CN106570863A - Detection method and device for power transmission line - Google Patents
Detection method and device for power transmission line Download PDFInfo
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Abstract
The embodiment of the invention relates to the technical field of power inspection, and discloses a detection method and a detection device for a power transmission line, wherein the method comprises the following steps: performing interframe difference operation on two adjacent frames of images of the collected visible light video sequence to obtain a difference image, performing binarization to obtain a binary difference image, performing edge detection on the binary difference image by using a preset threshold edge detection algorithm to obtain an edge binary difference image, performing Hough transformation to detect straight line segments, performing cyclic iteration and screening combination on the detected straight line segments according to the parallel characteristics of the transmission lines until the number of the obtained target straight line segments is less than a preset value, marking and displaying, calculating the central position of a target area, and feeding the central position back to the pod to adjust the posture of the pod. By implementing the embodiment of the invention, the detection efficiency and the detection accuracy rate of the power transmission line can be effectively improved, and the workload of inspection personnel is reduced.
Description
Technical Field
The invention relates to the technical field of power inspection, in particular to a detection method and a detection device for a power transmission line.
Background
Power routing inspection has been an important issue for the nation's county, and the current main modes of power routing inspection are: the method comprises the following steps of manual inspection and helicopter inspection, wherein the manual inspection is easily influenced by weather factors and subjective factors of inspection personnel, time and labor are wasted, the inspection efficiency is low, and the risk is high; the helicopter inspection method has the advantages of convenience, high efficiency, reliability, no geographic environment limitation and the like by virtue of the rapid development of aerial photography and measurement technology, and in view of the above, the development direction of inspection of high-voltage and ultrahigh-voltage power transmission lines in China is that 'helicopter inspection is the main part and manual inspection is the auxiliary part'. However, as the geographical environment through which the power transmission line passes becomes more complex, the power inspection mode still has the need of further development and promotion, and the main technical difficulties of the detection and identification of the current power transmission line are as follows: extraction, automatic tracking and real-time performance monitoring of the power transmission line.
In practical application, because the condition that the height fluctuates exists in the shaft tower of transmission line because of the relief change, and transmission line itself has certain radian, at the in-process that the helicopter patrolled and examined, need manual control to take in the cloud platform or the nacelle of check out test set to make transmission line be in the visual angle scope all the time, this not only has brought the work load of high load for the personnel of patrolling and examining, still further reduced detection efficiency and the detection accuracy to transmission line.
Disclosure of Invention
The embodiment of the invention discloses a detection method and a detection device of a power transmission line, which can effectively improve the detection efficiency and the detection accuracy of the power transmission line and reduce the workload of inspection personnel.
The first aspect of the embodiment of the invention discloses a method for detecting a power transmission line, which comprises the following steps:
performing interframe difference operation on two adjacent frames of images of the collected visible light video sequence to obtain a difference image, and performing binarization on the difference image to obtain a binary difference image;
performing edge detection on the binary difference image by using a preset threshold edge detection algorithm to obtain an edge binary difference image, and performing Hough transformation on the edge binary difference image to detect a straight line segment;
performing cyclic iteration, screening and merging on the detected straight line segments according to the parallel characteristic of the transmission lines until the number of the obtained target straight line segments is smaller than a preset value, marking the target straight line segments in a second frame image of the two adjacent frame images to identify the transmission lines in the transmission lines, and displaying a visible light video sequence marked with the target straight line segments;
and calculating the center position of a target area, and feeding back the center position to a pod to adjust the attitude of the pod, wherein the target area is an area enclosed by the target straight line segment and the edge of the second frame image.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, the performing inter-frame difference operation on two adjacent frames of images of the collected visible light video sequence to obtain a difference image includes:
extracting frame images with the frame number being integral multiple of 15 in the collected visible light video sequence as current frame images, and determining the current frame images and the next frame images of the current frame images as a group of two adjacent frame images of the visible light video sequence;
and smoothing the next frame image in each group of the two adjacent frame images through a Gaussian filter, and performing interframe difference operation on the next frame image and the current frame image in the two adjacent frame images to obtain a difference image of the two adjacent frame images.
