CN109631776B - Automatic measurement method for icing thickness of high-voltage transmission line conductor - Google Patents
Automatic measurement method for icing thickness of high-voltage transmission line conductor Download PDFInfo
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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Abstract
The invention provides an automatic measuring method for icing thickness of a high-voltage transmission line conductor. According to the technology, fast-period measurement is carried out in an unmanned aerial vehicle cruising mode, and the measurement efficiency and the measurement precision are greatly improved compared with the conventional measurement method by combining a data processing method.
Description
Technical Field
The invention relates to the field of transmission line ice accretion thickness measurement, in particular to an automatic measurement method for the icing thickness of a high-voltage transmission line conductor.
Background
Under the condition of cold weather in northern areas of China, ice accretion on wires can be formed due to rain freezing and rime condensation or freezing of wet snow on the wires, and the ice accretion is also called as wire caterpillar ice. If the accumulated ice exceeds the design standard of the high-voltage overhead power transmission line, accidents of wire breakage and telegraph pole collapse can occur, circuit interruption and power grid line damage are caused, and troubles and immeasurable economic loss are brought to the life of people. The method has the advantages that the icing of the electric wire is accurately detected, the method is of great significance for guiding the prevention and control of freezing disasters on the electric transmission line, risk zoning can be performed on the icing of the electric wire according to climate data, a reasonable scheme is provided for the trend of the electric transmission line, the electric transmission line is designed more reasonably, expenses are saved, and sufficient guarantee can be provided. The wire icing observation unit usually selects a time period as required to measure the maximum diameter and thickness of each icing process, and takes millimeters (mm) as a unit and integers. At present, the measurement of the thickness of the accumulated ice of the electric wire is mostly carried out by adopting a manual measurement or local measurement method in an observation unit, the efficiency and the reliability are delayed, and the method is difficult to adapt to the data acquisition and analysis in a large range and a fast period. Therefore, the prior art also provides two methods for detecting ice accretion on the electric wire, which mainly include two types, namely a tension sensor measurement method and an ice accretion measurement method based on a video image.
The tension sensor measuring method is to design a wire accumulated ice collecting part consisting of two groups of supports, wherein each group of supports comprises two pillars and two leads. When ice accretion occurs on an ice accretion collecting iron wire connected with the tension sensor, the sensor is caused to deform, a force signal of the deformation is converted into a current signal by the sensor, the current signal is transmitted to a data collecting unit of the system to be converted and then is sent to a processing unit through a bus control chip to be processed, and finally, the obtained ice accretion data is stored in a storage card according to data collection time frequency set by software and can be displayed on a screen in real time. However, the method indirectly analyzes the ice accretion parameters by measuring the tension, other environmental factors influencing the tension are difficult to remove, and the inverted ice accretion thickness is inaccurate. For example, ambient wind or thermal expansion and contraction caused by temperature can affect the tension measurement, which makes the sensor reading unable to accurately reflect the ice accumulation. In addition, the system structure can only measure the ice accumulation condition of a small section, the output value is single, the power line span is large, and the conditions at all positions are different, so that the ice accumulation condition of all positions of the power transmission line cannot be reflected by the structure
Chinese patent 2013103146759 is an icing measurement method based on video images, and the patent scheme designs an icing detection and thickness estimation method based on images, which optimizes the effect of edge detection on icing power transmission lines with complex dark backgrounds by using the prior knowledge of colors and positions, and estimates the actual thickness of the icing power transmission lines under the condition that the icing power transmission lines are displaced by using a thickness estimation algorithm and a moving object tracking algorithm for calibrating parameters by using a camera. This technique uses a single camera for fixed point observation, requiring a calibration object of known dimensions as a reference, to calculate the thickness value by pixel measurement. However, the technology adopts a fixed-point gaze observation method to collect picture data, and the measured result only reflects the local ice accumulation condition; a reference object of known size is required as a calibration object for measuring the thickness of the ice accretion, and when the pixel distance measurement of the calibration object is inaccurate, the measurement value of the thickness of the ice accretion is also inaccurate.
Disclosure of Invention
The purpose of the invention is as follows: in order to solve the technical problems, the invention provides an automatic measurement method for the icing thickness of a high-voltage transmission line conductor by combining an unmanned aerial vehicle technology and a binocular vision technology.
