CN109815798A - Unmanned plane image processing method and system - Google Patents
Unmanned plane image processing method and system Download PDFInfo
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- CN109815798A CN109815798A CN201811546440.1A CN201811546440A CN109815798A CN 109815798 A CN109815798 A CN 109815798A CN 201811546440 A CN201811546440 A CN 201811546440A CN 109815798 A CN109815798 A CN 109815798A
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Abstract
The present invention provides a kind of unmanned plane image processing method and systems, are related to technical field of image detection, this method includes obtaining transmission facility live image and carrying out image procossing to it, to construct sample database jointly；Establish the detection model of deep learning；Image input detection model in sample database is iterated training, until reaching preset trained accuracy；The image with transmission facility is obtained to construct verifying collection, the image input detection model that verifying is concentrated is verified, until reaching preset verifying accuracy；The image with transmission facility defect is obtained to construct test set, the image input detection model in test set is tested, until reaching preset test accuracy；Image to be detected input detection model is detected, to export target defect image.Unmanned plane image processing method provided in an embodiment of the present invention can carry out intelligent screening to large nuber of images, export defect image, improve defect picture and check efficiency.
Description
Technical field
The present invention relates to technical field of image detection, more particularly, to a kind of unmanned plane image processing method and system.
Background technique
Current power transmission route, which generates the main reason for failure, to be had: artificial origin's damage, inside even from weather transmission line of electricity, defeated
Electric line is contaminated, the transmission line malfunction that bird pest reason generates etc..In order to guarantee the normal operation of power grid, it is necessary to power transmission line
The defect of road is monitored, early warning and protection.For this problem, currently used method is manually to examine on the spot, and discovery is asked
Topic, then got rid of the danger by staff.But the problem of such scheme, is that the huge tour dead angle of workload is more, and there are one
Determine risk, it is difficult to guarantee the accuracy and real-time of monitored results.
In recent years, with the rise of unmanned air vehicle technique, the inspection of transmission line of electricity is started gradually distant by unmanned plane low latitude
Sensing mode substitution manually examines on the spot, and unmanned plane inspection is also because its efficient, accurate, safety advantage has obtained power department
Using.But another problem to be solved is, the picture number of taking photo by plane obtained by unmanned plane is very huge, if still
So large-scale picture is handled using the method for artificial screening, investigation, will certainly encounter and manually examine on the spot similar ask
Topic, as accuracy reduces, it is difficult to guarantee the real-time etc. of defect information.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of unmanned plane image processing method and system, it is existing to alleviate
The technical issues of can not carrying out investigation processing in technology to unmanned plane mass picture, mass picture can be detected, intelligence
Screening investigation, improves the accuracy rate of defect picture screening, the timeliness of defect image acquisition of information is effectively ensured.
In a first aspect, the embodiment of the invention provides a kind of unmanned plane image processing methods, comprising: it is existing to obtain transmission facility
Field picture carries out image after image procossing is handled to transmission facility live image, and according to the transmission facility live image
With picture construction sample database after processing；The detection model of deep learning is established, the input of the detection model is sample data
Image after processing in library, the output of the detection model are defect image；Image in sample database is inputted into detection model
It is iterated training, until reaching preset frequency of training threshold value or reaching preset trained accuracy；It obtains and is set with transmission of electricity
Standby image is verified the detection model that the image that verifying is concentrated inputs after the completion of training, with constructing verifying collection until reaching
To preset verifying frequency threshold value or reach preset verifying accuracy；The image with transmission facility defect is obtained to survey to construct
Examination collection is tested the detection model after the completion of the image input verifying in test set, until reaching preset testing time
Threshold value reaches preset test accuracy；Detection model after the completion of image to be detected input test is detected, with defeated
Target defect image out.
With reference to first aspect, the embodiment of the invention provides the first possible embodiments of first aspect, wherein on
State the step of image after image procossing is handled is carried out to the transmission facility live image, comprising: respectively to the transmission facility
Live image, which carries out gray processing processing, image binaryzation processing, image normalization processing and data, enhances technical treatment, to obtain
Image after processing.
