CN110119161A - A kind of unmanned plane power transmission line inspection vision barrier-avoiding method and system - Google Patents
A kind of unmanned plane power transmission line inspection vision barrier-avoiding method and system Download PDFInfo
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- CN110119161A CN110119161A CN201910513545.5A CN201910513545A CN110119161A CN 110119161 A CN110119161 A CN 110119161A CN 201910513545 A CN201910513545 A CN 201910513545A CN 110119161 A CN110119161 A CN 110119161A
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Abstract
The invention discloses a kind of unmanned plane power transmission line inspection vision barrier-avoiding method and systems, which comprises utilizes the left visually frequency and right visual frequency of the unmanned plane acquisition transmission line of electricity for carrying binocular camera；Frame is taken to left visually frequency, right mesh audio video synchronization according to setpoint frequency, forms binocular image pair；The left mesh image of binocular image centering, right mesh image are detected respectively, obtain in left mesh image complete power transmission line collection in complete power transmission line collection and right mesh image；Power transmission line collection complete in left mesh image is matched with power transmission line collection complete in right mesh image, obtains matched transmission line；According to the matching double points collection on matched transmission line, power transmission line is calculated at a distance from unmanned plane；By transmission line of electricity at a distance from unmanned plane compared with setting secure threshold, alarm is exported if beyond secure threshold.The present invention can reduce working strength when patrol officer's prospecting, avoids unmanned plane polling transmission line process that power transmission line collision occurs, improves working efficiency and safety.
Description
Technical field
The present invention relates to a kind of unmanned plane power transmission line inspection vision barrier-avoiding method and systems.
Background technique
With the development of economy, social progress, demand of the people to electric power energy increasingly increase, and power equipment is as existing
For the most important component part of electric system, normal, efficient operating is to ensure that the key of power grid continued power.It is overhead defeated
Electric line local environment is complicated, is highly prone to the influence of the natural causes such as bad weather, flying bird beast, makes circuit aging, fracture,
Lead to line fault, influences the safety and stable operation of power grid.Power transmission line inspection be guarantee safe and stable operation of power system,
It is continuously an element task of huge numbers of families' power supply.It can effectively be grasped on this route and be transmitted electricity by the inspection of power transmission line
The variation of the case where line and surrounding enviroment topography find potential security risk in time, so that technical staff solves in time, avoid
Or unnecessary economy and personal casualty loss are reduced, danger coefficient, the pre- incidence of disaster are preferably minimized.So transmission line of electricity
Channel inspection is the pith of electric system maintenance work.
In recent years, grid company gradually uses unmanned plane inspection to replace manual inspection, and the labour for significantly reducing personnel is strong
Degree, also improve the efficiency of detection, still, unmanned plane inspection range it is big, personnel cannot follow unmanned plane in real time, human eye can
Depending in range, the available preferable guarantee of the safe condition of unmanned plane, once unmanned plane flies out except the visual range of human eye,
Patrolman can only ensure the line walking safety of unmanned plane by the obstacle avoidance system of video information on display screen and unmanned plane itself,
But usually there is large error manually is judged for distance by video information, and extremely tests the warp of operator
It tests horizontal with unmanned plane manipulation；The obstacle avoidance system of existing unmanned plane can not also detect this so elongated obstacle of power transmission line
Object, safety coefficient substantially reduce, once power transmission line on unmanned aerial vehicle, it will cause serious electric power accident.
Summary of the invention
It is an object of the invention to overcome deficiency in the prior art, a kind of unmanned plane power transmission line inspection vision is provided and is kept away
Hinder method and system, realize the accurate detection to distance between power transmission line and unmanned plane, reduces work when patrol officer's prospecting
Intensity avoids unmanned plane polling transmission line process that power transmission line collision occurs, improves working efficiency and safety.
In order to achieve the above objectives, the present invention adopts the following technical solutions realization:
In a first aspect, the present invention provides a kind of unmanned plane power transmission line inspection vision barrier-avoiding methods, which is characterized in that institute
The method of stating includes the following steps:
Utilize the left visually frequency and right visual frequency of the unmanned plane acquisition transmission line of electricity for carrying binocular camera；
Frame is taken to left visually frequency, right mesh audio video synchronization according to setpoint frequency, forms binocular image pair；
The left mesh image of binocular image centering, right mesh image are detected respectively, obtains and completely transmits electricity in left mesh image
Complete power transmission line collection in line collection and right mesh image；
Power transmission line collection complete in left mesh image is matched with power transmission line collection complete in right mesh image, obtains matching
Power transmission line；
According to the matching double points collection on matched transmission line, the parallax of power transmission line in left mesh image and right mesh image is calculated；
Using binocular imaging principle, according to the disparity computation power transmission line at a distance from unmanned plane；
By transmission line of electricity at a distance from unmanned plane compared with setting secure threshold, alarm is exported if beyond secure threshold,
Manipulation unmanned plane operates within the scope of safe distance.
