CN106846327B - A method of fitting icing electric wire is obtained based on image procossing - Google Patents
A method of fitting icing electric wire is obtained based on image procossing Download PDFInfo
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- CN106846327B CN106846327B CN201710050032.6A CN201710050032A CN106846327B CN 106846327 B CN106846327 B CN 106846327B CN 201710050032 A CN201710050032 A CN 201710050032A CN 106846327 B CN106846327 B CN 106846327B
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Abstract
The present invention relates to a kind of methods for obtaining fitting icing electric wire based on image procossing, belong to electric wire icing detection field.The present invention obtains the image of icing electric wire by the visual field of setting imaging device, rectangular coordinate system is established to image, divide the image into multiple sections, determine the scanning reference line in each section, angle of aspect is obtained by scanning reference line, every scouting interval angle in search angular region, a scan lines are obtained；Using the smallest scan lines of average gray as the matching line segment of the icing electric wire in the section, using the terminal of the matching line segment in a upper section as the starting point in next section, obtain the matching line segment of the icing electric wire in next section, the matching line segment of the icing electric wire in each section is sequentially connected, constitute fitting icing electric wire, through the invention before electric wire freezes beyond load limit, icing wire bend situation is judged, corresponding solution is made according to icing wire bend situation.
Description
Technical field
The invention belongs to electric wire icing detection fields, and in particular to a kind of to obtain fitting icing electric wire based on image procossing
Method.
Background technique
The more clammy place of weather in winter, the moisture in cold air, which is liable to stick on electric wire, forms ice sheet, electric wire
After icing, by gravity, electric wire is by stretch bending, as ice sheet the more is accumulated the more thick, when the weight of ice sheet is more than the load-bearing energy of electric wire
To be broken after power electric wire cause the interruption of power supply, power network line damage, to people's lives make troubles with it is inestimable
Economic loss.
In order to avoid problem above generation, need to comment electric wire ice condition before electric wire is beyond load limit
Sentence, the situation of electric wire, makes corresponding solution according to icing electric wire situation after confirmation freezes, and such as issues and warns to command centre
Report, sends rescue party to handle immediately.
Summary of the invention
It is obtained in view of this, it is an object of the invention to overcome the deficiencies of the prior art and provide one kind based on image procossing
The method for being fitted icing electric wire distinguishes electric wire and background, obtains the fitting icing electric wire of icing electric wire in image.
In order to achieve the above object, the present invention adopts the following technical scheme:
A method of fitting icing electric wire is obtained based on image procossing, comprising:
Step S1, the visual field of imaging device is set and obtains the image of icing electric wire, wherein the visual field includes adjacent two
Any electric pole in root electric pole, and the electric wire being erected on the electric pole；Using the electric pole as institute
Longitudinal beginning boundary of visual field is stated, longitudinal end boundary of the visual field is arranged between adjacent two electric poles, described
Electric wire and the electric pole intersection point are intersection point A, and the electric wire and the intersection point of longitudinal end boundary are intersection points B；
Step S2, using the intersection point A as origin, using the electric pole as Y-axis, rectangular co-ordinate is established for described image
Described image is divided into n section by cut-off rule by system, n > 2, the cut-off rule perpendicular to X-axis, each section
Two sides are equipped with the cut-off rule, wherein the cut-off rule of the i-th section two sides is respectively cut-off rule SplitiAnd cut-off rule
Spliti+1, i=1,2 ... n；
Step S3, the cut-off rule Split in described i-th sectioniIt is equipped with the starting point Pos in i-th section
(i)begin, the cut-off rule Split in i-th sectioni+1It is equipped with the terminating point Pos (i) in i-th sectionend, wherein
The starting point Pos (1) in the 1st sectionbeginFor origin；The angle [alpha] of the scanning reference angle in i-th section is set, with i-thth area
Between the starting point Pos (i)beginThe vertex of scanning reference angle as i-th section, from the starting point Pos
(i)beginTo the cut-off rule Spliti+1The initial line and end edge for each extending over out the scanning reference angle in i-th section, obtain institute
State the scanning reference angle in the i-th section, wherein the initial line of the scanning reference angle in i-th section and described point of i-th section