The possible embodiment of with reference to first aspect the first, the embodiment of the invention provides second of first aspect
Possible embodiment, wherein data enhancing technology includes rotation transformation, reflection transformation, turning-over changed, scale transformation, puts down
Move one of transformation, change of scale and noise disturbance or a variety of.
With reference to first aspect, the embodiment of the invention provides the third possible embodiments of first aspect, wherein
When the detection model is iterated training, verifying and test, further includes: carry out target detection by deep learning technology.
The third possible embodiment with reference to first aspect, the embodiment of the invention provides the 4th kind of first aspect
Possible embodiment, wherein the step of carrying out target detection above by deep learning technology, comprising: area is carried out to image
Domain selection, and entire image is traversed, selection target region positions the position of target；Extract the characteristic information of the target area；It is logical
Classifier is crossed to classify to this feature information.
The 4th kind of possible embodiment with reference to first aspect, the embodiment of the invention provides the 5th kind of first aspect
Possible embodiment, wherein the step of above-mentioned traversal entire image, comprising: entire image is traversed using sliding window strategy.
The 4th kind of possible embodiment with reference to first aspect, the embodiment of the invention provides the 6th kind of first aspect
Possible embodiment, wherein the step of the characteristic information of the said extracted target area, comprising: the target area is carried out
Foundation characteristic extracts, which includes contour feature and color characteristic；It is complicated that multilayer is carried out to the foundation characteristic of extraction
Feature extraction, the multilayer complex characteristic include profile layered characteristic and gray level image feature；To the multilayer complex characteristic of extraction
Weight study is carried out, the biggish feature of weight is exported, to predict output result.
The 5th kind of possible embodiment with reference to first aspect, the embodiment of the invention provides the 7th kind of first aspect
Possible embodiment, wherein the classifier is SVM classifier or Adaboost classifier.
With reference to first aspect, the embodiment of the invention provides the 8th kind of possible embodiments of first aspect, wherein should
Frequency of training threshold value is 200,000 times, which is 90%；The verifying frequency threshold value is 120,000 times, which is
95%；The testing time threshold value is 100,000 times, which is 99%.
Second aspect, the embodiment of the invention also provides a kind of unmanned plane image processing systems, comprising: sample database is built
Formwork erection block scheme after image procossing is handled to the transmission facility live image for obtaining transmission facility live image
Picture, and according to picture construction sample database after the transmission facility live image and processing；Detection model establishes module, for building
The detection model of vertical deep learning, the input of detection model are image after the processing in sample database, the output of detection model
For defect image；Training module, for the image input detection model in sample database to be iterated training, until reaching
Preset frequency of training threshold value reaches preset trained accuracy；Authentication module, for obtaining the image for having transmission facility
With building verifying collection, the detection model after the completion of the image input training of verifying concentration is verified, until reaching preset
Verifying frequency threshold value reaches preset verifying accuracy；Test module, for obtain have transmission facility defect image with
Test set is constructed, the detection model after the completion of the image input verifying in test set is tested, until reaching preset survey
Examination frequency threshold value reaches preset test accuracy；Output module is detected, being used for will be after the completion of image to be detected input test
Detection model detected, to export target defect image.
The embodiment of the present invention bring it is following the utility model has the advantages that
A kind of unmanned plane image processing method provided in an embodiment of the present invention and system, this method include obtaining transmission facility
Live image carries out image after image procossing is handled to transmission facility live image, and according to the transmission facility scene photo
Picture construction sample database after picture and processing；The detection model of deep learning is established, the input of the detection model is sample number
According to image after the processing in library, the output of the detection model is defect image；By the image input detection mould in sample database
Type is iterated training, until reaching preset frequency of training threshold value or reaching preset trained accuracy；It obtains with transmission of electricity
The image of equipment is verified the detection model that the image that verifying is concentrated inputs after the completion of training with constructing verifying collection, until
Reach preset verifying frequency threshold value or reaches preset verifying accuracy；The image with transmission facility defect is obtained to construct
Test set is tested the detection model after the completion of the image input verifying in test set, until reaching preset test time
Number threshold value reaches preset test accuracy；Detection model after the completion of image to be detected input test is detected, with
Export target defect image.Unmanned plane image processing method provided in an embodiment of the present invention, by establishing iconic model to image
Target defect detection is carried out, to alleviate in the prior art the technical issues of can not carrying out investigation processing to unmanned plane mass picture,
Mass picture can be detected, intelligent screening investigation improves the accuracy rate of defect picture screening, defect image is effectively ensured
The timeliness of acquisition of information.
