CN107103324A - Transmission line of electricity recognition methods and device - Google Patents
Transmission line of electricity recognition methods and device Download PDFInfo
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Abstract
The present invention relates to a kind of transmission line of electricity recognition methods and device.The method comprising the steps of：The original image of transmission line of electricity is obtained, gray processing processing is carried out to the original image, the gray level image of the original image is obtained；The gray level image is filtered, the gray level image before and after filtering is carried out into difference enhancing calculates, and obtains enhancing image；The edge contour image of the enhancing image is extracted, filtering screening is carried out to the edge contour image with the external profile of the edge contour image, the contour images of transmission line of electricity are obtained；The contour images of the transmission line of electricity are plotted on the original image, to identify the transmission line of electricity in the original image.The present invention efficiently solves transmission line of electricity problem of image recognition under complex background, improves the versatility and recognition accuracy of transmission line of electricity identification.
Description
Technical field
The present invention relates to technical field of power systems, more particularly to transmission line of electricity recognition methods and transmission line of electricity identification dress
Put.
Background technology
Electrical grid be connect whole system major part, therefore transmission line of electricity operation it is whether safe, decide electricity
The stabilization and safe coefficient of Force system.Power overhead network, shaft tower and related accessories, these all long-term fortune in natural environment
Row is, it is necessary to the long-term influence for being subjected to the tension force from circuit.Moreover, in addition it is also necessary to bear frost, thunder and lightning, blast, falling rocks cunning
The external world such as slope, earthquake fluctuating and bird pest is damaged, in addition it is also necessary to tackle the natural aging phenomenon of material.Can transmission system normally transport
OK, it can be impacted directly to distribution system.Accordingly, it would be desirable to timely and effectively make transmission line of electricity monitoring, accomplish to shift to an earlier date
Prevention.
In order to accurately monitor transmission line of electricity, industry research emphasis is turned into transmission line of electricity initiative recognition, overlooks and sees from shaft tower
Examine circuit and offside pole tower operation be circuit video monitoring developing direction, but the complex background residing for transmission line of electricity is to transmission of electricity
The image-recognizing method that circuit image identification is proposed in challenge, conventional art can not be recognized accurately defeated under complex background
Electric line image.
The content of the invention
Based on this, it is necessary to which there is provided a kind of power transmission line for the problem of can not being accurately identified for transmission line of electricity under complex background
Road recognition methods and device, efficiently solve transmission line of electricity problem of image recognition under complex background, improve transmission line of electricity image
The accuracy rate of identification.
A kind of transmission line of electricity recognition methods, including step：
The original image of transmission line of electricity is obtained, gray processing processing is carried out to the original image, the original image is obtained
Gray level image；
The gray level image is filtered, the gray level image before and after filtering is carried out into difference enhancing calculates, and is strengthened
Image；
The edge contour image of the enhancing image is extracted, with the external profile of the edge contour image to the edge
Contour images carry out filtering screening, obtain the contour images of transmission line of electricity；
The contour images of the transmission line of electricity are plotted on the original image, to identify in the original image
Transmission line of electricity.
A kind of transmission line of electricity identifying device, including：
Gray processing processing module, the original image for obtaining transmission line of electricity is carried out at gray processing to the original image
Reason, obtains the gray level image of the original image；
Strengthen image and obtain module, for being filtered to the gray level image, the gray level image before and after filtering is carried out
Difference enhancing is calculated, and obtains enhancing image；
Contour images obtain module, the edge contour image for extracting the enhancing image, with the edge contour figure
The external profile of picture carries out filtering screening to the edge contour image, obtains the contour images of transmission line of electricity；
Transmission line of electricity mark module, for the contour images of the transmission line of electricity to be plotted in into the original image, with
Identify the transmission line of electricity in the original image.
Above-mentioned transmission line of electricity recognition methods and device, efficiently solve transmission line of electricity problem of image recognition under complex background,
The versatility and recognition accuracy of transmission line of electricity identification are improved, helps further to realize foreign body intrusion, the stranded, icing of broken string
The analyses such as thickness, wind dance swing judge；Do not influenceed by complex background, also can be accurate under the bad weathers such as foggy weather
The transmission line of electricity in image is identified, the normal reliable operation of transmission system is ensured.