The technical scheme is as follows: the technical scheme provided by the invention is as follows:
a method for automatically measuring icing thickness of a high-voltage transmission line conductor comprises the following steps:
(1) adopt unmanned aerial vehicle to carry on two mesh cameras, use chess board check calibration board on ground, mark two mesh camera's relative position gesture and image internal parameter, obtain three-dimensional demarcation parameter, include: base length, image principal distance and distortion parameters;
(2) controlling an unmanned aerial vehicle carrying binocular cameras to fly along the length direction of the power transmission line, acquiring three-dimensional color images of all positions of the power transmission line in the flying process, storing the images in a key frame mode, recording the image acquired by a left side camera as an image L, and recording the image acquired by a right side camera at the same moment as an image R; when the unmanned aerial vehicle flies, the base line of the binocular camera is kept parallel to the direction of the power transmission line;
(3) using the images L, R collected at the same time as a group, processing the original images of each group of images L and R by using the Laplacian operator according to the collection time sequence to obtain the left and right binary contour images L of the power transmission line1、R1；
(4) Processing the left and right binary contour image L by using Hough transform or LSD linear line detector1、R1Obtaining a left and right segmented line binary image L2、R2；
(5) Using three-dimensional calibration parameters, for L2、R2Performing polar line correction to obtain corrected image L3、R3(ii) a In the pixel coordinates of the image homonymous points before and after correction, the row coordinates are completely the same, the column coordinates have aberration, and the aberration is parallax;
(6) traversal image L3Pixel point of (5), when encountering line characteristic pixel point (x)L，yL) At the time of image R3Middle edge scanning line y ═ yLSearching line characteristic pixel points, recording the number of the searched line characteristic pixel points as n, and respectively setting the coordinates of each line characteristic pixel point as: (x)R1，yL)，(xR2，yL)……(xRn，yL)；
(7) Geometric correction is carried out on the image L, R by adopting the three-dimensional calibration parameters to obtain a corrected image L*、R*；
(8) In the image L*、R*Carrying out matching of line characteristic pixel points:
in the image L*In (x)L，yL) Extracting a window to be matched for the central point; in the image R*In each case with (x)R1，yL)，(xR2，yL)……(xRn，yL) Extracting matching windows for the central point, calculating the correlation between each matching window and the window to be matched, and taking the central point corresponding to the matching window with the maximum correlation as (x)L，yL) (x) are optimally matchedL，yL) The optimal matching pixel point is a pair of matching pixel pairs;
(9) carrying out triangulation by using the stereo calibration parameters and the matched pixel pairs to obtain an image L*Depth map for reference frame:
marking two pixel points in the matched pixel pair as P and P ', wherein the corresponding line characteristic pixel points of P and P' in the depth map are P, and the coordinate of P is (x)L，yL) P' has the coordinate of (x)Ri，yRi) The coordinates of P are (X, Y, Z);
wherein b represents the base length of the binocular camera, d represents the parallax, and d ═ xR-xTF is the focal length of the binocular camera;
(10) and calculating the width value of the outline of the power transmission line according to the coordinates of the characteristic pixel points of each line in the depth map, and subtracting the diameter of the power transmission line from the calculated width value to obtain the thickness of the ice layer outside the power transmission line.
Further, in the step (1), a method for calibrating the relative position posture and the image internal parameters of the binocular camera is an opencv open source algorithm.