Other feature and advantage of the disclosure will illustrate in the following description, alternatively, Partial Feature and advantage can be with
Deduce from specification or unambiguously determine, or by implement the disclosure above-mentioned technology it can be learnt that.
To enable the above objects, features, and advantages of the disclosure to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of flow chart of unmanned plane image processing method provided in an embodiment of the present invention；
Fig. 2 is the original image schematic diagram in a kind of sample database provided in an embodiment of the present invention；
Fig. 3 is a kind of image schematic diagram after image procossing provided in an embodiment of the present invention；
Fig. 4 is provided in an embodiment of the present invention a kind of by gridding treated image schematic diagram；
Fig. 5 is a kind of structural schematic diagram of unmanned plane image processing system provided in an embodiment of the present invention.
Icon:
51- sample database establishes module；52- detection model establishes module；53- training module；54- authentication module；55-
Test module；56- detects output 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 be clearly and completely described, it is clear that described embodiments are some of the embodiments of the present invention, rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, shall fall within the protection scope of the present invention.
Currently, being gone forward side by side in the malfunction elimination to transmission line of electricity by the photo site that the mode of taking photo by plane obtains transmission facility
Row detection can alleviate the problem of needing personnel on site to reconnoitre, and still, for the field device image of acquisition, quantity is very huge
Greatly, it if by manually carrying out screening, needs to take considerable time and energy, also not can guarantee the accuracy and in real time of investigation
Property.Based on this, a kind of unmanned plane image processing method provided in an embodiment of the present invention and system can be checked out defeated with intelligent screening
Electric equipment defect image improves the efficiency of transmission facility defect investigation.
For convenient for understanding the present embodiment, first to a kind of unmanned plane image procossing disclosed in the embodiment of the present invention
Method describes in detail.
Embodiment one:
It is a kind of flow chart of unmanned plane image processing method provided in an embodiment of the present invention referring to Fig. 1, as seen from Figure 1,
Method includes the following steps:
Step S102: obtaining transmission facility live image, carries out image procossing to transmission facility live image and is handled
Image afterwards, and according to picture construction sample database after the transmission facility live image and processing.
Here, transmission facility live image be on transmission line of electricity each transmission facility in real time or the image of history, in image
Transmission facility is perpetual object, needs to carry out malfunction elimination, in transmission facility existing defects, timely learning to its working condition
Defect information.Wherein, transmission facility includes overhead line structures, conducting wire, insulator, line hardware, bracing wire, pole and tower foundation, ground connection dress
It sets, breaker etc..Defect include damaged, foreign matter float extension, pollution, non-normal working etc. situations such as.
After obtaining transmission facility live image, image procossing is carried out to transmission facility live image first, here, point
It is other that gray processing processing, image binaryzation processing, image normalization processing and data enhancing are carried out to the transmission facility live image
Technical treatment, with image after being handled.
Then, sample database is constructed jointly further according to image after the transmission facility live image and processing.In this way, can be with
Effectively increase the data volume of sample database.
Technology is enhanced for above-mentioned data, may include rotation transformation, reflection transformation, turning-over changed, scale transformation, translation
One of transformation, change of scale and noise disturbance are a variety of.Specifically, the concrete mode of various transformation are as follows:
Rotation transformation or reflection transformation: by image Random-Rotation unspecified angle, change the direction of picture material；
It is turning-over changed: along horizontal or vertical direction flipped image；
Scale transformation: zoom in or out image according to a certain percentage；
Translation transformation: on the image plane translating image, and it is specified that random or artificially defined mode can be used
Range of translation and translating step, direction is translated horizontally or vertically, changes the position of picture material；
Change of scale: it to image according to preset scale factor, zooms in or out；Or using preset scale because
Son changes the size or fog-level of picture material to image filtering tectonic scale space；
Noise disturbance: random perturbation is carried out to each pixel RGB of image, common noise pattern is salt-pepper noise and height
This noise.
