CN113554778A - Small target identification method and device for power transmission line inspection robot - Google Patents
Small target identification method and device for power transmission line inspection robot Download PDFInfo
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- CN113554778A CN113554778A CN202110859471.8A CN202110859471A CN113554778A CN 113554778 A CN113554778 A CN 113554778A CN 202110859471 A CN202110859471 A CN 202110859471A CN 113554778 A CN113554778 A CN 113554778A
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/61—Control of cameras or camera modules based on recognised objects
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
Abstract
The embodiment of the application discloses a method and a device for identifying a small target of a power transmission line inspection robot, wherein the method comprises the following steps: acquiring a first image containing a small target to be identified, and calculating a first center of the first image; identifying the position of a small target to be identified in the first image, and calculating a second center of the small target; adjusting the shooting angle to enable the second center of the small target to move to the first center; acquiring an adjusted second image containing the small target to be recognized, and amplifying the image of the small target to be recognized to a first multiple to obtain a third image; judging whether the small target to be identified in the third image meets the preset definition or not; if so, identifying the small target to be identified; otherwise, moving the inspection robot to the small target to be identified to a first distance, and repeating the steps until the small target to be identified is identified. The small target to be recognized can be clearly obtained by amplifying, detecting and judging the small target.
Description
Technical Field
The application relates to the technical field of power inspection, in particular to a method and a device for identifying a small target of a power transmission line inspection robot.
Background
The power transmission line inspection robot can be used for inspecting a power transmission line, a plurality of targets can be obtained in the inspection process, however, for some small targets, the problem of unclear identification can occur, the small targets need to be amplified at the moment, but the problem that the small targets in the observation visual field are not clear at all can occur in the amplification process, and inspection result errors are caused.
Disclosure of Invention
The embodiment of the application provides a method and a device for identifying a small target of a power transmission line inspection robot, so that the clear small target to be identified can be obtained by amplifying, detecting and judging the small target.
In view of this, a first aspect of the present application provides a method for identifying a small target of a power transmission line inspection robot, where the method includes:
101. acquiring a first image containing a small target to be identified, and calculating a first center of the first image;
102. identifying the position of the small target to be identified in the first image, and calculating a second center of the small target;
103. adjusting a shooting angle so that the second center of the small target moves to the first center;
104. acquiring an adjusted second image containing the small target to be recognized, and amplifying the image of the small target to be recognized to a first multiple to obtain a third image;
105. judging whether the small target to be identified in the third image meets a preset definition or not;
106. if so, identifying the small target to be identified; otherwise, moving the inspection robot to the small target to be identified to a first distance, and repeating the step 101 and the step 106 until the small target to be identified is identified.
Optionally, the acquiring a first image containing a small target to be recognized includes:
1011. acquiring the position of the small target to be identified;
1012. rotating a camera of the inspection robot towards the small target to be identified by a first angle;
1013. using a camera to photograph the small target to be recognized so as to obtain an initial image;
1014. judging whether the initial image completely contains a small target to be identified;
1015. if so, outputting the initial image as the first image; otherwise, return to step 1011 until the first image is output.
Optionally, the calculating the first center of the first image includes:
judging whether the first image is a regular image or not;
if so, calculating the geometric center of the first image, and taking the geometric center as a first center;
if not, the first image is completely contained by using the minimum rectangle, and the geometric center of the minimum rectangle is calculated and taken as the first center.
Optionally, the calculating the second center of the small target includes:
judging whether the small target to be identified is a regular pattern or not;
if so, calculating the geometric center of the small target to be recognized, and taking the geometric center as a second center;
and if not, using the minimum rectangle to completely contain the small target to be recognized, calculating the geometric center of the minimum rectangle, and taking the geometric center as a second center.
Optionally, the determining whether the small target to be identified in the third image meets a preset definition includes:
acquiring the resolution of the third image, and judging whether the resolution reaches a preset resolution or not;
and acquiring the size of the small target to be recognized in the third image, and judging whether the size of the small target to be recognized meets a preset size requirement.
