CN114034256A - Non-contact remote wire diameter measuring system and method - Google Patents
Non-contact remote wire diameter measuring system and method Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/08—Measuring arrangements characterised by the use of optical techniques for measuring diameters
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
Abstract
The invention provides a non-contact remote line diameter measuring method and a system, comprising the following steps: placing the unmanned aerial vehicle on a standard test platform on the ground to align with a calibration target, and acquiring distance information from the calibration target to the unmanned aerial vehicle, the actual size of the calibration target and the number of pixel points occupied by the calibration target on an image; measuring distance information between the unmanned aerial vehicle and a target to be measured by using a radar of the unmanned aerial vehicle, hovering the unmanned aerial vehicle at the current position, detecting the target to be measured by using a camera module on the unmanned aerial vehicle, and acquiring camera data; preprocessing the acquired camera data to obtain preprocessed camera data; and extracting the number of pixel points occupied by the target in the image based on the preprocessed camera data, and calculating to obtain the line diameter of the target to be detected according to the acquired distance information from the calibration target to the unmanned aerial vehicle, the actual size of the calibration target, the number of pixel points occupied by the calibration target in the image and the radar data acquired aiming at the target to be detected.
Description
Technical Field
The invention relates to the technical field of wire diameter measurement, in particular to a non-contact remote wire diameter measurement system and method.
Background
The wire diameter is an important index of the quality of the conducting wire, and the conducting wire needs to be replaced in time when the wire diameter is too small, otherwise the conducting performance of the cable can be weakened, and the like, and even the structure is damaged, so that serious consequences are caused. Therefore, regular maintenance and inspection of the wire diameter of the cable is required. For the measurement of the wire diameter, contact type and non-contact type wire diameter measurement can be divided according to the sensor type. The contact-type line diameter measurement is a measurement method that a sensor of a measurement instrument is in direct contact with the surface of a measured part, such as a vernier caliper, and the measurement method is widely applied. The noncontact line diameter measurement method is a measurement method in which a sensor of a measuring instrument is not in direct contact with the surface of a measured part, and, for example, line diameter detection is performed by using a laser scanning sensor.
Aiming at the existing wire diameter measuring method, the contact type measuring method cannot remotely measure the cable, and aiming at the contact type measuring instrument, when the wire diameter of the high-altitude cable is measured, a professional is required to climb an iron tower to place equipment, so that the risk coefficient is high, and the efficiency is low; non-contact measurement, such as a laser scanning measurement method, has high requirements on a test environment and cannot measure cables in high altitude; and aiming at a non-contact measuring instrument, equipment needs a stable platform, the device is complex, and remote online operation in a high-altitude environment cannot be realized. Therefore, a non-contact remote measurement system and a non-contact remote measurement method which can be operated at high altitude, can perform remote online positioning measurement and has high measurement accuracy are lacked at present.
Patent document CN112414264A (application No. 202010988021.4) discloses a wire diameter measuring device, which comprises an insulating rod and a clamping mechanism, wherein the clamping mechanism comprises a fixed clamping arm and a movable clamping arm, the fixed clamping arm and the movable clamping arm are respectively connected to the insulating rod, the fixed clamping arm and the movable clamping arm are arranged in parallel and are parallel or perpendicular to the insulating rod, the movable clamping arm can move in a direction close to or away from the fixed clamping arm, the insulating rod is provided with a display mechanism for displaying the moving distance of the movable clamping arm, during measurement, the insulating rod is moved to enable a wire to enter between the fixed clamping arm and the movable clamping arm from a clamping port formed between the fixed clamping arm and the movable clamping arm to drive the movable clamping arm to move for a certain distance, the distance between the fixed clamping arm and the movable clamping arm is the wire diameter of the wire, the distance between the movable clamping arm and the initial distance between the movable clamping arm and the fixed clamping arm are obtained through the display mechanism, and the wire diameter of the wire can be obtained by adding the distance and the initial distance between the movable clamping arm and the fixed clamping arm, the operation is convenient, the fixed clamping arm and the movable clamping arm are clamped with the lead, and the measurement is accurate.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a non-contact remote wire diameter measuring method and system.