Step S104: establishing the detection model of deep learning, and the input of the detection model is the processing in sample database
Image afterwards, the output of the detection model are defect image.
For the detection model for detecting defect image, input is image after the processing in sample database, exports and is
Defect image.
Here, deep learning detection model can be based on convolution using R-CNN (Regions with CNN features)
The region method of neural network characteristics or quick R-CNN (Fast R-CNN) method.
Step S106: the image input detection model in sample database is iterated training, until reaching preset
Frequency of training threshold value reaches preset trained accuracy.
In a kind of wherein embodiment, which is 200,000 times, which is 90%.Work as detection
When model is iterated trained, while calculating it and training accuracy, namely the correctness of output defect image.
For the example above, when the detection model frequency of training reaches 200,000 times or it trains accuracy to reach 90%
When, training terminates.
Step S108: the image with transmission facility is obtained to construct verifying collection, the image that verifying is concentrated inputs training
Detection model after the completion is verified, until reaching preset verifying frequency threshold value or reaching preset verifying accuracy.
In a kind of wherein embodiment, which is 120,000 times, which is 95%.That is,
When detection model verifying number reaches 120,000 times or its verifying accuracy reaches 95%, verifying is completed.
Here, the image for verifying concentration can also be handled by above-mentioned data enhancing technology, also expanded verifying and concentrated
Data volume, to reinforce verifying.
Step S110: the image with transmission facility defect is obtained to construct test set, the image in test set is inputted
Detection model after the completion of verifying is tested, until reaching preset testing time threshold value or reaching preset test accurately
Degree.
In a kind of wherein embodiment, which is 100,000 times, which is 99%.That is,
When the testing time of the detection model reaches 100,000 times or its test accuracy reaches 99%, test is completed.
Wherein, for the image in test set, technology can also be enhanced by above-mentioned data and is handled, also expand test
The data volume of concentration, to promote test effect.
Here, when detection model carries out above-mentioned repetitive exercise, verifying and test, which also passes through deep learning
Technology carries out target detection.
Specifically, the step of target detection, comprising:
Firstly, carrying out regional choice to image, and entire image is traversed, selection target region positions the position of target.This
In, in a kind of wherein embodiment, entire image is traversed using sliding window strategy.
Secondly, extracting the characteristic information of the target area.Here, the process for extracting characteristic information includes: to the target area
Domain carries out foundation characteristic extraction, which includes contour feature and color characteristic；The foundation characteristic of extraction is carried out more
Layer complex characteristic is extracted, which includes profile layered characteristic and gray level image feature；It is multiple to the multilayer of extraction
Miscellaneous feature carries out weight study, exports the biggish feature of weight, to predict output result.
Then, classified by classifier to this feature information.Wherein, classifier is SVM (Support Vector
Machine, support vector machines) classifier or Adaboost classifier.SVM method is by a Nonlinear Mapping p, sample
Space reflection is into a higher-dimension or even infinite dimensional feature space (space Hilbert), so that in original sample space
The problem of Nonlinear separability, is converted into the problem of linear separability in feature space.And Adaboost is a kind of iterative algorithm,
Its core concept is the classifier (Weak Classifier) different for the training of the same training set, then these weak classifier sets
Get up, constitutes a stronger final classification device (strong classifier).
Step S112: the detection model after the completion of image to be detected input test is detected, to export target defect
Image.
After detection model is completed to test, show that the detection model has reached the expection accuracy requirement of detection.This
When, the detection model after the completion of image to be detected input test is detected, to export target defect image.In this way, being obtained
The target defect image obtained meets accuracy requirement, as a result, believable.
In this way, can the transmission facility photo site to magnanimity detected automatically, obtain the defect map of transmission facility
Picture, compared to artificial investigation, cost is lower, and faster, accuracy is higher for speed.