Brief description of the drawings
Fig. 1 is the schematic flow sheet of the transmission line of electricity recognition methods of an embodiment；
Fig. 2 is the schematic diagram of the gray level image of a specific embodiment；
Fig. 3 is the schematic diagram of the filtering image of a specific embodiment；
Fig. 4 strengthens the schematic diagram of image for a specific embodiment；
Fig. 5 is the schematic diagram of the edge contour image of a specific embodiment；
Fig. 6 is the schematic diagram of the contour images of the transmission line of electricity of a specific embodiment；
Fig. 7 is the structural representation of the transmission line of electricity identifying device of an embodiment；
Fig. 8 is the structural representation of the transmission line of electricity mark module of an embodiment.
Embodiment
It is below in conjunction with the accompanying drawings and preferably real further to illustrate the effect of the technological means of the invention taken and acquirement
Example is applied, to technical scheme, clear and complete description is carried out.
As shown in figure 1, a kind of transmission line of electricity recognition methods, including step：
S110, the original image for obtaining transmission line of electricity, gray processing processing is carried out to the original image, is obtained described original
The gray level image of image；
S120, the gray level image is filtered, the gray level image before and after filtering is carried out into difference enhancing calculates, and obtains
Strengthen image；
S130, the edge contour image for extracting the enhancing image, with the external profile of the edge contour image to institute
State edge contour image and carry out filtering screening, obtain the contour images of transmission line of electricity；
S140, the contour images of the transmission line of electricity are plotted on the original image, to identify the original graph
Transmission line of electricity as in.
Above-mentioned transmission line of electricity recognition methods can realize that program may operate in terminal by corresponding program.In order to
The present invention is more fully understood, each step is described in detail below.
In step s 110, the original image of transmission line of electricity is the figure for including transmission line of electricity shot using camera device
Picture, is typically monitoring image.The characteristics of transmission line of electricity is in monitoring image includes the following aspects：(1) linearity configuration is bright
Aobvious, width is smaller in picture；(2) general to be distributed in sag shape, some angle shots may be in alignment (such as from transmission of electricity
Overlooked above line)；(3) there is larger span, typically can cross over full figure；(4) it is generally near between a plurality of circuit of same shaft tower
Like parallel relation, in the absence of intersecting situation, but it is overlapping so as to cause line line phase that influence is there may be under some shooting angle
The situation of friendship；(5) background of overhead transmission line monitoring is typically complex, and is influenceed larger by extraneous circumstances such as weather.
Get after the original image of transmission line of electricity, original image can be carried out using existing method in the prior art
Gray processing processing, obtains gray level image.For example, as shown in Fig. 2 showing for the gray level image of the original image of a specific embodiment
It is intended to, from the figure it can also be seen that due to the influence of the factors such as weather and environment, the feature of transmission line of electricity in the picture is not very
Clearly.
In the step s 120, there are a variety of implementations to gray level image filtering, for example, using medium filtering to gray level image
Algorithm makees smothing filtering, i.e.,：
In formula (1), g (x, y) is filtering image gray value, i.e., filtered gray level image gray value；W (s, t) is (x, y)
The weighted value of (s, t) is offset, s and t are respectively the deviant of abscissa and ordinate；F (x+s, y+t) is gray level image coordinate (x
+ s, y+t) gray value；M=2*a+1, n=2*b+1, m and n are respectively the width and height of Filtering Template.
After being filtered to gray level image, filtering image is obtained, i.e., filtered gray level image is filtered shown in such as Fig. 3
Image.Then the gray level image before and after filtering is made into difference enhancing calculating, obtains strengthening image, such as enhancing as shown in Figure 4
Image.In one embodiment, the gray level image before and after filtering is carried out into difference enhancing to calculate, the step of obtaining enhancing image is wrapped
Include：The difference of gray level image and filtered gray level image before filtering is calculated, enhancing image is obtained, i.e.,：
H (x, y)=f (x, y)-g (x, y) (2)
In formula (2), h (x, y) is the gray value of enhancing image, and f (x, y) is the gray value of the gray level image before filtering, g
(x, y) is the gray value of filtered gray level image.
In step s 130, extracting the edge contour image of the enhancing image has a variety of implementations, for example, at one
In embodiment, extract it is described enhancing image edge contour image the step of can include：Using threshold adaptive Canny operators
Extract the edge contour image of the enhancing image.Those skilled in the art can also extract enhancing image using other modes
Edge contour, the present invention makes restriction not to this.