The invention provides a non-contact remote wire diameter measuring method, which comprises the following steps:
step S1: placing the unmanned aerial vehicle on a standard test platform on the ground to align with a calibration target, and acquiring distance information from the calibration target to the unmanned aerial vehicle, the actual size of the calibration target and the number of pixel points occupied by the calibration target on an image;
step S2: measuring distance information between the unmanned aerial vehicle and a target to be measured by using a radar of the unmanned aerial vehicle, hovering the unmanned aerial vehicle at the current position, detecting the target to be measured by using a camera module on the unmanned aerial vehicle, and acquiring camera data;
step S3: preprocessing the acquired camera data to obtain preprocessed camera data;
step S4: and extracting the number of pixel points occupied by the target in the image based on the preprocessed camera data, and calculating to obtain the line diameter of the target to be detected according to the acquired distance information from the calibration target to the unmanned aerial vehicle, the actual size of the calibration target, the number of pixel points occupied by the calibration target in the image and the radar data acquired aiming at the target to be detected.
Preferably, said acquiring radar and camera data comprises: the distance information of the target to be detected to the radar and the image signal.
Preferably, the step S3 adopts: carrying out edge detection processing on the image signal to obtain an image signal after edge detection; and performing vibration compensation on the image after the edge detection.
Preferably, the step S4 adopts:
wherein D represents the size of the line diameter of the measured target; n represents the number of pixel points of the target in the image in the shot image of the target to be detected; n' represents the number of pixel points occupied by the calibration target on the image; d' represents the actual line diameter of the calibration target; x' represents the distance information from the calibration target to the unmanned aerial vehicle; and x represents the distance information of the measured target to the radar.
Preferably, the acquired original image signal, the radar signal and the processed line diameter signal of the target to be detected are transmitted to the handheld terminal for viewing.
According to the invention, the non-contact remote wire diameter measuring system comprises:
module M1: placing the unmanned aerial vehicle on a standard test platform on the ground to align with a calibration target, and acquiring distance information from the calibration target to the unmanned aerial vehicle, the actual size of the calibration target and the number of pixel points occupied by the calibration target on an image;
module M2: measuring distance information between the unmanned aerial vehicle and a target to be measured by using a radar of the unmanned aerial vehicle, hovering the unmanned aerial vehicle at the current position, detecting the target to be measured by using a camera module on the unmanned aerial vehicle, and acquiring camera data;
module M3: preprocessing the acquired camera data to obtain preprocessed camera data;
module M4: and extracting the number of pixel points occupied by the target in the image based on the preprocessed camera data, and calculating to obtain the line diameter of the target to be detected according to the acquired distance information from the calibration target to the unmanned aerial vehicle, the actual size of the calibration target, the number of pixel points occupied by the calibration target in the image and the radar data acquired aiming at the target to be detected.
Preferably, said acquiring radar and camera data comprises: the distance information of the target to be detected to the radar and the image signal.
Preferably, the module M3 employs: carrying out edge detection processing on the image signal to obtain an image signal after edge detection; and performing vibration compensation on the image after the edge detection.
Preferably, the module M4 employs:
wherein D represents the size of the line diameter of the measured target; n represents the number of pixel points of the target in the image in the shot image of the target to be detected; n' represents the number of pixel points occupied by the calibration target on the image; d' represents the actual line diameter of the calibration target; x' represents the distance information from the calibration target to the unmanned aerial vehicle; and x represents the distance information of the measured target to the radar.
Preferably, the acquired original image signal, the radar signal and the processed line diameter signal of the target to be detected are transmitted to the handheld terminal for viewing.
Compared with the prior art, the invention has the following beneficial effects: the invention solves the problems that the existing wire diameter measuring method cannot carry out remote operation remote measurement, has low measuring efficiency and cannot carry out on-site on-line measurement, and has the advantages of higher precision, convenient operation, high measuring efficiency and real-time detection.
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Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a flowchart of a non-contact remote wire diameter measuring method.
Fig. 2 is a schematic view of an application scenario.
FIG. 3 is a software system diagram.
Figure 4 is a schematic view of a shock absorbing module.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
Example 1
According to the non-contact remote line diameter measuring method provided by the invention, as shown in fig. 1, the method comprises the following steps:
step S1: placing the unmanned aerial vehicle on a standard test platform on the ground to align with the calibration cable, and acquiring distance information from the calibration cable to the unmanned aerial vehicle, the actual wire diameter of the calibration cable and the number of pixel points occupied by the calibration cable on an image;
step S2: measuring distance information between the unmanned aerial vehicle and a target to be measured by using a radar of the unmanned aerial vehicle, hovering the unmanned aerial vehicle at the current position, detecting the target to be measured by using a camera module on the unmanned aerial vehicle, and acquiring camera data;
step S3: preprocessing the acquired camera data to obtain preprocessed camera data;
step S4: and extracting the number of pixel points occupied by the cable in the image based on the preprocessed camera data, and calculating to obtain the diameter of the cable to be detected according to the acquired distance information from the calibration cable to the unmanned aerial vehicle, the actual size of the calibration cable, the number of pixel points occupied by the calibration cable in the image and the radar data acquired aiming at the cable to be detected.
