CN112257630A - Unmanned aerial vehicle detection imaging method and device of power system - Google Patents
Unmanned aerial vehicle detection imaging method and device of power system Download PDFInfo
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Abstract
The invention relates to an unmanned aerial vehicle detection imaging method and device for an electric power system. Further, distortion difference of all the photosensitive images is eliminated, the photosensitive images after the distortion difference is eliminated are subjected to fusion processing, and high-resolution detection imaging is obtained. Based on this, overcome unmanned aerial vehicle imaging device's hardware restriction, realize unmanned aerial vehicle and survey the whole promotion of formation of image quality, improve the reference nature of formation when the small-target to electric power system to overhaul the maintenance. Meanwhile, the unmanned aerial vehicle can carry out regional shooting operation, and the efficiency of detecting and imaging the electric power system target is greatly improved.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle detection imaging method and device for an electric power system.
Background
The electric power system is an electric energy production and consumption system which consists of links such as a power plant, a power transmission and transformation line, a power supply and distribution station, power utilization and the like, and the process links comprise power generation, power transmission, power transformation, power distribution, power utilization equipment and corresponding auxiliary systems. Power systems require a large number of outdoor equipment such as substations or transmission lines. Therefore, the power system requires a large amount of personnel and equipment for repair and maintenance. In a complex land condition such as a mountain forest or a village, the difficulty of overhauling and maintaining the power system is higher, an overhauling worker needs to overcome the complex land condition to complete operation, the operation difficulty is high, and the risk coefficient is high.
At present, with the development of unmanned aerial vehicle technology, numerous different types of unmanned aerial vehicle technology products have emerged. Unmanned aerial vehicle is compared in ground platform as an aircraft platform, and its working scenario restriction is less and application range is wide. At present, an unmanned aerial vehicle platform can carry a plurality of sensor devices, such as cameras with high resolution, visible light high-resolution cameras, infrared cameras, multispectral devices, aeromagnetic devices in the field of geophysical prospecting, and sensors such as laser radars. Based on the development of unmanned aerial vehicle platforms and platform carrying equipment, unmanned aerial vehicles begin to be widely applied in various fields. Consequently, unmanned aerial vehicle is also used gradually on electric power system's maintenance, is operated by relevant personnel, and the cooperation is carried out electric power and is overhauld and maintain. For example, the unmanned aerial vehicle can shoot the circuit of transmission tower from high altitude, and help the maintainer to know the circuit condition more directly perceivedly.
At present, because power system's equipment or circuit target are generally less, and unmanned aerial vehicle's shooting precision is limited, uses unmanned aerial vehicle to assist the maintenance, generally can only be close by equipment under test and shoots. Wherein, the efficiency of approaching shooting is lower, is difficult to improve the efficiency of maintenance effectively, and the accuracy and the referential of unmanned aerial vehicle regional formation of image are lower. To sum up, use unmanned aerial vehicle to survey the formation of image in the electric power system field to the mode of assisting to overhaul the maintenance still exists above not enough.
Disclosure of Invention
Therefore, the unmanned aerial vehicle detection imaging method and device for the power system are needed to be provided for the defects of the mode that the unmanned aerial vehicle is used for detection imaging in the field of the power system to assist in maintenance.
An unmanned aerial vehicle detection imaging method of a power system comprises the following steps:
acquiring an original image of an area aerial photo of a target power system by an unmanned aerial vehicle;
determining a redundant area of each frame of original image;
generating photosensitive images with different photosensitive degrees according to the original image and the redundant area;
and eliminating distortion difference of each photosensitive image, and carrying out fusion processing on the photosensitive images after the distortion difference is eliminated to obtain high-resolution detection imaging.
According to the unmanned aerial vehicle detection imaging method of the power system, after the original image of the area where the target power system is located is obtained by the unmanned aerial vehicle, the redundant area of each frame of the original image is determined, and the photosensitive images with different photosensitive degrees are generated according to the original image and the redundant area. Further, distortion difference of all the photosensitive images is eliminated, the photosensitive images after the distortion difference is eliminated are subjected to fusion processing, and high-resolution detection imaging is obtained. Based on this, overcome unmanned aerial vehicle imaging device's hardware restriction, realize unmanned aerial vehicle and survey the whole promotion of formation of image quality, improve the reference nature of formation when the small-target to electric power system to overhaul the maintenance. Meanwhile, the unmanned aerial vehicle can carry out regional shooting operation, and the efficiency of detecting and imaging the electric power system target is greatly improved.