A kind of unmanned plane image processing method provided in an embodiment of the present invention, this method include obtaining transmission facility scene photo
Picture carries out image after image procossing is handled to transmission facility live image, and according to the transmission facility live image and place
Picture construction sample database after reason；The detection model of deep learning is established, the input of the detection model is in sample database
Processing after image, the output of the detection model is defect image；Image input detection model in sample database is carried out
Repetitive exercise, until reaching preset frequency of training threshold value or reaching preset trained accuracy；It obtains with transmission facility
Image is verified the detection model that the image that verifying is concentrated inputs after the completion of training, with constructing verifying collection until reaching pre-
If verifying frequency threshold value or reach preset verifying accuracy；The image with transmission facility defect is obtained to construct test
Collection is tested the detection model after the completion of the image input verifying in test set, until reaching preset testing time threshold
It is worth or reaches preset test accuracy；Detection model after the completion of image to be detected input test is detected, with output
Target defect image.This method by establish iconic model to image carry out target defect detection, with alleviate in the prior art without
The technical issues of method carries out investigation processing to unmanned plane mass picture, can detect mass picture, intelligent screening investigation,
The accuracy rate for improving the screening of defect picture, is effectively ensured the timeliness of defect image acquisition of information.
Embodiment two:
In order to be clearer to understand unmanned plane image processing method provided by the above embodiment, the embodiment of the present invention combines specific
Using being illustrated.
There is the image of Bird's Nest to be used as training set firstly, sorting out 164 from existing unmanned plane inspection photo, wherein 18
Opening has the image of Bird's Nest to be used as verifying collection, and 60 images are used as test set, wherein not having Bird's Nest in 2 images.
By the geometric transformation of image, enhance technology using one or more of data splitting to increase input data
Amount:
(1) rotation or reflection transformation (Rotation/reflection): by image Random-Rotation unspecified angle；Change figure
As the direction of content；
(2) turning-over changed (flip): along horizontal or vertical direction flipped image；
(3) scale transformation (zoom): zoom in or out image according to a certain percentage；
(4) translation transformation (shift): image is translated in a certain way on the image plane；It can be used random
Or artificially defined mode specifies range of translation and translating step, direction carries out translation change picture material horizontally or vertically
Position；
(5) it change of scale (scale): to image according to specified scale factor, zooms in or out；Or it combines special
Sign is extracted, and using specified scale factor to image filtering tectonic scale space, changes the size or fog-level of picture material；
(6) contrast variation (contrast): in the hsv color space of image, change saturation degree S and V luminance component, protect
Hold that tone H is constant, the S and V component to each pixel carry out exponent arithmetic, and exponential factor increases illumination and become between 0.25 to 4
Change；
(7) noise disturbance (noise): random perturbation is carried out to each pixel RGB of image, common noise pattern is green pepper
Salt noise and Gaussian noise；
(8) colour switching (color): PCA is carried out in the RGB color of training set pixel value, obtains the 3 of rgb space
A principal direction vector p1, p2, p3；And 3 eigenvalue λs 1, λ 2, λ 3.
In the present embodiment, using by 90,180,270 degree of stranded image rotation of method, increase by 3 times of sample set.
In the present embodiment, detection specific steps are carried out to target are as follows:
(1) regional choice.This step is positioned to the position of target.Since target possibly is present at any of image
Position, and the size of target, Aspect Ratio are not known yet, so the strategy of original adoption sliding window carries out entire image
Traversal, needs to be arranged different scales, different length-width ratios.Although the strategy of this exhaustion contains that target is all to be likely to occur
Position, but disadvantage is also evident from: time complexity is too high, and it is too many to generate redundancy window, seriously affects subsequent characteristics and mentions
The speed and performance for taking and classifying.The length-width ratio of actually due to by time complexity the problem of, sliding window is typically all
Fixed setting is several, so for the biggish multi-class target detection of length-width ratio floating, even sliding window is traversed also not
It can obtain good region.