The second aspect of the application provides a little target recognition device of robot is patrolled and examined to transmission line, the device includes:
the system comprises a first acquisition unit, a second acquisition unit and a control unit, wherein the first acquisition unit is used for acquiring a first image containing a small target to be identified and calculating a first center of the first image;
the first identification unit is used for identifying the position of the small target to be identified in the first image and calculating a second center of the small target;
a first adjusting unit for adjusting a photographing angle such that the second center of the small target moves to the first center;
the second acquisition unit is used for acquiring the adjusted second image containing the small target to be recognized and amplifying the image of the small target to be recognized to a first multiple to obtain a third image;
the first judging unit is used for judging whether the small target to be identified in the third image meets preset definition or not;
the identification unit is used for identifying the small target to be identified when the small target to be identified meets the preset definition; otherwise, moving the inspection robot to a first distance to the small target to be identified, and repeating the first acquiring unit, the first identifying unit, the first adjusting unit, the second acquiring unit, the first judging unit and the identifying unit in sequence until identifying the small target to be identified.
Optionally, the first obtaining unit includes:
the second acquisition unit is used for acquiring the position of the small target to be identified;
the second adjusting unit is used for rotating the camera of the inspection robot towards the small target to be identified to reach a first angle;
the shooting unit is used for shooting the small target to be recognized by using a camera to obtain an initial image;
the second judging unit is used for judging whether the initial image completely contains a small target to be identified;
the image output unit is used for outputting an initial image as the first image when the initial image completely contains a small target to be recognized; otherwise, returning to the step of the second acquisition unit until the first image is output.
Optionally, the first obtaining unit further includes:
a third judging unit, configured to judge whether the first image is a regular pattern;
the first calculation unit is used for calculating the geometric center of the first image as a first center when the first image is a regular graph; otherwise, the first image is completely contained by using the minimum rectangle, and the geometric center of the minimum rectangle is calculated and taken as the first center.
Optionally, the first identification unit includes:
the fourth judging unit is used for judging whether the small target to be identified is a regular graph or not;
the second calculation unit is used for calculating the geometric center of the small target to be recognized as a second center when the small target to be recognized is a regular graph; and if not, using the minimum rectangle to completely contain the small target to be recognized, calculating the geometric center of the minimum rectangle, and taking the geometric center as a second center.
Optionally, the first determining unit includes:
a fifth judging unit, configured to acquire a resolution of the third image, and judge whether the resolution reaches a preset resolution;
and the sixth judging unit is used for acquiring the size of the small target to be identified in the third image and judging whether the size of the small target to be identified meets the preset size requirement.
According to the technical scheme, the method has the following advantages:
the application provides a method and a device for identifying a small target of a power transmission line inspection robot, wherein the method comprises the following steps: acquiring a first image containing a small target to be identified, and calculating a first center of the first image; identifying the position of a small target to be identified in the first image, and calculating a second center of the small target; adjusting the shooting angle to enable the second center of the small target to move to the first center; acquiring an adjusted second image containing the small target to be recognized, and amplifying the image of the small target to be recognized to a first multiple to obtain a third image; judging whether the small target to be identified in the third image meets the preset definition or not; if so, identifying the small target to be identified; otherwise, moving the inspection robot to the small target to be identified to a first distance, and repeating the steps until the small target to be identified is identified.
The small target to be recognized is adjusted to the center position of the image, the small target to be recognized is amplified by a certain multiple, the small target is observed again, the definition of the small target to be recognized is judged, if the definition is not met, the small target to be recognized is close to the small target to be recognized to perform image acquisition again, and the small target image to be recognized is obtained until the definition meets the requirement, so that the small target image to be recognized with higher definition can be rapidly obtained, and the subsequent computational power consumption for image recognition is reduced.
Drawings
Fig. 1 is a flowchart of a method according to an embodiment of a method for identifying a small target of a power transmission line inspection robot according to the present application;
fig. 2 is a device structure diagram of an embodiment of the small-object recognition device for the power transmission line inspection robot.
Detailed Description
In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1, fig. 1 is a diagram illustrating an architecture of an information processing system according to an embodiment of the present invention, as shown in fig. 1, where fig. 1 includes:
101. acquiring a first image containing a small target to be identified, and calculating a first center of the first image;
it should be noted that, the present application may acquire a first image containing a small target to be recognized, and then calculate a first center of the first image.