Further, the method for extracting the segment line by using the LSD linear line segment detector comprises:
1) compressing the image through Gaussian down-sampling to eliminate the sawtooth effect in the image; calculating the gradient and the gradient amplitude of each pixel point in the compressed image:
wherein i (x, y) represents the gray value of the image at the pixel point (x, y), gx(x, y) represents a gradient value in the horizontal direction at the pixel point (x, y), gy(x, y) represents a gradient value in a vertical direction at the pixel point (x, y); g (x, y) represents the gradient magnitude at the pixel point (x, y);
2) pseudo-sorting the gradient amplitudes obtained by calculation in the step 1) and obtaining a state table of the gradient amplitudes; setting the states of the pixel points with the gradient amplitude smaller than a preset threshold value rho in the state table as USED, and setting the states of other pixel points as UNUSED;
3) generating a section of the power line profile using a region growing algorithm, including steps S1 to S4 performed in sequence:
s1: taking all the pixel points with the UNUSED state as a point set;
s2: taking the pixel point with the maximum gradient amplitude in the point set as a seed point, and calculating the gradient angle of the seed point as an initial region angle;
s3: searching 8 pixel points adjacent to the seed node one by one, and calculating the gradient angle of the searched adjacent pixel points; if the searched pixel point is j and the absolute value of the difference between the gradient angle of j and the region angle is between the interval (0, tau), adding the pixel point j into the growth region and updating the region angle to be jWherein, thetajThe gradient angle of the pixel point j is shown, and tau represents a preset angle tolerance; deleting a seed point and a pixel point j from the point set;
s4: judging whether the point set is empty, if so, ending the step 3); if not, the process returns to step S2.
Further, the method for calculating the threshold value ρ is as follows:
wherein q represents a preset error boundary value.
Furthermore, tau takes a value of 22.5 degrees, and q takes a value of 2.
Has the advantages that: compared with the prior art, the method has the advantages that the rapid periodic measurement is carried out in the unmanned aerial vehicle cruising mode, and the data can be rapidly resolved and output by combining developed data processing software, so that the measurement efficiency and the measurement precision are greatly improved compared with the conventional measurement method, and the method specifically comprises the following steps:
1) the technology uses a binocular camera as a measuring sensor, reference objects can be omitted by using binocular calibration parameters, calibration results of the binocular camera can be used repeatedly, and reliable space coordinate values can be calculated for target points by directly using a binocular baseline as a reference.
2) This technique uses unmanned aerial vehicle to carry out data measurement for removing the carrier, can expand the observation distance in the space. According to the technical data, the ice accretion thickness at different positions is continuously measured according to the trend of the power transmission line, and the measured data is not only an observed value of one point.
Drawings
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a schematic diagram of a position and attitude relationship calculation between a calibration plate and a binocular camera;
FIG. 3 is a diagram illustrating the result of region growing;
FIG. 4 is a graph of epipolar line geometry in epipolar line correction;
FIG. 5 is a schematic diagram of a width value of a power transmission line obtained through triangulation in the embodiment;
FIG. 6 is a schematic diagram of a data processing software interface used in the example.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
The invention solves the problems in the measurement of the thickness of the accumulated ice of the transmission line, which comprises the following steps: 1) the measurement precision of the accumulated ice thickness is improved; 2) the method is characterized in that the previous measurement is only limited to a local area, and the ice accumulation condition of each position of the power transmission line is reflected through mobile measurement; 3) and (3) displaying the measurement result in the thickness parameter of the continuous area through a visual processing technology, and analyzing the local ice accretion thickness details at different positions of the power transmission line.
The invention takes an unmanned aerial vehicle as a carrier, carries a binocular stereo vision system, acquires binocular sequence image data by cruising along a transmission line, extracts and matches line characteristics, performs triangulation by using a baseline calibration parameter, obtains three-dimensional measurement values of the upper edge and the lower edge of the transmission line, compares the actual design widths of the transmission line, and differentiates to obtain the thickness value of accumulated ice.
In this embodiment, the unmanned aerial vehicle equipment adopts a suspensory unmanned aerial vehicle, satisfies the low-custom flight condition, bears the weight more than 5kg, and the fixed base line width of binocular camera is optional between 20cm to 50cm, and camera lens focal length > 18mm, depth of field satisfy 3 ~ 8 meters, and the imaging area of binocular camera keeps at 70% overlap degree.
The ice accretion thickness measurement was divided into 4 sections as shown in figure 1:
firstly, three-dimensional calibration; (II) video data acquisition; (III) extracting the characteristics of double image lines; and (IV) calculating the width by feature matching and triangulation.