Secant Spliti+1Vertically, the end edge of the scanning reference angle in i-th section is located at the beginning of the scanning reference angle in i-th section
Below side, using the end edge of the scanning reference angle in i-th section as scanning reference line Li；
Step S4, the angle beta of the angle of aspect in i-th section is set, with the starting point Pos (i) in i-th sectionbegin
For vertex, with the scanning reference line LiFor the angular bisector at the described search angle in i-th section, i-th section is obtained
Angle of aspect, wherein the both sides of the angle of aspect in i-th section are respectively UiAnd Vi；
Using the angle of aspect in i-th section as the region of search, scouting interval angle, θ is set, with UiOr ViFor search starting
Side, the starting point Pos (i) every described search interval angles θ, from i-th sectionbeginExtend one to the cut-off rule
Spliti+1Scan lines Line (i)j；
Step S5, the scan lines Line (i) is obtainedjAverage gray, it is the smallest described to choose average gray
Scan lines Line (i)jThe matching line segment LineData (i), i=1,2....n of icing electric wire as i-th section；
In i-th section, by the matching line segment LineData (i) and the cut-off rule Spliti+1Intersection point conduct
The terminating point Pos (i) in i-th sectionend, between the adjacent section, the terminating point in the previous section is the latter institute
State the starting point in section；
The matching line segment LineData (i) of the icing electric wire in each section is sequentially connected, and constitutes fitting and freezes
Electric wire.
Further, in the step S5, further includes: in i-th section, the matching line segment in i-th section
LineData (i) and the scanning benchmark initial side of an angle in i-th section constitute the electric wire actual measurement angle in i-th section；It is adjacent described
Section, using the angle at the electric wire in upper section actual measurement angle as the angle of the scanning reference angle in next section.
Further, in the step S3, the angle [alpha] of the scanning reference angle in the 1st section is set as 30 °.
Further, in the step S5, the scan lines Line (i) is obtainedjAverage gray method are as follows:
In formula:
Beginx (i) indicates the x coordinate value of the i-th section starting point；
Endx (i) indicates the maximum value of x in the i-th section；
M indicates the x coordinate value between Beginx (i) and Endx (i)；
P (m) is indicated in straight line Line (i)jOn, coordinate points corresponding gray value on the image that x value is m.
Further, in step S1, the length of the electric wire is adjacent two institutes between the intersection point A and the intersection points B
State 1/3 of the length of the electric wire between electric pole.
Further, in the step S2, described image is divided by 30 sections by the cut-off rule.
Further, along the x axis, the width in i-th section is wi, i=2 ..., n, wherein w1=w2=...
=wn。
Further, in the step S4, the angle beta of the angle of aspect in the 1st section is set as 30 °, i-th section
Angle of aspect β is set as 15 °, i=2 ..., n.
Further, in the step S4, described search interval angles θ is set as 1 °.
Further, in the step S1, the imaging device is high definition camera.
The invention adopts the above technical scheme, at least have it is following the utility model has the advantages that
The present invention provides a kind of method for obtaining fitting icing electric wire based on image procossing, obtains the image of icing electric wire,
Rectangular coordinate system is established to image, divides the image into multiple sections, determines the scanning reference line in each section, by scanning base
Directrix obtains angle of aspect, every scouting interval angle in search angular region, obtains a scan lines；Most by average gray
Matching line segment of the small scan lines as the icing electric wire in the section, using the terminal of the matching line segment in a upper section as next
The starting point in section, obtains the matching line segment of the icing electric wire in next section, the matching line segment of the icing electric wire in each section according to
Secondary connection constitutes fitting icing electric wire, through the invention can be before electric wire freezes beyond load limit, to icing wire bend
Situation is judged, and makes corresponding solution according to icing wire bend situation.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of visual field setting that imaging device in the method for fitting icing electric wire is obtained based on image procossing of the present invention
Schematic diagram；
Fig. 2 is a kind of icing electric wire image of the method to acquisition that fitting icing electric wire is obtained based on image procossing of the present invention
Divide the schematic diagram in section；
Fig. 3 is a kind of scanning benchmark that a section in the method for fitting icing electric wire is obtained based on image procossing of the present invention
The schematic diagram at angle and angle of aspect；
Fig. 4 is to establish sweeping for angle of aspect acquisition in a kind of method for obtaining fitting icing electric wire based on image procossing of the present invention
Retouch line segment Line (i)jSchematic diagram.
