CN111062933A - Transmission line icing image detection method based on self-adaptive adjustment of field of view - Google Patents
Transmission line icing image detection method based on self-adaptive adjustment of field of view Download PDFInfo
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Abstract
The invention discloses a method for detecting an icing image of a power transmission line based on self-adaptive adjustment of a field of view, and belongs to the technical field of operation and maintenance of the power transmission line. The method comprises the following steps: the image acquisition system can perform multiple continuous zooming view field self-adaptive adjustment; an image preprocessing method; extracting and fitting the edge of the ice-coated image; and calculating the length and the diameter of the ice coating according to the known priori knowledge of the diameter of the wire of the power transmission line.
Description
Technical Field
The invention belongs to the technical field of operation and maintenance of power transmission lines, and particularly relates to a power transmission line icing image detection method based on self-adaptive adjustment of a view field.
Background
The overhead conductor power transmission line is built in a remote suburb, particularly, the icing condition of the power transmission line can occur in winter, and the icing of the power transmission line is an important factor influencing the safe operation of a power system. The electric power transmission line can cause single or cascade tower faults, transmission line lead fracture and other accidents under the combined action of ice load and wind load. In order to ensure the safe operation of the power transmission line, the icing state monitoring is required, in the traditional icing state monitoring, an online monitoring method is mainly used for monitoring the icing state, and related measuring sensors are required to be arranged on a tower in advance, so that the characteristics of high measuring difficulty and low measuring efficiency exist.
Disclosure of Invention
Aiming at the difficulty in monitoring the icing state, the method discloses a power transmission line icing image detection method based on self-adaptive adjustment of a view field.
In order to achieve the purpose, the invention provides the following technical scheme:
a method for detecting an icing image of a power transmission line based on self-adaptive adjustment of a field of view is characterized by comprising the following steps of:
the method comprises the steps that an image shooting device collects icing images of icing of a power transmission line, carries out icing positioning and self-adaptive adjustment on the collected original icing images, carries out preprocessing on the images collected again after the self-adaptive adjustment, extracts and fits the outlines of related icing areas, obtains the length of the icing areas and the thickness of the icing areas according to the ratio of the diameter of a power transmission cable to the actual diameter of the power transmission cable in the images and the size of the icing areas in the images, and outputs results;
the method comprises the steps of carrying out icing positioning on the obtained icing image, adaptively adjusting the focal length, carrying out gray scale and filtering processing on the image, carrying out extraction fitting on an icing contour in the image, and finally obtaining data of an actual icing area according to the diameter ratio of the power transmission cable and the actual power transmission cable in the image, thereby being beneficial to obtaining icing image data through image measurement and ensuring the safety of the power transmission line.
Further, the collected image includes an ice coating profile, and a power cable at both ends of the ice coating area, because the collected image is to record the ice coating profile, correct the image using the power cable, and the like.
Furthermore, one or more ice coating images of the power transmission line acquired by the image shooting device from one angle or a plurality of angles are subjected to multi-direction projection and recorded as the outline of the ice coating position is represented by an irregular curve and the wire of the power transmission line is represented by two approximately parallel straight lines, and the acquired images are subjected to preprocessing and ice coating outline extraction to realize positioning.
Further, the acquired original icing image is subjected to icing positioning, and the area of an icing area in the icing image is determined.
Further, carrying out self-adaptive adjustment on the acquired original ice-coated image, determining a focal length adjustment multiple, determining the focal length adjustment multiple according to the working distance and the maximum focal length of the image acquisition system, comparing the area of the ice-coated area in the image with an originally set threshold value, and calculating to obtain a proper focal length required by the acquired image so as to realize self-adaptive adjustment of the field of view;
the specific method for adaptively adjusting and determining the focal length multiple Mag is as follows:
wherein A is1H is the distance from the center point of the target surface of the imaging of the zoomed ice-coated image, B1H is the near-end distance of the center point of the imaging target surface of the zoomed ice-coated image, A2H is the distance of the far end of the center point of the imaging target surface of the ice-coated image before zooming, B2H is the near-end distance of the imaging target surface center point of the ice-coated image before zooming;
D1，D2is the original target imaging size, f0Is the zoom front pitch, f1Is the zoom rear pitch, SeIs the target desired size, ScurrentIs the size of the object that is currently detected.