In one embodiment, before the process of eliminating the distortion difference of the photosensitive image, the method further comprises the steps of:
imaging and measuring the photosensitive image to obtain a correction coefficient of the photosensitive image;
and adjusting the excessive redundant area of the photosensitive image according to the correction coefficient to obtain the adjusted photosensitive image.
In one embodiment, the process of performing image measurement on the photosensitive image to obtain the correction coefficient of the photosensitive image includes the steps of:
determining the signal-to-noise ratio of the photosensitive image;
and comparing the original image with the signal-to-noise ratio to obtain a correction measurement value serving as a correction coefficient.
In one embodiment, the process of adjusting the excess redundancy area of the photosensitive image according to the correction coefficient includes the steps of:
and eliminating the image area which is larger than the corrected measurement value in the original photosensitive image to obtain the adjusted photosensitive image.
In one embodiment, the process of determining the redundant area of the original image of each frame includes the steps of:
calibrating the size of each frame of original image to ensure that the size of each frame of original image is the same;
and superposing the calibrated original images of the frames, and intercepting the similar area of the original images of the frames as a redundant area.
In one embodiment, the process of generating photosensitive images with different degrees of photosensitivity according to the original image and the redundant area comprises the following steps:
performing accumulative synthesis on the redundant area to generate a photosensitive image corresponding to the photosensitive degree; wherein, each photosensitive image subsection corresponds to a redundant area cumulative number.
In one embodiment, the process of performing fusion processing on the photosensitive image after eliminating the distortion difference includes the steps of:
and carrying out fusion processing on the photosensitive images with the distortion differences eliminated according to a multi-exposure image fusion algorithm.
An unmanned aerial vehicle of power system surveys imaging device includes:
the original image acquisition module is used for acquiring an original image of an area aerial photo of the target power system by the unmanned aerial vehicle;
the redundant area determining module is used for determining the redundant area of each frame of original image;
the photosensitive image generation module is used for generating photosensitive images with different photosensitive degrees according to the original image and the redundant area;
and the image quality improving module is used for eliminating distortion difference of each photosensitive image and carrying out fusion processing on the photosensitive images after the distortion difference is eliminated to obtain high-resolution detection imaging.
According to the unmanned aerial vehicle detection imaging device of the power system, after the original image of the area where the target power system is located is obtained by the unmanned aerial vehicle, the redundant area of each frame of original image is determined, and photosensitive images with different photosensitive degrees are generated according to the original image and the redundant area. Further, distortion difference of all the photosensitive images is eliminated, the photosensitive images after the distortion difference is eliminated are subjected to fusion processing, and high-resolution detection imaging is obtained. Based on this, overcome unmanned aerial vehicle imaging device's hardware restriction, realize unmanned aerial vehicle and survey the whole promotion of formation of image quality, improve the reference nature of formation when the small-target to electric power system to overhaul the maintenance. Meanwhile, the unmanned aerial vehicle can carry out regional shooting operation, and the efficiency of detecting and imaging the electric power system target is greatly improved.
A computer storage medium having stored thereon computer instructions which, when executed by a processor, implement the unmanned aerial vehicle detection imaging method of the power system of any of the above embodiments.
After the computer storage medium obtains the original image of the area where the target power system is located by the unmanned aerial vehicle, the redundant area of each frame of original image is determined, and photosensitive images with different photosensitive degrees are generated according to the original image and the redundant area. Further, distortion difference of all the photosensitive images is eliminated, the photosensitive images after the distortion difference is eliminated are subjected to fusion processing, and high-resolution detection imaging is obtained. Based on this, overcome unmanned aerial vehicle imaging device's hardware restriction, realize unmanned aerial vehicle and survey the whole promotion of formation of image quality, improve the reference nature of formation when the small-target to electric power system to overhaul the maintenance. Meanwhile, the unmanned aerial vehicle can carry out regional shooting operation, and the efficiency of detecting and imaging the electric power system target is greatly improved.
A computer device, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor executes the program to implement the unmanned aerial vehicle detection imaging method of the power system of any of the above embodiments.