In Fig. 1-4: 1- imaging device；2- electric pole；3- electric wire；4- intersection point A；5- intersection points B；6- cut-off rule；601- segmentation
Line Spliti；602- cut-off rule Spliti+1；7- starting point Pos (i)begin；The initial line of 8- scanning reference angle；9- scans reference angle
End edge；10-Ui；11-Vi；12- scan lines Line (i)j；Matching line segment LineData (i) described in 13-；14- terminating point Pos
(i)end。
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, technical solution of the present invention will be carried out below
Detailed description.Obviously, described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, those of ordinary skill in the art are obtained all without making creative work
Other embodiment belongs to the range that the present invention is protected.
The present invention provides a kind of method for obtaining fitting icing electric wire based on image procossing, comprising:
Step S1, as shown in Figure 1, the visual field of imaging device 1 is arranged and obtains the image of icing electric wire, wherein the view
Field includes any electric pole 2 in adjacent two electric poles, and the electric wire 3 being erected on the electric pole 2；With institute
State longitudinal beginning boundary of the electric pole 2 as the visual field, longitudinal end boundary setting of the visual field is described in adjacent two
Between electric pole, the electric wire 3 is intersection point A 4 with the electric pole intersection point, the friendship of the electric wire 3 and longitudinal end boundary
Point is intersection points B 5；
It step S2, is the figure using the electric pole 2 as Y-axis as shown in Fig. 2, using the intersection point A 4 as origin
As establishing rectangular coordinate system, described image is divided by n section by cut-off rule 6, n > 2, the cut-off rule 6 is perpendicular to X
Axis, the two sides in each section are equipped with the cut-off rule 6, wherein the cut-off rule of the i-th section two sides is respectively to divide
Line Spliti601 and cut-off rule Spliti+1602, i=1,2 ... n；
Step S3, as shown in figure 3, the cut-off rule Split in i-th sectioni601 are equipped with i-th section
Starting point Pos (i)begin7, the cut-off rule Split in i-th sectioni+1602 are equipped with the terminating point in i-th section
Pos(i)end, wherein the starting point Pos (1) in the 1st sectionbeginFor origin；Set the angle of the scanning reference angle in i-th section
α is spent, with the starting point Pos (i) in i-th sectionbegin7 vertex as the scanning reference angle in i-th section, from institute
State starting point Pos (i)begin7 to the cut-off rule Spliti+1602 each extend over out the beginning of the scanning reference angle in i-th section
Side 8 and end edge 9 obtain the scanning reference angle in i-th section, wherein i-th section scanning reference angle initial line 8 with
The cut-off rule Split in i-th sectioni+1602 is vertical, and the end edge 9 of the scanning reference angle in i-th section is located at described
Below the initial line of the scanning reference angle in the i-th section, using the end edge 9 of the scanning reference angle in i-th section as scanning reference line
Li；
Step S4, as shown in figure 3, the angle beta of the angle of aspect in i-th section is set, with the starting point in i-th section
Pos(i)begin7 be vertex, with the scanning reference line LiFor the angular bisector at the described search angle in i-th section, institute is obtained
State the angle of aspect in the i-th section, wherein the both sides of the angle of aspect in i-th section are respectively Ui10 and Vi11；
As shown in figure 4, scouting interval angle, θ is set, with U using the angle of aspect in i-th section as the region of searchi 10
Or Vi11 is have searched for initial line, the starting point Pos (i) every described search interval angles θ, from i-th sectionbegin 601
Extend one to the cut-off rule Spliti+1602 scan lines Line (i)j12；
Step S5, as shown in figure 4, obtaining the scan lines Line (i)jIt is average to choose gray scale for 12 average gray
It is worth the smallest scan lines Line (i)jThe 12 matching line segment LineData (i) as the icing electric wire in i-th section
13, i=1,2....n；
In i-th section, by matching line segment LineData (i) the 13 and cut-off rule Spliti+1602 intersection point
Terminating point Pos (i) as i-th sectionend14, between the adjacent section, the terminating point in the previous section is
The starting point in section described in the latter；
The matching line segment LineData (i) of the icing electric wire in each section is sequentially connected, and constitutes fitting and freezes
Electric wire.