With reference to first aspect, further, the method also includes:
Binocular camera is demarcated, the inside and outside parameter of binocular camera is obtained, using inside and outside parameter to acquired binocular
Image is to being corrected and corrected.
With reference to first aspect, further, it obtains in left mesh image and completely transmits electricity in complete power transmission line collection and right mesh image
The method of line collection includes the following steps:
51) go out the line segment aggregate in left mesh image on power transmission line using statistical probability Hough line transformation preliminary screening, be denoted as
Lines_nl:
Lines_nl={ { (x11,y11),(x12,y12)},{(x21,y21),(x22,y22)},......,{(xn1,yn1),
(xn2,yn2)}}
Wherein, (x11,y11) and (x12,y12) it is respectively line segment two-end-point coordinate, n is the sum of line segment；
52) slope k of each line segment in line segment aggregate lines_n1 is calculatedi:
The slope being calculated integrates as lines_kl:
Lines_kl={ k1,k2,......,kn}
53) restriction range of each transmission of electricity line slope is taken are as follows: | ki|≤tan5 ° will be inconsistent by Slope Constraint condition
The non-power transmission line part of constraint condition removes, and filters out the line segment aggregate for meeting power transmission line stringing rule, new line segment aggregate
Lines_wl is denoted as:
Lines_wl={ { (x11,y11),(x12,y12)},{(x21,y21),(x22,y22)},......,{(xw1,yw1),
(xw2,yw2)}},w≤n
Wherein, w is the sum of power transmission line after being screened using Slope Constraint；
54) distance of every two sections of power transmission lines is calculated to screen duplicate power transmission line, is taken in line segment aggregate lines_wl every
The midpoint coordinates of one section of line segment is (xim,yim), then the line segment midpoint gather of line segment aggregate lines_wl is lines_halfl:
Lines_halfl={ (x1m,y1m),(x2m,y2m),......,(xwm,ywm)}
The Euclidean distance of every two midpoint coordinates is calculated (in the length along path in two and three dimensions space between two o'clock coordinate
Degree), the minimum value of two midpoint coordinates Euclidean distances is set as σhalf min, (xam,yam) and (xbm,ybm) it is line segment midpoint gather
Point in lines_halfl, if meeting:
Then delete (xam,yam) corresponding to power transmission line line segment, screening line-segment sets lines_zl as all detect it is defeated
Electric wire line-segment sets, are denoted as:
Lines_zl={ { (x11,y11),(x12,y12)},{(x21,y21),(x22,y22)},......,{(xz1,yz1),
(xz2,yz2)}},z≤w
Wherein, z is to utilize the power transmission line sum after the screening of line segment midpoint Euclidean distance；
55) all power transmission line line segments on same power transmission line are connected using Slope Constraint integration, it is defeated using every two
Wire segment is compared and connects, and wherein a line segment is lines_zv={ (x to notev1,yv1),(xv2,yv2), another line segment
For lines_zu={ (xu1,yu1),(xu2,yu2), calculate separately slope kv,ku:
Wherein, v indicates that wherein a power transmission line line segment, u indicate another power transmission line line segment；
Pass through constraint condition: | kv|≤tan5°,|ku|≤tan5°,|kv-ku|≤tan5 ° judges two power transmission line line segments
It whether is different line segments on same power transmission line；It is not defeated for same if not meeting above three constraint condition simultaneously
The line segment of electric wire；Meet two line segments of constraint condition simultaneously, merging becomes a longer line segment, compares calculating by { (xu1,
yu1),(xv2,yv2)},{(xv1,yv1),(xu2,yu2) composition two line segments length, take longer line segment be merging after line
Section lines_zvu, is denoted as:
Wherein, line segment lines_zvu is the longer line segment of length chosen, and deletes the shorter line segment of distance, i.e., by two
A power transmission line line segment on same power transmission line is merged into as one section of longer power transmission line；
By all power transmission line line segments compared with other power transmission line line segments with merge, obtain complete power main collection
Lines_tl is denoted as:
Lines_tl={ { (x11,y11),(x12,y12)},{(x21,y21),(x22,y22)},......,{(xt1,yt1),
(xt2,yt2)}},t≤z
Wherein, t is the sum of power main collection after merging.
56) 51) -55 are executed to right mesh image) step, complete power main collection lines_tr in right mesh image is obtained,
It is denoted as:
Lines_tr={ { (x11′,y11′),(x12′,y12′)},{(x21′,y21′),(x22′,y22′)},......,
{(xt1′,yt1′),(xt2′,yt2′)}},t≤z
Wherein, (x11′,y11') and (x12′,y12') indicate that the two-end-point of power transmission line line segment in right mesh image, lines_tr are defeated
Electric wire wire concentrates each line segment such.