(I) three-dimensional calibration
Under the ground environment, resolving relative position postures and image internal parameters of the binocular cameras which are linked together to obtain three-dimensional calibration parameters, wherein the three-dimensional calibration parameters comprise: base length, image principal distance, distortion parameters. The calibration method is realized by using a checkerboard calibration board opencv open source algorithm, imaging shooting is carried out on the calibration board at different positions and different angles by a binocular camera, checkerboard corner points are detected each time, 15-20 groups of data are collected, a final calibration result (internal parameters of the camera and relative position posture [ R | t ] between the binocular cameras) can be calculated and obtained, and the position posture relation between the calibration board and the binocular camera is calculated and calculated as shown in figure 2. After one-time calibration is finished, the calibration parameters can be repeatedly used without re-calibration every time under the condition of not changing the structure of the binocular camera.
(II) video data acquisition
The binocular camera is fixed on the lower portion of the unmanned aerial vehicle and obliquely downwards forms a depression angle of 30-60 degrees. The operating personnel passes through unmanned aerial vehicle remote controller and picture and passes the module, operates the aircraft and flies along the power transmission line direction with 0.5 m/s speed, keeps at 3 ~ 8 meters apart from the power transmission line distance, and binocular camera baseline is on a parallel with the power transmission line direction basically. The binocular camera collects the three-dimensional color images of all positions of the power transmission line simultaneously, and stores the images in a key frame mode, namely, one key frame is stored every 30 frames, so that the data size of image storage is compressed, and the shooting consistency is kept. Note that the image acquired by the left camera is an image L, and the image acquired by the right camera at the same time is an image R.
And thirdly, extracting line characteristics of the contour line segment of the transmission line in the double images. Using the images L, R collected at the same time as a group, processing the original images of each group of images L and R by using the Laplacian operator according to the collection time sequence to obtain the left and right binary contour images L of the power transmission line1、R1(ii) a Processing the left and right binary contour image L by using Hough transform or LSD linear line detector1、R1Obtaining a left and right segmented line binary image L2、R2。
The flow of extracting the piecewise line segment by adopting the LSD linear line segment detector is as follows:
1. the image is reduced to 80% by gaussian down-sampling, which is done to reduce or eliminate aliasing effects that often occur in images. Then, the gradient and the direction of the gradient of each pixel of the compressed image are calculated. A 2 x 2 template is used to calculate the gradients and gradient angles, and so the smallest possible template is used to reduce the dependency between pixels during gradient calculation, thereby maintaining some independence. Assuming that i (x, y) is the image gray value at pixel (x, y), the gradient calculation formula is as follows:
wherein i (x, y) represents the gray value of the image at the pixel point (x, y), gx(x, y) represents a gradient value in the horizontal direction at the pixel point (x, y), gy(x, y) represents a gradient value in a vertical direction at the pixel point (x, y); g (x, y) represents the gradient magnitude at pixel point (x, y).
2. And performing pseudo-sorting on the gradient amplitudes obtained by the second step of calculation by adopting a greedy algorithm. If a normal sorting algorithm processes n data, the time complexity is O (nlogn), but the time complexity of pseudo sorting is linear, time can be saved to a certain extent, the pseudo sorting is to divide the obtained gradient value range (0-255) into 1024 levels, each gradient value is divided into one level, the same gradient is divided into the same level, a state table is established simultaneously, all pixel points are set to be UNUSED, and then the state corresponding to the pixel points with the gradient values smaller than rho is set to be USED.
Wherein:
where q denotes the margin of error that may occur during the gradient quantization, and based on empirical values, q is set to 2 and τ denotes the angular tolerance in the fourth step region growing algorithm, typically set to 22.5 degrees.
3. The line segment support region (rectangle) is generated using a region growing algorithm.
S1: taking all the pixel points with the UNUSED state as a point set;
s2: taking the pixel point with the maximum gradient amplitude in the point set as a seed point (generally, the higher the gradient amplitude is, the stronger the marginality is), and calculating the gradient angle of the seed point as an initial region angle;
s3: searching 8 pixel points adjacent to the seed node one by one, and calculating the gradient angle of the searched adjacent pixel points; if the searched pixel point is j, the gradient angle and the area of jIf the absolute value of the angle difference is between the intervals (0, tau), adding the pixel point j into the growth area and updating the area angle to beWherein, thetajThe gradient angle of the pixel point j is shown, and tau represents a preset angle tolerance; deleting a seed point and a pixel point j from the point set;
s4: judging whether the point set is empty, if so, ending the step 3); if not, the process returns to step S2.
