
3)) incline angular difference and be considered conllinear in the range of 2 °, then count the quantity of conllinear straight line；
4) maximum of the quantity of collinear lines, edge of the conllinear straight line for power transmission line) is searched, and is returned corresponding
Inclination angle；
5)) by this inclination angle, power transmission line edge, and setting-out is filtered out, is terminated.
Further, the step 4) seed point obtaining step it is as follows：
1))) travel through the pixel of the image of Jing Hough transformation setting-outs, pixel is red, then for seed point and preserve；
2))) seek the mean pixel of seed point；
3))) pixel value of each seed point is compared with mean pixel, if absolute value is less than threshold value, and (in text, threshold value takes
8), then retain, otherwise delete；
4) each seed point)) is calculated respectively and the pixel value of next adjacent pixels point thereon, take the minimum point of pixel value
For seed point, acquisition terminates.
Further, the step 5) to obtain power transmission line region step as follows for region growing：
(1 takes out a seed point (x0, y0) from stack heap and deletes the seed in stack, obtains the pixel of the seed point；
(2 centered on (x0, y0), it is considered to eight neighborhood pixel (x, y) of (x0, y0), if (x, y) meet growth accurate
Then, and the pixel be not labeled (non-255) of pixel value, will (x, y) and (x0, y0) merging (pixel value is set to 255), together
When by (x, y) be pressed into storehouse；
(3 take out a pixel from storehouse, and it is returned to step (2 as (x0, y0)；
(4 is space-time when storehouse, returns to step (1；
(((4 each point in image have ownership to 1- to 5 repeat steps, and growth terminates.
Further, the step 6) parser step is as follows：
(1) whole image is divided into the zonule of M regular length；The sum of all pixels value in difference statistical regions,
Use G1,G2…GMTo represent；
(2) obtain the mean pixel G of view picture figureV=(G1+G2+...+GM)/M；As following formula calculates absolute grayscale gap respectively
From Di；
(3) if Di＞ Thr, judge that ith zone has stranded defect；The region end to end of stranded defect is found out, it is false
A and b-th region is set to, its position x is returned1=(a-1) × wide/M and x2=b × wide/M；
(4) by the image of region growing from top to bottom according to row traversal, as (x1,y1) pixel value first be 255 when, return
y1；Then from the bottom up by row traversal, as (x2,y2) pixel value first be 255 when, return y2；
(5) defective presence is displayed whether, if there is defect, red rectangle frame is drawn in artwork and is represented, wherein rectangle frame
For ((x1,y1),(x2,y2))；
(6) EP (end of program).
Compared with prior art, this programme reduces labor intensive by unmanned plane remote detection, improves cruise effect
Rate, low cost, low-risk are easily manipulated, by improved Hough transformation, can exclude the straight line of non-conductor area exactly, are improved
Reliability to defects detection on wire, carries out secondary development by the SDK provided to unmanned plane, realizes what unmanned plane shot
Picture can be transferred to PC ends in real time and be processed.
Description of the drawings
Fig. 1 is the main program flow chart of the present invention；
Fig. 2 is the network communication program flow chart of base Winsock in the present invention；
Specific embodiment
With reference to specific embodiment, the invention will be further described：
Referring to the stranded defect of a kind of unmanned plane real-time detection high voltage electricity transmission conductive wire shown in accompanying drawing 1 to 2, described in the present embodiment
Method, comprise the following steps：
1) mobile terminal obtains the image of high voltage electricity transmission conductive wire by unmanned plane, is sent to after the compression of images for getting in real time
PC ends；The mobile-terminated picture transfer being subject to realizes by mobile terminal SDK secondary development that to PC ends biography connects is assisted using TCP/IP
View, carries out radio communication with Winsock Network Programming Technologies between mobile terminal and PC ends, the connection procedure between socket point
For:Server is monitored, client request and connection confirm.
2) general high voltage electricity transmission conductive wire can be considered straight line in the picture, then using this geometric properties, adopt
Laplacian operators carry out rim detection to the image for getting, and due to not only round and smooth edge, Hough transformation can be caused to detect
The effect of straight line is undesirable, therefore next step is smoothed to this edge by closed operation, is occurred after closed operation
Many noises, remove the noise followed by using the method for binaryzation, when the threshold value chosen is less, can just remove major part
Noise.