With reference to first aspect, further, by power transmission line collection complete in left mesh image with it is complete defeated in right mesh image
Electric wire collection carries out matched method and includes the following steps:
61) each line segment is concentrated to calculate it directly using two extreme coordinates lines_tl power main in left mesh image
The equation of line obtains the straight line equation collection lines_tlF of left mesh power main collection, is denoted as:
Lines_tlF={ (A1x+B1y+C1=0), (A2x+B2y+C2... ,=0) (Atx+Bty+Ct} ,=0) t≤z
Wherein, A1x+B1y+C1=0 indicates the equation for the power transmission line that lines_tl power main is concentrated in left mesh image
Formula, A1、B1、C1For straight line A1x+B1y+C1=0 parameter, each straight line equation is such in lines_tlF；
62) taking left mesh image center coordinate is (xmid,ymid), calculate every transmission of electricity in image midpoint and lines_tlF
The vertical range h of the straight line equation of linets, it is denoted as:
Wherein, As、Bs、CsFor straight line equation Asx+Bsy+Cs=0 parameter；
63) integrate with the straight line equation that 61) step calculates right mesh power main collection as lines_trF, be denoted as:
Lines_trF={ (A1′x+B1′y+C1'=0), (A2′x+B2′y+C2'=0) ..., (At′x+Bt′y+Ct'=
0)},t≤z
Wherein, A1′x+B1′y+C1'=0 indicates the power transmission line that lines_trF power main is concentrated in right mesh image
Equation, A1′、B1′、C1' it is straight line A1′x+B1′y+C1The parameter of '=0, each straight line equation is such in lines_trF；
64) taking right mesh image center coordinate is also (xmid,ymid), image midpoint and lines_ are calculated with 62) step
The vertical range h of the straight line equation of every power transmission line in trFts', it is denoted as:
Wherein, As′、Bs′、Cs' it is straight line equation As′x+Bs′y+CsThe parameter of '=0；
65) when the vertical range of left mesh image and right mesh image center to straight line is in preset binding occurrence σ0It
It is interior, i.e., | hts-hts′|≤σ0, when in default binding occurrence σ0Within there is the same htsCorresponding multiple hts' set up when, then for
Each htsSelect minimum range hts min=min | hts-hts' | corresponding hts' be corresponding to it, two corresponding power transmission lines
Matching；The then h when result is uniquets、hts' corresponding two transmission of electricity lines matchings, the power transmission line collection after note left and right mesh matching are combined into
Lines_p1 is denoted as:
Lines_p1={ { l1,l1′},{l2,l2′},...,{lp,lp′}},p≤t
Wherein, p is the power transmission line number after left and right mesh images match.
With reference to first aspect, further, method of the power transmission line at a distance from unmanned plane is calculated to include the following steps:
71) one group of matched transmission line { l in the mesh image of left and right is taken1,l1', then take power transmission line l1Trisection point: (xe1,
ye1)、(xe2,ye2), make horizontal parallel line and hands over matched power transmission line l in right mesh1' in (xe1′,ye1′)、(xe2′,ye2'), it is successively right
Each group of matched transmission line seeks trisection point matching double points in lines_p1, forms matching double points collection spots_g1, is denoted as:
Spots_g1={ { (xe1,ye1)、(xe1′,ye1′)},{(xe2,ye2)、(xe2′,ye2′)},...,{(xeg,yeg)、
(xeg′,yeg′)}},g≤2p
Wherein, g is the number of trisection point matching double points；
So parallax diThe horizontal position for being defined as point respective point in two images is poor:
di=(xei-xei′),1≤i≤g
Wherein, xei、xei' it is the corresponding abscissa in left mesh image and right mesh image of matching double points respectively；
72) according to binocular vision imaging principle, it is known that the parallax range of binocular camera is b, focal length f, and calculating every is defeated
Each three branch is to the distance between unmanned plane z on electric wirec:
With reference to first aspect, further, the decision condition for exporting alarm includes:
Using minimum range as the power transmission line to the estimated value of distance between unmanned plane, it is assumed that preset the line walking section
Safe distance is λ meters, works as zc·10-2When≤λ, indicate that the distance between unmanned plane and power transmission line are excessively close, it may occur however that it is dangerous, it is defeated
It alarms out, operator is reminded to manipulate unmanned plane to safety zone.
Second aspect, the present invention provides a kind of unmanned plane power transmission line inspection vision obstacle avoidance systems, comprising:
Acquisition module: for acquiring the left visually frequency and right visual frequency of transmission line of electricity；
Power transmission line detection module: for taking frame to left visually frequency, right mesh audio video synchronization according to setpoint frequency, binocular figure is formed
As right；It is also used to respectively detect the left mesh image of binocular image centering, right mesh image, obtain complete defeated in left mesh image
Complete power transmission line collection in electric wire collection and right mesh image；
Power transmission line matching module: it is used for complete power transmission line in power transmission line collection complete in left mesh image and right mesh image
Collection is matched, and matched transmission line is obtained；
Apart from detection module: for calculating left mesh image and right mesh image according to the matching double points collection on matched transmission line
The parallax of middle power transmission line；And binocular imaging principle is utilized, according to the disparity computation power transmission line at a distance from unmanned plane；
Alarm modules: for by transmission line of electricity at a distance from unmanned plane compared with setting secure threshold, if exceed safety threshold
Value then exports alarm.
