CN106844729A - A kind of database of electrical verification hanging ground-wire Robot visual location system - Google Patents
A kind of database of electrical verification hanging ground-wire Robot visual location system Download PDFInfo
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Abstract
This application discloses a kind of database of electrical verification hanging ground-wire Robot visual location system, the target signature of pretreated target image centering is extracted, then to target signature Stereo matching, obtains anaglyph, determine depth image using anaglyph, recover the information of three-dimensional scenic.To target image to, pretreatment goal image to, target signature image and depth image addition remark information, display image is simultaneously exported to security module, image analysis module, condition query module, maintenance module, add module and replication module.After log-on data storehouse, first by security module to the authority classification of user and to the user authentication, determine operation that user can perform and go to corresponding resume module.The database that the embodiment of the present application is provided can complete the relative collection of target figure and process, confidentiality is high, realize carrying out electrical verification and the operation of installing ground wire during high-tension distributing line power construction, operating personnel's personal safety and the stable operation of equipment is protected.
Description
Technical field
The application is related to technical field of electric power construction, more particularly to a kind of electrical verification hanging ground-wire Robot visual location system
Database.
Background technology
In recent years, developing rapidly with China's economy, while also increasing the demand for electric power.Power distribution network is born
The important task of reasonable distribution electric energy, with need for electricity abruptly increase, high-tension distributing line in China's power network development more and more by
Use, have become the mainstay of China's economic development.
With increasing that high-tension distributing line is used, its power construction, maintenance and the operation safeguarded also gradually increase, and electric
Power construction, maintenance and the process safeguarded all are accomplished manually by operating personnel, and just operating personnel must be adopted in operating process
Take safety measure, it is ensured that the personal safety of operating personnel and the stable operation of equipment.Have a power failure, electrical verification and installing ground wire are electric power
Ensure the technical safety measures of electric operating personnel in construction, maintenance and maintenance.
However, electrical verification and the measure of installing ground wire are by operating personnel during current high-tension distributing line power construction
Complete, while in field operation have distribution T and connect and situations such as scissors crossing more, some operation fields need operating personnel to climb up
Operation Van completes electrical verification and the operation of installing ground wire, so not only operating efficiency, and the feelings of faulty operation easily occurs
Condition, so as to cause major safety risks, operating personnel's personal safety and the stable operation of equipment to ensure.
The content of the invention
The purpose of the application is to provide a kind of database of electrical verification hanging ground-wire Robot visual location system, uses machine
People carries out electrical verification and the operation of ground wire, with asking that the stable operation for solving operating personnel's personal safety and equipment cannot be ensured
Topic.
According to embodiments herein, there is provided a kind of database of electrical verification hanging ground-wire Robot visual location system, bag
Include：
Image collection module, for obtaining target image pair, the target image to including same target in synchronization
The first image and the second image；
Camera calibration module, for calibration for cameras, determines the position of the camera；
Image pre-processing module, for pre-processing the target image pair, obtains pretreatment goal image pair, the pre- place
Reason includes：Strengthen the contrast of the target image pair, remove the random noise of the target image pair and to the target figure
As to pseudo-color enhancement；
Characteristic extracting module, the target signature for extracting the pretreatment goal image pair, obtains target signature
Picture；
Stereo matching module, for the position according to the camera and the target signature image, to the target signature
Stereo matching, obtains anaglyph；
Depth determining module, for according to the anaglyph, determining depth image, recovers the information of three-dimensional scenic；
Image classification module, for the target image to, the pretreatment goal image to, the target signature
Picture and depth image addition remark information；
Image output module, for the depth image and described information to be exported；
Security module, for the authority classification to user and to the user authentication；
Image analysis module, for the range image analysis, drawing analysis result；
Condition query module, for after user's selection query type, providing Query Result；
Maintenance module, for safeguarding data in the database；
Add module, for adding the data in the database；
Replication module, for replicating the data in the database.
Optionally, the camera calibration module also includes：
Computing module, for by the Zhang Shi standardizations, being existed using the object point in three-dimensional scenic and the object point
The target image determines homography matrix to the corresponding points in plane；
The camera internal parameter is tried to achieve using the homography matrix；
The camera external parameter is tried to achieve using the homography matrix and the camera internal parameter.