In a specific embodiment, acquiring a first image containing a small target to be identified comprises:
1011. acquiring the position of a small target to be identified;
1012. rotating a camera of the inspection robot towards the small target to be identified by a first angle;
1013. using a camera to photograph a small target to be recognized to obtain an initial image;
1014. judging whether the initial image completely contains a small target to be identified;
1015. if so, outputting the initial image as a first image; otherwise, return to step 1011 until the first image is output.
In a specific embodiment, calculating a first center of the first image comprises:
judging whether the first image is a regular image or not;
if so, calculating the geometric center of the first image, and taking the geometric center as a first center;
if not, the minimum rectangle is used to completely contain the first image, and the geometric center of the minimum rectangle is calculated and taken as the first center.
102. Identifying the position of a small target to be identified in the first image, and calculating a second center of the small target;
it should be noted that, in order to make the amplified small target to be recognized as clear as possible, the second center of the small target to be recognized may be calculated first, so that the small target is re-acquired subsequently, and the second center moves to the first center, thereby obtaining the small target to be recognized as amplified as much as possible.
In a specific embodiment, calculating a second center of the small target comprises:
judging whether the small target to be identified is a regular pattern or not;
if so, calculating the geometric center of the small target to be recognized, and taking the geometric center as a second center;
and if not, using the minimum rectangle to completely contain the small target to be recognized, calculating the geometric center of the minimum rectangle, and taking the geometric center as a second center.
103. Adjusting the shooting angle to enable the second center of the small target to move to the first center;
it should be noted that the method and the device can calculate the angle required to be adjusted when the second center moves to the first center, so that the second center of the small target moves to the first center after the angle is adjusted by the camera, and then the image containing the small target to be identified is collected again.
104. Acquiring an adjusted second image containing the small target to be recognized, and amplifying the image of the small target to be recognized to a first multiple to obtain a third image;
it should be noted that after the adjusted second image containing the small target to be recognized is obtained, the image of the small target to be recognized may be enlarged as much as possible, so as to obtain a third image of the small target to be recognized, which is easy to clearly recognize.
105. Judging whether the small target to be identified in the third image meets the preset definition or not;
it should be noted that, the method and the device for identifying the small target in the third image can determine the definition of the small target to be identified in the third image, and compare the relevant parameters of the small target to be identified with the preset definition, thereby determining whether the definition of the small target to be identified meets the requirement.
In a specific embodiment, the determining whether the small target to be recognized in the third image satisfies a preset definition includes:
acquiring the resolution of the third image, and judging whether the resolution reaches a preset resolution or not;
and acquiring the size of the small target to be identified in the third image, and judging whether the size of the small target to be identified meets the preset size requirement.
It should be noted that, according to the present application, the resolution of the third image and the size of the small target to be recognized may be compared with a preset requirement, so as to determine whether the small target to be recognized meets the preset definition requirement. Of course, other parameters may be compared in the present application, and this is merely an exemplary illustration.
106. If so, identifying the small target to be identified; otherwise, the inspection robot is moved to the small target to be identified to the first distance, and the step 101 and the step 106 are repeated until the small target to be identified is identified.
It should be noted that, the third image meeting the definition requirement can be identified by the method, and the small target to be identified in the third image can be identified by algorithms such as image identification. If the third image does not meet the definition requirement, the inspection robot can be moved for a preset distance to the small target to be identified, so that a clear image containing the small target to be identified can be acquired, the steps are repeated until the image containing the small target to be identified, the definition of which meets the requirement, is obtained, and the computational power consumption of repeated identification calculation is avoided.
The small target to be recognized is adjusted to the center position of the image, the small target to be recognized is amplified by a certain multiple, the small target is observed again, the definition of the small target to be recognized is judged, if the definition is not met, the small target to be recognized is close to the small target to be recognized to perform image acquisition again, and the small target image to be recognized is obtained until the definition meets the requirement, so that the small target image to be recognized with higher definition can be rapidly obtained, and the subsequent computational power consumption for image recognition is reduced.
