CN109631774A - A kind of unmanned plane binocular vision transmission line icing measuring system - Google Patents
A kind of unmanned plane binocular vision transmission line icing measuring system Download PDFInfo
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- CN109631774A CN109631774A CN201811519867.2A CN201811519867A CN109631774A CN 109631774 A CN109631774 A CN 109631774A CN 201811519867 A CN201811519867 A CN 201811519867A CN 109631774 A CN109631774 A CN 109631774A
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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
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Abstract
The present invention relates to air vehicle technique fields, in particular a kind of unmanned plane binocular vision transmission line icing measuring system, including data acquisition components, data transfer component and data processor, data acquisition components include unmanned plane, binocular vision camera, control memory module, power supply, shock mitigation system and temperature elevation system, data transfer component includes radio transmission control module, and data processor includes ground control terminal.The present invention acquires powerline ice-covering data by UAV flight's binocular camera, data are stored using control memory module, and the image of storage is obtained by radio transmission control module, ice covering thickness is calculated using the data of acquisition, identify icing form, accuracy rate is high, precise measurement ice covering thickness, clear to identify icing form；Applied widely, easy to operate, flat country and mountainous region are all suitable for, and can reach the area that personnel on foot can not be flourishing；High-efficient, data can return in real time, in-site measurement, can go out result.
Description
Technical field
The present invention relates to air vehicle technique field, specially a kind of unmanned plane binocular vision transmission line icing measuring system.
Background technique
It will cause major accident under powerline ice-covering serious situation, such as shaft tower deformation, tower, wire strand breakage, fitting
With insulator damage, insulator arc-over etc., icing mainly has the harm of power transmission line following several: (1) overload, i.e., due to line
After the icing of road, so as to cause overhead transmission line electrically and mechanically side occurs for the actual weight of conducting wire far more than design value
The failure in face, the load of conducting wire mainly have level load, normal load and longitudinal load；(2) wire icing is waved, deices jump
Jump accident；(3) ice insulator dodges accident.Currently, the real-time status of monitoring powerline ice-covering and the severity of icing
It relies primarily on and sets up icing observation station, analog conducting wire method, online telemetry and image monitoring method, but in general, at present state
There is certain limitation more in inside and outside research, and the image processing method used is more traditional, while not to based at image
The monitoring transmission line icing of reason does the discussion of system in further detail, also seldom carries out verification experimental verification to the method respectively proposed.
In consideration of it, we provide a kind of unmanned plane binocular vision transmission line icing measuring system.
Summary of the invention
The purpose of the present invention is to provide a kind of unmanned plane binocular vision transmission line icing measuring systems, to solve above-mentioned background
In technology propose current power transmission transmission line icing measurement method there are the problem of.
To achieve the above object, the invention provides the following technical scheme:
A kind of unmanned plane binocular vision transmission line icing measuring system, including data acquisition components, data transfer component and
Data processor, data acquisition components include unmanned plane, binocular vision camera, control memory module, power supply, shock mitigation system and
Temperature elevation system, the data transfer component include radio transmission control module, and the data processor includes ground control terminal；
The unmanned plane is used for the carrying equipment of the binocular vision camera；
Data are passed through wireless transmission control for controlling camera acquisition image and storing image by the control memory module
Module is transmitted to ground installation；
The binocular vision camera is used to obtain the icing image of electric wire；
The shake when shock mitigation system is for alleviating camera shooting；
The temperature elevation system is used for when ambient air temperature is low, is improved camera ambient temperature, is operated normally camera.
Preferably, the radio transmission control module is used to be transmitted to ground from the control memory module of unmanned plane for data
Face control terminal.
Preferably, image data for being managed, obtaining and analyzing by the ground control terminal.
Preferably, the operating procedure of the unmanned plane binocular vision transmission line icing measuring system is as follows:
S1: operator is by remote controlled drone, using the binocular vision camera of UAV flight to the electricity of target area
Line carries out image acquisitions；
S2: control memory module stores the image data of acquisition, and will be acquired by radio transmission control module
Image data be transmitted to ground control terminal；
S3: utilizing Binocular Vision Principle, carries out image procossing to the image data of acquisition, the icing for obtaining designated position is thick
Degree；
S4: judging whether to need to carry out deicing in conjunction with icing form, ice covering thickness, wire type and voltage class, establishes
Icing analysis report.