Optionally, the camera calibration module also includes：
Optimization module, for optimizing the camera internal parameter and the camera external parameter, obtains accurate parameter value；
According to the parameter value, the position of the camera is determined.
Optionally, the characteristic extracting module also includes：
Point-like character extraction module, the point-like character for extracting the target image centering；
Linear feature extraction module, the line feature for extracting the target image centering；
Region Feature Extraction module, for extracting the target figure relatively in provincial characteristics.
Optionally, the database also includes：
Image display, for showing the target image to, the pretreatment goal image to, the target signature
Image and the depth image.
From above technical scheme, the embodiment of the present application provides a kind of electrical verification hanging ground-wire Robot visual location system
Database, extracts the target signature of pretreated target image centering, then to target signature Stereo matching, obtains disparity map
Picture, depth image is determined using anaglyph, recovers the information of three-dimensional scenic.By target image to, pretreatment goal image to,
Target signature image and depth image show and add remark information, export to security module, image analysis module, condition
Enquiry module, maintenance module, add module and replication module.After log-on data storehouse, first by security module to the power of user
Limit classification and to the user authentication, determines operation that user can perform and goes to corresponding resume module.The application is implemented
The database that example is provided can complete the relative collection of target figure and process, and confidentiality is high, and operating personnel is substituted with robot, real
Electrical verification and the operation of installing ground wire are carried out during existing high-tension distributing line power construction, is made operating personnel's personal safety and is set
Standby stable operation is protected.
Brief description of the drawings
In order to illustrate more clearly of the technical scheme of the application, letter will be made to the accompanying drawing to be used needed for embodiment below
Singly introduce, it should be apparent that, for those of ordinary skills, without having to pay creative labor,
Other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is a kind of database of the electrical verification hanging ground-wire Robot visual location system according to the embodiment of the present application
Schematic diagram；
Fig. 2 is the schematic diagram of the camera calibration module according to the embodiment of the present application；
Fig. 3 is the schematic diagram of the characteristic extracting module according to the embodiment of the present application.
Illustrate：
Wherein, 1- image collection modules；2- camera calibration modules；3- image pre-processing modules；4- characteristic extracting modules；5-
Stereo matching module；6- depth determining modules；7- image classification modules；8- image output modules；9- security modules；10- images
Analysis module；11- condition query modules；12- maintenance modules；13- add modules；14- replication modules；15- computing modules；16-
Optimization module；17- point-like character extraction modules；18- linear feature extraction modules；19- Region Feature Extraction modules；20- images
Display module.
Specific embodiment
As shown in figure 1, a kind of data of the electrical verification hanging ground-wire Robot visual location system provided for the embodiment of the present application
The schematic diagram in storehouse, the database includes：
Image collection module 1, for obtaining target image pair, the target image to including same target in synchronization
The first image and the second image；The camera used in the embodiment of the present application is a kind of suitable for intelligent transportation, public security bayonet, work
The high-resolution color digital camera of the various fields such as industry detection.It has that transmission speed is fast, color reducibility is good, imaging is clear
Clear the features such as, not only facilitate and shoot micro-image, and a series of ginsengs such as length, angle, the area of subject can be measured
Number.
Optionally, the target image to be by two cameras in same three-dimensional scenic simultaneously obtain it is same
The two images of target.During single camera is imaged, spot projection in three-dimensional scenic to the process of camera image is only
One, however, because in imaging process depth information loss, when the pixel point coordinates of image is reduced into three-dimensional coordinate, no
Unique Three-Dimensional Solution can be extrapolated, therefore, typically cannot be from the real three-dimensional scenic of single camera image restoring.If using picture
Individual camera shoots the image of same three-dimensional scenic simultaneously, then uniquely can calculate the three of pixel by principle of triangulation
Dimension coordinate, so as to realize image to the three-dimensional reconstruction of real world.
Camera calibration module 2, for calibration for cameras, determines the position of the camera；Described image is demarcated, be for
Determine when shooting per piece image, orientation and parameter of each camera for three-dimensional scenic.