Compared with prior art, advantageous effects of the invention: being believed using the depth that unmanned plane binocular camera obtains
Breath, it is automatic detect unmanned plane between power transmission line at a distance from, the safety of line walking process can be greatly improved；Inspection can be eliminated
Personnel in line walking process to the uncertainty of distance controlling between unmanned plane and transmission line of electricity, automatically, in real time detection power transmission line with
The positional distance of unmanned plane, both ensure that unmanned plane line walking safety, also improve the efficiency of detection to a certain extent, have compared with
High engineering application value.
Detailed description of the invention
Fig. 1 is system module structure chart；
Fig. 2 is binocular camera or so mesh transmission of electricity lines matching schematic diagram；
Fig. 3 is match point schematic diagram on binocular camera power transmission line；
Fig. 4 is binocular vision imaging schematic diagram.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.Following embodiment is only used for clearly illustrating the present invention
Technical solution, and not intended to limit the protection scope of the present invention.
As shown in Figure 1, being unmanned plane power transmission line inspection vision obstacle avoidance system provided in an embodiment of the present invention, hardware components
It include: unmanned plane, signal transmission module, binocular camera and compact processor.Wherein binocular camera is taken the photograph by two specifications are identical
Camera composition, two camera optical axis are parallel, and camera lens is placed in same plane.
Software section: include: acquisition module, power transmission line detection module, power transmission line matching module, apart from detection module and police
Report module；
Acquisition module: for acquiring the left visually frequency and right visual frequency of transmission line of electricity；
Power transmission line detection module: for taking frame to left visually frequency, right mesh audio video synchronization according to setpoint frequency, binocular figure is formed
As right；It is also used to respectively detect the left mesh image of binocular image centering, right mesh image, obtain complete defeated in left mesh image
Complete power transmission line collection in electric wire collection and right mesh image；
Power transmission line matching module: it is used for complete power transmission line in power transmission line collection complete in left mesh image and right mesh image
Collection is matched, and matched transmission line is obtained；
Apart from detection module: for calculating left mesh image and right mesh image according to the matching double points collection on matched transmission line
The parallax of middle power transmission line；And binocular imaging principle is utilized, according to the disparity computation power transmission line at a distance from unmanned plane；
Alarm modules: for by transmission line of electricity at a distance from unmanned plane compared with setting secure threshold, if exceed safety threshold
Value then exports alarm.
A kind of unmanned plane power transmission line inspection vision barrier-avoiding method provided in an embodiment of the present invention can be kept away using above-mentioned
Barrier system is realized, is included the following steps:
1) binocular camera is demarcated using Zhang Shi standardization, obtains the inside and outside parameters such as focal length f, baseline distance b；
2) unmanned plane is manipulated by staff, when carry binocular camera unmanned plane to power transmission line around when, with camera lens with
It is unobstructed and shoot power transmission lines in 30 ° of elevations angle between circuit line, by binocular camera visual information acquisition module acquire power transmission line with
Then background video image information is conveyed into soft by the left and right mesh video image information that signal transmission module will acquire in real time
Part part；
3) uniformly left and right visual frequency is synchronized with setting time interval and takes frame, form " the left right mesh of mesh-" picture frame
{Ileft,Iright, it is divided into 2 seconds between setting time；
4) by inside and outside parameter to the binocular image frame { I of acquisitionleft,IrightCorrected and corrected, it is double to obtain correction
Mesh picture frame { Icleft,Icright}；
5) by left mesh image IcleftIncoming power transmission line detection module, obtains line segment of completely transmitting electricity in picture frame；
51) go out each line segment aggregate on the power transmission line in left mesh image using statistical probability Hough line transformation preliminary screening
As lines_nl is denoted as:
Lines_nl={ { (x11,y11),(x12,y12)},{(x21,y21),(x22,y22)},......,{(xn1,yn1),
(xn2,yn2)}}
Wherein, (x11,y11) and (x12,y12) be respectively line segment two-end-point, n is the sum of line segment, each line in lines_nl
Section is such.
52) learn that the exceptionally straight state of power transmission line is generally horizontal direction (this by the general erection rule of overhead transmission line
In consider angle float up and down no more than 5 degree), then can by calculating line segment aggregate lines_n1 in each line segment it is oblique
Rate is denoted as ki, the slope k of each of them line segmentiAre as follows:
Wherein, (xi1,yi1),(xi2,yi2) be power transmission line line segment two endpoints, at this point, the slope collection being calculated is
lines_kl:
Lines_kl={ k1,k2,......,kn}
53) Slope Constraint condition is utilized, the power transmission line for not meeting slope condition is removed.Take each transmission of electricity line slope
Restriction range are as follows: | ki|≤tan5 ° is removed the non-power transmission line part for not being inconsistent constraint condition, screening by Slope Constraint condition
Meet the line segment aggregate of power transmission line stringing rule out, new line segment aggregate lines_wl is denoted as:
Lines_wl={ { (x11,y11),(x12,y12)},{(x21,y21),(x22,y22)},......,{(xw1,yw1),
(xw2,yw2)}},w≤n
Wherein, w is the sum of power transmission line after being screened using Slope Constraint.