As an alternative implementation manner, in the first aspect of the embodiment of the present invention, the binary difference image D (x, y) is represented as:
as an optional implementation manner, in the first aspect of the embodiment of the present invention, the preset threshold edge detection algorithm is a Canny edge detection algorithm.
The second aspect of the embodiment of the invention discloses a detection device of a power transmission line, which comprises a differential operation module, a binarization module, an edge detection module, a Hough transformation module, a straight line segment processing module, a marking module, a display module, a calculation module and a feedback module, wherein:
the difference operation module is used for carrying out interframe difference operation on two adjacent frames of images of the collected visible light video sequence to obtain a difference image;
the binarization module is used for binarizing the difference image to obtain a binary difference image;
the edge detection module is used for carrying out edge detection on the binary difference image by utilizing a preset threshold edge detection algorithm to obtain an edge binary difference image;
the Hough transformation module is used for carrying out Hough transformation on the edge binary difference image so as to detect a straight line segment;
the linear segment processing module is used for carrying out circular iteration, screening and combination on the detected linear segments according to the parallel characteristic of the power transmission line until the number of the obtained target linear segments is smaller than a preset value;
the marking module is used for marking the target straight line segment in a second frame image of the two adjacent frame images so as to identify the power transmission line in the power transmission line;
the display module is used for displaying the visible light video sequence marked with the target straight line segment;
the calculation module is used for calculating the central position of a target area, wherein the target area is an area enclosed by the target straight line segment and the edge of the second frame image;
the feedback module is used for feeding back the center position to the nacelle so as to adjust the attitude of the nacelle.
As an optional implementation manner, in the second aspect of the embodiment of the present invention, the difference operation module performs inter-frame difference operation on two adjacent frames of images of the collected visible light video sequence, and a specific manner of obtaining a difference image is as follows:
extracting frames with the frame number being integral multiple of 15 in the collected visible light video sequence as current frame images, and determining the current frame images and the next frame images of the current frame images as a group of two adjacent frame images of the visible light video sequence;
and smoothing the next frame image in each group of the two adjacent frame images through a Gaussian filter, and carrying out difference operation on the next frame image and the current frame image in the two adjacent frame images to obtain a difference image of the two adjacent frame images.
As an alternative implementation manner, in the second aspect of the embodiment of the present invention, the binary difference image D (x, y) is represented as:
as an optional implementation manner, in the second aspect of the embodiment of the present invention, the preset threshold edge detection algorithm is a Canny edge detection algorithm.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
in the embodiment of the invention, interframe differential operation is carried out on two adjacent frames of images of the collected visible light video sequence to obtain a differential image, binarization is carried out on the differential image to obtain a binary differential image, edge detection is carried out on the binary differential image by utilizing a preset threshold edge detection algorithm to obtain an edge binary differential image, Hough transformation is carried out on the edge binary differential image to detect straight line segments, the detected straight line segments are subjected to cyclic iteration and screening combination according to the parallel characteristic of a transmission line until the number of the obtained target straight line segments is less than a preset value, the target straight line segments are marked in a second frame of image of the two adjacent frames of images to identify the transmission line in the transmission line, the visible light video sequence marked with the target straight line segments is displayed, the central position of a target area is calculated, and the central position is fed back to a pod to adjust the attitude of the pod, the target area is an area enclosed by the target straight line segment and the edge of the second frame image. Therefore, the outline of the power transmission line can be obtained through the interframe differential operation, the algorithm complexity and the operation amount are effectively reduced, the time delay is small, the real-time performance is good, and the detection efficiency of the power transmission line is improved; the Hough transformation is used for detecting straight-line segments, and the detected straight-line segments are subjected to cyclic iteration, screening and merging according to the parallel characteristic of the power transmission line until the number of the straight-line segments is smaller than a preset value and are marked and displayed, so that the interference of background noise and noise in a video image is effectively inhibited, the detection result is more accurate and effective, and the detection accuracy of the power transmission line is improved; the real-time tracking detection of the power transmission line is realized by calculating the center position and feeding the center position back to the nacelle to adjust the posture of the nacelle, the workload of inspection personnel is reduced, and the detection efficiency of the power transmission line is effectively improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic flow chart of a method for detecting a power transmission line according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of another method for detecting a power transmission line according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a detection device for a power transmission line disclosed in an embodiment of the present invention;
fig. 4 is a result schematic diagram of a helicopter routing inspection tracking result disclosed by the embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention discloses a detection method and a detection device of a power transmission line, which can improve the detection efficiency and the detection accuracy of the power transmission line and reduce the workload of inspection personnel. The following are detailed below.