After the computer equipment obtains the original image of the area where the target power system is located by the unmanned aerial vehicle, the redundant area of each frame of original image is determined, and photosensitive images with different photosensitive degrees are generated according to the original image and the redundant area. Further, distortion difference of all the photosensitive images is eliminated, the photosensitive images after the distortion difference is eliminated are subjected to fusion processing, and high-resolution detection imaging is obtained. Based on this, overcome unmanned aerial vehicle imaging device's hardware restriction, realize unmanned aerial vehicle and survey the whole promotion of formation of image quality, improve the reference nature of formation when the small-target to electric power system to overhaul the maintenance. Meanwhile, the unmanned aerial vehicle can carry out regional shooting operation, and the efficiency of detecting and imaging the electric power system target is greatly improved.
Drawings
Fig. 1 is a flowchart of an unmanned aerial vehicle detection imaging method of an electric power system according to an embodiment;
fig. 2 is a flowchart of a method for detecting and imaging by an unmanned aerial vehicle of an electric power system according to another embodiment;
FIG. 3 is a schematic view of an original image overlay;
fig. 4 is a flowchart of a method for detecting and imaging by an unmanned aerial vehicle of a power system according to yet another embodiment;
FIG. 5 is a flowchart illustrating a distortion removal method according to an embodiment;
fig. 6 is a block diagram of an unmanned aerial vehicle detection imaging device module of the power system according to an embodiment.
Detailed Description
For better understanding of the objects, technical solutions and effects of the present invention, the present invention will be further explained with reference to the accompanying drawings and examples. Meanwhile, the following described examples are only for explaining the present invention, and are not intended to limit the present invention.
The embodiment of the invention provides an unmanned aerial vehicle detection imaging method of a power system.
Fig. 1 is a flowchart of an unmanned aerial vehicle detection imaging method of an electric power system according to an embodiment, and as shown in fig. 1, the unmanned aerial vehicle detection imaging method of the electric power system according to an embodiment includes steps S100 to S103:
s100, acquiring an original image of an area aerial photography carried out on the area where the target power system is located by the unmanned aerial vehicle;
wherein, the unmanned aerial vehicle of this embodiment includes fixed wing unmanned aerial vehicle, rotor unmanned aerial vehicle, umbrella wing unmanned aerial vehicle and flapping wing unmanned aerial vehicle, and it can accomplish the aerial photography to target power system place area according to controlling or automatic planning flight route of staff.
The unmanned aerial vehicle carries out regional shooting to the region that target power system is located through airborne equipment. The onboard equipment includes a camera or sensor. In one embodiment, the onboard equipment includes a camera. As a preferred embodiment, the onboard device includes a CCD (charged coupled device) digital camera or a panoramic camera, etc. As a preferred embodiment, the flying height of the drone during the area shooting operation is fixed or maintained within a specific height range. As a preferred embodiment, the specific height ranges from 150 meters to 220 meters.
Wherein, the angle that the shooting angle of unmanned aerial vehicle's airborne equipment and horizontal plane become looks fixed or the position is in a super large angular range. As a preferred embodiment, the onboard equipment may employ a tilt camera system.
S101, determining a redundant area of each frame of original image;
the unmanned aerial vehicle shoots and images the area where the target power system is located for many times, namely the area where the target power system is located comprises a plurality of frames of original images. For example, a plurality of transmission towers in a district are used as a target power system, an area where one transmission tower in the district is located is used as an area where the target power system is located, and the unmanned aerial vehicle flies over the area where the target power system is located for multiple times through a fixed route to complete imaging. The single imaging comprises a plurality of frames of original images, and the plurality of times of imaging form the accumulation of the plurality of frames of original images.
In one embodiment, before determining the redundant area of each frame of original image, each frame of original image is subjected to a null three process. Through the empty three-processing, the interest points of the original image are reduced, and part of interference information is removed, so that the task amount of subsequent data processing is reduced.
In one embodiment, fig. 2 is a flowchart of a method for detecting and imaging an unmanned aerial vehicle in an electric power system according to another embodiment, and as shown in fig. 2, the process of determining a redundant area of each frame of original image in step S101 includes steps S200 and S201:
s200, calibrating the size of each frame of original image to enable the size of each frame of original image to be the same;
s201, overlapping the calibrated original images of the frames, and intercepting similar areas of the original images of the frames as redundant areas.
