CN109104591A - A kind of image collecting device for power equipment - Google Patents
A kind of image collecting device for power equipment Download PDFInfo
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- CN109104591A CN109104591A CN201811091687.9A CN201811091687A CN109104591A CN 109104591 A CN109104591 A CN 109104591A CN 201811091687 A CN201811091687 A CN 201811091687A CN 109104591 A CN109104591 A CN 109104591A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/40—Extraction of image or video features
- G06V10/56—Extraction of image or video features relating to colour
Abstract
The present invention relates to technical field of electric power, disclose a kind of image collecting device for power equipment.Provided by the present invention for the image collecting device of power equipment, it can realize the automatic detecting to cable using unmanned plane and image procossing mechanism, and cable is judged automatically with the presence or absence of abnormal, substantially increase the efficiency of cable inspection, the timeliness for improving cable inspection reduces the consumption of human cost in cable inspection.In addition, passing through the cooperation of unmanned plane and image procossing mechanism, the cable between two neighboring cable termination tower can be greatly improved with the presence or absence of the accuracy of abnormal judgement.
Description
Technical field
The present invention relates to technical field of electric power more particularly to a kind of image collecting devices for power equipment.
Background technique
With the continuous development of electric power networks, the complexity of power cable system is gradually increased, the maintenance of electric power networks
Difficulty also increases therewith.In power grid system, high voltage overhead cable be electric power networks system important component, easily
The extraneous factors such as the damage influenced by external environment, such as lightning stroke, strong wind are easy to cause the accidents such as cable fracture to occur.For
This, carries out the pith that inspection is electric power network plant maintenance work to cable.
However, will expend a large amount of manpower with the increasingly complexity of power cable system using traditional manual inspection and provide
Source.Meanwhile manual inspection low efficiency, poor in timeliness can not timely feedback cable fault scenario.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of image collectors for power equipment
It sets, can realize the automatic detecting to cable using unmanned plane and image procossing mechanism, and judge automatically cable and whether there is
It is abnormal.
The embodiment of the present invention is achieved through the following technical solutions:
For the image collecting device of power equipment, including unmanned plane and the image procossing mechanism being arranged on unmanned plane, figure
As processing mechanism includes:
Locating module, locating module are used to obtain the GPS coordinate of two neighboring cable termination tower；
With the flight path generation module of locating module communication connection, flight path generation module is used for according to two neighboring cable
The GPS coordinate of terminal tower generates the rectilinear flight track that another cable termination tower is flown to from one of cable termination tower；
Respectively with the flight control modules of flight path generation module and unmanned plane communication connection, flight control modules are for basis
Rectilinear flight TRAJECTORY CONTROL unmanned plane during flying, the flying height of unmanned plane are greater than the height of two neighboring cable termination tower；
Photographic device, photographic device are used for when unmanned plane is according to the flight of rectilinear flight track, record the view immediately below unmanned plane
Frequency image；
With the image analysis module of photographic device communication connection, image analysis module is used for the video figure recorded according to photographic device
Picture extracts the extension track of the cable between two neighboring cable termination tower；And
With the abnormal judgment module of image analysis module communication connection, abnormal judgment module is used to be judged according to extension track adjacent
Cable between two cable termination towers is with the presence or absence of abnormal.
Further, the transmission frame number per second of video image is 20.
Further, image analysis module includes:
Plane coordinates logging modle, plane coordinates logging modle are used for when unmanned plane is according to the flight of rectilinear flight track, every
Prefixed time interval record a unmanned plane plane coordinates signal, and by the plane coordinates signal recorded every time and record when
Time point pairing；
With the picture frame abstraction module of plane coordinates logging modle communication connection, picture frame abstraction module is used for according to each plane
Coordinate signal corresponding time point extracts the picture frame in video image, and by each picture frame and corresponding plane coordinates signal
It is matched with time point；
With the consecutive image generation module of picture frame abstraction module communication connection, consecutive image generation module is used for according to each figure
As frame corresponding time point, each picture frame is successively placed in a plane coordinate system with the sequence of time from front to back, it is each
Picture frame arranges in plane coordinate system according to its corresponding plane coordinates signal, and the picture frame in rear merging plane coordinate system
The picture frame being placed in plane coordinate system before is covered, and then generates consecutive image；
Extend trajectory extraction module, extends trajectory extraction module and be used to extract two neighboring cable termination tower according to consecutive image
Between cable extension track.