54) in view of the detection of power transmission line lower edges may repeat, the distance of every two sections of power transmission lines is calculated to screen weight
Multiple power transmission line, it is (x that the midpoint coordinates of each section of line segment is taken in line segment aggregate lines_wlim,yim), then line segment aggregate
The line segment midpoint gather of lines_wl is lines_halfl:
Lines_halfl={ (x1m,y1m),(x2m,y2m),......,(xwm,ywm)}
The distance for calculating every two midpoint coordinates, sets the minimum value of two midpoint coordinates Euclidean distances as σhalf min, by Europe
Family name's distance is less than σhalf minPoint, it may be assumed that
Wherein, (xam,yam) and (xbm,ybm) it is point in line segment midpoint gather lines_halfl.
Delete (xam,yam) corresponding to power transmission line line segment, the transmission of electricity that as all detects of screening line-segment sets lines_zl
Line line-segment sets, are denoted as:
Lines_zl={ { (x11,y11),(x12,y12)},{(x21,y21),(x22,y22)},......,{(xz1,yz1),
(xz2,yz2)}},z≤w
Wherein, z is to utilize the power transmission line sum after the screening of line segment midpoint Euclidean distance.
55) it considers in the power transmission line collection lines_zl detected, may not be a complete power transmission line, but by
Many transmission of electricity line segment compositions, at this moment, it is all defeated on same power transmission line to integrate connection to continue with Slope Constraint
Electric wire line segment is compared and is attached using every two transmissions of electricity line segment, and wherein a line segment is lines_zv={ (x to notev1,
yv1),(xv2,yv2), another line segment is lines_zu={ (xu1,yu1),(xu2,yu2), calculate separately slope kv,ku:
Wherein, v indicates that a wherein power transmission line line segment, u indicate that another power transmission line line segment, z are to utilize line segment central point
Power transmission line sum after Euclidean distance screening.
Pass through constraint condition: | kv|≤tan5°,|ku|≤tan5°,|kv-ku|≤tan5 ° judges two power transmission line line segments
It whether is different line segments on same power transmission line.It is not defeated for same if not meeting above three constraint condition simultaneously
The line segment of electric wire；Meet two line segments of constraint condition simultaneously, merging becomes a longer line segment, compares calculating by { (xu1,
yu1),(xv2,yv2)},{(xv1,yv1),(xu2,yu2) composition two line segments length, take longer line segment be merging after line
Section lines_zvu, is denoted as:
Wherein, line segment lines_zvu is the longer line segment of length chosen, and deletes the shorter line segment of distance, i.e., by two
A power transmission line line segment on same power transmission line is merged into as one section of longer power transmission line.By all power transmission line line segments and other
The comparison of power transmission line line segment with merge, obtain complete power main collection lines_tl, be denoted as:
Lines_tl={ { (x11,y11),(x12,y12)},{(x21,y21),(x22,y22)},......,{(xt1,yt1),
(xt2,yt2)}},t≤z
Wherein, t is the sum of power main collection after merging.
51) -55 are executed to right mesh image) step, complete power main collection lines_tr in right mesh image is obtained, note
Are as follows:
Lines_tr={ { (x11′,y11′),(x12′,y12′)},{(x21′,y21′),(x22′,y22′)},......,
{(xt1′,yt1′),(xt2′,yt2′)}},t≤z
Wherein, (x11′,y11') and (x12′,y12') indicate that the two-end-point of power transmission line line segment in right mesh image, lines_tr are defeated
Electric wire wire concentrates each line segment such.
6) power transmission line that binocular vision imaging detects is as shown in Fig. 2, using spatial relation to left and right mesh picture frame
In power transmission line matched:
Each line segment is concentrated to calculate its straight line using two extreme coordinates lines_tl power main in left mesh image
Equation, obtain the straight line equation collection lines_tlF of power main collection, be denoted as:
Lines_tlF={ (A1x+B1y+C1=0), (A2x+B2y+C2... ,=0) (Atx+Bty+Ct} ,=0) t≤z
Wherein, A1x+B1y+C1=0 indicates the equation for the power transmission line that lines_tl power main is concentrated in left mesh image
Formula, A1、B1、C1For straight line A1x+B1y+C1=0 parameter, each straight line equation is such in lines_tlF.
Taking left mesh image center coordinate is (xmid,ymid), calculate in image midpoint and lines_tlF every power transmission line
The vertical range h of straight line equationts, it is denoted as:
Wherein, As、Bs、CsFor straight line equation Asx+Bsy+Cs=0 parameter.