Example one
Referring to fig. 1, fig. 1 is a schematic flow chart of a method for detecting a power transmission line according to an embodiment of the present invention. The method described in fig. 1 may be applied to a detection device of a power transmission line. As shown in fig. 1, the method for detecting a power transmission line may include the following operations:
101. and performing interframe difference operation on two adjacent frames of images of the collected visible light video sequence to obtain a difference image, and performing binarization on the difference image to obtain a binary difference image.
In the embodiment of the present invention, noise in an image is generally gaussian noise, and before inter-frame difference operation is performed on two adjacent frames of images, a gaussian filter may be used to filter the image to suppress influence of background clutter and noise, where the gaussian filter is a linear low-pass filter, and is mainly used to eliminate gaussian noise to achieve the purpose of smoothing the image, and the gaussian filter is a process of performing weighted average on the entire image, and the specific operation is as follows: each pixel in the image is traversed (also known as convolved or masked) with a template of size n x n and the value of the pixel in the center of the template is replaced with the weighted average gray value of the pixels in the neighborhood. It should be noted that, in the embodiment of the present invention, only the second frame image of the two adjacent frame images needs to be subjected to gaussian filtering.
Optionally, performing inter-frame difference operation on two adjacent frames of images of the collected visible light video sequence to obtain a difference image may include:
extracting frame images with the frame number being integral multiple of 15 in the collected visible light video sequence as current frame images, and determining the current frame images and the next frame images of the current frame images as a group of two adjacent frame images of the visible light video sequence;
and performing smooth filtering on the next frame image (also called a second frame image in the two adjacent frame images) in each group of two adjacent frame images through a Gaussian filter, and performing interframe difference operation on the next frame image and the current frame image (also called a first frame image in the two adjacent frame images) in the two adjacent frame images to obtain a difference image of the two adjacent frame images.
In the embodiment of the present invention, after performing inter-frame difference operation on a current frame image in two adjacent frame images and a next frame image after gaussian filtering in the two adjacent frame images to obtain a difference image, binarizing the obtained difference image to obtain a binary difference image, so as to extract the contour of a target transmission line subsequently, wherein the binary difference image D (x, y) may be represented as:
wherein f isk(x, y) is the current frame image in two adjacent frame images, which is a matrix formed by pixel values of pixel points in the current frame image, fk+1(x, y) is the next frame of image after gaussian filtering in the two adjacent frames of images, which is specifically a matrix formed by pixel values of pixels in the next frame of image after gaussian filtering, T is a threshold of the binary differential image, "| |" represents an absolute value, x is a row where a pixel in the image is located, y is a column where a pixel in the image is located, and k is an integer multiple of 15.
The interframe difference operation is simple to realize, high in operation speed, strong in self-adaptive capacity to a dynamic environment and not very sensitive to light changes in the surrounding environment, the visible light video sequence is processed by utilizing the interframe difference operation, the operation time is greatly shortened, and the real-time performance of the algorithm is effectively improved.
