CN109297419A - It is a kind of based on the unmanned plane of image processing techniques in ice detection system and its working method - Google Patents
It is a kind of based on the unmanned plane of image processing techniques in ice detection system and its working method Download PDFInfo
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- CN109297419A CN109297419A CN201811343558.4A CN201811343558A CN109297419A CN 109297419 A CN109297419 A CN 109297419A CN 201811343558 A CN201811343558 A CN 201811343558A CN 109297419 A CN109297419 A CN 109297419A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/022—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by means of tv-camera scanning
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
- G01B11/0616—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material of coating
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
- G06V20/13—Satellite images
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
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Abstract
The present invention relates to a kind of based on the unmanned plane of image processing techniques in ice detection system, including unmanned plane, unmanned aerial vehicle control system, high-definition camera, imaging sensor, image processing system, wireless transmitting system and ground base station, wherein, unmanned aerial vehicle control system operates the flight of unmanned plane；High-definition camera carries out direction adjusting by unmanned aerial vehicle control system；The output end of high-definition camera is connected with the input terminal of imaging sensor；The output end of imaging sensor is connected with the input terminal of image processing system；Image processing system output end is connected by wireless transmitting system with ground base station.Strong operability of the present invention is convenient for practical application；Being detected using the UAV system based on image processing techniques on icing is not influenced by landform, weather etc., and application range is wide；Ground base station can help surface personnel to understand electric power line ice-covering thickness rapidly, handle in time line defct；Have a vast market application prospect.
Description
Technical field
The invention belongs to unmanned plane ice detection technical field, specifically a kind of unmanned plane based on image processing techniques exists
Ice detection system and its working method.
Background technique
It is the major way of long range transmission & distribution electric power using high pressure and super-pressure overhead power transmission line.Power line and shaft tower attachment
It is chronically exposed to field, because being influenced to generate stranded, abrasion, corrosion by lasting mechanical tension, electrical flashover, material aging
Equivalent damage etc. destroys.Wherein, powerline ice-covering is a kind of common line defct.Powerline ice-covering is likely to result in transmitting electricity
Route overload, the sudden strain of a muscle of insulator chain icing fall, conductor galloping and occur uneven icing or not the same period deice accident, thus right
The country and people causes huge economic loss and serious social influence.
The powerline ice-covering detection of early stage relies primarily on artificial line walking, and the thickness of wire icing is estimated using telescope
Degree, so that the icing to daily transmission line of electricity is effectively administered.But the mode of artificial line walking is mainly by terrain environment, people
Member's quality, the influence of the factors such as weather condition are bigger, low so as to cause powerline ice-covering governance efficiency, to patrol the period again long.
Accurate detection and measurement can be carried out to transmission line icing using the unmanned plane based on image processing techniques, it can be ensured that
The influence of electric power personnel inadequate terrain environment, weather condition, at any time measures transmission line icing thickness.
Summary of the invention
It is an object of the invention in place of overcome the deficiencies in the prior art, provide a kind of nobody based on image processing techniques
Machine manipulates transmission line of electricity operation maintenance personnel in face of unmanned plane on ground, passes through height in ice detection system and its working method
Clear camera is acquired transmission line icing, is detected using image processing system to ice covering thickness.
The present invention solves its technical problem and adopts the following technical solutions to achieve:
It is a kind of based on the unmanned plane of image processing techniques in ice detection system, it is characterised in that: including unmanned plane, nobody
Machine control system, high-definition camera, imaging sensor, image processing system, wireless transmitting system and ground base station, wherein
Unmanned aerial vehicle control system operates the flight of unmanned plane；High-definition camera carries out direction tune by unmanned aerial vehicle control system
Section；The output end of high-definition camera is connected with the input terminal of imaging sensor；The output end and image procossing of imaging sensor
The input terminal of system is connected；Image processing system output end is connected by wireless transmitting system with ground base station.
Moreover, the unmanned plane is taken photo by plane unmanned plane using tetra- axis of Inspire V2.0.
Moreover, the high-definition camera uses the airborne camera of 2.7K ultra high-definition, high-definition camera is fixed by the connecting rod
Below unmanned plane.
Moreover, described image sensor includes under field programmable gate array, crystal resonator, power supply, indicator light, debugging
Interface, expansion I/O mouth are carried, is fixed below high-definition camera.
Moreover, the field programmable gate array uses EP4CE6E22C8N development board.
Moreover, described image processing system includes image pre-processing module, image characteristics extraction module, described image is located in advance
It manages module and noise reduction and image enhancement processing is carried out to original image collected using noise reduction algorithm；Described image feature extraction
Module carries out characteristics extraction according to the image that image pre-processing module exports.
Moreover, the wireless transmitting system uses BCM43143USB wireless network card.
Moreover, the ground base station includes image display, alarm；Described image display is using PC machine to unmanned plane
Acquired image is shown that the alarm uses buzzer, is more than the circuit alarm of given threshold to transmission line icing.