Integrate with the straight line equation that 61) step calculates right mesh power main collection as lines_trF, be denoted as:
Lines_trF={ (A1′x+B1′y+C1'=0), (A2′x+B2′y+C2'=0) ..., (At′x+Bt′y+Ct'=
0)},t≤z
Wherein, A1′x+B1′y+C1'=0 indicates the power transmission line that lines_trF power main is concentrated in right mesh image
Equation, A1′、B1′、C1' it is straight line A1′x+B1′y+C1The parameter of '=0, each straight line equation is such in lines_trF.
Taking right mesh image center coordinate is also (xmid,ymid), image midpoint and lines_trF are calculated with 62) step
In every power transmission line straight line equation vertical range hts', it is denoted as:
Wherein, As′、Bs′、Cs' it is straight line equation As′x+Bs′y+CsThe parameter of '=0.
When the vertical range of left mesh and right mesh image center to straight line is in preset binding occurrence σ0Within, i.e., |
hts-hts′|≤σ0, when in default binding occurrence σ0Within there is the same htsCorresponding multiple hts' set up when, then for each
htsSelect minimum range hts min=min | hts-hts' | corresponding hts' be corresponding to it, two corresponding transmission of electricity lines matchings；
The then h when result is uniquets、hts' corresponding two transmission of electricity lines matchings, the power transmission line collection after note left and right mesh matching are combined into
Lines_p1 is denoted as:
Lines_p1={ { l1,l1′},{l2,l2′},...,{lp,lp′}},p≤t
Wherein, p is the power transmission line number after left and right mesh images match.
7) with the distance between three branches estimation power transmission line of every power transmission line to unmanned plane, judge unmanned plane and power transmission line
Whether safe distance is in:
71) as shown in figure 3, taking one group of matched transmission line { l in the mesh of left and right1,l1', then take power transmission line l1Trisection point:
(xe1,ye1)、(xe2,ye2), make horizontal parallel line and hands over matched power transmission line l in right mesh1' in (xe1′,ye1′)、 (xe2′,ye2'),
Trisection point matching double points successively are sought to each group of matched transmission line in lines_p1, form matching double points collection spots_g1,
It is denoted as:
Spots_g1={ { (xe1,ye1)、(xe1′,ye1′)},{(xe2,ye2)、(xe2′,ye2′)},...,{(xeg,yeg)、
(xeg′,yeg′)}},g≤2p
Wherein, g is the number of trisection point matching double points.
So parallax diThe horizontal position for being defined as point respective point in two images is poor:
di=(xei-xei′),1≤i≤g
Wherein, xei、xei' it is the corresponding abscissa in left mesh image and right mesh image of matching double points respectively.
72) as shown in figure 4, according to binocular vision imaging principle, it is known that the parallax range b between binocular vision video camera,
Know focal length of camera f, calculates on every power transmission line each three branch to the distance between unmanned plane zc:
8) using minimum range as the power transmission line to the estimated value of distance between unmanned plane, it is assumed that preset the line walking section
Safe distance be λ meters, work as zc·10-2When≤λ, indicate that the distance between unmanned plane and power transmission line are excessively close, it may occur however that it is dangerous,
Current distance is shown in display module, and sounds an alarm and operator is reminded to manipulate unmanned plane to safety zone.
The depth information that the present invention utilizes unmanned plane binocular camera to obtain, it is automatic detect between unmanned plane and power transmission line away from
From the safety of line walking process can be greatly improved；Patrol officer can be eliminated in line walking process to unmanned plane and power transmission line
The uncertainty of distance controlling between road detects the positional distance of power transmission line and unmanned plane automatically, in real time, both ensure that unmanned plane
Line walking safety, also improve the efficiency of detection, engineering application value with higher to a certain extent.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (7)
1. a kind of unmanned plane power transmission line inspection vision barrier-avoiding method, which is characterized in that described method includes following steps:
Utilize the left visually frequency and right visual frequency of the unmanned plane acquisition transmission line of electricity for carrying binocular camera；
Frame is taken to left visually frequency, right mesh audio video synchronization according to setpoint frequency, forms binocular image pair；
The left mesh image of binocular image centering, right mesh image are detected respectively, obtain complete power transmission line collection in left mesh image
And complete power transmission line collection in right mesh image；
Power transmission line collection complete in left mesh image is matched with power transmission line collection complete in right mesh image, obtains matching transmission of electricity
Line；
According to the matching double points collection on matched transmission line, the parallax of power transmission line in left mesh image and right mesh image is calculated；
Using binocular imaging principle, according to the disparity computation power transmission line at a distance from unmanned plane；
By transmission line of electricity at a distance from unmanned plane compared with setting secure threshold, alarm is exported if beyond secure threshold, is manipulated
Unmanned plane operates within the scope of safe distance.
2. unmanned plane power transmission line inspection vision barrier-avoiding method according to claim 1, which is characterized in that the method is also
Include:
Binocular camera is demarcated, the inside and outside parameter of binocular camera is obtained, using inside and outside parameter to acquired binocular image
To being corrected and corrected.