The application also provides an embodiment of a small target recognition device of a power transmission line inspection robot, as shown in fig. 2, the embodiment includes in fig. 2:
a first acquiring unit 201, configured to acquire a first image including a small target to be recognized, and calculate a first center of the first image;
the first identification unit 202 is used for identifying the position of the small target to be identified in the first image and calculating a second center of the small target;
a first adjusting unit 203 for adjusting the shooting angle such that the second center of the small target moves to the first center;
a second obtaining unit 204, configured to obtain an adjusted second image containing the small target to be recognized, and amplify the image of the small target to be recognized to a first multiple to obtain a third image;
a first judging unit 205, configured to judge whether the small target to be identified in the third image meets a preset definition;
the identification unit 206 is used for identifying the small target to be identified when the small target to be identified meets the preset definition; otherwise, moving the inspection robot to a first distance to the small target to be identified, and repeating the steps of the first obtaining unit, the first identifying unit, the first adjusting unit, the second obtaining unit, the first judging unit and the identifying unit in sequence until the small target to be identified is identified.
In a specific embodiment, the first obtaining unit 201 includes:
the second acquisition unit is used for acquiring the position of the small target to be identified;
the second adjusting unit is used for rotating the camera of the inspection robot to a first angle towards the small target to be identified;
the shooting unit is used for shooting the small target to be recognized by using the camera to obtain an initial image;
the second judging unit is used for judging whether the initial image completely contains the small target to be identified;
the image output unit is used for outputting the initial image as a first image when the initial image completely contains the small target to be recognized; otherwise, returning to the step of the second acquisition unit until the first image is output.
In a specific embodiment, the first obtaining unit 201 further includes:
a third judging unit, configured to judge whether the first image is a regular pattern;
the first calculating unit is used for calculating the geometric center of the first image as a first center when the first image is a regular graph; otherwise, the first image is completely contained by using the minimum rectangle, and the geometric center of the minimum rectangle is calculated and taken as the first center.
The first recognition unit 202 includes:
the fourth judging unit is used for judging whether the small target to be identified is a regular pattern or not;
the second calculation unit is used for calculating the geometric center of the small target to be recognized as a second center when the small target to be recognized is a regular graph; and if not, using the minimum rectangle to completely contain the small target to be recognized, calculating the geometric center of the minimum rectangle, and taking the geometric center as a second center.
The first judgment unit 205 includes:
the fifth judging unit is used for acquiring the resolution of the third image and judging whether the resolution reaches the preset resolution or not;
and the sixth judging unit is used for acquiring the size of the small target to be identified in the third image and judging whether the size of the small target to be identified meets the preset size requirement.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The terms "first," "second," "third," "fourth," and the like in the description of the application and the above-described figures, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It should be understood that in the present application, "at least one" means one or more, "a plurality" means two or more. "and/or" for describing an association relationship of associated objects, indicating that there may be three relationships, e.g., "a and/or B" may indicate: only A, only B and both A and B are present, wherein A and B may be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of single item(s) or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", wherein a, b, c may be single or plural.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (10)
1. A method for identifying a small target of a power transmission line inspection robot is characterized by comprising the following steps:
101. acquiring a first image containing a small target to be identified, and calculating a first center of the first image;
102. identifying the position of the small target to be identified in the first image, and calculating a second center of the small target;
103. adjusting a shooting angle so that the second center of the small target moves to the first center;
104. acquiring an adjusted second image containing the small target to be recognized, and amplifying the image of the small target to be recognized to a first multiple to obtain a third image;
105. judging whether the small target to be identified in the third image meets a preset definition or not;
106. if so, identifying the small target to be identified; otherwise, moving the inspection robot to the small target to be identified to a first distance, and repeating the step 101 and the step 106 until the small target to be identified is identified.
2. The method for identifying the small target of the power transmission line inspection robot according to claim 1, wherein the acquiring the first image containing the small target to be identified comprises:
1011. acquiring the position of the small target to be identified;
1012. rotating a camera of the inspection robot towards the small target to be identified by a first angle;
1013. using a camera to photograph the small target to be recognized so as to obtain an initial image;
1014. judging whether the initial image completely contains a small target to be identified;
1015. if so, outputting the initial image as the first image; otherwise, return to step 1011 until the first image is output.