Preferably, described image processing includes image gray processing, image enhancement and image segmentation.
Preferably, described image gray processing is that collected color image is converted to gray level image, directly RGB is schemed
R component, G component and the B component of picture carry out gray level image processing, handle formula are as follows:
Y=0.299R+0.587G+0.114B；
Wherein Y is brightness, i.e. the RGB image gray value that is converted into corresponding pixel points after gray level image；R, G, B are respectively red
Colouring component value, green component values and blue color component value.
Preferably, described image enhancing is to eliminate picture noise by way of median filtering, while avoiding image side
Edge obscures；
The pixel grey scale collection of two dimensional image is combined into { XI, j, (i, j) ∈ Z2, Z2It is two-dimensional integer collection, size is A=m × n's
Pixel value intermediate value in window is defined as:
Yi,j=Median [Xi+k,j+l,(k,l)∈A]；
Wherein A indicates to contain odd number of pixels, and above-mentioned formula indicates the odd number of pixels in window to press the big float of gray value
Column, take median pixel value to be assigned to YI, j, then with YI, jReplace the center pixel value in two-dimentional window A as the defeated of median filtering
Out.
Preferably, described image segmentation includes non-icing image segmentation and icing image segmentation, examined using image border
Survey method carries out image dividing processing, the side combined using texture analysis with Threshold segmentation to the transmission line of electricity image of non-icing
The segmentation of method realization icing image transmission line of electricity.
Preferably, described image edge detection carries out edge using transmission line of electricity image of the Sobel operator to non-icing
Detection, Sobel operator is upper and lower by pixel, neighborhood point intensity-weighted in left and right is poor, reaches the inspection of this phenomenon of extreme value in edge
Survey edge, including 2 group 3 × 3 of matrix, be divided into horizontal and vertical, it is made into planar convolution with image, be calculated it is lateral with it is vertical
To luminance difference score value, if representing original transmission line of electricity image, G with AxAnd GyIt respectively represents through transverse direction and longitudinal direction edge detection
Gray value of image, formula are as follows:
The transverse direction and longitudinal direction gray value of each pixel of image calculates the size of the gray scale by following formula:
If gray scale G is greater than a certain threshold value, then it is assumed that the point (x, y) is marginal point, then calculates gray scale direction with following formula:
Preferably, the distance between the edge that the calculating of the ice covering thickness is arrived by calculating icing front and back image zooming-out
D and D ' then exports the ice covering thickness of electric wire are as follows:
H=(D '-D)/2.
Compared with prior art, the beneficial effects of the present invention are:
This unmanned plane binocular vision transmission line icing measuring system acquires transmission line of electricity by UAV flight's binocular camera and covers
Ice data store data using control memory module, and obtain the image of storage by radio transmission control module, benefit
Ice covering thickness is calculated with the data of acquisition, identifies icing form, accuracy rate is high, and precise measurement ice covering thickness clearly identifies icing
Form；Applied widely, easy to operate, flat country and mountainous region are all suitable for, and can reach the area that personnel on foot can not be flourishing；Efficiency
Height, data can return in real time, and in-site measurement can go out result.
Detailed description of the invention
Fig. 1 is UAV Intelligent hangar environment of the present invention and security monitor linked system overall architecture figure；
Fig. 2 is the connection schematic diagram of present system module；
Fig. 3 is the schematic diagram of Binocular Vision Principle of the invention.
Specific embodiment
Below in conjunction with the embodiment of the present invention, technical scheme in the embodiment of the invention is clearly and completely described,
Obviously, described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based in the present invention
Embodiment, every other embodiment obtained by those of ordinary skill in the art without making creative efforts, all
Belong to the scope of protection of the invention.