It is specific as follows using threshold adaptive Canny operator extraction edge contours：1) obtained using sobel difference operators
X the and y directional derivatives of gray level image；2) image each point gradient magnitude and its direction are obtained；3) two threshold values of height, gradient are set
More than high threshold be strong side pixel, more than Low threshold for it is potentially possible be weaker marginal point；4) remained by primary screening
Under strong edge point in along gradient direction carry out non-maxima suppression；5) the strong edge point after postsearch screening is found neighbouring
Weak edge point obtains final edge.
The high-low threshold value of Canny operators is adaptation value, and specific value step is as follows：1) gradient map of gray level image is asked for
Imge and gradient maximum maxv；2) set gradient map histogram hist hist_size=maxv, ranges [0,
Maxv] in the range of, and calculate histogram hist；3) non-edge pixels point is set to account for the ratio of entire image pixel
PercentOfPixelsNotEdges；4) total threshold values, total=size.height*size.width* are set
PercentOfPixelsNotEdges；5) in traversal histogram hist, the corresponding pixel number of each Grad, and sum
It is stored in sum variables；If 6) value of sum variables is more than total value, the circulation of hist traversals is exited；7) Canny is calculated
Low threshold and high threshold；If 8) amplitude of a certain location of pixels exceedes high threshold, the pixel is left edge pixel；Such as
The amplitude of really a certain location of pixels is less than Low threshold, and the pixel is excluded；If the amplitude of a certain location of pixels is in two threshold values
Between, the pixel is only retained when being connected to a pixel for being higher than high threshold.
As shown in figure 5, the schematic diagram of the edge contour image for Fig. 4 enhancing images of extraction, from this figure, it can be seen that should
The burr of complex background is included in edge contour image, therefore also needs to carry out filtering screening to edge contour images, flash trimming is removed
The burr of complex background in edge contour images, obtains the contour images of pure transmission line of electricity.
In one embodiment, the external profile is boundary rectangle；The edge contour image according to following function pairs
Carry out filtering screening：
In formula (3), ri(x, y) represents the point coordinates (x, y) of profile i in the edge contour image, and W represents boundary rectangle
Width, H represents the height of boundary rectangle, and C is constant, and such as C is that 10 , ＆＆ represent logical operator "AND".The implication of formula (3)
For：If r on x directionsiThe difference of the maxima and minima of (x, y) is more than r on W/C, and y directionsiThe maximum of (x, y)
It is more than H/C with the difference of minimum value, then riThe value of (x, y) is set to 1, and other situations are set to 0.
Contour images after filtering are as shown in fig. 6, as can be seen from Figure 6 by filtering, complexity is carried on the back in edge contour image
The burr of scape has been removed, the contour images of remaining pure transmission line of electricity.
In step S140, obtain after the contour images of transmission line of electricity, it is necessary to according to the contour images in original image
Transmission line of electricity be identified, i.e., on the original image repaint screening rear profile image so that original is recognized accurately in user
Transmission line of electricity in beginning image.In one embodiment, the contour images of the transmission line of electricity are plotted in the original image
On step can include：
S1401, the profile point and the profile for obtaining from the contour images of the transmission line of electricity transmission line of electricity
The coordinate of point；
S1402, using the original image as background image, using the profile point as foreground image, according to the wheel
The profile point is plotted on the original image by the coordinate of exterior feature point.
Based on same inventive concept, the present invention also provides a kind of transmission line of electricity identifying device, below in conjunction with the accompanying drawings to this hair
Bright embodiment is described in detail.
As shown in fig. 7, a kind of transmission line of electricity identifying device, including：
Gray processing processing module 110, the original image for obtaining transmission line of electricity carries out gray processing to the original image
Processing, obtains the gray level image of the original image；
Strengthen image and obtain module 120, for being filtered to the gray level image, the gray level image before and after filtering is entered
The enhancing of row difference is calculated, and obtains enhancing image；
Contour images obtain module 130, the edge contour image for extracting the enhancing image, with the edge contour
The external profile of image carries out filtering screening to the edge contour image, obtains the contour images of transmission line of electricity；
Transmission line of electricity mark module 140, for the contour images of the transmission line of electricity to be plotted in into the original image,
To identify the transmission line of electricity in the original image.
Above-mentioned transmission line of electricity identifying device may operate in terminal.For a better understanding of the present invention, below to each
Module describes in detail.