3) improved Hough transformation method, obtains high voltage electricity transmission conductive wire edge；As the background of high voltage transmission line is answered
Miscellaneous, in image, the object containing linear edge (such as house, rail side and steel tower etc.) is all not high voltage transmission line, therefore suddenly
Husband's conversion needs to screen the straight line for detecting according to the feature of high voltage electricity transmission conductive wire, and the power transmission line in image possesses following spy
Levy：(1) its edge near linear, generally crosses image both sides；(2) power transmission line is into double appearance, usually 4, i.e.,
There are 8 straight lines at edge；(3) its inclination angle is little.Based on these features, can be by the threshold value of straight length and the threshold at inclination angle
Value screens linear edge to choose, and then thinks that the straight line quantity at power transmission line edge is most, finally filters out power transmission line
The linear edge of wire.
Improved Hough transformation is comprised the following steps that：
1)) straight line in rim detection is obtained using cvHoughLinesP () function in opencv, by improving function ginseng
(when recognizing that certain part is the straight line in figure, it is in cumulative plane for number preliminary screening straight lines, especially " threshold " parameter
In the value that must reach)；
2) inclination angle of every straight line) is obtained, if inclination angle exceeds [- 45 °, 45 °], gives up the straight line；
3)) incline angular difference and be considered conllinear in the range of 2 °, then count the quantity of conllinear straight line；
4) maximum of the quantity of collinear lines, edge of the conllinear straight line for power transmission line) is searched, and is returned corresponding
Inclination angle；
5)) by this inclination angle, power transmission line edge, and setting-out is filtered out, is terminated.
4) obtain the seed point in power transmission line region；The straight line that Hough transformation is obtained is the edge of power transmission line, by searching
The seed point that point on straight line as grows, obtained seed point need screening.The acquisition of seed point and screening step are as follows：
1))) travel through the pixel of the image of Jing Hough transformation setting-outs, pixel is red, then for seed point and preserve；
2))) seek the mean pixel of seed point；
3))) pixel value of each seed point is compared with mean pixel, if absolute value is less than threshold value, and (in text, threshold value takes
8), then retain, otherwise delete；
4) each seed point)) is calculated respectively and the pixel value of next adjacent pixels point thereon, take the minimum point of pixel value
For seed point, acquisition terminates.
5) region growing obtains power transmission line region；It is as follows that region growing obtains power transmission line region step：
(1 takes out 1 seed point (x0, y0) from stack heap and deletes the seed in stack, obtains the pixel of the seed point；
(2 centered on (x0, y0), it is considered to eight neighborhood pixel (x, y) of (x0, y0), if (x, y) meet growth accurate
Then, and the pixel be not labeled (non-255) of pixel value, will (x, y) and (x0, y0) merging (pixel value is set to 255), together
When by (x, y) be pressed into storehouse；
(3 take out a pixel from storehouse, and it is returned to step (2 as (x0, y0)；
(4 is space-time when storehouse, returns to step (1；
(((4 each point in image have ownership to 1- to 5 repeat steps, and growth terminates.
Due to the setting of unoptimizable parameter, region growing often causes to owe growth or outgrowth.In order to preferably obtain
Growth result, first carried out window binaryzation before region growing, obtains mean pixel using seed point, then using average picture
Appropriate expansion can be obtained by a window threshold value to element up and down, finally travel through the pixel of former gray-scale maps, if in window threshold
In value, 255 are set to, otherwise zero setting；Many backgrounds can so be filtered out, it is ensured that growth result.
6) change-detection for analyzing row pixel sum goes out stranded defect；The characteristic morphology of wire strand breakage is that burr or multiply are led
Line scatters downwards, shows as the unexpected increase of conductor width, therefore can be examined by the change of analysis conductor width on image
Stranded defect is surveyed, and the change of width is embodied in the change of each column power transmission line pixel sum, the change for then analyzing row pixel sum is
Can detect that stranded defect；
Parser step is as follows：
(1) whole image is divided into the zonule of M regular length；The sum of all pixels value in difference statistical regions,
Use G1,G2…GMTo represent；
(2) obtain the mean pixel G of view picture figureV=(G1+G2+...+GM)/M；As following formula calculates absolute grayscale gap respectively
From Di；
(3) if Di＞ Thr, judge that ith zone has stranded defect；The region end to end of stranded defect is found out, it is false
A and b-th region is set to, its position x is returned1=(a-1) × wide/M and x2=b × wide/M；
(4) by the image of region growing from top to bottom according to row traversal, as (x1,y1) pixel value first be 255 when, return
y1；Then from the bottom up by row traversal, as (x2,y2) pixel value first be 255 when, return y2；
(5) defective presence is displayed whether, if there is defect, red rectangle frame is drawn in artwork and is represented, wherein rectangle frame
For ((x1,y1),(x2,y2))；
(6) EP (end of program).
The present embodiment reduces labor intensive, improves cruise efficiency by unmanned plane remote detection, low cost, low
Risk, easily manipulates, by improved Hough transformation, can exclude the straight line of non-conductor area exactly, improves to lacking on wire
The reliability of detection is fallen into, secondary development is carried out by the SDK provided to unmanned plane, realize that the picture that unmanned plane shoots can be in real time
It is transferred to PC ends to be processed.