Embodiment 1
A kind of unmanned plane binocular vision transmission line icing measuring system, as depicted in figs. 1 and 2, including data acquisition components, number
According to transmission part and data processor, data acquisition components include unmanned plane, binocular vision camera, control memory module,
Power supply, shock mitigation system and temperature elevation system, data transfer component include radio transmission control module, and data processor includes ground
Control terminal；
Unmanned plane is used for the carrying equipment of binocular vision camera；
Data are passed through radio transmission control module for controlling camera acquisition image and storing image by control memory module
It is transmitted to ground installation；
Binocular vision camera is used to obtain the icing image of electric wire；
Shake when shock mitigation system is for alleviating camera shooting；
Temperature elevation system is used for when ambient air temperature is low, is improved camera ambient temperature, is operated normally camera.
Radio transmission control module is used to data being transmitted to ground control terminal from the control memory module of unmanned plane.
Image data for being managed, obtaining and analyzing by ground control terminal.
Further, the operating procedure of unmanned plane binocular vision transmission line icing measuring system is as follows:
S1: operator is by remote controlled drone, using the binocular vision camera of UAV flight to the electricity of target area
Line carries out image acquisitions；
S2: control memory module stores the image data of acquisition, and will be acquired by radio transmission control module
Image data be transmitted to ground control terminal；
S3: utilizing Binocular Vision Principle, carries out image procossing to the image data of acquisition, the icing for obtaining designated position is thick
Degree；
S4: judging whether to need to carry out deicing in conjunction with icing form, ice covering thickness, wire type and voltage class, establishes
Icing analysis report.
Specifically, image procossing includes image gray processing, image enhancement and image segmentation.
(1) image gray processing is that collected color image is converted to gray level image, directly to the R component of RGB image,
G component and B component carry out gray level image processing, handle formula are as follows:
Y=0.299R+0.587G+0.114B；
Wherein Y is brightness, i.e. the RGB image gray value that is converted into corresponding pixel points after gray level image；R, G, B are respectively red
Colouring component value, green component values and blue color component value.
(2) image enhancement is picture noise to be eliminated by way of median filtering, while avoiding the fuzzy of image border；
The pixel grey scale collection of two dimensional image is combined into { XI, j, (i, j) ∈ Z2, Z2It is two-dimensional integer collection, size is A=m × n's
Pixel value intermediate value in window is defined as:
Yi,j=Median [Xi+k,j+l,(k,l)∈A]；
Wherein A indicates to contain odd number of pixels, and above-mentioned formula indicates the odd number of pixels in window to press the big float of gray value
Column, take median pixel value to be assigned to YI, j, then with YI, jReplace the center pixel value in two-dimentional window A as the defeated of median filtering
Out.
(3) image segmentation includes non-icing image segmentation and icing image segmentation, using method for detecting image edge to not
The transmission line of electricity image of icing carries out image dividing processing, realizes icing using the method that texture analysis is combined with Threshold segmentation
The segmentation of image transmission line of electricity, image background and object after texture analysis are in different gray levels, can use threshold value
The segmentation of wire insulation is realized in segmentation.The difficult point of Threshold segmentation is the selection of threshold value, it is directly related to the segmentation of image
Effect.The method of selected threshold has very much, such as Two-peak method, iterative method and maximum variance between clusters.Threshold value iterative algorithm is equivalent
In mathematically Step wise approximation and iteration, every piece image all there is an optimal threshold value, when beginning, first selects a threshold value
As initial estimate, this estimated value then is continuously improved by certain strategy, until meeting given criterion.
Unmanned plane binocular vision transmission line icing measuring system of the invention passes through the acquisition transmission of electricity of UAV flight's binocular camera
Transmission line icing data store data using control memory module, and obtain storage by radio transmission control module
Image calculates ice covering thickness using the data of acquisition, identifies icing form, and accuracy rate is high, precise measurement ice covering thickness, clear to know
Other icing form；Applied widely, easy to operate, flat country and mountainous region are all suitable for, and can reach the ground that personnel on foot can not be flourishing
Area；High-efficient, data can return in real time, in-site measurement, can go out result.