In above scheme of the present invention, rectangular coordinate system is established to described image, described image is divided into multiple areas
Between, determine the scanning reference line L in each sectioni, pass through the scanning reference line LiObtain searching for each section
Rope angle obtains a scan lines Line (i) every described search interval angles in search angular regionj12；Gray scale is averaged
It is worth the smallest scan lines Line (i)jThe 12 matching line segment LineData (i) as the icing electric wire in section described in this
13, using the terminating point of the matching line segment in upper one section as the starting point in next section, obtain next section
Icing electric wire matching line segment, the matching line segment of the icing electric wire in each section is sequentially connected, and constitutes fitting and freezes electricity
Line.
Through the invention before electric wire freezes beyond load limit, frozen by the fitting icing wire pair of acquisition
Wire bend situation is judged, and is judged the danger level of current icing electric wire and is sent out Alert Level, such as into commander
The heart sounds an alarm, and sends rescue party to handle immediately.When can solve electric wire through the invention and being covered by ice, because of the reflective shadow of ice
It rings, it is seen that in light camera acquired image, icing electric wire and background transition boundary compare unconspicuous problem.
By the way that the visual field of the imaging device is arranged and obtains the image of icing electric wire, in order to have the image obtained more
High resolution ratio, to have better resolving effect, in step S1 of the present invention, the imaging device when amplifying to image
High definition camera can be used.
In order to obtain ideal background effect, realized convenient for subsequent image Processing Algorithm, the frame of the imaging device
If mode is as shown in Figure 1, the imaging device is erected at Near Ground, background is sky, described in the imaging device visual field
The length of the electric wire is preferably the length of the electric wire between adjacent two electric poles between intersection point A and the intersection points B
1/3, for the ease of illustrating description, the present invention provided as shown in figure 3, being divided into described image by the cut-off rule
30 sections in such visual field, can guarantee that icing electric wire is rendered as continuous downward trend, thus described in the last one
The sink end of the most serious namely described fitting icing electric wire of the terminating point in section sinks the most serious, therefore only needs to count
X-axis, can such as be regarded as state when electric wire does not freeze, finally by the terminating point sinking distance for calculating the last one section
The coordinate Y of the terminating point in one section1Value is the distance of sinking；More accurate mode is to obtain electric wire not in advance
Image when icing obtains the coordinate Y of the terminating point in the last one section when electric wire does not freeze0Value is tied with the fitting
The coordinate Y of the terminating point in the last one section of ice electric wire1Value is compared, Y0-Y1Under the as described fitting icing electric wire
Heavy maximum range value, sets sinking distance alarm threshold value, is greater than alarm threshold value apart from maximum value if sunk, to command centre
It sounds an alarm, sends rescue party to handle immediately, be less than alarm threshold value apart from maximum value if sunk, then it is assumed that security wire.
In step S2 of the present invention, along the x axis, the width in i-th section is wi, i=2 ..., n, for each
The setting of the width in a section, as shown in Fig. 2, the present invention provides a kind of preferred embodiment, w1=w2=... .=wn, i.e., each institute
The identical scheme of interval width is stated, but the present invention can be not limited to the preferred embodiment, each interval width can be set as
Gradually it is incremented by relationship, also can be set as the relationship that gradually falls progressively.