102. And carrying out edge detection on the binary difference image by using a preset threshold edge detection algorithm to obtain an edge binary difference image, and carrying out Hough transformation on the edge binary difference image to detect a straight line segment.
In the embodiment of the present invention, the preset threshold edge detection algorithm needs to satisfy the following three principles: 1. the maximum output signal-to-noise ratio (the ratio of normal signals to noise signals), and the probability that non-edge points are judged as edge points and edge points are judged as non-edge points is low; 2. the accurate positioning performance can greatly ensure that the detected edge point is positioned at the center of the actual edge; 3. the single-edge response is the most restraining false edge response, and only has a unique response to a single edge. In general, the preset threshold edge detection algorithm is based on the selection of the edge extraction algorithm, so that the sensitivity to the target edge can be improved, and the noise can be suppressed to the greatest extent.
Preferably, the preset threshold edge detection algorithm may be a Canny edge detection algorithm, wherein the shape of the optimal edge detector derived from Canny is similar to the first derivative of a gaussian function, so that the optimal edge detector can be well approximated by the gaussian function. In the Canny edge detection algorithm (also called Canny operator), a gaussian function is actually used for convolving with the binary differential image, then gradient is solved, namely, the binary differential image is subjected to smoothing filtering to eliminate the influence of noise, and then the image subjected to noise removal is sharpened to obtain edge details. Wherein, the two-dimensional gaussian function can be expressed as:
wherein σ is a standard deviation of the two-dimensional Gaussian function, exp is an exponential function with a natural constant e as a base, x is an abscissa of the two-dimensional Gaussian function, y is an ordinate of the two-dimensional Gaussian function, and when the binary difference image is f1(x, y), the computational formula of the Canny edge detection algorithm can be expressed as:
wherein,means for determining the gradient of G (x, y), i.e. the first derivative of G (x, y), "" means a convolution operation, and the binary differential image f1The edge strength of (x, y) can be expressed as:
wherein,expressing an evaluation functionThe value of the modulus of the (c) component,representing the solving function G (x, y) × f1(x, y) first order partial derivatives in the x direction,representing the solving function G (x, y) × f1(x, y) first order partial derivatives in the y-direction, and the edge direction θ can be expressed as:
according to the definition of Canny, the maximum value of the neighborhood in the gradient direction is a central edge point, and the pixel points meeting the following conditions are regarded as the edge points of the binary differential image: 1. the edge strength of the pixel point is greater than the edge strength of two adjacent pixel points along the gradient direction of the pixel point; 2. the direction difference between two adjacent pixel points in the gradient direction of the pixel point is smaller than a certain direction threshold value; 3. the edge intensity maxima in a 3 x 3 neighborhood centered around the pixel point are less than some intensity threshold. The condition 1 is called non-maximum suppression, the condition 2 belongs to a feature synthesis method, when one pixel simultaneously satisfies the conditions 1 and 2, two adjacent pixels in the gradient direction can be excluded from candidate edge points, and the condition 3 is to match a threshold image formed by the maximum regional gradient value with the edge points, so that many false edge points can be eliminated. Therefore, the Canny edge detection algorithm has better noise suppression performance of edge detection, and the detected edge is clearer and more obvious.