Embodiment 2
As second of embodiment of the invention, Image Edge-Detection is using Sobel operator to the transmission line of electricity of non-icing
Image carries out edge detection, and Sobel operator is upper and lower by pixel, neighborhood point intensity-weighted in left and right is poor, reaches pole in edge
It is worth this phenomenon detection edge, including 2 group 3 × 3 of matrix, is divided into horizontal and vertical, it is made into planar convolution with image, is calculated
Luminance difference score value laterally and longitudinally is obtained, if representing original transmission line of electricity image, G with AxAnd GyIt respectively represents through lateral and vertical
To the gray value of image of edge detection, formula is as follows:
The transverse direction and longitudinal direction gray value of each pixel of image calculates the size of the gray scale by following formula:
If gray scale G is greater than a certain threshold value, then it is assumed that the point (x, y) is marginal point, then calculates gray scale direction with following formula:
The distance between the edge that the calculating of ice covering thickness is arrived by image zooming-out before and after calculating icing D and D ', then export
The ice covering thickness of electric wire are as follows:
H=(D '-D)/2.
Image Edge-Detection of the present invention can effectively inhibit the influence of noise, at the same objectively, correctly choose edge
The threshold value of detection, it is spatially easy to accomplish using Sobel operator, it is possible to provide accurate edge directional information, raising are not covered
The accuracy rate of the transmission line of electricity image information of ice.
Embodiment 3
As the third embodiment of the invention, Binocular Vision Principle is as shown in figure 3, wherein two video camera of baseline distance B=
Projection centre line distance；Camera focus is f；
The same characteristic point P (X of binocular synchronization monitoring electric wirec,Yc,Zc), it is obtained respectively on left mesh and right mesh
The image of point P, their image coordinate are respectively Pleft=(Xleft,Yleft),Pright=(Xright,Yright)；
In the same plane, then the image coordinate Y-coordinate of characteristic point P is identical, i.e. Y for the image of binocularleft=Yright=
Y is then obtained by triangle geometrical relationship:
Then parallax are as follows: Disparity=Xleft-Xright.Thus three-dimensional of the characteristic point P under camera coordinates system can be calculated
Coordinate are as follows:
Therefore, as long as any point in left mesh image planes can find corresponding match point in right mesh image planes, so that it may really
The three-dimensional coordinate of the point is made, this method is complete point-to-point operation, and all the points are simply by the presence of corresponding matching in image planes
Point, so that it may above-mentioned operation is participated in, to obtain its corresponding three-dimensional coordinate.
Unmanned plane binocular vision transmission line icing measuring system of the invention passes through the acquisition transmission of electricity of UAV flight's binocular camera
Transmission line icing data store data using control memory module, and obtain storage by radio transmission control module
Image calculates ice covering thickness using the data of acquisition, identifies icing form, and accuracy rate is high, precise measurement ice covering thickness, clear to know
Other icing form；Applied widely, easy to operate, flat country and mountainous region are all suitable for, and can reach the ground that personnel on foot can not be flourishing
Area；High-efficient, data can return in real time, in-site measurement, can go out result.
The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry
For personnel it should be appreciated that the present invention is not limited to the above embodiments, described in the above embodiment and specification is only the present invention
Preference, be not intended to limit the invention, without departing from the spirit and scope of the present invention, the present invention also has various
Changes and improvements, these changes and improvements all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by institute
Attached claims and its equivalent thereof.
Claims (10)
1. a kind of unmanned plane binocular vision transmission line icing measuring system, it is characterised in that: transmitted including data acquisition components, data
Component and data processor, data acquisition components include unmanned plane, binocular vision camera, control memory module, power supply, subtract
Shake system and temperature elevation system, the data transfer component include radio transmission control module, and the data processor includes ground
Face control terminal；
The unmanned plane is used for the carrying equipment of the binocular vision camera；
Data are passed through radio transmission control module for controlling camera acquisition image and storing image by the control memory module
It is transmitted to ground installation；
The binocular vision camera is used to obtain the icing image of electric wire；
The shake when shock mitigation system is for alleviating camera shooting；
The temperature elevation system is used for when ambient air temperature is low, is improved camera ambient temperature, is operated normally camera.