It is a kind of based on the unmanned plane of image processing techniques ice detection system working method, it is characterised in that: it is specific
The following steps are included:
(1) it is controlled by offline mode of the unmanned aerial vehicle (UAV) control device to unmanned plane, using being fixed below unmanned plane
High-definition camera takes pictures to transmission line of electricity, and the image of acquisition locates the image of acquisition by image pre-processing module in advance
Reason；
(2) powerline ice-covering image after treatment goes out powerline ice-covering using image characteristics extraction module marks
It the position of conducting wire and is compared according to the secure threshold of setting in image；
(3) comparison result between collected ice covering thickness and given threshold is relatively obtained by secure threshold, passed through
The image for marking wire icing position and comparison result are sent to ground base station by wireless transport module together；Ground base station skill
Art personnel observe powerline ice-covering by image display, and determine whether secure threshold is exceeded；
If exceeded, it will handle powerline ice-covering.
Moreover, removing part extra in image after the pretreatment of image includes noise reduction, image enhancement, obtaining power transmission line
Road icing image.
The advantages and positive effects of the present invention are:
Strong operability of the present invention is convenient for practical application；Using the UAV system based on image processing techniques to icing
Being detected is not influenced by landform, weather etc., and application range is wide；Ground base station can help surface personnel rapid
Electric power line ice-covering thickness is solved, line defct is handled in time；Have a vast market application prospect.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is unmanned plane structure chart of the invention.
Specific embodiment
The invention will be further described with reference to the accompanying drawing and by specific embodiment, and following embodiment is descriptive
, it is not restrictive, this does not limit the scope of protection of the present invention.
It is a kind of based on the unmanned plane of image processing techniques in ice detection system, including unmanned plane 1, unmanned aerial vehicle (UAV) control system
System, high-definition camera 2, imaging sensor, image processing system 3, wireless transmitting system and ground base station, wherein unmanned plane
Control system operates the flight of unmanned plane；High-definition camera carries out direction adjusting by unmanned aerial vehicle control system；High definition
The output end of camera is connected with the input terminal of imaging sensor；The output end of imaging sensor and image processing system it is defeated
Enter end to be connected；Image processing system output end is connected by wireless transmitting system with ground base station.
The unmanned plane is taken photo by plane unmanned plane using tetra- axis of Inspire V2.0.
The unmanned aerial vehicle control system controls the flight path of unmanned plane by control stick.
The high-definition camera uses the airborne camera of 2.7K ultra high-definition, and high-definition camera is fixed by the connecting rod at nobody
Below machine.
Described image sensor includes field programmable gate array (FPGA), crystal resonator, power supply, indicator light, debugging
Download interface, expansion I/O mouth are fixed below high-definition camera.
The field programmable gate array (FPGA) uses EP4CE6E22C8N development board.
The crystal resonator uses 25MHZ.
The power supply is powered using 5V/1A.
The indicator light uses 1 LED light, plays indicative function to electric power starting and closing.
The debugging download interface uses standard JTAG.
The expansion I/O mouth uses 3 OUPLLN 32PIN connectors.
Described image processing system includes image pre-processing module, image characteristics extraction module.
Described image preprocessing module carries out noise reduction and image enhancement to original image collected using noise reduction algorithm
Deng processing.
Described image characteristic extracting module carries out characteristics extraction according to the image that image pre-processing module exports.
The wireless transmitting system uses BCM43143USB wireless network card.
The ground base station includes image display, alarm.
Described image display shows unmanned plane acquired image using PC machine.
The alarm uses buzzer, is more than the circuit alarm of given threshold to transmission line icing.
It is a kind of based on the unmanned plane of image processing techniques ice detection system working method, comprising the following steps:
(1) it is controlled by offline mode of the unmanned aerial vehicle (UAV) control device to unmanned plane, using being fixed below unmanned plane
High-definition camera takes pictures to transmission line of electricity, and the image of acquisition locates the image of acquisition by image pre-processing module in advance
Reason, including after noise reduction, image enhancement, remove part extra in image, obtain powerline ice-covering image.
(2) powerline ice-covering image after treatment goes out powerline ice-covering using image characteristics extraction module marks
It the position of conducting wire and is compared according to the secure threshold of setting in image.
(3) comparison result between collected ice covering thickness and given threshold is relatively obtained by secure threshold, passed through
The image for marking wire icing position and comparison result are sent to ground base station by wireless transport module together；Ground base station skill
Art personnel observe powerline ice-covering by image display, and determine whether secure threshold is exceeded, will if exceeded
Powerline ice-covering can be handled.
The working principle of the invention: before powerline ice-covering detection starts, ground unmanned plane operator is to unmanned plane, nothing
Human-machine Control device and camera are checked；After inspection, unmanned plane operator operates nothing using unmanned aerial vehicle (UAV) control device
Man-machine close transmission line of electricity pays attention to keeping safe distance, using high-definition camera to powerline ice-covering after transmission line of electricity
It takes pictures in region.