Further, the image preprocessing comprises image graying processing and filtering processing; the graying processing is specifically to graying the image, and the calculation formula of the gray value is as follows:
wherein, (i, j) is any coordinate in the image, gram (i, j) is the average value of (i, j), and R (i, j), G (i, j), and B (i, j) are the gray values of (i, j) before image conversion;
specifically adopting bilateral filtering according to the filtering processing to obtain a pixel value in a detection target field, and then planning image bilateral filtering;
the bilateral filtering can better reserve the image edge information, is a Gaussian filtering function based on spatial distribution, and ensures the reservation of the pixel value of the edge of the detected target, thereby ensuring the accuracy of the measurement of the target size;
the space distance is as follows: refers to the Euclidean distance between the current point and the central point. The spatial domain gaussian function has the mathematical form:
wherein (x)i,yi) Is the position of the current point, (x)c,yc) σ is the spatial domain standard deviation for the center point gray value. The gray scale space is: refers to the absolute value of the difference between the current point gray level and the center gray level. The value domain gaussian function is mathematically formed as:
wherein, gray (x)i,yi) Gray (x) for the current point gray valuec,yc) σ is the value domain standard deviation for the center point gray value.
Further, extracting and fitting according to the outline of the ice coating area, wherein the extracting comprises extracting the outlines of the power transmission cable and the ice coating, and edge detection and least square fitting are specifically carried out by adopting a Canny operator;
the edge detection method specifically uses a Canny operator to carry out edge detection, and specifically comprises the following 5 steps:
1) filtering Gaussian noise in the image by using a Gaussian filter;
2) calculating the gradient strength and direction of each pixel point in the image;
3) applying non-maximum suppression to eliminate spurious responses caused by edge detection;
4) applying dual threshold detection to determine true and potential edges;
5) finally completing edge detection by inhibiting isolated weak edges;
the least square method for straight line fitting comprises the following specific steps:
1) selecting fitting points;
2) a general functional form of a fitted curve (straight-line functional form: y ═ ax + b);
3) simultaneous equations are set and solved;
the established square error equation is:
solving a group of a and b to minimize the sum of the square errors. Respectively solving a and b to obtain a simultaneous system of partial derivatives:
from the above equation set, a and b can be obtained.
Further, the transmission cable is mainly used as a reference object, the conversion ratio from the number of pixel points in the image to the actual size is obtained according to the ratio of the diameter of the transmission cable in the image to the actual diameter of the actual transmission cable, and the length of the actual ice-covered area is calculated according to the size ratio between the ice-covered area in the image and the transmission cable; the specific calculation formula is as follows:
wherein: rIceIs the actual ice-covered region length, RThreadIs the actual diameter of the transmission cable, PIceThe length of the minimum bounding rectangle of the ice-covered area in the image, the unit is the number of pixel points, PThreadIs the diameter of the power transmission cable in the image, and the unit is the number of pixel points.
Further, the transmission cable is mainly used as a reference object, the actual thickness of the ice-coated area is obtained according to the ratio of the diameter of the transmission cable to the actual diameter of the actual transmission cable in the image, and the specific calculation formula is as follows:
wherein: r1IceIs the actual ice coating zone thickness, RThreadIs the actual diameter of the power transmission cable, P1IceIs the width of the smallest circumscribed rectangle of the ice-covered region in the image, in units of the number of pixel points, PThreadIs the diameter of the power transmission cable in the image, and the unit is the number of pixel points.