The result of the region growing in this step is shown in fig. 3.
(IV) feature matching and triangulation to calculate Width
A. The characteristic matching steps are as follows:
using three-dimensional calibration parameters, for L2、R2Performing polar line correction to obtain corrected image L3、R3(ii) a In the pixel coordinates of the image homonymous points before and after correction, the row coordinates are completely the same, the column coordinates have aberration, and the aberration is parallax;
traversal image L3Pixel point of (5), when encountering line characteristic pixel point (x)L，yL) At the time of image R3Middle edge scanning line y ═ yLSearching line characteristic pixel points, recording the number of the searched line characteristic pixel points as n, and respectively setting the coordinates of each line characteristic pixel point as: (x)R1，yL)，(xR2，yL)……(xRn，yL)；
Geometric correction is carried out on the image L, R by adopting the three-dimensional calibration parameters to obtain a corrected image L*、R*(ii) a The row coordinates of the pixel coordinates of the same-name point of the corrected image are completely the same, and the column coordinates have aberration, which is called parallax, and meet the polar line geometric condition, as shown in fig. 4. In the image L*、R*Carrying out matching of line characteristic pixel points:
in the image L*In (x)L，yL) Extracting a window to be matched for the central point; in the image R*In each case with (x)R1，yL)，(xR2，yL)……(xRn，yL) Extracting matching windows for the central point, calculating the correlation between each matching window and the window to be matched, and taking the central point corresponding to the matching window with the maximum correlation as (x)L，yL) (x) are optimally matchedL，yL) The optimal matching pixel point is a pair of matching pixel pairs;
B. the step of calculating the width of triangulation is:
carrying out triangulation by using the stereo calibration parameters and the matched pixel pairs to obtain an image L*Depth map for reference frame:
marking two pixel points in the matched pixel pair as P and P ', wherein the corresponding line characteristic pixel points of P and P' in the depth map are P, and the coordinate of P is (x)L，yL) P' has the coordinate of (x)Ri，yRi) The coordinates of P are (X, Y, Z);
wherein b represents the base length of the binocular camera, d represents the parallax, and d ═ xR-xLF is the image principal distance;
according to the coordinates of the characteristic pixel points of each line in the depth map, the width value of the profile of the transmission line can be calculated, and the width measurement result is shown in fig. 5. The measurement accuracy can be controlled to a width measurement accuracy of further 0.4 mm. And subtracting the diameter of the transmission line from the calculated width value to obtain the thickness of the ice layer outside the transmission line, wherein a schematic diagram 6 of processing software is shown in the figure.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (5)
1. A method for automatically measuring icing thickness of a high-voltage transmission line conductor is characterized by comprising the following steps:
(1) adopt unmanned aerial vehicle to carry on two mesh cameras, use chess board check calibration board on ground, mark two mesh camera's relative position gesture and image internal parameter, obtain three-dimensional demarcation parameter, include: base length, image principal distance and distortion parameters;
(2) controlling an unmanned aerial vehicle carrying binocular cameras to fly along the length direction of the power transmission line, acquiring three-dimensional color images of all positions of the power transmission line in the flying process, storing the images in a key frame mode, recording the image acquired by a left side camera as an image L, and recording the image acquired by a right side camera at the same moment as an image R; when the unmanned aerial vehicle flies, the base line of the binocular camera is kept parallel to the direction of the power transmission line;
(3) using the images L, R collected at the same time as a group, processing the original images of each group of images L and R by using the Laplacian operator according to the collection time sequence to obtain the left and right binary contour images L of the power transmission line1、R1；
(4) Processing the left and right binary contour image L by using Hough transform or LSD linear line detector1、R1Obtaining a left and right segmented line binary image L2、R2；
(5) Using three-dimensional calibration parameters, for L2、R2Performing polar line correction to obtain corrected image L3、R3(ii) a In the pixel coordinates of the image homonymous points before and after correction, the row coordinates are completely the same, the column coordinates have aberration, and the aberration is parallax;