Image pre-processing module 3, for pre-processing the target image pair, obtains pretreatment goal image pair, described pre-
Treatment includes：Strengthen the contrast of the target image pair, remove the random noise of the target image pair and to the target
Image is to pseudo-color enhancement；Described image is pre-processed, the image for more conforming to require is obtained, so that last acquisition
Depth image is more accurate, and the three-dimensional information of reconstruction is more accurate, makes robot when being operated, and vision positioning is more accurate
Really, potential safety hazard is reduced, the stable operation of power equipment is ensured.
Characteristic extracting module 4, the target signature for extracting the pretreatment goal image pair, obtains target signature
Picture.
Stereo matching module 5, for the position according to the camera and the target signature image, to the target signature
Stereo matching, obtains anaglyph.
Depth determining module 6, for according to the anaglyph, determining depth image, recovers the information of three-dimensional scenic.
Image classification module 7, for the target image to, the pretreatment goal image to, the target signature
Image and depth image addition remark information.
Image output module 8, for the depth image and described information to be exported to corresponding resume module.
Security module 9, for the authority classification to user and to the user authentication.Security module 9 is responsible for weighing user
The certification and management of limit, user right are set to three-level, and the first estate is onsite user, onsite user can using password or
Fingerprint verified, is verified, and can use image analysis module 10 and condition query module 11；Second grade is technology people
Member, onsite user can use password or fingerprint be verified, be verified, and image analysis module 10, bar not only can be used
Part enquiry module 11, it is also possible to use maintenance module 12 and add module 13；The tertiary gradient is all sides of database, and onsite user is
Highest weight limits the use of family, it is necessary to and only allow to be verified with fingerprint, and by rear, database opens all modules to onsite user,
And user right in security module can be modified.
Image analysis module 10, for the range image analysis, drawing analysis result.Analysis result only allow with
Pdf forms export the save location specified to user；Result derive after, this module by automatically generate can not change and delete be
System daily record, system journal contains the information such as comparison result, comparison time, user account.
Condition query module 11, for after user's selection query type, providing Query Result.In condition query module 11
Shooting date, spot for photography, image processing type, the class query type of feature name four are set, in user's selection query type simultaneously
After improving querying condition, data in storehouse are inquired about and are provided with Query Result, Query Result when user needs can with and only
Allow to be derived with pdf forms and checked for user；Query Result derive after, this module by automatically generate can not change and delete be
System daily record, system journal contains the information such as querying condition, Query Result, query time, user account.
Maintenance module 12, for safeguarding data in the database.The second grade and above user is only allowed to enter, and
The re-authentication of need for confidentiality module 9, by rear, database is opened in library file and storehouse to the second grade and above user
Image resource file.User can be by maintenance module 12 to database basic setup modify, can also be to secrecy mould
User right in block 9 in addition to highest Permission Levels person is modified and is added, more can be to all digital pictures in database
And image memory file is modified, deleted.It is all of to safeguard that result is required for highest authority person small 48 for security requirements
When it is interior carry out approval and just calculate to safeguard successfully, otherwise this is safeguarded and fails, and data recovery safeguards preceding state to this in database；Dimension
After protecting successfully, this module will automatically generate the system journal that can not be changed and delete, and system journal contains maintenance time, safeguards
Object, the concrete operation step safeguarded, perform user, safeguard the successfully time and the confirmation information such as user.
Add module 13, for adding the data in the database.The second grade and above user is only allowed to enter
Enter, and need for confidentiality module 9 re-authentication, by rear, this module will automatically carry out the treatment and input of user images；Go out
In security requirements, the image and image memory file of all of new input database are required for highest authority person to enter in 48 hours
Row approval is just calculated and added successfully, otherwise this addition failure, state before data recovery to this addition in storehouse；After adding successfully,
This module will automatically generate the system journal that can not be changed and delete, and system journal contains addition time, addition object and number
Measure, perform user, adding the successfully time and confirm the information such as user.
Replication module 14, for replicating the data in the database.Highest authority class user is only allowed to enter,
And the re-authentication of need for confidentiality module 9, authentication mode is necessary for fingerprint, and by rear, user can be in library file, storehouse collection figure
As single choice or multiselect are intended to copy in the resource types such as file, planting modes on sink characteristic image, storehouse depth image, storehouse memory file, system journal
File, and the associated documents packing that user's selected type is related to preserved to specified location in user；Packaging file has been preserved
Bi Hou, this module calls security module and requires that user carries out new user right setting to packaging file automatically；Setting is finished,
This module will automatically generate the system journal that can not be changed and delete, and system journal contains doubling time, replicates object, performs
The information such as user.