Further, the length P of the minimum circumscribed rectangle frame of the ice-covered area in the imageIceWidth P1 of minimum bounding rectangle of ice-covered areaIceAnd the power transmission cable diameter P in the imageThreadThe obtaining method specifically comprises the following steps:
setting a threshold value according to the difference of the gray values of the ice coating position and the non-ice coating power transmission cable in the image after preprocessing and ice coating area contour extraction and fitting, and performing binarization processing on the image; setting a threshold value for binarization to obtain an ice-coated image because the gray value of the ice-coated part in the image is larger;
and respectively performing AND operation on the binary image and the image before binarization by utilizing the difference of gray values of the non-icing part and the icing part of the image power transmission cable:
performing AND operation on the image subjected to binarization processing and the image before binarization to obtain an image which does not contain the ice-coated part of the power transmission cable but retains the ice-coated part of the power transmission cable;
carrying out exclusive OR operation on the image subjected to binarization processing and the image before binarization to obtain an image which does not contain the ice coating part of the power transmission cable but keeps the ice coating part of the power transmission cable;
then Canny edge detection is carried out, the ice coating contour is detected, the distance between straight lines is calculated by utilizing the straight line contour obtained by fitting, and the length P of the minimum circumscribed rectangular frame of the ice coating area in the image is obtainedIceWidth P1 of minimum bounding rectangle of ice-covered areaIceAnd the power transmission cable diameter P in the imageThread。
The invention has the beneficial effects that:
icing of the transmission line can pose a serious threat to the safe operation of the power system. When the transmission line is iced too thick, dangers such as short strands of the line are easy to occur. When the icing of the transmission line is accumulated to a certain degree, the transmission line needs to be de-iced by adopting a de-icing means. Therefore, monitoring of the icing state of the power transmission line is very important. The system aims at the defects of high measurement cost, complex installation and low measurement efficiency of the traditional ice coating on-line monitoring system of the power transmission line. The invention utilizes the image shooting equipment to collect the icing image of the icing of the power transmission line and measure the icing thickness, thereby effectively solving the problem and ensuring the safe operation of the power transmission line.
Drawings
FIG. 1 is a schematic flow chart of a method for detecting an icing image of a power transmission line based on adaptive adjustment of a field of view according to the invention;
fig. 2 is a focusing schematic diagram of the electric transmission line icing image detection method based on field-of-view adaptive adjustment.
Detailed Description
As shown in fig. 1, a method for detecting an icing image of a power transmission line based on adaptive adjustment of a field of view includes the following steps.
(1) The image shooting device collects icing images of the icing of the power transmission line, as shown in fig. 2, the collected icing images of the power transmission line include all the icing outlines and power transmission cables at two ends of an icing area, and the image shooting device collects the icing images of the power transmission line from an angle.
(2) Performing icing positioning and self-adaptive adjustment on an image of the acquired original icing image:
carrying out icing positioning on the acquired original icing image, and determining the area of an icing area in the icing image;
the method comprises the steps of determining a focal length adjustment multiple by performing self-adaptive adjustment on an acquired original icing image, determining the focal length adjustment multiple according to a working distance and the maximum focal length of an image acquisition system, comparing the area occupied by the area of an icing area in the image with an originally set threshold value, calculating to obtain a proper focal length required by the acquired image, and realizing the self-adaptive adjustment of a view field;
the specific method for adaptively adjusting and determining the focal length multiple Mag is as follows:
wherein A is1H is the distance from the center point of the target surface of the imaging of the zoomed ice-coated image, B1H is the near-end distance of the center point of the imaging target surface of the zoomed ice-coated image, A2H is the distance of the far end of the center point of the imaging target surface of the ice-coated image before zooming, B2H is the near-end distance of the imaging target surface center point of the ice-coated image before zooming;
(3) preprocessing the image acquired again after the self-adaptive adjustment, wherein the image preprocessing comprises image graying processing and filtering processing;
the graying processing is specifically to graying the image, and a calculation formula of the grayscale value is as follows:
where, (i, j) is any coordinate in the image, gray (i, j) is the average value of (i, j), and R (i, j), G (i, j), and B (i, j) are the gray values of (i, j) before image conversion, respectively.