3. The method for identifying the small target of the power transmission line inspection robot according to claim 1, wherein the calculating the first center of the first image comprises:
judging whether the first image is a regular image or not;
if so, calculating the geometric center of the first image, and taking the geometric center as a first center;
if not, the first image is completely contained by using the minimum rectangle, and the geometric center of the minimum rectangle is calculated and taken as the first center.
4. The small target identification method for the power transmission line inspection robot according to claim 1, wherein the calculating the second center of the small target includes:
judging whether the small target to be identified is a regular pattern or not;
if so, calculating the geometric center of the small target to be recognized, and taking the geometric center as a second center;
and if not, using the minimum rectangle to completely contain the small target to be recognized, calculating the geometric center of the minimum rectangle, and taking the geometric center as a second center.
5. The method for identifying the small target of the power transmission line inspection robot according to claim 1, wherein the step of judging whether the small target to be identified in the third image meets a preset definition comprises the following steps:
acquiring the resolution of the third image, and judging whether the resolution reaches a preset resolution or not;
and acquiring the size of the small target to be recognized in the third image, and judging whether the size of the small target to be recognized meets a preset size requirement.
6. The utility model provides a transmission line patrols and examines little target recognition device of robot which characterized in that includes:
the system comprises a first acquisition unit, a second acquisition unit and a control unit, wherein the first acquisition unit is used for acquiring a first image containing a small target to be identified and calculating a first center of the first image;
the first identification unit is used for identifying the position of the small target to be identified in the first image and calculating a second center of the small target;
a first adjusting unit for adjusting a photographing angle such that the second center of the small target moves to the first center;
the second acquisition unit is used for acquiring the adjusted second image containing the small target to be recognized and amplifying the image of the small target to be recognized to a first multiple to obtain a third image;
the first judging unit is used for judging whether the small target to be identified in the third image meets preset definition or not;
the identification unit is used for identifying the small target to be identified when the small target to be identified meets the preset definition; otherwise, moving the inspection robot to a first distance to the small target to be identified, and repeating the first acquiring unit, the first identifying unit, the first adjusting unit, the second acquiring unit, the first judging unit and the identifying unit in sequence until identifying the small target to be identified.
7. The small target identification method for the power transmission line inspection robot according to claim 6, wherein the first obtaining unit comprises:
the second acquisition unit is used for acquiring the position of the small target to be identified;
the second adjusting unit is used for rotating the camera of the inspection robot towards the small target to be identified to reach a first angle;
the shooting unit is used for shooting the small target to be recognized by using a camera to obtain an initial image;
the second judging unit is used for judging whether the initial image completely contains a small target to be identified;
the image output unit is used for outputting an initial image as the first image when the initial image completely contains a small target to be recognized; otherwise, returning to the step of the second acquisition unit until the first image is output.
8. The small target identification method for the power transmission line inspection robot according to claim 6, wherein the first obtaining unit further comprises:
a third judging unit, configured to judge whether the first image is a regular pattern;
the first calculation unit is used for calculating the geometric center of the first image as a first center when the first image is a regular graph; otherwise, the first image is completely contained by using the minimum rectangle, and the geometric center of the minimum rectangle is calculated and taken as the first center.
9. The small target identification method for the power transmission line inspection robot according to claim 6, wherein the first identification unit comprises:
the fourth judging unit is used for judging whether the small target to be identified is a regular graph or not;
the second calculation unit is used for calculating the geometric center of the small target to be recognized as a second center when the small target to be recognized is a regular graph; and if not, using the minimum rectangle to completely contain the small target to be recognized, calculating the geometric center of the minimum rectangle, and taking the geometric center as a second center.
10. The small target identification method for the power transmission line inspection robot according to claim 6, wherein the first judgment unit comprises:
a fifth judging unit, configured to acquire a resolution of the third image, and judge whether the resolution reaches a preset resolution;
and the sixth judging unit is used for acquiring the size of the small target to be identified in the third image and judging whether the size of the small target to be identified meets the preset size requirement.
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Application publication date: 20211026 |