Specifically, the acquiring radar and camera data comprises: the distance information from the measured cable to the radar and the image signal.
Specifically, the step S3 employs: carrying out edge detection processing on the image signal to obtain an image signal after edge detection; and performing vibration compensation on the image after the edge detection.
Specifically, the step S4 employs:
wherein D represents the size of the wire diameter of the tested cable; n represents the number of pixel points of the cable in the image in the shot image of the tested cable; n' represents the number of pixel points occupied by the calibration cable on the image; d' represents the actual wire diameter of the calibration cable; x' represents the distance information from the calibration cable to the unmanned aerial vehicle; and x represents the distance information of the measured cable to the radar.
Specifically, the collected original image signals, radar signals and processed wire diameter signals of the cable to be detected are transmitted to the handheld terminal for viewing.
According to the invention, the non-contact remote wire diameter measuring system comprises:
module M1: placing the unmanned aerial vehicle on a standard test platform on the ground to align with the calibration cable, and acquiring distance information from the calibration cable to the unmanned aerial vehicle, the actual wire diameter of the calibration cable and the number of pixel points occupied by the calibration cable on an image;
module M2: measuring distance information between the unmanned aerial vehicle and a target to be measured by using a radar of the unmanned aerial vehicle, hovering the unmanned aerial vehicle at the current position, detecting the target to be measured by using a camera module on the unmanned aerial vehicle, and acquiring camera data;
module M3: preprocessing the acquired camera data to obtain preprocessed camera data;
module M4: extracting the number of pixel points occupied by the cable in the image based on the preprocessed camera data, and calculating the size of the diameter of the cable to be measured according to the acquired distance information from the calibrated cable to the unmanned aerial vehicle, the actual size of the calibrated cable, the number of pixel points occupied by the calibrated cable in the image and the radar data acquired aiming at the cable to be measured;
module M5: transmitting the collected original image signal and radar signal of the tested cable and the processed wire diameter signal to a handheld terminal for checking;
the handheld terminal is in data communication with the unmanned aerial vehicle through a wireless signal and remote signal acquisition and processing module, so that interaction of data and control signals is realized, and the handheld terminal is controlled by the unmanned aerial vehicle;
the remote signal acquisition and processing module comprises an unmanned aerial vehicle, a radar transceiver, a camera module and a signal transmission and processing module;
the unmanned aerial vehicle is used for carrying a radar module and a camera module, so that the radar and the camera can be suspended at a certain measuring position in the air;
the radar transceiver is used for transmitting and receiving microwave signals;
the camera module is used for acquiring an image signal of a cable to be detected;
and the signal transmission and processing module is used for communication between the remote signal acquisition end and the handheld terminal and processing of wire diameter measurement and calculation.
The handheld terminal comprises a signal transmission module, a display and data storage module and a flight control module;
the signal transmission module is used for communication between the remote signal acquisition end and the handheld terminal;
the display and data storage module is used for displaying and storing information including the wire diameter of the tested cable and the processed image information;
the flight control module is used for controlling the flight condition of the unmanned aerial vehicle.
Specifically, the acquiring radar and camera data comprises: the distance information from the measured cable to the radar and the image signal.
Specifically, the module M3 employs: carrying out edge detection processing on the image signal to obtain an image signal after edge detection; carrying out vibration compensation on the image subjected to edge detection through a vibration reduction module so as to reduce the influence of the self vibration of the unmanned aerial vehicle on the picture quality;
the vibration reduction module is shown in fig. 4 and comprises hardware vibration reduction equipment and a software vibration reduction algorithm; the hardware vibration reduction equipment is characterized in that a buffer area is established between the unmanned aerial vehicle and the radar and the camera by using equipment such as a vibration reduction ball, and the influence of the vibration of the unmanned aerial vehicle on the radar and the camera is weakened; the hardware damping apparatus includes, for example: the device comprises a composite carbon fiber plate, a triaxial gyroscope, an elastic material rubber ball and the like.
The software vibration reduction algorithm is used for extracting vibration characteristics of the unmanned aerial vehicle in a specific environment by acquiring a jitter signal of the unmanned aerial vehicle in a static state, establishing correction parameters according to the characteristics and correcting data of a camera and radar.