3. unmanned plane power transmission line inspection vision barrier-avoiding method according to claim 1, which is characterized in that obtain left mesh figure
The method of complete power transmission line collection includes the following steps: in complete power transmission line collection and right mesh image as in
51) go out the line segment aggregate in left mesh image on power transmission line using statistical probability Hough line transformation preliminary screening, be denoted as
Lines_nl:
Lines_nl={ { (x11,y11),(x12,y12)},{(x21,y21),(x22,y22)},......,{(xn1,yn1),(xn2,
yn2)}}
Wherein, (x11,y11) and (x12,y12) it is respectively line segment two-end-point coordinate, n is the sum of line segment；
52) slope k of each line segment in line segment aggregate lines_n1 is calculatedi:
The slope being calculated integrates as lines_kl:
Lines_kl={ k1,k2,......,kn}
53) restriction range of each transmission of electricity line slope is taken are as follows: | ki|≤tan5 ° will not be inconsistent constraint by Slope Constraint condition
The non-power transmission line part of condition removes, and filters out the line segment aggregate for meeting power transmission line stringing rule, new line segment aggregate lines_
Wl is denoted as:
Lines_wl={ { (x11,y11),(x12,y12)},{(x21,y21),(x22,y22)},......,{(xw1,yw1),(xw2,
yw2)}},w≤n
Wherein, w is the sum of power transmission line after being screened using Slope Constraint；
54) distance of every two sections of power transmission lines is calculated to screen duplicate power transmission line, and each section is taken in line segment aggregate lines_wl
The midpoint coordinates of line segment is (xim,yim), then the line segment midpoint gather of line segment aggregate lines_wl is lines_halfl:
Lines_halfl={ (x1m,y1m),(x2m,y2m),......,(xwm,ywm)}
The Euclidean distance for calculating every two midpoint coordinates, sets the minimum value of two midpoint coordinates Euclidean distances as σhalfmin, (xam,
yam) and (xbm,ybm) it is point in line segment midpoint gather lines_halfl, if meeting:
Then delete (xam,yam) corresponding to power transmission line line segment, the power transmission line that as all detects of screening line-segment sets lines_zl
Line-segment sets are denoted as:
Lines_zl={ { (x11,y11),(x12,y12)},{(x21,y21),(x22,y22)},......,{(xz1,yz1),(xz2,
yz2)}},z≤w
Wherein, z is to utilize the power transmission line sum after the screening of line segment midpoint Euclidean distance；
55) all power transmission line line segments on same power transmission line are connected using Slope Constraint integration, utilizes every two power transmission lines
Section is compared and connects, and wherein a line segment is lines_zv={ (x to notev1,yv1),(xv2,yv2), another line segment is
Lines_zu={ (xu1,yu1),(xu2,yu2), calculate separately slope kv,ku:
Wherein, v indicates that wherein a power transmission line line segment, u indicate another power transmission line line segment；
Pass through constraint condition: | kv|≤tan5°,|ku|≤tan5°,|kv-kuWhether |≤tan5 ° judges two power transmission line line segments
For the different line segments on same power transmission line；It is not same power transmission line if not meeting above three constraint condition simultaneously
Line segment；Meet two line segments of constraint condition simultaneously, merging becomes a longer line segment, compares calculating by { (xu1,yu1),
(xv2,yv2)},{(xv1,yv1),(xu2,yu2) composition two line segments length, take longer line segment be merging after line segment
Lines_zvu is denoted as:
Wherein, line segment lines_zvu be choose the longer line segment of length, and delete distance shorter line segment, i.e., by two
Power transmission line line segment on same power transmission line is merged into as one section of longer power transmission line；
By all power transmission line line segments compared with other power transmission line line segments with merge, obtain complete power main collection lines_
Tl is denoted as:
Lines_tl={ { (x11,y11),(x12,y12)},{(x21,y21),(x22,y22)},......,{(xt1,yt1),(xt2,
yt2)}},t≤z
Wherein, t is the sum of power main collection after merging.
56) 51) -55 are executed to right mesh image) step, complete power main collection lines_tr in right mesh image is obtained, is denoted as:
Lines_tr={ { (x11′,y11′),(x12′,y12′)},{(x21′,y21′),(x22′,y22′)},......,{(xt1′,
yt1′),(xt2′,yt2′)}},t≤z
Wherein, (x11′,y11') and (x12′,y12') indicate the two-end-point of power transmission line line segment in right mesh image, lines_tr power transmission line
Line concentrates each line segment such.