2. unmanned plane binocular vision transmission line icing measuring system according to claim 1, it is characterised in that: the wireless biography
Defeated control module is used to data being transmitted to ground control terminal from the control memory module of unmanned plane.
3. unmanned plane binocular vision transmission line icing measuring system according to claim 1, it is characterised in that: the ground control
Image data for being managed, obtaining and analyzing by end processed.
4. unmanned plane binocular vision transmission line icing measuring system according to claim 1, it is characterised in that: the unmanned plane
The operating procedure of binocular vision transmission line icing measuring system is as follows:
S1: operator by remote controlled drone, using UAV flight binocular vision camera to the electric wire of target area into
Row image acquisitions；
S2: control memory module stores the image data of acquisition, and passes through radio transmission control module for the shadow of acquisition
As data are transmitted to ground control terminal；
S3: utilizing Binocular Vision Principle, carries out image procossing to the image data of acquisition, obtains the ice covering thickness of designated position；
S4: judge whether to need to carry out deicing in conjunction with icing form, ice covering thickness, wire type and voltage class, establish icing
Analysis report.
5. unmanned plane binocular vision transmission line icing measuring system according to claim 4, it is characterised in that: at described image
Reason includes image gray processing, image enhancement and image segmentation.
6. unmanned plane binocular vision transmission line icing measuring system according to claim 5, it is characterised in that: described image ash
Degreeization is that collected color image is converted to gray level image, is directly carried out to the R component of RGB image, G component and B component
Gray level image processing, handles formula are as follows:
Y=0.299R+0.587G+0.114B；
Wherein Y is brightness, i.e. the RGB image gray value that is converted into corresponding pixel points after gray level image；R, G, B are respectively red point
Magnitude, green component values and blue color component value.
7. unmanned plane binocular vision transmission line icing measuring system according to claim 5, it is characterised in that: described image increases
It is picture noise to be eliminated by way of median filtering, while avoiding the fuzzy of image border by force；
The pixel grey scale collection of two dimensional image is combined into { XI, j, (i, j) ∈ Z2, Z2It is two-dimensional integer collection, size is the window of A=m × n
Interior pixel value intermediate value is defined as:
Yi,j=Median [Xi+k,j+l,(k,l)∈A]；
Wherein A indicates to contain odd number of pixels, and above-mentioned formula indicates the odd number of pixels in window to press the big minispread of gray value, takes
Median pixel value is assigned to YI, j, then with YI, jReplace output of the center pixel value in two-dimentional window A as median filtering.
8. unmanned plane binocular vision transmission line icing measuring system according to claim 5, it is characterised in that: described image point
Steamed sandwich includes non-icing image segmentation and icing image segmentation, using method for detecting image edge to the transmission line of electricity image of non-icing
Image dividing processing is carried out, point of icing image transmission line of electricity is realized using the method that texture analysis is combined with Threshold segmentation
It cuts.
9. unmanned plane binocular vision transmission line icing measuring system according to claim 8, it is characterised in that: described image side
Edge detection carries out edge detection using transmission line of electricity image of the Sobel operator to non-icing, and Sobel operator passes through on pixel
Under, left and right neighborhood point intensity-weighted it is poor, reach this phenomenon of extreme value detection edge in edge, including 2 group 3 × 3 of matrix, point
To be horizontal and vertical, it is made into planar convolution with image, luminance difference score value laterally and longitudinally is calculated, if representing original with A
Beginning transmission line of electricity image, GxAnd GyThe gray value of image through transverse direction and longitudinal direction edge detection is respectively represented, formula is as follows:
The transverse direction and longitudinal direction gray value of each pixel of image calculates the size of the gray scale by following formula:
If gray scale G is greater than a certain threshold value, then it is assumed that the point (x, y) is marginal point, then calculates gray scale direction with following formula:
10. unmanned plane binocular vision transmission line icing measuring system according to claim 4, it is characterised in that: the icing
The distance between the edge that the calculating of thickness is arrived by image zooming-out before and after calculating icing D and D ', the then icing for exporting electric wire are thick
Degree are as follows:
H=(D '-D)/2.
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