(2) feature extraction.Due to the Morphological Diversity of target, illumination variation diversity, the factors such as background diversity make
It is not so easy for designing the feature of a robust, however the quality for extracting feature directly influences the accuracy of classification.This
A stage common feature has SIFT, HOG etc..
(3) classifier.The classifier that conventional target detection uses mainly has SVM, Adaboost etc..
Referring to Fig. 2 and Fig. 3, respectively the original image schematic diagram in sample database and the figure after image procossing
As schematic diagram, due to the image as sample set be derived from different places have different illumination conditions, different resolution ratio with
And different size etc., the characteristic of image are not quite similar.If raw video picture is directly sent into convolutional neural networks,
It certainly will influence whether feature extraction, or even influence the result of target detection.Therefore, neural network is input in image carry out convolution
Before operation, corresponding, effective processing is done to image, can achieve the effect for improving testing result accuracy.At present more
Common image processing method has image gray processing, binaryzation, normalization and data enhancing.
Binaryzation: color image captured by camera has tri- color channels of RGB, each pixel is corresponding with three
Value of a value between [0,255].And so-called gray processing is by the value in three channels by distributing different weights and being added,
It is set only to replace the value of original three color channels with a resulting brightness value is added.And binaryzation is then in gray processing
On the basis of image, by the way that corresponding threshold value is arranged, gray value is divided into two kinds and assigns 0 or 255 two value again.
Normalization: image normalization is that image is changed into system by the means of processing variation to treated image
The image of one form, such as can be uniform sizes by the skimble-scamble image normalization of size of different unmanned plane shootings is derived from.
The method helps speed up the pace of learning of neural network, makes its more rapid convergence.It can determine in an experiment depending on trained convergent
It is fixed whether need using.
Data enhancing: being used as support since deep learning needs huge sample size, otherwise may be due to training
Sample size is insufficient and the phenomenon that over-fitting occurs.Therefore, in order to avoid the generation of this phenomenon, in order to improve being applicable in for training result
Property, need to using concentrate limited image to be stretched original sample, overturn, mirror image, displacement etc. data enhancing method, from
And achieve the purpose that exptended sample collection.Customized data enhancement methods, such as random change background picture also can be used simultaneously
The method of element, partial region in selective erasing image, and use the method for noise filling, realization to the global information feature of image into
Row study, enhances robustness.
Referring to fig. 4, to be a kind of by gridding treated image schematic diagram, here, by the way that object detection task is turned
It changes a regression problem into, greatly accelerates the speed of detection, it can 45 images of processing per second.And since each network is pre-
Full figure information is used when surveying target window, so that false detection rate is greatly reduced.Specifically, including:
(1) input picture is obtained, divides an image into the grid of 7*7 first；
(2) for each grid, 2 frames are all predicted, including each frame be target confidence level and each frame
Probability of the region in multiple classifications；
(3) 7*7*2 target window can be predicted according to previous step, it is relatively low then to remove possibility according to threshold value
Target window removes redundancy window finally by NMS (Non-Maximum Suppression, non-maxima suppression).
Here it is possible to see that whole process is very simple, does not need intermediate candidate region (RegionProposal) and exist
Target is looked for, the judgement for just completing position and classification is directly returned.
Unmanned plane image processing method provided in an embodiment of the present invention lacks image progress target by establishing iconic model
Detection is fallen into, solution can not carry out the technical issues of screening is checked to mass picture in the prior art, to carry out to mass picture
Detection, intelligent screening investigation, and then realize the accuracy rate for improving picture screening and the real-time for guaranteeing defect information.