Further, prefixed time interval is 0.05 second.
Further, extend trajectory extraction module to specifically include:
Photometer, for measuring the intensity of environment light；
Example color storage module, example color storage module is for storing RGB of the cable surface under varying strength environment light
Color value；
Respectively with the color selecting module of photometer and example color storage module communication connection, color selecting module is for basis
The intensity of current environment light selects corresponding target RGB color value in example color storage module；
With the mark module of color selecting module communication connection, mark module is used for the RGB of each pixel in consecutive image
Color value is compared with target RGB color value, and pixel of the comparing result in default error range is marked；
Pixel removes module, and pixel removal module obtains extending track for removing unlabelled pixel in consecutive image.
Further, comparing result is calculated by the following formula to obtain:
D=(RO 2+GO 2+BO 2)/(RE 2+GE 2+BE 2)；
Wherein, D indicates comparing result, ROIndicate value red in the RGB color value of the pixel of consecutive image, GOIndicate sequential chart
The value of the RGB color value Green of the pixel of picture, BOIndicate value blue in the RGB color value of the pixel of consecutive image, REIt indicates
Red value, G in target RGB color valueEIndicate the value of target RGB color value Green, BEIndicate blue in target RGB color value
The value of color；
Default error range is 0.93-1.05.
Further, abnormal judgment module includes:
Normal to extend track storage module, the normal track storage module that extends is for prestoring between two neighboring cable termination tower
The normal extension track of cable under normal circumstances；
Extend track contrast module, extends track contrast module and be used to extend normal at track and image analysis module extraction
Extend track to compare, obtains registration between the two；
As a result judgment module, as a result judgment module when registration is less than 95% for determining between two neighboring cable termination tower
Cable exist abnormal, as a result judgment module is used to determine two neighboring cable termination tower when registration is greater than or equal to 95%
Between cable there is no abnormal.
Technical solution of the present invention is at least had the following advantages and beneficial effects:
Image collecting device provided in an embodiment of the present invention for power equipment can utilize unmanned plane and image processor
Structure realizes the automatic detecting to cable, and judges automatically cable with the presence or absence of exception, substantially increases the efficiency of cable inspection, mentions
The high timeliness of cable inspection, reduces the consumption of human cost in cable inspection.In addition, passing through unmanned plane and image procossing
The cooperation of mechanism can greatly improve the cable between two neighboring cable termination tower with the presence or absence of the accurate of abnormal judgement
Property.
Detailed description of the invention
For the clearer technical solution for illustrating the embodiment of the present invention, below to needing attached drawing to be used to make in embodiment
It is simple to introduce.It should be appreciated that the following drawings illustrates only certain embodiments of the invention, it is not construed as to model of the present invention
The limitation enclosed.To those skilled in the art, without creative efforts, it can obtain according to these attached drawings
Obtain other accompanying drawings.
Fig. 1 is the functional block diagram of the image collecting device provided in an embodiment of the present invention for power equipment；
Fig. 2 is the principle frame of image analysis module in the image collecting device provided in an embodiment of the present invention for power equipment
Figure；
Fig. 3 is to extend the original of trajectory extraction module in the image collecting device provided in an embodiment of the present invention for power equipment
Manage block diagram；
Fig. 4 is the principle frame of abnormal judgment module in the image collecting device provided in an embodiment of the present invention for power equipment
Figure.