Specifically, the module M4 employs:
wherein D represents the size of the wire diameter of the tested cable; n represents the number of pixel points of the cable in the image in the shot image of the tested cable; n' represents the number of pixel points occupied by the calibration cable on the image; d' represents the actual wire diameter of the calibration cable; x' represents the distance information from the calibration cable to the unmanned aerial vehicle; and x represents the distance information of the measured cable to the radar.
Example 2
Example 2 is a preferred example of example 1
The invention provides a non-contact remote line diameter measuring method, which comprises the following steps:
step 1: an unmanned aerial vehicle is placed on a standard test platform on the ground to align with a target, and as shown in fig. 2, distance information x ' from the target to the unmanned aerial vehicle, the actual size D ' of the target, and the number n ' of pixel points occupied by the target on an image are obtained. And obtaining a calculation formula of the wire diameter of the cable according to the information:
the specific method for acquiring the calculation formula of the cable diameter comprises the following steps:
step 1.1: in the camera view field, the product of the distances of the same object and the pixels at different distances can be constantly constant by the similar triangles.
Step 1.2: after a group of shooting data of the test target in the step 1 is obtained, the pixel value of the cable line diameter D at the same distance can be set as
Step 1.3: after shooting data of the cable is collected at another distance, the size of the wire diameter of the cable can be calculated according to the step 1.1.
Step 2: hovering the unmanned aerial vehicle at a detected target through a flight control system, and collecting radar and camera data
And step 3: processing the radar signal, and extracting the distance information from the measured cable to the radar;
and 4, step 4: carrying out edge detection processing on the image signal, and extracting the number n of pixel points occupied by the cable in the image
The specific method for extracting the number n of the pixel points of the cable in the image comprises the following steps:
step 4.1: the acquired images are subjected to vibration compensation processing, the problem of image blurring caused by vibration of the unmanned aerial vehicle is solved, and the quality of the images is improved.
Step 4.2: and carrying out Hough transform on points in the edge image by using a determined threshold value to obtain a group of fitted straight line parameters.
Step 4.3: since the cable and the surrounding detection environment are independent on the edge map, a straight line represented by the first group of data which most closely fits the straight line by the point set is used as one end edge of the cable.
Step 4.4: and judging that the first straight line is the upper edge or the lower edge of the cable according to the edge image, and sequentially converting the first three groups of data into straight lines with the same slope as the first straight line around edge points according to the pixel point distribution on the edge image.
Step 4.5: and sequentially measuring the distance between each straight line and the first straight line, and taking the maximum value as the number n of the edge graph pixel points of the cable.
And 5: calculating the real line diameter D according to a proportion formula of pixel points, distances and actual line diameters obtained by standard calibration data;
step 5.1: the distance from the measured cable to the radar is set as x, and then the calculation formula of the wire diameter is as follows:
step 6: the acquired original image signals and radar signals and the processed line diameter information are transmitted to a display and data storage module for a user to check
And 7: the flight control end sends a control instruction to the unmanned aerial vehicle according to instruction information sent by a user through a developed software system as shown in fig. 3, and controls the flight attitude of the unmanned aerial vehicle;
the developed software system includes: the system comprises a handheld terminal and a remote signal acquisition terminal;
the handheld terminal comprises a user login account, acquires a using program activation state and acquires an unmanned aerial vehicle binding state; the method comprises the steps that flight control obtains unmanned aerial vehicle camera data, OSDK communication and wire diameter;
the remote signal acquisition terminal comprises: controlling the unmanned aerial vehicle to hover at a target to be measured, and acquiring camera data (image signals) and radar signals (distance information) of the unmanned aerial vehicle; and calculating to obtain the wire diameter data based on a standard test platform according to the acquired image signal and the acquired distance signal.