In above-mentioned each scheme, in terms of the setting of the angle [alpha] of the scanning reference angle to each section, need artificially to go
Setting assigns a value, but in the case where the section of segmentation is more, setting one is artificially gone in each section
Preferred value is apparently not so a preferable scheme, and to this, the present invention also provides following improvement project, the programs specifically:
In the step S5, further includes: in i-th section, the matching line segment LineData (i) 13 in i-th section and described i-th
The scanning benchmark initial side of an angle 8 in section constitutes the electric wire actual measurement angle in i-th section；The adjacent section, by a upper area
Between electric wire actual measurement angle angle as next section scanning reference angle angle.By the improvement project, only need
The angle [alpha] of the scanning reference angle in the 1st section is manually set, the angle [alpha] of the scanning reference angle in other sections can obtain automatically
?.
It is given in the step S3 in the present invention, the angle [alpha] of the scanning reference angle in the 1st section, the step S4
In, the i-th section angle of aspect β, i=1,2 ..., the preferred implementation angle of n and described search interval angles θ, specifically
Are as follows: in the step S3, the angle [alpha] of the scanning reference angle in the 1st section is set as 30 °；In the step S4, the described 1st
The angle beta of section angle of aspect is set as 30 °, and the i-th section angle of aspect β is set as 15 °, i=2 ..., n；The step S4
In, described search interval angles θ is set as 1 °.
After electric wire freezes, because of the reflective influence of ice, icing electric wire is relatively low with respect to background sky gray value, thus in this hair
In the bright step S5, the smallest scan lines Line (i) of average gray is chosenj12 freeze as i-th section
The matching line segment LineData (i) 13 of electric wire.
For the preparation method aspect of average gray, the present invention gives a kind of specific embodiment, as follows:
In the step 5, the scan lines Line (i) is obtainedj12 average gray method are as follows:
In formula:
Beginx (i) indicates the x coordinate value of the i-th section starting point；
Endx (i) indicates the maximum value of x in the i-th section；
M indicates the x coordinate value between Beginx (i) and Endx (i)；
P (m) is indicated in straight line Line (i)jOn, coordinate points corresponding gray value on the image that x value is m.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (10)
1. a kind of method for obtaining fitting icing electric wire based on image procossing, it is characterised in that: include:
Step S1, the visual field of imaging device is set and obtains the image of icing electric wire, wherein the visual field includes adjacent two electricity
Any electric pole in line bar, and the electric wire being erected on the electric pole；Using the electric pole as the view
Longitudinal end boundary of longitudinal beginning boundary of field, the visual field is arranged between adjacent two electric poles, the electric wire
It is intersection point A with the electric pole intersection point, the electric wire and the intersection point of longitudinal end boundary are intersection points B；
Step S2, using the intersection point A as origin, using the electric pole as Y-axis, rectangular coordinate system is established for described image,
Described image is divided into n section by cut-off rule, n > 2, the cut-off rule is perpendicular to X-axis, the two sides in each section
It is equipped with the cut-off rule, wherein the cut-off rule of the i-th section two sides is respectively cut-off rule SplitiAnd cut-off rule
Spliti+1, i=1,2 ... n；
Step S3, the cut-off rule Split in described i-th sectioniIt is equipped with the starting point Pos (i) in i-th sectionbegin, institute
State the cut-off rule Split in the i-th sectioni+1It is equipped with the terminating point Pos (i) in i-th sectionend, wherein the 1st section
Starting point Pos (1)beginFor origin；The angle [alpha] for setting the scanning reference angle in i-th section, described in i-th section
Starting point Pos (i)beginThe vertex of scanning reference angle as i-th section, from the starting point Pos (i)beginTo described
Cut-off rule Spliti+1The initial line and end edge for each extending over out the scanning reference angle in i-th section, obtain i-th section
Scan reference angle, wherein the initial line of the scanning reference angle in i-th section and the cut-off rule Split in i-th sectioni+1