Specifically adopting bilateral filtering according to filtering processing to obtain a pixel value of a detection target field, and then planning bilateral filtering of an image; the bilateral filtering can better reserve the image edge information, is a Gaussian filtering function based on spatial distribution, and ensures the reservation of the pixel value of the edge of the detected target, thereby ensuring the accuracy of the measurement of the target size;
the space distance is as follows: refers to the Euclidean distance between the current point and the central point. The spatial domain gaussian function has the mathematical form:
wherein (x)i,yi) Is the position of the current point, (x)c,yc) σ is the spatial domain standard deviation for the center point gray value. The gray scale space is: refers to the absolute value of the difference between the current point gray level and the center gray level. The value domain gaussian function is mathematically formed as:
wherein, gray (x)i,yi) Gray (x) for the current point gray valuec,yc) σ is the value domain standard deviation for the center point gray value.
(4) Extracting and fitting a related icing region contour, specifically, adopting a Canny operator to carry out edge detection and least square fitting;
the edge detection method specifically uses a Canny operator to carry out edge detection, and specifically comprises the following 5 steps:
1) filtering Gaussian noise in the image by using a Gaussian filter;
2) calculating the gradient strength and direction of each pixel point in the image;
3) applying non-maximum suppression to eliminate spurious responses caused by edge detection;
4) applying dual threshold detection to determine true and potential edges;
5) finally completing edge detection by inhibiting isolated weak edges;
the straight line fitting method by the least square method comprises the following specific steps:
1) selecting fitting points;
2) a general functional form of a fitted curve (straight-line functional form: y ═ ax + b);
3) simultaneous equations are set and solved;
the established square error equation is:
solving a group of a and b to minimize the sum of the square errors. Respectively solving a and b to obtain a simultaneous system of partial derivatives:
from the above equation set, a and b can be obtained.
(5) Obtaining a length P of a minimum bounding rectangle of an ice-covered area in an imageIceWidth P1 of minimum bounding rectangle of ice-covered areaIceAnd the power transmission cable diameter P in the imageThread：
Setting a threshold value according to the difference of the gray values of the ice coating part and the non-ice coating power transmission cable in the image after the pre-processing and the ice coating area contour extraction and fitting, and performing binarization processing on the image to obtain an ice coating-reserved image;
performing AND operation on the image subjected to binarization processing and the image before binarization to obtain an image which does not contain the ice-coated part of the power transmission cable but retains the ice-coated part of the power transmission cable;
carrying out exclusive OR operation on the image subjected to binarization processing and the image before binarization to obtain an image which does not contain the ice coating part of the power transmission cable but keeps the ice coating part of the power transmission cable;
calculating the distance between the straight lines by using the straight line profile obtained by fitting to obtain the length P of the minimum circumscribed rectangular frame of the ice coating area in the imageIceWidth P1 of minimum bounding rectangle of ice-covered areaIceAnd the power transmission cable diameter P in the imageThread。
(6) The method mainly comprises the steps that a power transmission cable is used as a reference object, the conversion ratio from the number of pixel points in an image to the actual size is obtained according to the ratio of the diameter of the power transmission cable in the image to the actual diameter of the actual power transmission cable, and the length and the thickness of an actual ice-coated area are calculated according to the size ratio between ice coating and the power transmission cable in the image; the specific calculation formula is as follows:
wherein: rIceIs the actual ice-covered region length, RThreadIs the actual diameter of the transmission cable, PIceThe length of the minimum bounding rectangle of the ice-covered area in the image, the unit is the number of pixel points, PThreadThe diameter of a power transmission cable in an image, and the unit is the number of pixel points;
obtaining the actual thickness of the ice-coated area according to the ratio of the diameter of the power transmission cable to the actual diameter of the actual power transmission cable in the image, wherein the specific calculation formula is as follows:
wherein: r1IceIs the actual ice coating zone thickness, RThreadIs the actual diameter of the power transmission cable, P1IceIs the width of the smallest circumscribed rectangle of the ice-covered region in the image, in units of the number of pixel points, PThreadIs the diameter of the power transmission cable in the image, and the unit is the number of pixel points.