From above technical scheme, the embodiment of the present application provides a kind of electrical verification hanging ground-wire Robot visual location system
Database, extracts the target signature of pretreated target image centering, then to target signature Stereo matching, obtains disparity map
Picture, depth image is determined using anaglyph, recovers the information of three-dimensional scenic.To target image to, pretreatment goal image to,
Target signature image and depth image addition remark information, display image and export to security module 9, image analysis module 10,
Condition query module 11, maintenance module 12, add module 13 and replication module 14.After log-on data storehouse, first by secrecy mould
Block 9 determines operation that user can perform and goes at corresponding module to the authority classification of user and to the user authentication
Reason.The database that the embodiment of the present application is provided can complete the relative collection of target figure and process, and confidentiality is high, is replaced with robot
For operating personnel, realize carrying out electrical verification and the operation of installing ground wire during high-tension distributing line power construction, make operation people
Member's personal safety and the stable operation of equipment are protected.
Optionally, as shown in Fig. 2 the camera calibration module 2 also includes：
Computing module 15, for by the Zhang Shi standardizations, using the object point in three-dimensional scenic and the object point
In the target image to the corresponding points in plane, homography matrix is determined；
The camera internal parameter is tried to achieve using the homography matrix；
The camera external parameter is tried to achieve using the homography matrix and the camera internal parameter.
By the parameter value for determining the camera, it may be determined that the position of camera, the three-dimensional scenic of recovery can be made more
Accurately.
Optionally, as shown in Fig. 2 the camera calibration module 2 also includes：
Optimization module 16, for optimizing the camera internal parameter and the camera external parameter, obtains accurate parameter
Value；
According to the parameter value, the position of the camera is determined.
The camera internal parameter and the camera external parameter are optimized, using the method for maximal possibility estimation,
It is exactly the parameter after optimization to obtain optimal solution, recycles camera internal parameter and camera external parameter after optimization, tries to achieve two phases
Position relationship between machine, determines two positions of camera.
Optionally, as shown in figure 3, the characteristic extracting module 4 also includes：
Point-like character extraction module 17, the point-like character for extracting the target image centering；Point-like character is typically
Refer to the violent point of grey scale change, including Curvature varying on contour of object maximum point (angle point or flex point), the focus of straight line
Deng.
Linear feature extraction module 18, the line feature for extracting the target image centering；Line feature refers to figure
Edge line segment, curve of picture etc..
Region Feature Extraction module 19, for extracting the target figure relatively in provincial characteristics；Provincial characteristics refers to one
Individual UNICOM, consistent pixel set.
After feature is extracted from the pretreatment image, image is processed using specific feature, more
Plus accurately and quickly determine depth image, rebuild three-dimensional information.
Optionally, the database also includes：
Image display 20, it is special to, the target to, the pretreatment goal image for showing the target image
Levy image and the depth image.After more intuitively showing that modules realize corresponding treatment, resulting result.
From above technical scheme, the embodiment of the present application provides a kind of electrical verification hanging ground-wire Robot visual location system
Database, extracts the target signature of pretreated target image centering, then to target signature Stereo matching, obtains disparity map
Picture, depth image is determined using anaglyph, recovers the information of three-dimensional scenic.To target image to, pretreatment goal image to,
Target signature image and depth image addition remark information, display image and export to security module 9, image analysis module 10,
Condition query module 11, maintenance module 12, add module 13 and replication module 14.After log-on data storehouse, first by secrecy mould
Block 9 determines operation that user can perform and goes at corresponding module to the authority classification of user and to the user authentication
Reason.The database that the embodiment of the present application is provided can complete the relative collection of target figure and process, and confidentiality is high, is replaced with robot
For operating personnel, realize carrying out electrical verification and the operation of installing ground wire during high-tension distributing line power construction, make operation people
Member's personal safety and the stable operation of equipment are protected.