Embodiment three:
The embodiment of the invention also provides a kind of unmanned plane image processing systems, referring to Fig. 5, for the structural representation of the system
Figure, as seen from Figure 5, the system include that the sample database being sequentially connected establishes module 51, detection model establishes module 52, training
Module 53, authentication module 54, test module 55 and detection output module 56.Wherein, the function of modules is as follows:
Sample database establishes module 51, for obtaining transmission facility live image, to the transmission facility live image into
Image after row image procossing is handled, and according to picture construction sample database after the transmission facility live image and processing；
Detection model establishes module 52, and for establishing the detection model of deep learning, the input of detection model is sample number
According to image after the processing in library, the output of detection model is defect image；
Training module 53, for the image input detection model in sample database to be iterated training, until reaching
Preset frequency of training threshold value reaches preset trained accuracy；
Authentication module 54, for obtaining the image for having transmission facility to construct verifying collection, the image that verifying is concentrated is defeated
Enter the detection model after the completion of training to be verified, until reaching preset verifying frequency threshold value or reaching preset verifying accurately
Degree；
Test module 55, for obtaining the image for having transmission facility defect to construct test set, by the figure in test set
Detection model after the completion of verifying as input is tested, until reaching preset testing time threshold value or reaching preset test
Accuracy；
Output module 56 is detected, for detecting the detection model after the completion of image to be detected input test, with defeated
Target defect image out.
The technical effect of unmanned plane image processing system provided by the embodiment of the present invention, realization principle and generation is with before
It is identical to state unmanned plane image processing method embodiment, to briefly describe, Installation practice part does not refer to place, can refer to aforementioned
Corresponding contents in embodiment of the method.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description
Specific work process, can refer to corresponding processes in the foregoing method embodiment, details are not described herein.
Unless specifically stated otherwise, the opposite step of the component and step that otherwise illustrate in these embodiments, digital table
It is not limit the scope of the invention up to formula and numerical value.
In all examples being illustrated and described herein, any occurrence should be construed as merely illustratively, without
It is as limitation, therefore, other examples of exemplary embodiment can have different values.
The flow chart and block diagram in the drawings show the system of multiple embodiments according to the present invention, method and computer journeys
The architecture, function and operation in the cards of sequence product.In this regard, each box in flowchart or block diagram can generation
A part of one module, section or code of table, a part of the module, section or code include one or more use
The executable instruction of the logic function as defined in realizing.It should also be noted that in some implementations as replacements, being marked in box
The function of note can also occur in a different order than that indicated in the drawings.For example, two continuous boxes can actually base
Originally it is performed in parallel, they can also be executed in the opposite order sometimes, and this depends on the function involved.It is also noted that
It is the combination of each box in block diagram and or flow chart and the box in block diagram and or flow chart, can uses and execute rule
The dedicated hardware based system of fixed function or movement is realized, or can use the group of specialized hardware and computer instruction
It closes to realize.
In addition, in the description of the embodiment of the present invention unless specifically defined or limited otherwise, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
The computer program product of unmanned plane image processing method is carried out provided by the embodiment of the present invention, including is stored
The computer readable storage medium of the executable non-volatile program code of processor, the instruction that said program code includes are available
In executing previous methods method as described in the examples, specific implementation can be found in embodiment of the method, and details are not described herein.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In several embodiments provided herein, it should be understood that disclosed systems, devices and methods, it can be with
It realizes by another way.The apparatus embodiments described above are merely exemplary, for example, the division of the unit,
Only a kind of logical function partition, there may be another division manner in actual implementation, in another example, multiple units or components can
To combine or be desirably integrated into another system, or some features can be ignored or not executed.Another point, it is shown or beg for
The mutual coupling, direct-coupling or communication connection of opinion can be through some communication interfaces, device or unit it is indirect
Coupling or communication connection can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in the executable non-volatile computer-readable storage medium of a processor.Based on this understanding, of the invention
Technical solution substantially the part of the part that contributes to existing technology or the technical solution can be with software in other words
The form of product embodies, which is stored in a storage medium, including some instructions use so that
One computer equipment (can be personal computer, server or the network equipment etc.) executes each embodiment institute of the present invention
State all or part of the steps of method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-
Only Memory), random access memory (RAM, Random Access Memory), magnetic or disk etc. are various can be with
Store the medium of program code.