In the embodiment of the invention, Hough Transform (Hough Transform) is a special extraction technology, is mainly used for straight line detection, and is a mapping relation from an image space to a parameter space to map complex edge characteristic information in the image space to a clustering detection problem in the parameter space, so that Hough Transform has the advantages of clear set characteristic, strong anti-interference capability, easy realization of parallel processing and the like, and has the greatest advantage of strong anti-interference capability, and even if small disturbance, gap or even broken line exists on a curve, an obvious peak point can be formed in the parameter space after Hough Transform. That is, the principle of Hough transform can be explained by point-line pair duality, and in image space, all the straight-line equations passing through the point (x, y) satisfy:
y＝px+q； (1-6)
where p is the slope of the linear equation and q is the intercept of the linear equation, if a parameter space PQ is established for p and q, the point (p, q) represents a point in the parameter space PQ, i.e., a line in the image space corresponds to a point in the parameter space, and the linear equation can be rewritten as:
q＝-px+y； (1-7)
equations (1-7) represent a straight line in the parameter space PQ and correspond to a point (x, y) in the image space. Image space passing point (x)i，yi) Can be written as yi＝pxi+ q may also be written as q ═ px according to formula (1-7)i+yiThe same can be obtained for the over point (x)j，yj) Has a linear equation of yj＝pxj+ q and q ═ pxj+yjAssuming that the two lines intersect at a point (p ', q') in the parameter space PQ, this point represents a simultaneous crossing point (x) in the image spacei，yi) And point (x)j，yj) A straight line of (2).
It can be seen that points that are collinear in image space correspond to lines that intersect in parameter space, whereas all lines that intersect at the same point in parameter space have collinear points that correspond to them in image space, which is the point-line duality.
In the embodiment of the invention, the specific detection steps for detecting the straight line segment by carrying out Hough transformation on the edge binary difference image are as follows:
1. quantizing the possible value ranges of the parameters p and q in the parameter space, and constructing an accumulation array A (p) according to the quantization resultmin:pmax,qmin:qmax) And initializing the accumulation array to 0;
2. letting p pass through all possible values for a given pixel point in the edge binary differential image, calculating q by using a formula (1-7), and accumulating A according to the values of p and q, namely A (p, q) is equal to A (p, q) + 1;
3. and (3) determining a straight line in the image space by the formula (1-6) according to p and q corresponding to the maximum value in the A after accumulation, wherein the maximum value in the A represents the number of given points on the straight line, and the points meeting the straight line equation are collinear.
In the embodiment of the invention, Hough transformation is used as a global operator, a boundary curve is obtained under the condition of knowing the prior criterion of related graphs, discontinuous pixel points can be connected, and the Hough transformation has strong robustness and anti-interference capability.
103. And carrying out cyclic iteration, screening and merging on the detected straight-line segments according to the parallel characteristic of the power transmission line until the number of the obtained target straight-line segments is less than a preset value, marking the target straight-line segments in a second frame image of the two adjacent frame images to identify the power transmission line in the power transmission line, and displaying a visible light video sequence marked with the target straight-line segments.
In an embodiment of the present invention, after the linear segments are detected, a loop iteration operation is performed on the linear segments until the number of the obtained linear segments is smaller than a first preset value (for example, 20), then the linear segments with the same or similar intercept and slope among the linear segments with the number smaller than the first preset value are merged to obtain a target linear segment with the number smaller than a second preset value (for example, 4), and the target linear segment is marked in a second frame image of the two adjacent frame images, so as to position the power line represented by the target linear segment in the second frame image of the two adjacent frame images.
For example, a video screenshot of a displayed visible light video sequence marked with a straight line segment of a target may be as shown in fig. 4, where fig. 4 is a schematic diagram of a result of a helicopter patrol tracking result disclosed in an embodiment of the present invention. As shown in fig. 4, two parallel power lines are marked in each video screenshot and the center position of the area enclosed by the power lines and the edges of the video screenshot.
104. And calculating the center position of a target area, and feeding back the center position to the pod to adjust the attitude of the pod, wherein the target area is an area surrounded by the target straight line segment and the edge of the second frame image.
In the embodiment of the invention, the center position of the area surrounded by the target straight line segment and the edge of the second frame image is calculated, meanwhile, the accuracy is improved through an optimization algorithm, the error is controlled within an allowable range, after the position information of the power transmission line exists, the position information is fed back to the nacelle to control the pitching angle and the horizontal angle of the nacelle, and the real-time tracking of the power transmission line is realized.