Those skilled in the art will readily occur to its of the application after considering specification and putting into practice invention disclosed herein
Its embodiment.The application is intended to any modification, purposes or the adaptations of the application, these modifications, purposes or
Person's adaptations follow the general principle of the application and including the undocumented common knowledge in the art of the application
Or conventional techniques.Description and embodiments are considered only as exemplary, and the true scope of the application and spirit are by following
Claim is pointed out.
It should be appreciated that the application is not limited to the precision architecture for being described above and being shown in the drawings, and
And can without departing from the scope carry out various modifications and changes.Scope of the present application is only limited by appended claim.
Claims (5)
1. a kind of database of electrical verification hanging ground-wire Robot visual location system, it is characterised in that including：
Image collection module 1, for obtaining target image pair, the target image to including same target the of synchronization
One image and the second image；
Camera calibration module 2, for calibration for cameras, determines the position of the camera；
Image pre-processing module 3, for pre-processing the target image pair, obtains pretreatment goal image pair, the pretreatment
Including：Strengthen the contrast of the target image pair, remove the random noise of the target image pair and to the target image
To pseudo-color enhancement；
Characteristic extracting module 4, the target signature for extracting the pretreatment goal image pair, obtains target signature image；
Stereo matching module 5, it is three-dimensional to the target signature for the position according to the camera and the target signature image
Matching, obtains anaglyph；
Depth determining module 6, for according to the anaglyph, determining depth image, recovers the information of three-dimensional scenic；
Image classification module 7, for the target image to, the pretreatment goal image to, the target signature image
Remark information is added with the depth image；
Image output module 8, for the depth image and described information to be exported；
Security module 9, for the authority classification to user and to the user authentication；
Image analysis module 10, for the range image analysis, drawing analysis result；
Condition query module 11, for after user's selection query type, providing Query Result；
Maintenance module 12, for safeguarding data in the database；
Add module 13, for adding the data in the database；
Replication module 14, for replicating the data in the database.
2. the database of a kind of electrical verification hanging ground-wire Robot visual location system according to claim 1, it is characterised in that
The camera calibration module 2 also includes：
Computing module 15, for by the Zhang Shi standardizations, using the object point in three-dimensional scenic and the object point in institute
Target image is stated to the corresponding points in plane, homography matrix is determined；
The camera internal parameter is tried to achieve using the homography matrix；
The camera external parameter is tried to achieve using the homography matrix and the camera internal parameter.
3. the database of a kind of electrical verification hanging ground-wire Robot visual location system according to claim 2, it is characterised in that
The camera calibration module 2 also includes：
Optimization module 16, for optimizing the camera internal parameter and the camera external parameter, obtains accurate parameter value；
According to the parameter value, the position of the camera is determined.
4. the database of a kind of electrical verification hanging ground-wire Robot visual location system according to claim 3, it is characterised in that
The characteristic extracting module 4 also includes：
Point-like character extraction module 17, the point-like character for extracting the target image centering；
Linear feature extraction module 18, the line feature for extracting the target image centering；
Region Feature Extraction module 19, for extracting the target figure relatively in provincial characteristics.
5. the database of a kind of electrical verification hanging ground-wire Robot visual location system according to claim 4, it is characterised in that
The database also includes：
Image display 20, for showing the target image to, the pretreatment goal image to, the target signature
Picture and the depth image.
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| CN201710074069.2A CN106844729A (en) | 2017-02-10 | 2017-02-10 | A kind of database of electrical verification hanging ground-wire Robot visual location system |
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Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102135776A (en) * | 2011-01-25 | 2011-07-27 | 解则晓 | Industrial robot control system based on visual positioning and control method thereof |
-
2017
- 2017-02-10 CN CN201710074069.2A patent/CN106844729A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102135776A (en) * | 2011-01-25 | 2011-07-27 | 解则晓 | Industrial robot control system based on visual positioning and control method thereof |
Non-Patent Citations (3)
| Title |
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| 安志远 等: "《计算机导论》", 31 January 2004, 高等教育出版社 * |
| 林琳: "机器人双目视觉定位技术研究", 《中国优秀硕士学位论文全文数据库信息科技辑（月刊）》 * |
| 韩云生: "基于双目立体视觉的移动机器人目标定位", 《中国优秀硕士学位论文全文数据库信息科技辑（月刊）》 * |
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Application publication date: 20170613 |