Finally, it should be noted that embodiment described above, only a specific embodiment of the invention, to illustrate the present invention
Technical solution, rather than its limitations, scope of protection of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, those skilled in the art should understand that: anyone skilled in the art
In the technical scope disclosed by the present invention, it can still modify to technical solution documented by previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of technical solution of the embodiment of the present invention, should all cover in protection of the invention
Within the scope of.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (10)
1. a kind of unmanned plane image processing method characterized by comprising
Transmission facility live image is obtained, image after image procossing is handled is carried out to the transmission facility live image, and
According to picture construction sample database after the transmission facility live image and the processing；
The detection model of deep learning is established, the input of the detection model is image after the processing in the sample database,
The output of the detection model is defect image；
Image in the sample database is inputted into the detection model and is iterated training, until reaching preset training time
Number threshold value reaches preset trained accuracy；
The image with transmission facility is obtained to construct verifying collection, the image that the verifying is concentrated is inputted after the completion of the training
Detection model verified, until reach preset verifying frequency threshold value or reach preset verifying accuracy；
The image with transmission facility defect is obtained to construct test set, the image in the test set is inputted into described verified
Detection model after is tested, until reaching preset testing time threshold value or reaching preset test accuracy；
The detection model that image to be detected inputs after the completion of the test is detected, to export target defect image.
2. unmanned plane image processing method according to claim 1, which is characterized in that described to the transmission facility scene
Image carries out the step of image after image procossing is handled, comprising:
Respectively to the transmission facility live image carry out gray processing processing, image binaryzation processing, image normalization processing and
Data enhance technical treatment, with image after being handled.
3. unmanned plane image processing method according to claim 2, which is characterized in that the data enhancing technology includes rotation
Transformation changes, one of reflection transformation, turning-over changed, scale transformation, translation transformation, change of scale and noise disturbance or a variety of.
4. unmanned plane image processing method according to claim 1, which is characterized in that be iterated in the detection model
When training, verifying and test, further includes:
Target detection is carried out by deep learning technology.
5. unmanned plane image processing method according to claim 4, which is characterized in that it is described by deep learning technology into
The step of row target detection, comprising:
Regional choice is carried out to image, and traverses entire image, selection target region positions the position of target；
Extract the characteristic information of the target area；
Classified by classifier to the characteristic information.
6. unmanned plane image processing method according to claim 5, which is characterized in that the step of the traversal entire image
Suddenly, comprising:
Entire image is traversed using sliding window strategy.
7. unmanned plane image processing method according to claim 5, which is characterized in that the extraction target area
The step of characteristic information, comprising:
Foundation characteristic extraction is carried out to the target area, the foundation characteristic includes contour feature and color characteristic；
The extraction of multilayer complex characteristic is carried out to the foundation characteristic of extraction, the multilayer complex characteristic includes profile layered characteristic
With gray level image feature；
Weight study is carried out to the multilayer complex characteristic of extraction, exports the biggish feature of weight, to predict output result.
8. unmanned plane image processing method according to claim 5, which is characterized in that the classifier is SVM classifier
Or Adaboost classifier.
9. unmanned plane image processing method according to claim 1, which is characterized in that the frequency of training threshold value is 200,000
Secondary, the trained accuracy is 90%；
The verifying frequency threshold value is 120,000 times, and the verifying accuracy is 95%；
The testing time threshold value is 100,000 times, and the test accuracy is 99%.
10. a kind of unmanned plane image processing system characterized by comprising
Sample database establishes module, for obtaining transmission facility live image, carries out figure to the transmission facility live image
As image after being handled, and according to picture construction sample data after the transmission facility live image and the processing
Library；
Detection model establishes module, and for establishing the detection model of deep learning, the input of the detection model is the sample
Image after processing in database, the output of the detection model are defect image；
Training module is iterated training for the image in the sample database to be inputted the detection model, until reaching
To preset frequency of training threshold value or reach preset trained accuracy；
Authentication module inputs the image that the verifying is concentrated for obtaining the image for having transmission facility to construct verifying collection
Detection model after the completion of the training is verified, until reaching preset verifying frequency threshold value or reaching preset verifying standard
Exactness；
Test module, for obtaining the image for having transmission facility defect to construct test set, by the image in the test set
The detection model inputted after the completion of the verifying is tested, until reaching preset testing time threshold value or reaching preset survey
Try accuracy；
Output module is detected, the detection model for inputting image to be detected after the completion of the test detects, with output
Target defect image.
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