It should be noted that the method for detecting the power transmission line disclosed in the embodiment of the present invention may be implemented by integrating the method into Field-Programmable Gate Array (FPGA) hardware after the test is implemented in the visual studio2010 development environment, so as to effectively enhance the stability and reliability of the power transmission line detection.
In the embodiment of the present invention, for example, helicopter polling is performed on a Yunnan adjacent 220KV new line and a 500KV boimo I loop respectively by using the detection method of the power transmission line disclosed in the embodiment of the present invention, and when the helicopter is in polling, the distance between the helicopter and the power transmission line when the helicopter flies on the two lines is 40 to 50m, and the structures of the power transmission lines are all in a four-split structure, then polling data for performing helicopter polling tests on the two lines can be respectively shown in table 1 and table 2, where table 1 is polling data of the 220KV new line, and table 2 is polling data of the 500KV boimo I loop, where:
meter 1220 KV new line inspection data
Meter 2500 KV Bomo ink I line inspection data
Therefore, by implementing the method for detecting the power transmission line described in fig. 1, the outline of the power transmission line can be obtained in an interframe differential operation mode, so that the algorithm complexity and the operation amount are effectively reduced, the time delay is small, the real-time performance is good, and the detection efficiency of the power transmission line is improved; the Hough transformation is used for detecting straight-line segments, and the detected straight-line segments are subjected to cyclic iteration, screening and merging according to the parallel characteristic of the power transmission line until the number of the straight-line segments is smaller than a preset value and are marked and displayed, so that the interference of background noise and noise in a video image is effectively inhibited, the detection result is more accurate and effective, and the detection accuracy of the power transmission line is improved; the real-time tracking detection of the power transmission line is realized by calculating the center position and feeding the center position back to the nacelle to adjust the posture of the nacelle, the workload of inspection personnel is reduced, and the detection efficiency of the power transmission line is effectively improved.
Example two
Referring to fig. 2, fig. 2 is a schematic flow chart of another method for detecting a power transmission line according to an embodiment of the present invention. As shown in fig. 2, the method for detecting the power transmission line may include the following operations:
201. and acquiring a real-time image of the power transmission line to be detected through a camera to obtain a visible light video sequence.
202. And judging whether the frame number of the current frame image in the visible light video sequence is an integral multiple of 15.
In the embodiment of the present invention, when the determination result in step 202 is yes, step 203 is triggered to be executed; when the judgment result in the step 202 is negative, the current frame image is directly displayed and output.
203. And caching the current frame image and the next frame image of the current frame image.
204. And calling a thread processing function to carry out smooth filtering on the next frame image, and carrying out inter-frame difference operation on the next frame image and the current frame image to obtain a difference image.
205. And carrying out binarization on the difference image to obtain a binary difference image, and carrying out edge detection on the binary difference image by a Canny edge detection algorithm to obtain an edge binary difference image.
206. And carrying out Hough transformation on the edge binary difference image to detect a straight line segment.
207. It is determined whether the number of detected straight line segments is 0.
In the embodiment of the present invention, when the determination result in step 207 is yes, the current frame image is directly displayed and output; when the judgment result in the step 207 is negative, the step 208 is triggered to be executed.
208. It is determined whether the number of detected straight line segments is greater than 500.
In the embodiment of the present invention, when the determination result in step 208 is yes, the current frame image is directly displayed and output; when the judgment result of the step 208 is negative, the step 209 is triggered to be executed.
209. It is determined whether the number of detected straight line segments is less than 75.
In the embodiment of the present invention, when the determination result in step 209 is negative, step 210 is triggered to be executed; when the determination result in step 209 is yes, step 211 is triggered to be executed.
210. And updating the iteration threshold, and performing loop iteration on the detected straight line segments according to the updated iteration threshold until the number of the straight line segments less than 20 is obtained.
211. And merging and screening the straight line segments until the straight line segments with the number less than 4 are obtained, and marking the straight line segments with the number less than 4 in the next frame of image.