Vertically, the end edge of the scanning reference angle in i-th section is located at below the initial line of scanning reference angle in i-th section, with institute
The end edge of the scanning reference angle in the i-th section is stated as scanning reference line Li；
Step S4, the angle beta of the angle of aspect in i-th section is set, with the starting point Pos (i) in i-th sectionbeginFor top
Point, with the scanning reference line LiFor the angular bisector at the described search angle in i-th section, searching for i-th section is obtained
Rope angle, wherein the both sides of the angle of aspect in i-th section are respectively UiAnd Vi；
Using the angle of aspect in i-th section as the region of search, scouting interval angle, θ is set, with UiOr ViTo have searched for initial line,
Starting point Pos (i) every described search interval angles θ, from i-th sectionbeginExtend one to the cut-off rule
Spliti+1Scan lines Line (i)j；
Step S5, the scan lines Line (i) is obtainedjAverage gray, choose the smallest scan line of average gray
Section Line (i)jThe matching line segment LineData (i), i=1,2....n of icing electric wire as i-th section；
In i-th section, by the matching line segment LineData (i) and the cut-off rule Spliti+1Intersection point be used as described in
The terminating point Pos (i) in the i-th sectionend, between the adjacent section, the terminating point in the previous section is area described in the latter
Between starting point；
The matching line segment LineData (i) of the icing electric wire in each section is sequentially connected, and constitutes fitting icing electric wire.
2. the method according to claim 1 for obtaining fitting icing electric wire based on image procossing, it is characterised in that: the step
In rapid S5, further includes: in i-th section, the matching line segment LineData (i) in i-th section and sweeping for i-th section
Retouch the electric wire actual measurement angle that benchmark initial side of an angle constitutes i-th section；The adjacent section, the electric wire in a upper section is real
Angle of the angle of angle measurement as the scanning reference angle in next section.
3. the method according to claim 2 for obtaining fitting icing electric wire based on image procossing, it is characterised in that: the step
In rapid S3, the angle [alpha] of the scanning reference angle in the 1st section is set as 30 °.
4. the method according to claim 1 or 2 for obtaining fitting icing electric wire based on image procossing, it is characterised in that: institute
It states in step S5, obtains the scan lines Line (i)jAverage gray method are as follows:
In formula:
Beginx (i) indicates the x coordinate value of the i-th section starting point；
Endx (i) indicates the maximum value of x in the i-th section；
M indicates the x coordinate value between Beginx (i) and Endx (i)；
P (m) is indicated in straight line Line (i)jOn, coordinate points corresponding gray value on the image that x value is m.
5. the method according to claim 1 for obtaining fitting icing electric wire based on image procossing, it is characterised in that: step S1
In, the length of the length of electric wire electric wire between adjacent two electric poles between the intersection point A and the intersection points B
The 1/3 of degree.
6. the method according to claim 4 for obtaining fitting icing electric wire based on image procossing, it is characterised in that: the step
In rapid S2, described image is divided by 30 sections by the cut-off rule.
7. the method according to claim 1 or 2 for obtaining fitting icing electric wire based on image procossing, it is characterised in that: along X
Axis direction, the width in i-th section are wi, i=2 ..., n, wherein w1=w2=... .=wn。
8. the method according to claim 1 for obtaining fitting icing electric wire based on image procossing, it is characterised in that: the step
In rapid S4, the angle beta of the angle of aspect in the 1st section is set as 30 °, and the i-th section angle of aspect β is set as 15 °, i=
2、...、n。
9. the method according to claim 8 for obtaining fitting icing electric wire based on image procossing, it is characterised in that: the step
In rapid S4, described search interval angles θ is set as 1 °.
10. the method according to claim 1 for obtaining fitting icing electric wire based on image procossing, it is characterised in that: described
In step S1, the imaging device is high definition camera.
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