In figure: 010- unmanned plane；020- image procossing mechanism；100- locating module；200- flight path generation module；
300- flight control modules；400- photographic device；500- image analysis module；510- coordinate record module；520- picture frame is taken out
Modulus block；530- consecutive image generation module；540- extends trajectory extraction module；541- photometer；The storage of 542- example color
Module；543- color selecting module；544- mark module；545- pixel removes module；600- exception judgment module；610- is normal
Extend track storage module；620- extends track contrast module；630- result judgment module.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with attached drawing, to the present invention
Technical solution in embodiment carries out clear, complete description.Obviously, described embodiment is that a part of the invention is implemented
Example, instead of all the embodiments.
Therefore, the model of claimed invention is not intended to limit to the detailed description of the embodiment of the present invention below
It encloses, but is merely representative of section Example of the invention.Based on the embodiments of the present invention, those of ordinary skill in the art are not having
Every other embodiment obtained under the premise of creative work is made, shall fall within the protection scope of the present invention.
It should be noted that in the absence of conflict, the feature and technology in embodiment and embodiment in the present invention
Scheme can be combined with each other.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
Embodiment:
Fig. 1 is the functional block diagram of the image collecting device provided in this embodiment for power equipment.Fig. 1 is please referred to, in this reality
It applies in example, the image collecting device for power equipment includes unmanned plane 010 and the image processor that is arranged on unmanned plane
Structure 020.
In the present embodiment, unmanned plane 010 is unmanned vehicle.Image procossing mechanism 020 is mounted on unmanned plane 010,
It is moved with unmanned plane 010.
In the present embodiment, image procossing mechanism 020 include locating module 100, with 100 communication connection of locating module fly
Row track generation module 200, the respectively flight control modules with 010 communication connection of flight path generation module 200 and unmanned plane
300, photographic device 400, logical with the image analysis module 500 of 400 communication connection of photographic device and with image analysis module 500
Interrogate the abnormal judgment module 600 of connection.
Locating module 100 is used to obtain the GPS coordinate of two neighboring cable termination tower, and by two neighboring cable termination tower
GPS coordinate be sent to flight path generation module 200.Flight path generation module 200 is used for whole according to two neighboring cable
The GPS coordinate of head tower generates the rectilinear flight track that another cable termination tower is flown to from one of cable termination tower.Flight
The rectilinear flight track of generation is sent to flight control modules 300 by track generation module 200.300 basis of flight control modules
The rectilinear flight TRAJECTORY CONTROL unmanned plane 010 received flies, in this way, unmanned plane 010 can be flown to from a cable termination tower
Another cable termination tower.Photographic device 400 is used for when unmanned plane 010 is according to the flight of rectilinear flight track, records unmanned plane
Video image immediately below 010.In flight course, the flying height of unmanned plane 010 is greater than two neighboring cable termination tower
Highly, in this way, enabling photographic device 400 to shoot downwards from the position for being higher than cable termination tower, so that photographic device
400 can take the cable being connected between two neighboring cable termination tower.Photographic device 400 sends out the video image of record
It send to image analysis module 500.Image analysis module 500 is used for the video image recorded according to photographic device 400, extracts phase
The extension track of cable between adjacent two cable termination towers.The extension track extracted is sent to by image analysis module 500
Abnormal judgment module 600.Abnormal judgment module 600 is used to judge the electricity between two neighboring cable termination tower according to extension track
Cable is with the presence or absence of abnormal.
Image collecting device provided in this embodiment for power equipment utilizes the cable extracted from video image
Extension track judge that cable with the presence or absence of abnormal, when cable fracture or cable are bent under external force, extracts
Extend track and there is the case where fracture or bending, there are different for the cable that thus can determine whether between two neighboring cable termination tower
Often.Image collecting device provided in this embodiment for power equipment can be judged two neighboring by simple rule
Cable between cable termination tower is with the presence or absence of abnormal, accuracy rate height.Into one, unmanned plane 010 and image can be utilized
Processing mechanism 020 realizes the automatic detecting to cable, and judges automatically cable with the presence or absence of exception, substantially increases cable inspection
Efficiency, improve the timeliness of cable inspection, reduce the consumption of human cost in cable inspection.