212. And calculating and marking the central coordinates of the area enclosed by the straight line segments with the number less than 4 and the edge of the next frame image.
213. And feeding back the area center coordinates to the pod to trigger the pod to automatically adjust the attitude of the pod.
214. The display output is marked with a visible light video sequence of a number of straight line segments less than 4.
Therefore, the detection method of the power transmission line described by the implementation of fig. 2 can effectively improve the detection efficiency and the detection accuracy of the power transmission line, and reduce the workload of the inspection personnel.
EXAMPLE III
Referring to fig. 3, fig. 3 is a schematic structural diagram of a detection apparatus for a power transmission line according to an embodiment of the present invention. As shown in fig. 3, the detection apparatus for the power transmission line may include a difference operation module 301, a binarization module 302, an edge detection module 303, a Hough transform module 304, a straight line segment processing module 305, a marking module 306, a display module 307, a calculation module 308, and a feedback module 309, wherein:
the difference operation module 301 is configured to perform inter-frame difference operation on two adjacent frames of images of the collected visible light video sequence to obtain a difference image.
The binarization module 302 is configured to binarize the difference image to obtain a binary difference image.
The edge detection module 303 is configured to perform edge detection on the binary difference image by using a preset threshold edge detection algorithm to obtain an edge binary difference image.
The Hough transform module 304 is configured to perform Hough transform on the edge binary difference image to detect a straight line segment.
The straight line segment processing module 305 is configured to perform loop iteration, screening, and merging on the detected straight line segments according to the parallel characteristic of the power transmission line until the number of the obtained target straight line segments is smaller than a preset value.
The marking module 306 is configured to mark a target straight-line segment in a second frame image of the two adjacent frame images to identify a power transmission line in the power transmission line;
the display module 307 is used for displaying the visible light video sequence marked with the target straight line segment.
The calculating module 308 is configured to calculate a center position of a target region, where the target region is a region surrounded by the target straight-line segment and an edge of the second frame image.
The feedback module 309 is used to feed back the center position to the nacelle to adjust the attitude of the nacelle.
The difference operation module 301 performs inter-frame difference operation on two adjacent frames of images of the collected visible light video sequence to obtain a difference image in the following specific manner:
extracting frames with the frame number being integral multiple of 15 in the collected visible light video sequence as current frame images, and determining the current frame images and the next frame images of the current frame images as a group of two adjacent frame images of the visible light video sequence;
and smoothing the next frame image in each group of two adjacent frame images through a Gaussian filter, and carrying out difference operation on the next frame image and the current frame image in the two adjacent frame images to obtain a difference image of the two adjacent frame images.
The binary difference image D (x, y) may be represented as:
the preset threshold edge detection algorithm is a Canny edge detection algorithm.
It can be seen that, the implementation of the detection apparatus 300 for the power transmission line described in fig. 3 can improve the detection efficiency and the detection accuracy for the power transmission line, and reduce the workload of the inspection personnel.
It will be understood by those skilled in the art that all or part of the steps in the methods of the embodiments described above may be implemented by instructions associated with hardware, which may be stored in a computer-readable storage medium, such as Read-Only Memory (ROM), Random Access Memory (RAM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), One-time Programmable Read-Only Memory (OTPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), compact disc-Read-Only Memory (CD-ROM), or other Memory, magnetic disk Memory, magnetic tape Memory, or other Memory Or any other medium which can be used to carry or store data and which can be read by a computer.