The original image of transmission line of electricity is the image for including transmission line of electricity shot using camera device, is typically monitoring
Image.Gray processing processing module 110 is got after the original image of transmission line of electricity, can be using existing method in the prior art
Gray processing processing is carried out to original image, gray level image is obtained.
Enhancing image obtains module 120 has a variety of implementations to gray level image filtering, for example, in being used to gray level image
Value filtering algorithm makees smothing filtering.After enhancing image acquisition module 120 is filtered to gray level image, filtering image is obtained, will
Gray level image before and after filtering makees difference enhancing calculating, obtains strengthening image.In one embodiment, the enhancing image is obtained
Module 120 calculates the difference of gray level image and filtered gray level image before filtering, obtains enhancing image.
The edge contour image that contour images acquisition module 130 extracts the enhancing image has a variety of implementations, for example,
In one embodiment, the contour images obtain module 130 and can strengthened using described in threshold adaptive Canny operator extractions
The edge contour image of image.Those skilled in the art can also extract the edge contour of enhancing image using other modes, this
Restriction is made in invention not to this.
The burr of complex background is included in edge contour image, therefore also needs to carry out sieves to edge contour images
Choosing, removes the burr of complex background in edge contour image, obtains the contour images of pure transmission line of electricity.In one embodiment
In, the external profile is boundary rectangle；Contour images obtain the edge contour image according to following function pairs of module 130 and entered
Row filtering screening：
In formula, ri(x, y) represents the point coordinates (x, y) of profile i in the edge contour image, and W represents boundary rectangle
Width, H represents the height of boundary rectangle, and C is constant, and such as C is that 10 , ＆＆ represent logical operator "AND".
Contour images obtain module 130 and obtained after the contour images of transmission line of electricity, and transmission line of electricity mark module 140 needs root
The transmission line of electricity in original image is identified according to the contour images, i.e., repaints screening rear profile figure on the original image
Picture, so that the transmission line of electricity in original image is recognized accurately in user.In one embodiment, as shown in figure 8, the power transmission line
Line module 140 can include：
Profile point extraction unit 1401, the wheel for obtaining the transmission line of electricity from the contour images of the transmission line of electricity
The coordinate of exterior feature point and the profile point；
Profile point drawing unit 1402, for using the original image as background image, using the profile point as preceding
The profile point, is plotted on the original image by scape image according to the coordinate of the profile point.
In order to timely and effectively find out hiding harm, each regional power department puts into substantial amounts of human, financial, and material resources,
Among patrol, monitoring and maintenance applied to power transmission lines.And industry research emphasis is turned into circuit initiative recognition.Pass
In system technology, typically transmission line of electricity is identified monitoring using following methods：Realized using high precision instrument to power transmission line
Accurate monitoring, but this instrument price is high, and also its scope that can be used is smaller；Attendant obtains to monitoring manually
Video image carry out analysis calculating because personal work energy is limited, and the video information that Surveillance center obtains
Amount is very more, so possibly transmission line of electricity can not be recognized accurately, and causes the control survey broken to some transmission lines not in place,
The promptness and validity of test problems can not be accomplished, so as to threaten transmission line security presence；Take photo by plane visual angle and ground is regarded
The machine vision identification of lines technology at angle, these visual angles are generally interim measure, are not suitable for the monitored for prolonged periods of time to overhead transmission line；From
Shaft tower top view circuit and offside pole tower operation are the developing direction of circuit video monitoring, but complex background is to transmission line of electricity
Image recognition proposes challenge.
Above-mentioned transmission line of electricity recognition methods and device, are recognized by the transmission line of electricity based on machine vision, are realized to figure
Effective identification of piece target identification thing circuit, improves the versatility and recognition accuracy of identification, helps further to realize different
The analyses such as thing invasion, the dance swing of the stranded, ice covering thickness that breaks, wind judge, it is ensured that the promptness and validity of problem detection, protect
Transmission line safety and stability is hindered；Do not influenceed, can be had under certain condition in reliably working under foggy weather by complex background
There is stronger robustness；Cost is low, can apply to several scenes, not limited in view angle, it is adaptable to the length of overhead transmission line
Phase monitors.