And the registration of the original images of the frames is completed by calibrating the size of the original image of each frame. In one embodiment, the alignment is accomplished by stretching, scaling, rotating, and translating the frames originally. In a preferred embodiment, a base image of each frame of original image is determined by an image recognition algorithm, and the size of the base image is calibrated for each frame of original image except the base image with reference to the base image. The reference image is an original image having the smallest difference from the original image of each frame. As one embodiment, the original image having the smallest difference between the pixel unit and the average value may be used as the reference image by averaging the pixel units of the original images of the respective frames.
Fig. 3 is a schematic diagram of original image superposition, and as shown in fig. 3, a transformation relationship between every two adjacent original images is determined according to an image registration algorithm by superposing a plurality of frames of original images, and a similar region is determined based on the transformation relationship. As a preferred embodiment, the extraction of the similar region after the superposition of the original images can be performed by a machine vision algorithm such as a difference algorithm, an ICP (Iterative Closest Points) algorithm, or a RANSAC (Random Sample Consensus) algorithm.
S102, generating photosensitive images with different photosensitive degrees according to the original image and the redundant area;
the original images of each frame correspond to the redundant areas of the original images of each frame one by one, and the photosensitive degrees of the redundant areas of the original images of each frame are different from each other. Wherein the difference in the degree of exposure between different exposed images is determined by the redundant area.
In one embodiment, as shown in fig. 2, the process of generating the photosensitive images with different photosensitive degrees according to the original image and the redundant area in step S102 includes step S300:
s300, performing accumulative synthesis on the redundant area to generate a photosensitive image corresponding to the photosensitive degree; wherein, each photosensitive image subsection corresponds to a redundant area cumulative number.
Taking the original image shown in fig. 3 as an example, if there are 6 frames of the original image to be superimposed, there are 6 frames of the redundant area. And performing accumulative synthesis on two or more frames in the 6-frame redundant area to obtain a photosensitive image with a corresponding photosensitive degree. For example, performing accumulative synthesis on 3 frames of redundant areas, and mapping the synthetic result on an original image to obtain a first photosensitive image; and performing accumulative synthesis on the 3 frames of redundant areas, and mapping the synthetic result on the original image to obtain a second photosensitive image. It is noted that the photosensitive image includes redundant regions and non-redundant regions of the original image.
As a preferred embodiment, the redundant area is subjected to accumulation synthesis processing by an integral delay algorithm.
S103, eliminating distortion difference of each photosensitive image and carrying out fusion processing on the photosensitive images after the distortion difference is eliminated to obtain high-resolution detection imaging.
Wherein, usable unmanned aerial vehicle airborne equipment's demarcation parameter carries out little image correction, eliminates the distortion variation of sensitization image.
In one embodiment, as shown in fig. 2, the process of performing the fusion processing on the photosensitive image after the distortion difference is removed in step S103 includes step S400:
and S400, carrying out fusion processing on the photosensitive images with the distortion differences eliminated according to a multi-exposure image fusion algorithm.
As a preferred implementation mode, the multi-exposure image fusion algorithm is a high-dynamic image fusion algorithm. In the process of image fusion, a weighted average value is calculated based on each pixel for fusion. As one embodiment, the weight contribution of each pixel is 1.
In one embodiment, fig. 4 is a flowchart of a method for detecting and imaging by a drone of a power system according to yet another embodiment, and as shown in fig. 4, before the process of eliminating distortion of the photosensitive image in step S103, steps S500 and S501 are further included:
s500, imaging measurement is carried out on the photosensitive image to obtain a correction coefficient of the photosensitive image;
s501, adjusting the excessive redundant area of the photosensitive image according to the correction coefficient to obtain the adjusted photosensitive image.
The photosensitive image and the prior image can be compared according to the prior knowledge, and the correction coefficient can be obtained according to the difference between the prior image and the photosensitive image. The prior image can be obtained by carrying high-imaging-quality shooting equipment by the unmanned aerial vehicle to carry out imaging shooting on the area where the target power system is located. After determining the correction coefficient, a coefficient interval may be determined based on the correction coefficient, and an image area of a specific area of the photosensitive image in which the corresponding coefficient exceeds the coefficient interval may be adjusted or deleted to obtain an adjusted photosensitive image.