The method comprises the steps that image acquisition equipment is adopted to shoot ice coating on a power line, the image acquisition equipment acquires one or more ice coating images of the power transmission line from one angle or a plurality of angles, the acquired original ice coating image is subjected to ice coating positioning and adaptive adjustment, the image acquired again after the adaptive adjustment is preprocessed, and the image preprocessing comprises image graying processing and filtering processing; and carrying out icing positioning on the acquired original icing image, finally determining the area of an icing area in the icing image, and carrying out focal length adjustment to realize acquisition of the original image. And finally, measuring the ice coating length and thickness according to the known diameter of the power transmission cable and the related image size.
And after the acquisition equipment finishes image acquisition, image transmission is carried out by adopting a WIFI wireless image transmission protocol.
Claims (10)
1. A method for detecting an icing image of a power transmission line based on self-adaptive adjustment of a field of view is characterized by comprising the following steps of:
the method comprises the steps that an image shooting device collects icing images of icing of a power transmission line, ice covering positioning and self-adaptive adjustment are carried out on the collected original icing images, preprocessing is carried out on the images collected again after the self-adaptive adjustment, extraction and fitting are carried out on the outlines of related icing areas, and according to the ratio of the diameter of a power transmission cable to the actual diameter of the actual power transmission cable in the images and the size of the icing areas in the images, the length of the icing areas and the thickness of the icing areas are obtained and results are output.
2. The method for detecting the icing image of the power transmission line based on the self-adaptive adjustment of the field of view according to claim 1, wherein the icing image of the power transmission line acquired by the image shooting equipment comprises all the icing contours and power transmission cables at two ends of an icing area.
3. The method for detecting the icing image of the power transmission line based on the field-of-view adaptive adjustment according to claim 1, wherein the image shooting device is used for shooting one or more icing images of the power transmission line acquired from one angle or a plurality of angles.
4. The method for detecting the icing image of the power transmission line based on the field-of-view adaptive adjustment is characterized in that the icing positioning is carried out on the acquired original icing image, and the area of an icing area in the icing image is determined.
5. The method for detecting the icing image of the power transmission line based on the self-adaptive adjustment of the field of view as claimed in claim 1, is characterized in that the self-adaptive adjustment is performed on the acquired original icing image to determine a focal length adjustment multiple, and the specific method for adaptively adjusting the determined focal length multiple Mag is as follows:
wherein A is1H is the distance from the center point of the target surface of the imaging of the zoomed ice-coated image, B1H is the near-end distance of the center point of the imaging target surface of the zoomed ice-coated image, A2H is the distance of the far end of the center point of the imaging target surface of the ice-coated image before zooming, B2H is the near-end distance of the imaging target surface center point of the ice-coated image before zooming.