4. unmanned plane power transmission line inspection vision barrier-avoiding method according to claim 3, which is characterized in that by left mesh image
In complete power transmission line collection and the matched method of power transmission line collection complete in right mesh image progress include the following steps:
61) each line segment is concentrated to calculate its straight line using two extreme coordinates lines_tl power main in left mesh image
Equation obtains the straight line equation collection lines_tlF of left mesh power main collection, is denoted as:
Lines_tlF={ (A1x+B1y+C1=0), (A2x+B2y+C2... ,=0) (Atx+Bty+Ct} ,=0) t≤z
Wherein, A1x+B1y+C1=0 indicates the equation for the power transmission line that lines_tl power main is concentrated in left mesh image,
A1、B1、C1For straight line A1x+B1y+C1=0 parameter, each straight line equation is such in lines_tlF；
62) taking left mesh image center coordinate is (xmid,ymid), calculate in image midpoint and lines_tlF every power transmission line
The vertical range h of straight line equationts, it is denoted as:
Wherein, As、Bs、CsFor straight line equation Asx+Bsy+Cs=0 parameter；
63) integrate with the straight line equation that 61) step calculates right mesh power main collection as lines_trF, be denoted as:
Lines_trF={ (A1′x+B1′y+C1'=0), (A2′x+B2′y+C2'=0) ..., (At′x+Bt′y+Ct'=0) }, t
≤z
Wherein, A1′x+B1′y+C1'=0 indicates the equation for the power transmission line that lines_trF power main is concentrated in right mesh image
Formula, A1′、B1′、C1' it is straight line A1′x+B1′y+C1The parameter of '=0, each straight line equation is such in lines_trF；
64) taking right mesh image center coordinate is also (xmid,ymid), it is calculated in image midpoint and lines_trF with 62) step
The vertical range h of the straight line equation of every power transmission linets', it is denoted as:
Wherein, As′、Bs′、Cs' it is straight line equation As′x+Bs′y+CsThe parameter of '=0；
65) when the vertical range of left mesh image and right mesh image center to straight line is in preset binding occurrence σ0Within, i.e., |
hts-hts′|≤σ0, when in default binding occurrence σ0Within there is the same htsCorresponding multiple hts' set up when, then for each
htsSelect minimum range htsmin=min | hts-hts' | corresponding hts' be corresponding to it, two corresponding transmission of electricity lines matchings；
The then h when result is uniquets、hts' corresponding two transmission of electricity lines matchings, the power transmission line collection after note left and right mesh matching are combined into
Lines_p1 is denoted as:
Lines_p1={ { l1,l1′},{l2,l2′},...,{lp,lp′}},p≤t
Wherein, p is the power transmission line number after left and right mesh images match.
5. unmanned plane power transmission line inspection vision barrier-avoiding method according to claim 4, which is characterized in that calculate power transmission line
Include the following steps: with the method at a distance from unmanned plane
71) one group of matched transmission line { l in the mesh image of left and right is taken1,l1', then take power transmission line l1Trisection point: (xe1,ye1)、
(xe2,ye2), make horizontal parallel line and hands over matched power transmission line l in right mesh1' in (xe1′,ye1′)、(xe2′,ye2'), it is successively right
Each group of matched transmission line seeks trisection point matching double points in lines_p1, forms matching double points collection spots_g1, is denoted as:
Spots_g1={ { (xe1,ye1)、(xe1′,ye1′)},{(xe2,ye2)、(xe2′,ye2′)},...,{(xeg,yeg)、(xeg′,
yeg′)}},g≤2p
Wherein, g is the number of trisection point matching double points；
So parallax diThe horizontal position for being defined as point respective point in two images is poor:
di=(xei-xei′),1≤i≤g
Wherein, xei、xei' it is the corresponding abscissa in left mesh image and right mesh image of matching double points respectively；
72) according to binocular vision imaging principle, it is known that the parallax range of binocular camera is b, focal length f, calculates every power transmission line
Each three branch is gone up to the distance between unmanned plane zc:
6. unmanned plane power transmission line inspection vision barrier-avoiding method according to claim 5, which is characterized in that export alarm
Decision condition includes:
Using minimum range as the power transmission line to the estimated value of distance between unmanned plane, it is assumed that preset the safety of the line walking section
Distance is λ meters, works as zc·10-2When≤λ, indicate that the distance between unmanned plane and power transmission line are excessively close, it may occur however that dangerous, output report
It is alert, remind operator to manipulate unmanned plane to safety zone.
7. a kind of unmanned plane power transmission line inspection vision obstacle avoidance system characterized by comprising
Acquisition module: for acquiring the left visually frequency and right visual frequency of transmission line of electricity；
Power transmission line detection module: for taking frame to left visually frequency, right mesh audio video synchronization according to setpoint frequency, binocular image is formed
It is right；It is also used to respectively detect the left mesh image of binocular image centering, right mesh image, obtains and completely transmit electricity in left mesh image
Complete power transmission line collection in line collection and right mesh image；
Power transmission line matching module: for by power transmission line collection complete in left mesh image and right mesh image completely power transmission line collection into
Row matching, obtains matched transmission line；
Apart from detection module: for according to the matching double points collection on matched transmission line, calculate left mesh image with it is defeated in right mesh image
The parallax of electric wire；And binocular imaging principle is utilized, according to the disparity computation power transmission line at a distance from unmanned plane；
Alarm modules: for by transmission line of electricity at a distance from unmanned plane compared with setting secure threshold, if beyond if secure threshold
Output alarm.
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