The above detailed description is provided for the detection method and apparatus for power transmission line disclosed in the embodiments of the present invention, and the specific examples are applied herein to explain the principle and the implementation manner of the present invention, and the description of the above embodiments is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (8)
1. A detection method of a power transmission line is characterized by comprising the following steps:
performing interframe difference operation on two adjacent frames of images of the collected visible light video sequence to obtain a difference image, and performing binarization on the difference image to obtain a binary difference image;
performing edge detection on the binary difference image by using a preset threshold edge detection algorithm to obtain an edge binary difference image, and performing Hough transformation on the edge binary difference image to detect a straight line segment;
performing cyclic iteration, screening and merging on the detected straight line segments according to the parallel characteristic of the transmission lines until the number of the obtained target straight line segments is smaller than a preset value, marking the target straight line segments in a second frame image of the two adjacent frame images to identify the transmission lines in the transmission lines, and displaying a visible light video sequence marked with the target straight line segments;
and calculating the center position of a target area, and feeding back the center position to a pod to adjust the attitude of the pod, wherein the target area is an area enclosed by the target straight line segment and the edge of the second frame image.
2. The method according to claim 1, wherein the performing an inter-frame difference operation on two adjacent frames of the acquired visible light video sequence to obtain a difference image comprises:
extracting frame images with the frame number being integral multiple of 15 in the collected visible light video sequence as current frame images, and determining the current frame images and the next frame images of the current frame images as a group of two adjacent frame images of the visible light video sequence;
and smoothing the next frame image in each group of the two adjacent frame images through a Gaussian filter, and performing interframe difference operation on the next frame image and the current frame image in the two adjacent frame images to obtain a difference image of the two adjacent frame images.
3. The method according to claim 2, wherein the binary differential image D (x, y) is represented as:
wherein f isk(x, y) is the current frame image in the two adjacent frame images, fk+1And (x, y) is the next frame image after smooth filtering in the two adjacent frame images, and T is the threshold value of the binary differential image.
4. The method according to any one of claims 1-3, wherein the pre-set threshold edge detection algorithm is a Canny edge detection algorithm.
5. The utility model provides a detection device of transmission line, its characterized in that, the device is including difference operation module, binarization module, edge detection module, Hough transform module, straightway processing module, mark module, display module, calculation module and feedback module, wherein:
the difference operation module is used for carrying out interframe difference operation on two adjacent frames of images of the collected visible light video sequence to obtain a difference image;
the binarization module is used for binarizing the difference image to obtain a binary difference image;
the edge detection module is used for carrying out edge detection on the binary difference image by utilizing a preset threshold edge detection algorithm to obtain an edge binary difference image;
the Hough transformation module is used for carrying out Hough transformation on the edge binary difference image so as to detect a straight line segment;
the linear segment processing module is used for carrying out circular iteration, screening and combination on the detected linear segments according to the parallel characteristic of the power transmission line until the number of the obtained target linear segments is smaller than a preset value;
the marking module is used for marking the target straight line segment in a second frame image of the two adjacent frame images so as to identify the power transmission line in the power transmission line;
the display module is used for displaying the visible light video sequence marked with the target straight line segment;
the calculation module is used for calculating the central position of a target area, wherein the target area is an area enclosed by the target straight line segment and the edge of the second frame image;
the feedback module is used for feeding back the center position to the nacelle so as to adjust the attitude of the nacelle.
6. The apparatus according to claim 5, wherein the difference operation module performs inter-frame difference operation on two adjacent frames of images of the collected visible light video sequence, and the specific way of obtaining the difference image is as follows:
extracting frames with the frame number being integral multiple of 15 in the collected visible light video sequence as current frame images, and determining the current frame images and the next frame images of the current frame images as a group of two adjacent frame images of the visible light video sequence;
and smoothing the next frame image in each group of the two adjacent frame images through a Gaussian filter, and carrying out difference operation on the next frame image and the current frame image in the two adjacent frame images to obtain a difference image of the two adjacent frame images.
7. The apparatus of claim 6, wherein the binary differential image D (x, y) is represented as:
wherein f isk(x, y) is the current frame image in the two adjacent frame images, fk+1And (x, y) is the next frame image after smooth filtering in the two adjacent frame images, and T is the threshold value of the binary differential image.
8. The apparatus according to any one of claims 5-7, wherein the pre-set threshold edge detection algorithm is a Canny edge detection algorithm.
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