6. The method for detecting the icing image of the power transmission line based on the self-adaptive adjustment of the field of view according to claim 1, wherein the image preprocessing comprises image graying processing and filtering processing; the graying processing is specifically to graying the image, and the calculation formula of the gray value is as follows:
wherein, (i, j) is any coordinate in the image, gram (i, j) is the average value of (i, j), and R (i, j), G (i, j), and B (i, j) are the gray values of (i, j) before image conversion;
the filtering processing specifically adopts bilateral filtering to obtain a pixel value in a detection target field, and then planning image bilateral filtering;
the bilateral filtering can better reserve the image edge information, is a Gaussian filtering function based on spatial distribution, and ensures the reservation of the pixel value of the edge of the detected target, thereby ensuring the accuracy of the measurement of the target size;
the space distance is as follows: refers to the Euclidean distance between the current point and the central point. The spatial domain gaussian function has the mathematical form:
wherein (x)i,yi) Is the position of the current point, (x)c,yc) σ is the spatial domain standard deviation for the center point gray value. The gray scale space is: refers to the absolute value of the difference between the current point gray level and the center gray level. The value domain gaussian function is mathematically formed as:
wherein, gray (x)i,yi) Gray (x) for the current point gray valuec,yc) σ is the value domain standard deviation for the center point gray value.
7. The method for detecting the icing image of the power transmission line based on the field-of-view adaptive adjustment is characterized in that the icing area profile is extracted and fitted, and edge detection and least square fitting are specifically performed by adopting a Canny operator.
8. The method for detecting the icing image of the power transmission line based on the self-adaptive adjustment of the field of view according to claim 1, wherein the length of an actual icing area is obtained according to the ratio of the diameter of the power transmission cable to the actual diameter of the actual power transmission cable in the image, and the specific calculation formula is as follows:
wherein: rIceIs the actual ice-covered region length, RThreadIs the actual diameter of the transmission cable, PIceThe length of the minimum bounding rectangle of the ice-covered area in the image, the unit is the number of pixel points, PThreadIs the diameter of the power transmission cable in the image, and the unit is the number of pixel points.
9. The method for detecting the icing image of the power transmission line based on the self-adaptive adjustment of the field of view according to claim 1, wherein the actual icing area thickness is obtained according to the ratio of the diameter of the power transmission cable to the actual diameter of the actual power transmission cable in the image, and the specific calculation formula is as follows:
wherein: r1IceIs the actual ice coating zone thickness, RThreadIs the actual diameter of the power transmission cable, P1IceIs the width of the smallest circumscribed rectangle of the ice-covered region in the image, in units of the number of pixel points, PThreadIs the diameter of the power transmission cable in the image, and the unit is the number of pixel points.
10. The method for detecting the icing image of the power transmission line based on the field-of-view adaptive adjustment according to claim 8 or 9, wherein the length P of the minimum circumscribed rectangular frame of the icing area in the image isIceWidth P1 of minimum bounding rectangle of ice-covered areaIceAnd the power transmission cable diameter P in the imageThreadThe obtaining method specifically comprises the following steps:
setting a threshold value according to the difference of the gray values of the ice coating part and the non-ice coating power transmission cable in the image after the pre-processing and the ice coating area contour extraction and fitting, and performing binarization processing on the image to obtain an ice coating-reserved image;
performing AND operation on the image subjected to binarization processing and the image before binarization to obtain an image which does not contain the ice-coated part of the power transmission cable but retains the ice-coated part of the power transmission cable;
carrying out exclusive OR operation on the image subjected to binarization processing and the image before binarization to obtain an image which does not contain the ice coating part of the power transmission cable but keeps the ice coating part of the power transmission cable;
calculating the distance between the straight lines by using the straight line profile obtained by fitting to obtain the length P of the minimum circumscribed rectangular frame of the ice coating area in the imageIceMost in the ice-covered areaWidth P1 of small circumscribed rectangle frameIceAnd the power transmission cable diameter P in the imageThread。
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111931556A (en) * | 2020-06-15 | 2020-11-13 | 国网安徽省电力有限公司电力科学研究院 | Power transmission line icing monitoring and management system |
| CN112461295A (en) * | 2020-11-23 | 2021-03-09 | 国网安徽省电力有限公司电力科学研究院 | 10kV distribution lines icing dancing state monitoring system |
| CN115330787A (en) * | 2022-10-13 | 2022-11-11 | 国网山西省电力公司电力科学研究院 | Photovoltaic module icing area detection method based on image recognition |
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