The examples of implementation of the above are only the preferred embodiments of the invention, not limit the enforcement model of the present invention with this
Enclose, therefore the change made by all shapes according to the present invention, principle, all should cover within the scope of the present invention.
Claims (8)
1. the method for the stranded defect of a kind of unmanned plane real-time detection high voltage electricity transmission conductive wire, it is characterised in that：Comprise the following steps：
1) mobile terminal obtains the image of high voltage electricity transmission conductive wire by unmanned plane, is sent to PC after the compression of images for getting in real time
End；
2) image for getting is carried out into rim detection, then through closed operation and the optimization of binaryzation, obtains smooth edge；
3) improved Hough transformation method, obtains high voltage electricity transmission conductive wire edge；
4) obtain the seed point in power transmission line region；
5) region growing obtains power transmission line region；
6) change-detection for analyzing row pixel sum goes out stranded defect.
2. the method for the stranded defect of a kind of unmanned plane real-time detection high voltage electricity transmission conductive wire according to claim 1, its feature
It is：The step 1) in by mobile terminal SDK secondary development, realize the mobile-terminated picture transfer being subject to PC ends.
3. the method for the stranded defect of a kind of unmanned plane real-time detection high voltage electricity transmission conductive wire according to claim 1, its feature
It is：The step 1) in pass and connect and adopt ICP/IP protocol, enter with Winsock Network Programming Technologies between mobile terminal and PC ends
Row radio communication, the connection procedure between socket are divided into:Server is monitored, client request and connection confirm.
4. the method for the stranded defect of a kind of unmanned plane real-time detection high voltage electricity transmission conductive wire according to claim 1, its feature
It is：The step 2) rim detection is carried out to image using Laplacian operators.
5. the method for the stranded defect of a kind of unmanned plane real-time detection high voltage electricity transmission conductive wire according to claim 1, its feature
It is：The step 3) improved Hough transformation method comprises the following steps：
1)) straight line in rim detection is obtained using cvHoughLinesP () function in opencv, by improving at the beginning of function parameter
Step screening straight line, especially " threshold " parameter；
2) inclination angle of every straight line) is obtained, if inclination angle exceeds [- 45 °, 45 °], gives up the straight line；
3)) incline angular difference and be considered conllinear in the range of 2 °, then count the quantity of conllinear straight line；
4) maximum of the quantity of collinear lines, edge of the conllinear straight line for power transmission line) is searched, and returns corresponding inclination
Angle；
5)) by this inclination angle, power transmission line edge, and setting-out is filtered out, is terminated.
6. the method for the stranded defect of a kind of unmanned plane real-time detection high voltage electricity transmission conductive wire according to claim 1, its feature
It is：The step 4) seed point acquisition and screening step it is as follows：
1))) travel through the pixel of the image of Jing Hough transformation setting-outs, pixel is red, then for seed point and preserve；
2))) seek the mean pixel of seed point；
3))) pixel value of each seed point is compared with mean pixel, if absolute value is less than threshold value (in text, threshold value takes 8),
Retain, otherwise delete；
4))) calculate each seed point respectively and the pixel value of next adjacent pixels point thereon, take the minimum point of pixel value for kind
Sub-, acquisition terminates.
7. the method for the stranded defect of a kind of unmanned plane real-time detection high voltage electricity transmission conductive wire according to claim 1, its feature
It is：The step 5) to obtain power transmission line region step as follows for region growing：
(1 takes out 1 seed point (x0, y0) from stack heap and deletes the seed in stack, obtains the pixel of the seed point；
(2 centered on (x0, y0), it is considered to eight neighborhood pixel (x, y) of (x0, y0), if (x, y) meet growth criterion, and
And the pixel is not labeled, and ((x, y) is merged (pixel value is set to 255) with (x0, y0) by non-255) of pixel value, while will
(x, y) is pressed into storehouse；
(3 take out a pixel from storehouse, and it is returned to step (2 as (x0, y0)；
(4 is space-time when storehouse, returns to step (1；
(((4 each point in image have ownership to 1- to 5 repeat steps, and growth terminates.