Those skilled in the art will appreciate that, in addition to implementing the systems, apparatus, and various modules thereof provided by the present invention in purely computer readable program code, the same procedures can be implemented entirely by logically programming method steps such that the systems, apparatus, and various modules thereof are provided in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system, the device and the modules thereof provided by the present invention can be considered as a hardware component, and the modules included in the system, the device and the modules thereof for implementing various programs can also be considered as structures in the hardware component; modules for performing various functions may also be considered to be both software programs for performing the methods and structures within hardware components.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A non-contact remote wire diameter measuring method is characterized by comprising the following steps:
step S1: placing the unmanned aerial vehicle on a standard test platform on the ground to align with a calibration target, and acquiring distance information from the calibration target to the unmanned aerial vehicle, the actual size of the calibration target and the number of pixel points occupied by the calibration target on an image;
step S2: measuring distance information between the unmanned aerial vehicle and a target to be measured by using a radar of the unmanned aerial vehicle, hovering the unmanned aerial vehicle at the current position, detecting the target to be measured by using a camera module on the unmanned aerial vehicle, and acquiring camera data;
step S3: preprocessing the acquired camera data to obtain preprocessed camera data;
step S4: and extracting the number of pixel points occupied by the target in the image based on the preprocessed camera data, and calculating to obtain the line diameter of the target to be detected according to the acquired distance information from the calibration target to the unmanned aerial vehicle, the actual size of the calibration target, the number of pixel points occupied by the calibration target in the image and the radar data acquired aiming at the target to be detected.
2. The method of claim 1, wherein the collecting radar and camera data comprises: the distance information of the target to be detected to the radar and the image signal.
3. The non-contact remote wire diameter measuring method according to claim 2, wherein the step S3 employs: carrying out edge detection processing on the image signal to obtain an image signal after edge detection; and performing vibration compensation on the image after the edge detection.
4. The non-contact remote wire diameter measuring method according to claim 3, wherein the step S4 employs:
wherein D represents the size of the line diameter of the measured target; n represents the number of pixel points of the target in the image in the shot image of the target to be detected; n' represents the number of pixel points occupied by the calibration target on the image; d' represents the actual line diameter of the calibration target; x' represents the distance information from the calibration target to the unmanned aerial vehicle; and x represents the distance information of the measured target to the radar.
5. The method according to claim 1, wherein the collected original image signal of the target to be measured, the radar signal and the processed wire diameter signal are transmitted to a handheld terminal for viewing.
6. A non-contact remote wire diameter measurement system, comprising:
module M1: placing the unmanned aerial vehicle on a standard test platform on the ground to align with a calibration target, and acquiring distance information from the calibration target to the unmanned aerial vehicle, the actual size of the calibration target and the number of pixel points occupied by the calibration target on an image;
module M2: measuring distance information between the unmanned aerial vehicle and a target to be measured by using a radar of the unmanned aerial vehicle, hovering the unmanned aerial vehicle at the current position, detecting the target to be measured by using a camera module on the unmanned aerial vehicle, and acquiring camera data;
module M3: preprocessing the acquired camera data to obtain preprocessed camera data;
module M4: and extracting the number of pixel points occupied by the target in the image based on the preprocessed camera data, and calculating to obtain the line diameter of the target to be detected according to the acquired distance information from the calibration target to the unmanned aerial vehicle, the actual size of the calibration target, the number of pixel points occupied by the calibration target in the image and the radar data acquired aiming at the target to be detected.
7. The non-contact remote wire diameter measurement system of claim 6, wherein said collecting radar and camera data comprises: the distance information of the target to be detected to the radar and the image signal.
8. The system according to claim 7, wherein said module M3 employs: carrying out edge detection processing on the image signal to obtain an image signal after edge detection; and performing vibration compensation on the image after the edge detection.
9. The system according to claim 8, wherein the module M4 employs:
wherein D represents the size of the line diameter of the measured target; n represents the number of pixel points of the target in the image in the shot image of the target to be detected; n' represents the number of pixel points occupied by the calibration target on the image; d' represents the actual line diameter of the calibration target; x' represents the distance information from the calibration target to the unmanned aerial vehicle; and x represents the distance information of the measured target to the radar.
10. The system according to claim 6, wherein the collected original image signal of the target to be measured, the radar signal and the processed wire diameter signal are transmitted to a handheld terminal for viewing.
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| CN109631776A (en) * | 2018-12-27 | 2019-04-16 | 南京航空航天大学 | A kind of high-voltage power line conductive knot ice thickness method for automatic measurement |
| CN110617772A (en) * | 2019-10-09 | 2019-12-27 | 南京天创电子技术有限公司 | Non-contact type line diameter measuring device and method |
| CN110992418A (en) * | 2019-12-12 | 2020-04-10 | 中国南方电网有限责任公司超高压输电公司大理局 | Wire icing thickness monitoring system and method |
| CN113567451A (en) * | 2021-07-23 | 2021-10-29 | 江苏电力信息技术有限公司 | Cable defect detection and diameter measurement method |
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| CN116045829A (en) * | 2022-12-05 | 2023-05-02 | 海南电网有限责任公司昌江供电局 | Wire diameter measuring device |
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