(6) traversal image L3Pixel point of (5), when encountering line characteristic pixel point (x)L，yL) At the time of image R3Middle edge scanning line y ═ yLSearching line characteristic pixel points, recording the number of the searched line characteristic pixel points as n, and respectively setting the coordinates of each line characteristic pixel point as: (x)R1，yL)，(xR2，yL)……(xRn，yL)；
(7) Geometric correction is carried out on the image L, R by adopting the three-dimensional calibration parameters to obtain a corrected image L*、R*；
(8) In the image L*、R*Middle grade line characteristicMatching of pixel points:
in the image L*In (x)L，yL) Extracting a window to be matched for the central point; in the image R*In each case with (x)R1，yL)，(xR2，yL)……(xRn，yL) Extracting matching windows for the central point, calculating the correlation between each matching window and the window to be matched, and taking the central point corresponding to the matching window with the maximum correlation as (x)L，yL) (x) are optimally matchedL，yL) The optimal matching pixel point is a pair of matching pixel pairs;
(9) carrying out triangulation by using the stereo calibration parameters and the matched pixel pairs to obtain an image L*Depth map for reference frame:
marking two pixel points in the matched pixel pair as P and P ', wherein the corresponding line characteristic pixel points of P and P' in the depth map are P, and the coordinate of P is (x)L，yL) P' has the coordinate of (x)Ri，yRi) The coordinates of P are (X, Y, Z);
wherein b represents the base length of the binocular camera, d represents parallax, and f is the image principal distance;
(10) and calculating the width value of the outline of the power transmission line according to the coordinates of the characteristic pixel points of each line in the depth map, and subtracting the diameter of the power transmission line from the calculated width value to obtain the thickness of the ice layer outside the power transmission line.
2. The method for automatically measuring the icing thickness of the conductor of the high-voltage transmission line according to claim 1, wherein in the step (1), the method for calibrating the relative position posture and the image internal parameters of the binocular camera is an opencv open source algorithm.
3. The method for automatically measuring the icing thickness of the conductor of the high-voltage transmission line according to claim 2, wherein the method for extracting the segmented line segment by using the LSD linear line segment detector comprises the following steps:
1) compressing the image through Gaussian down-sampling to eliminate the sawtooth effect in the image; calculating the gradient and the gradient amplitude of each pixel point in the compressed image:
wherein i (x, y) represents the gray value of the image at the pixel point (x, y), gx(x, y) represents a gradient value in the horizontal direction at the pixel point (xy), gy(x, y) represents a gradient value in the vertical direction at the pixel point (xy); g (x, y) represents the gradient magnitude at the pixel point (x, y);
2) pseudo-sorting the gradient amplitudes obtained by calculation in the step 1) and obtaining a state table of the gradient amplitudes; setting the states of the pixel points with the gradient amplitude smaller than a preset threshold value rho in the state table as USED, and setting the states of other pixel points as UNUSED;
3) generating a section of the power line profile using a region growing algorithm, including steps S1 to S4 performed in sequence:
s1: taking all the pixel points with the UNUSED state as a point set;
s2: taking the pixel point with the maximum gradient amplitude in the point set as a seed point, and calculating the gradient angle of the seed point as an initial region angle;
s3: searching 8 pixel points adjacent to the seed node one by one, and calculating the gradient angle of the searched adjacent pixel points; if the searched pixel point is j and the absolute value of the difference between the gradient angle of j and the region angle is between the interval (0, tau), adding the pixel point j into the growth region and updating the region angle to be jWherein, thetajThe gradient angle of the pixel point j is shown, and tau represents a preset angle tolerance; deleting a seed point and a pixel point j from the point set;
s4: judging whether the point set is empty, if so, ending the step 3); if not, the process returns to step S2.
4. The method for automatically measuring the icing thickness of the conductor of the high-voltage transmission line according to claim 3, wherein the threshold value p is calculated by the following method:
wherein q represents a preset error boundary value.
5. The method for automatically measuring the icing thickness of the conductor of the high-voltage transmission line according to claim 4, wherein the value of τ is 22.5 degrees, and the value of q is 2.
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| CN106960210B (en) * | 2017-03-23 | 2019-11-22 | 上海视可电子科技有限公司 | The method and apparatus of target detection |
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