8. the method for the stranded defect of a kind of unmanned plane real-time detection high voltage electricity transmission conductive wire according to claim 1, its feature
It is：The step 6) parser step is as follows：
(1) whole image is divided into the zonule of M regular length；The sum of all pixels value in statistical regions, uses G respectively1,
G2…GMTo represent；
(2) obtain the mean pixel G of view picture figureV=(G1+G2+...+GM)/M；As following formula calculates absolute grayscale gap respectively from Di；
(3) if Di＞ Thr, judge that ith zone has stranded defect；Find out the region end to end of stranded defect, it is assumed that for
A and b-th region, return its position x1=(a-1) × wide/M and x2=b × wide/M；
(4) by the image of region growing from top to bottom according to row traversal, as (x1,y1) pixel value first be 255 when, return y1；So
Afterwards from the bottom up by row traversal, as (x2,y2) pixel value first be 255 when, return y2；
(5) defective presence is displayed whether, if there is defect, red rectangle frame is drawn in artwork and is represented that wherein rectangle frame is
((x1,y1),(x2,y2))；
(6) EP (end of program).
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| CN107179479A (en) * | 2017-06-12 | 2017-09-19 | 西安工程大学 | Transmission pressure broken lot defect inspection method based on visible images |
| CN107727662A (en) * | 2017-09-28 | 2018-02-23 | 河北工业大学 | A kind of cell piece EL black patch detection methods based on algorithm of region growing |
| CN108318773A (en) * | 2017-12-20 | 2018-07-24 | 全球能源互联网研究院有限公司 | A kind of transmission line breakage detection method and system |
| CN108734704A (en) * | 2018-05-07 | 2018-11-02 | 西安工程大学 | Based on the normalized transmission line breakage detection technique of gray variance |
| CN108734689A (en) * | 2018-02-07 | 2018-11-02 | 西安工程大学 | A kind of conducting wire broken lot detection method based on region growing |
| CN109523543A (en) * | 2018-11-26 | 2019-03-26 | 西安工程大学 | A kind of wire strand breakage detection method based on Edge Distance |
| CN110298845A (en) * | 2019-06-17 | 2019-10-01 | 中国计量大学 | It transmits electricity under a kind of complex background based on image procossing line detecting method |
| CN111024705A (en) * | 2019-10-17 | 2020-04-17 | 广东电网有限责任公司清远供电局 | Method, device, equipment and storage medium for detecting broken power line |
| CN113421266A (en) * | 2021-08-25 | 2021-09-21 | 南通电博士自动化设备有限公司 | Power transmission line broken strand detection method and system based on artificial intelligence |
| CN117593295A (en) * | 2024-01-18 | 2024-02-23 | 东莞市立时电子有限公司 | Nondestructive testing method for production defects of mobile phone data line |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107179479A (en) * | 2017-06-12 | 2017-09-19 | 西安工程大学 | Transmission pressure broken lot defect inspection method based on visible images |
| CN107727662A (en) * | 2017-09-28 | 2018-02-23 | 河北工业大学 | A kind of cell piece EL black patch detection methods based on algorithm of region growing |
| CN108318773A (en) * | 2017-12-20 | 2018-07-24 | 全球能源互联网研究院有限公司 | A kind of transmission line breakage detection method and system |
| CN108734689B (en) * | 2018-02-07 | 2021-07-27 | 西安工程大学 | Method for detecting scattered strands of conducting wires based on region growth |
| CN108734689A (en) * | 2018-02-07 | 2018-11-02 | 西安工程大学 | A kind of conducting wire broken lot detection method based on region growing |
| CN108734704A (en) * | 2018-05-07 | 2018-11-02 | 西安工程大学 | Based on the normalized transmission line breakage detection technique of gray variance |
| CN108734704B (en) * | 2018-05-07 | 2021-11-09 | 西安工程大学 | Transmission conductor strand breakage detection method based on gray variance normalization |
| CN109523543A (en) * | 2018-11-26 | 2019-03-26 | 西安工程大学 | A kind of wire strand breakage detection method based on Edge Distance |
| CN110298845A (en) * | 2019-06-17 | 2019-10-01 | 中国计量大学 | It transmits electricity under a kind of complex background based on image procossing line detecting method |
| CN111024705A (en) * | 2019-10-17 | 2020-04-17 | 广东电网有限责任公司清远供电局 | Method, device, equipment and storage medium for detecting broken power line |
| CN113421266A (en) * | 2021-08-25 | 2021-09-21 | 南通电博士自动化设备有限公司 | Power transmission line broken strand detection method and system based on artificial intelligence |
| CN113421266B (en) * | 2021-08-25 | 2021-11-16 | 南通电博士自动化设备有限公司 | Power transmission line broken strand detection method and system based on artificial intelligence |
| CN117593295A (en) * | 2024-01-18 | 2024-02-23 | 东莞市立时电子有限公司 | Nondestructive testing method for production defects of mobile phone data line |
| CN117593295B (en) * | 2024-01-18 | 2024-05-28 | 东莞市立时电子有限公司 | Nondestructive testing method for production defects of mobile phone data line |
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