Further, in the present embodiment, photographic device 400 record video image transmission frame number per second (FPS,
Frames Per Second) it is 20.
Fig. 2 is the principle of image analysis module 500 in the image collecting device provided in this embodiment for power equipment
Block diagram.Referring to figure 2., in the present embodiment, image analysis module 500 includes plane coordinates logging modle 510 and plane coordinates
The picture frame abstraction module 520 of 510 communication connection of logging modle, the consecutive image with 520 communication connection of picture frame abstraction module
Generation module 530 and extension trajectory extraction module 540 with 530 communication connection of consecutive image generation module.
Plane coordinates logging modle 510 is used for when unmanned plane 010 is according to the flight of rectilinear flight track, every preset time
The plane coordinates signal (in the present embodiment, prefixed time interval is 0.05 second) of an interval unmanned plane 010 of record, and will be every
Time point when the plane coordinates signal and record of secondary record matches.Plane coordinates signal, that is, unmanned plane 010 GPS positioning letter
Number.Picture frame abstraction module 520 is used to extract the image in video image according to each plane coordinates signal corresponding time point
Frame, and each picture frame is matched with corresponding plane coordinates signal and time point.It should be pointed out that working as photographic device 400
In record video image, each frame image can be matched with current time point.In this way, picture frame abstraction module 520
The picture frame in video image can be extracted according to each plane coordinates signal corresponding time point.
Consecutive image generation module 530 was used for according to each picture frame corresponding time point, with time from front to back suitable
Each picture frame is successively placed in a plane coordinate system by sequence, and each picture frame is according to its corresponding plane coordinates signal in plane
Arrangement (the plane coordinates signal for keeping the center of each picture frame corresponding is corresponding) in coordinate system, and after be placed in plane coordinate system
Interior picture frame covers the picture frame being placed in plane coordinate system before, and then generates consecutive image.
Extend trajectory extraction module 540 to be used to extract the cable between two neighboring cable termination tower according to consecutive image
Extension track.
Generally, two neighboring cable termination tower of covering and between the two can be shot from sufficiently high height
The photo of cable can also carry out extending the extraction of track by the photo of shooting.But cover two neighboring cable termination tower
And between the two in the photo of cable, pixel occupied by cable is few, the accuracy that will lead to the extension track extracted is big
It is big to reduce.In order to improve pixel occupied by cable in photo, need using the photographic device 400 for arriving very high resolution, this will
Greatly promote cost.For this purpose, in the present embodiment, using video image generate comprising two neighboring cable termination tower and the two it
Between cable consecutive image, and extract based on consecutive image the extension track of the cable between two neighboring cable termination tower.
In the present embodiment, when generating consecutive image, using time point and plane coordinates signal, each picture frame so can be realized
Accurate synthesis avoids cable in consecutive image synthesis process from extending track appearance so that the accuracy of consecutive image greatly increases
The case where metamorphopsic distortion.In addition, comprising two neighboring cable termination tower and electric between the two due to being generated using video image
The consecutive image of cable, therefore photographic device 400 can carry out shooting at close range, greatly reduce the resolution to photographic device 400
The requirement of rate, and then greatly reduce cost.
Fig. 3 is to extend trajectory extraction module 540 in the image collecting device provided in this embodiment for power equipment
Functional block diagram.Referring to figure 3., in the present embodiment, extending trajectory extraction module 540 includes photometer 541, the storage of example color
Module 542, respectively the color selecting module 543 and color with 542 communication connection of photometer 541 and example color storage module
The mark module 544 and pixel of 543 communication connection of selecting module remove module 545.