In one embodiment, fig. 5 is a flowchart of a distortion removing method according to an embodiment, and as shown in fig. 5, the process of performing image formation calculation on the photosensitive image in step S500 to obtain the correction coefficient of the photosensitive image includes steps S600 and S601:
s600, determining the signal-to-noise ratio of the photosensitive image;
in one embodiment, the photosensitive image is subjected to region division, and signal-to-noise ratio detection is performed on each divided region to obtain the signal-to-noise ratio of the photosensitive image.
S600, comparing the original image with the signal-to-noise ratio to obtain a correction measurement value serving as a correction coefficient.
And determining a region with the signal-to-noise ratio larger than a set threshold value in the photosensitive image as an interference region according to the prior standard. And comparing the signal-to-noise ratio of the interference area with the actual signal-to-noise ratio to obtain a corrected measurement value.
In one embodiment, as shown in fig. 5, the process of adjusting the excessive redundant area of the photosensitive image according to the correction coefficient in step S501 includes step S700:
and S700, eliminating the image area which is larger than the corrected measurement value in the original photosensitive image to obtain the adjusted photosensitive image.
In the unmanned aerial vehicle detection imaging method for the power system in any embodiment, after the original image of the area where the target power system is located is obtained by the unmanned aerial vehicle, the redundant area of each frame of the original image is determined, and the photosensitive images with different photosensitive degrees are generated according to the original image and the redundant area. Further, distortion difference of all the photosensitive images is eliminated, the photosensitive images after the distortion difference is eliminated are subjected to fusion processing, and high-resolution detection imaging is obtained. Based on this, overcome unmanned aerial vehicle imaging device's hardware restriction, realize unmanned aerial vehicle and survey the whole promotion of formation of image quality, improve the reference nature of formation when the small-target to electric power system to overhaul the maintenance. Meanwhile, the unmanned aerial vehicle can carry out regional shooting operation, and the efficiency of detecting and imaging the electric power system target is greatly improved.
The embodiment of the invention also provides an unmanned aerial vehicle detection imaging device of the power system.
Fig. 6 is a block diagram of a detection imaging device module of a drone of an electric power system according to an embodiment, and as shown in fig. 6, the detection imaging device of the drone of the electric power system according to an embodiment includes a module 100, a module 101, a module 102, and a module 103:
the original image acquisition module 100 is configured to acquire an original image of an area where the target power system is located and the area is subjected to area aerial photography by the unmanned aerial vehicle;
a redundant area determining module 101, configured to determine a redundant area of each frame of original image;
the photosensitive image generation module 102 is configured to generate photosensitive images with different photosensitive degrees according to the original image and the redundant area;
and the image quality improving module 103 is configured to eliminate distortion difference of each photosensitive image and perform fusion processing on the photosensitive images after the distortion difference is eliminated, so as to obtain a high-resolution detection image.
The unmanned aerial vehicle detection imaging device of the power system in any embodiment determines the redundant area of each frame of original image after acquiring the original image of the area where the target power system is located by the unmanned aerial vehicle, and generates the photosensitive images with different photosensitive degrees according to the original image and the redundant area. Further, distortion difference of all the photosensitive images is eliminated, the photosensitive images after the distortion difference is eliminated are subjected to fusion processing, and high-resolution detection imaging is obtained. Based on this, overcome unmanned aerial vehicle imaging device's hardware restriction, realize unmanned aerial vehicle and survey the whole promotion of formation of image quality, improve the reference nature of formation when the small-target to electric power system to overhaul the maintenance. Meanwhile, the unmanned aerial vehicle can carry out regional shooting operation, and the efficiency of detecting and imaging the electric power system target is greatly improved.
The embodiment of the invention also provides a computer storage medium, wherein computer instructions are stored on the computer storage medium, and when the instructions are executed by a processor, the unmanned aerial vehicle detection imaging method of the power system in any embodiment is realized.
Those skilled in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: various media that can store program codes, such as a removable Memory device, a Random Access Memory (RAM), a Read-Only Memory (ROM), a magnetic disk, and an optical disk.
Alternatively, the integrated unit of the present invention may be stored in a computer-readable storage medium if it is implemented in the form of a software functional module and sold or used as a separate product. Based on such understanding, the technical solutions of the embodiments of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a terminal, or a network device) to execute all or part of the methods of the embodiments of the present invention. And the aforementioned storage medium includes: a removable storage device, a RAM, a ROM, a magnetic or optical disk, or various other media that can store program code.