One of ordinary skill in the art will appreciate that realize all or part of flow in above-described embodiment method, being can be with
The hardware of correlation is instructed to complete by computer program, described program can be stored in a computer read/write memory medium
In, the program is upon execution, it may include such as the flow of the embodiment of above-mentioned each method.Wherein, described storage medium can be magnetic
Dish, CD, read-only memory (Read-Only Memory, ROM) or random access memory (Random Access
Memory, RAM) etc..
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope of this specification record is all considered to be.
Embodiment described above only expresses the several embodiments of the present invention, and it describes more specific and detailed, but simultaneously
Can not therefore it be construed as limiting the scope of the patent.It should be pointed out that coming for one of ordinary skill in the art
Say, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of transmission line of electricity recognition methods, it is characterised in that including step：
The original image of transmission line of electricity is obtained, gray processing processing is carried out to the original image, the ash of the original image is obtained
Spend image；
The gray level image is filtered, the gray level image before and after filtering is carried out into difference enhancing calculates, and obtains enhancing image；
The edge contour image of the enhancing image is extracted, with the external profile of the edge contour image to the edge contour
Image carries out filtering screening, obtains the contour images of transmission line of electricity；
The contour images of the transmission line of electricity are plotted on the original image, to identify the transmission of electricity in the original image
Circuit.
2. transmission line of electricity recognition methods according to claim 1, it is characterised in that the external profile is boundary rectangle；
Edge contour image carries out filtering screening according to following function pairs：
Wherein, ri(x, y) represents the point coordinates (x, y) of profile i in the edge contour image, and W represents the width of boundary rectangle, H
The height of boundary rectangle is represented, C is constant.
3. transmission line of electricity recognition methods according to claim 2, it is characterised in that by the contour images of the transmission line of electricity
The step being plotted on the original image includes：
The profile point of the transmission line of electricity and the coordinate of the profile point are obtained from the contour images of the transmission line of electricity；
Using the original image as background image, using the profile point as foreground image, according to the coordinate of the profile point
The profile point is plotted on the original image.
4. the transmission line of electricity recognition methods according to claims 1 to 3 any one, it is characterised in that before and after filtering
Gray level image carries out difference enhancing and calculated, and the step of obtaining enhancing image includes：
The difference of gray level image and filtered gray level image before filtering is calculated, enhancing image is obtained.
5. the transmission line of electricity recognition methods according to claims 1 to 3 any one, it is characterised in that extract the enhancing
The step of edge contour image of image, includes：
Using the edge contour image of enhancing image described in threshold adaptive Canny operator extractions.
6. a kind of transmission line of electricity identifying device, it is characterised in that including：
Gray processing processing module, the original image for obtaining transmission line of electricity carries out gray processing processing to the original image, obtained
Obtain the gray level image of the original image；
Strengthen image and obtain module, for being filtered to the gray level image, the gray level image before and after filtering is subjected to difference
Enhancing is calculated, and obtains enhancing image；
Contour images obtain module, the edge contour image for extracting the enhancing image, with the edge contour image
External profile carries out filtering screening to the edge contour image, obtains the contour images of transmission line of electricity；
Transmission line of electricity mark module, for the contour images of the transmission line of electricity to be plotted in into the original image, to identify
The transmission line of electricity gone out in the original image.
7. transmission line of electricity identifying device according to claim 6, it is characterised in that the external profile is boundary rectangle；
The contour images obtain module edge contour image according to following function pairs and carry out filtering screening：
Wherein, ri(x, y) represents the point coordinates (x, y) of profile i in the edge contour image, and W represents the width of boundary rectangle, H
The height of boundary rectangle is represented, C is constant.
8. transmission line of electricity identifying device according to claim 7, it is characterised in that the transmission line of electricity mark module bag
Include：
Profile point extraction unit, for obtained from the contour images of the transmission line of electricity transmission line of electricity profile point and
The coordinate of the profile point；
Profile point drawing unit, for as background image, regarding the profile point as the original image as foreground image, root
The profile point is plotted on the original image according to the coordinate of the profile point.
9. the transmission line of electricity identifying device according to claim 6 to 8 any one, it is characterised in that the enhancing image
The difference that module calculates gray level image and filtered gray level image before filtering is obtained, enhancing image is obtained.
10. the transmission line of electricity identifying device according to claim 6 to 8 any one, it is characterised in that the contour images
Obtain edge contour image of the module using enhancing image described in threshold adaptive Canny operator extractions.
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