Photometer 541 is used to measure the intensity of environment light.Example color storage module 542 is for storing cable surface not
With the RGB color value under strength environment light.Color selecting module 543 is used to receive the intensity of the environment light of the transmission of photometer 541
Signal.Color selecting module 543 is corresponding for being selected in example color storage module 542 according to the intensity of current environment light
Target RGB color value.Mark module 544 is used for the RGB color value of each pixel in consecutive image and target RGB color value
It compares, pixel of the comparing result in default error range is marked.Pixel removal module 545 is continuous for removing
Unlabelled pixel in image obtains extending track.
In the present embodiment, by measuring the intensity of environment light, and the RGB of the cable surface under current environment luminous intensity is selected
Color value passes through then by comparing the RGB color value of each pixel in consecutive image and target RGB color value
Comparing result can will indicate that the pixel of cable surface is marked in consecutive image.Relative to traditional Boundary Recognition side
Method, the present embodiment can more accurately extract the extension track of cable, while operation strength is smaller, more efficient.
Further, in the present embodiment, comparing result is calculated by the following formula to obtain:
D=(RO 2+GO 2+BO 2)/(RE 2+GE 2+BE 2)；
Wherein, D indicates comparing result, ROIndicate value red in the RGB color value of the pixel of consecutive image, GOIndicate sequential chart
The value of the RGB color value Green of the pixel of picture, BOIndicate value blue in the RGB color value of the pixel of consecutive image, REIt indicates
Red value, G in target RGB color valueEIndicate the value of target RGB color value Green, BEIndicate blue in target RGB color value
The value of color；
Default error range is 0.93-1.05.
Fig. 4 is the principle of abnormal judgment module 600 in the image collecting device provided in this embodiment for power equipment
Block diagram.Referring to figure 4., in the present embodiment, abnormal judgment module 600 includes normal extension track storage module 610, extends rail
Mark contrast module 620 and result judgment module 630., the normal track storage module 610 that extends is for prestoring two neighboring cable end
The normal extension track of cable under normal circumstances between head tower.Cable between two neighboring cable termination tower is in positive reason
Normal extension track under condition can in the case where ensuring the normal situation of cable, provide through this embodiment for power equipment
Image collecting device obtains.Acquisition methods realize that details are not described herein again by descriptions above.Extend track contrast module
620, for comparing normal extension track with the extension track at 500 extraction of image analysis module, obtain between the two
Registration.As a result judgment module 630 is for determining that the cable between two neighboring cable termination tower is deposited when registration is less than 95%
In exception, as a result judgment module is used to determine the electricity between two neighboring cable termination tower when registration is greater than or equal to 95%
There is no abnormal for cable.
Image collecting device provided in this embodiment for power equipment can utilize unmanned plane and image processor
Structure realizes the automatic detecting to cable, and judges automatically cable with the presence or absence of exception, substantially increases the efficiency of cable inspection, mentions
The high timeliness of cable inspection, reduces the consumption of human cost in cable inspection.In addition, passing through unmanned plane and image procossing
The cooperation of mechanism can greatly improve the cable between two neighboring cable termination tower with the presence or absence of the accurate of abnormal judgement
Property.
The foregoing is merely section Examples of the invention, the limitation present invention are not configured as, for this field
For technical staff, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any
Modification, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (7)
1. being used for the image collecting device of power equipment, which is characterized in that including unmanned plane and be arranged on the unmanned plane
Image procossing mechanism, described image processing mechanism includes:
Locating module, the locating module are used to obtain the GPS coordinate of two neighboring cable termination tower；
With the flight path generation module of the locating module communication connection, the flight path generation module is used for according to adjacent
The GPS coordinate of two cable termination towers generates the rectilinear flight that another cable termination tower is flown to from one of cable termination tower
Track；
Respectively with the flight control modules of the flight path generation module and the unmanned plane communication connection, flight control
Module is used for the unmanned plane during flying according to the rectilinear flight TRAJECTORY CONTROL, and the flying height of the unmanned plane is greater than adjacent two
The height of a cable termination tower；
Photographic device, the photographic device is used for when the unmanned plane is according to the rectilinear flight track flight, described in record
Video image immediately below unmanned plane；
With the image analysis module of the photographic device communication connection, described image analysis module is used for according to the photographic device
The video image of record extracts the extension track of the cable between two neighboring cable termination tower；And
With the abnormal judgment module of described image analysis module communication connection, the exception judgment module is used for according to the extension
Track judges the cable between two neighboring cable termination tower with the presence or absence of abnormal.