The image acquired by high-definition camera pre-processes the image of acquisition by image pre-processing module, including
After noise reduction, image enhancement, part extra in image is removed, powerline ice-covering image is obtained.Compared by secure threshold
Comparison result between collected ice covering thickness and given threshold will mark wire icing position by wireless transport module
The image and comparison result set are sent to ground base station together；Ground base station technical staff is by image display to transmission line of electricity
Icing is observed, and determines whether secure threshold is exceeded, if exceeded, it will handle powerline ice-covering.
Although disclosing the embodiment of the present invention and attached drawing for the purpose of illustration, those skilled in the art can be managed
Solution: do not departing from the present invention and spirit and scope of the appended claims in, various substitutions, changes and modifications be all it is possible,
Therefore, the scope of the present invention is not limited to the embodiment and attached drawing disclosure of that.
Claims (10)
1. it is a kind of based on the unmanned plane of image processing techniques in ice detection system, it is characterised in that: including unmanned plane, unmanned plane
Control system, high-definition camera, imaging sensor, image processing system, wireless transmitting system and ground base station, wherein nothing
Man-machine control system operates the flight of unmanned plane；High-definition camera carries out direction adjusting by unmanned aerial vehicle control system；
The output end of high-definition camera is connected with the input terminal of imaging sensor；The output end and image processing system of imaging sensor
Input terminal be connected；Image processing system output end is connected by wireless transmitting system with ground base station.
2. it is according to claim 1 based on the unmanned plane of image processing techniques in ice detection system, it is characterised in that: institute
Unmanned plane is stated to take photo by plane unmanned plane using tetra- axis of Inspire V2.0.
3. it is according to claim 1 based on the unmanned plane of image processing techniques in ice detection system, it is characterised in that: institute
High-definition camera is stated using the airborne camera of 2.7K ultra high-definition, high-definition camera is fixed by the connecting rod below unmanned plane.
4. it is according to claim 1 based on the unmanned plane of image processing techniques in ice detection system, it is characterised in that: institute
Stating imaging sensor includes field programmable gate array, crystal resonator, power supply, indicator light, debugging download interface, expansion I/O
Mouthful, it is fixed below high-definition camera.
5. it is according to claim 1 based on the unmanned plane of image processing techniques in ice detection system, it is characterised in that: institute
Field programmable gate array is stated using EP4CE6E22C8N development board.
6. it is according to claim 1 based on the unmanned plane of image processing techniques in ice detection system, it is characterised in that: institute
Stating image processing system includes image pre-processing module, image characteristics extraction module, and described image preprocessing module utilizes noise reduction
Algorithm carries out noise reduction and image enhancement processing to original image collected；Described image characteristic extracting module is pre- according to image
The image of processing module output carries out characteristics extraction.
7. it is according to claim 1 based on the unmanned plane of image processing techniques in ice detection system, it is characterised in that: institute
Wireless transmitting system is stated using BCM43143USB wireless network card.
8. it is according to claim 1 based on the unmanned plane of image processing techniques in ice detection system, it is characterised in that: institute
Stating ground base station includes image display, alarm；Described image display using PC machine to unmanned plane acquired image into
Row display, the alarm use buzzer, are more than the circuit alarm of given threshold to transmission line icing.
9. it is a kind of based on the unmanned plane of image processing techniques ice detection system working method, it is characterised in that: specific packet
Include following steps:
(1) it is controlled by offline mode of the unmanned aerial vehicle (UAV) control device to unmanned plane, utilizes the high definition being fixed below unmanned plane
Camera takes pictures to transmission line of electricity, and the image of acquisition pre-processes the image of acquisition by image pre-processing module；
(2) powerline ice-covering image after treatment goes out powerline ice-covering image using image characteristics extraction module marks
The position of middle conducting wire is simultaneously compared according to the secure threshold of setting；
(3) comparison result between collected ice covering thickness and given threshold is relatively obtained by secure threshold, by wireless
The image for marking wire icing position and comparison result are sent to ground base station by transmission module together；Ground base station technology people
Member observes powerline ice-covering by image display, and determines whether secure threshold is exceeded；
If exceeded, it will handle powerline ice-covering.
10. it is according to claim 9 based on the unmanned plane of image processing techniques ice detection system working method,
It is characterized in that: after the pretreatment of image includes noise reduction, image enhancement, removing part extra in image, obtain transmission line of electricity and cover
Ice atlas picture.
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| CN111174697A (en) * | 2019-12-13 | 2020-05-19 | 中国南方电网有限责任公司超高压输电公司柳州局 | Stereoscopic vision image accurate measurement method based on unmanned aerial vehicle |
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Application publication date: 20190201 |