Corresponding to the computer storage medium, in one embodiment, there is also provided a computer device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the unmanned aerial vehicle detection imaging method of the power system according to any one of the embodiments.
After the original image of the area where the target power system is located is obtained by the unmanned aerial vehicle, the redundant area of each frame of original image is determined, and photosensitive images with different photosensitive degrees are generated according to the original image and the redundant area. Further, distortion difference of all the photosensitive images is eliminated, the photosensitive images after the distortion difference is eliminated are subjected to fusion processing, and high-resolution detection imaging is obtained. Based on this, overcome unmanned aerial vehicle imaging device's hardware restriction, realize unmanned aerial vehicle and survey the whole promotion of formation of image quality, improve the reference nature of formation when the small-target to electric power system to overhaul the maintenance. Meanwhile, the unmanned aerial vehicle can carry out regional shooting operation, and the efficiency of detecting and imaging the electric power system target is greatly improved.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only show some embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. An unmanned aerial vehicle detection imaging method of a power system is characterized by comprising the following steps:
acquiring an original image of an area aerial photo of a target power system by an unmanned aerial vehicle;
determining a redundant area of the original image of each frame;
generating photosensitive images with different photosensitive degrees according to the original image and the redundant area;
and eliminating distortion difference of each photosensitive image and carrying out fusion processing on the photosensitive images after the distortion difference is eliminated to obtain high-resolution detection imaging.
2. The unmanned aerial vehicle detection imaging method of the power system according to claim 1, further comprising, before the process of eliminating distortion of the photographic image, the steps of:
imaging and measuring the photosensitive image to obtain a correction coefficient of the photosensitive image;
and adjusting the excessive redundant area of the photosensitive image according to the correction coefficient to obtain the adjusted photosensitive image.
3. The unmanned aerial vehicle detection imaging method of the power system according to claim 2, wherein the process of performing imaging measurement on the photosensitive image to obtain the correction coefficient of the photosensitive image comprises the steps of:
determining a signal-to-noise ratio of the light-sensitive image;
and comparing the original image with the signal-to-noise ratio to obtain a correction measurement value serving as the correction coefficient.
4. The unmanned aerial vehicle detection imaging method of the power system according to claim 3, wherein the process of adjusting the excess redundancy area of the photosensitive image according to the correction coefficient comprises the steps of:
and eliminating the image area which is larger than the corrected measurement value in the original photosensitive image to obtain the adjusted photosensitive image.
5. The unmanned aerial vehicle detection imaging method of the power system according to claim 1, wherein the process of determining the redundant area of each frame of the original image comprises the steps of:
calibrating the size of the original image of each frame to enable the original image of each frame to be the same in size;
and superposing the calibrated original images of the frames, and intercepting similar areas of the original images of the frames as the redundant areas.
6. The unmanned aerial vehicle detection imaging method of the power system according to claim 1, wherein the process of generating the photosensitive images with different photosensitive degrees according to the original image and the redundant area comprises the steps of:
performing accumulative synthesis on the redundant area to generate a photosensitive image corresponding to the photosensitive degree; wherein each photosensitive image subsection corresponds to a redundant area cumulative number.
7. The unmanned aerial vehicle detection imaging method of the power system according to claim 1, wherein the process of performing fusion processing on the photosensitive image with the distortion difference removed comprises the steps of:
and carrying out fusion processing on the photosensitive images with the distortion differences eliminated according to a multi-exposure image fusion algorithm.
8. An unmanned aerial vehicle of electric power system surveys image device which characterized in that includes:
the original image acquisition module is used for acquiring an original image of an area aerial photo of the target power system by the unmanned aerial vehicle;
a redundant area determining module for determining the redundant area of the original image of each frame;
the photosensitive image generation module is used for generating photosensitive images with different photosensitive degrees according to the original image and the redundant area;
and the image quality improving module is used for eliminating distortion difference of each photosensitive image and carrying out fusion processing on the photosensitive images after the distortion difference is eliminated to obtain high-resolution detection imaging.
9. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor when executing the computer program implements the steps of the unmanned aerial vehicle detection imaging method of the power system of any of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the unmanned aerial vehicle detection imaging method of the power system of any of claims 1 to 7.
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