2. the image collecting device according to claim 1 for power equipment, it is characterised in that:
The transmission frame number per second of the video image is 20.
3. the image collecting device according to claim 1 for power equipment, which is characterized in that described image analyzes mould
Block includes:
Plane coordinates logging modle, the plane coordinates logging modle are used in the unmanned plane according to the rectilinear flight track
When flight, the plane coordinates signal of the primary unmanned plane is recorded every prefixed time interval, and the plane recorded every time is sat
Time point when marking signal and record matches；
With the picture frame abstraction module of the plane coordinates logging modle communication connection, described image frame abstraction module is used for basis
Each plane coordinates signal corresponding time point extracts the picture frame in video image, and by each picture frame and corresponding plane
Coordinate signal and time point pairing；
With the consecutive image generation module of described image frame abstraction module communication connection, the consecutive image generation module is for pressing
According to each picture frame corresponding time point, each picture frame is successively placed in by a plane coordinate system with the sequence of time from front to back
Interior, each picture frame arranges in plane coordinate system according to its corresponding plane coordinates signal, and in rear merging plane coordinate system
Picture frame to before be placed in plane coordinate system in picture frame cover, and then generate consecutive image；
Extend trajectory extraction module, the extension trajectory extraction module is used to extract two neighboring electricity according to the consecutive image
The extension track of cable between cable terminal tower.
4. the image collecting device according to claim 3 for power equipment, it is characterised in that:
The prefixed time interval is 0.05 second.
5. the image collecting device according to claim 3 for power equipment, which is characterized in that the extension track mentions
Modulus block specifically includes:
Photometer, for measuring the intensity of environment light；
Example color storage module, the example color storage module is for storing cable surface under varying strength environment light
RGB color value；
Respectively with the color selecting module of the photometer and the example color storage module communication connection, color selection
Module is used to select corresponding target RGB color value in the example color storage module according to the intensity of current environment light；
With the mark module of the color selecting module communication connection, the mark module is used for will be each in the consecutive image
The RGB color value of a pixel is compared with target RGB color value, is carried out to pixel of the comparing result in default error range
Label；
Pixel removes module, and the pixel removal module obtains described for removing unlabelled pixel in the consecutive image
Extend track.
6. the image collecting device according to claim 5 for power equipment, it is characterised in that:
The comparing result is calculated by the following formula to obtain:
D=(RO 2+GO 2+BO 2)/(RE 2+GE 2+BE 2)；
Wherein, D indicates comparing result, ROIndicate value red in the RGB color value of the pixel of the consecutive image, GOIndicate institute
State the value of the RGB color value Green of the pixel of consecutive image, BOIndicate blue in the RGB color value of the pixel of the consecutive image
The value of color, REIndicate value red in target RGB color value, GEIndicate the value of target RGB color value Green, BEIndicate target
Blue value in RGB color value；
The default error range is 0.93-1.05.
7. the image collecting device according to claim 1 for power equipment, which is characterized in that the exception judges mould
Block includes:
It is normal to extend track storage module, normal the extensions track storage module be used to prestore two neighboring cable termination tower it
Between cable normal extension track under normal circumstances；
Extend track contrast module, the extension track contrast module is used to analyze the normal extension track and described image
Extension track at module extraction compares, and obtains registration between the two；
As a result judgment module, the result judgment module is for determining that two neighboring cable is whole when the registration is less than 95%
There is exception in the cable between head tower, the result judgment module is used to determine phase when the registration is greater than or equal to 95%
There is no abnormal for cable between adjacent two cable termination towers.
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