CN102034244A - Insulator real-time target recognizing and tracking device based on motion background - Google Patents
Insulator real-time target recognizing and tracking device based on motion background Download PDFInfo
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Abstract
The invention relates to an insulator monitoring device used in a power system, in particular to an insulator real-time target recognizing and tracking device based on motion background. The device comprises flying machinery equipment, a ground control system and a communication module, wherein, the flying machinery equipment comprises a flying system and control processing equipment, and the control processing equipment is arranged on the flying system and comprises an imaging detection component and an image signal processing component. The insulator real-time target recognizing and tracking device has the advantages that an image detected by a target insulator is processed on the flying machinery equipment so that insulator detection based on motion analysis is only carried out in a small area in a video window, thus greatly reducing communication transmission time and accelerating the arithmetic operating speed; and in addition, the search range of the target insulator is reduced by means of accurate tracking so that insulator detection and human tracking are almost carried out synchronously, thus achieving the purpose of accurately tracking the insulator and ensuring the detection accuracy and precision of the insulator.
Description
Technical field
The present invention relates to insulator monitoring device in a kind of electric system, real-time Target Recognition of particularly a kind of insulator and tracking means based on movement background.
Background technology
Insulator is to be used for the device that lead is connected with tower insulation on the aerial high-voltage power transmission line, is one of insulator of consumption maximum.When having low value or zero resistance insulator in the insulator chain, in filthy environment, superpotential, even flashover fault just easily takes place under the operating voltage, when zero resistance insulator is punctured fully, will cause that insulator blows, be the hidden danger that causes the transmission line of electricity major accident.
The method of measuring zero resistance insulator at present is regularly to have a power failure or charged manual detection, and these operations need be stepped on bar and be detected piecewise, belong to work high above the ground, and is affected by environment big, and dangerous high, labour intensity is also big.If at the ground survey zero resistance insulator, accuracy is not high enough, be difficult to judge which sheet insulator is out of joint, invented a kind of flying robot who is used to detect electric transmission line isolator at the scientific research group of this problem project of the present invention, number of patent application is 200810224172.1, it has solved steps on the problem that bar detects insulator, can greatly reduce labor intensity, and is significant.
But the still unsolved technical matters of this technology is, flying robot's image detection and identification are installed in respectively in flight equipment and the land station, after the target insulator is discerned, because it is in movement background, is difficult to finish the tracking to the target insulator always, the hunting zone is big, the communication long operational time, the algorithm travelling speed is limited, can't carry out synchronously with human body tracking, and therefore the detection to the target insulator also just is difficult to guarantee enough accuracy and precision.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art part, can improve the accuracy of target insulator detection and the real-time Target Recognition of the insulator based on movement background and the tracking means of precision and provide.
The present invention is achieved through the following channels:
Based on real-time Target Recognition of the insulator of movement background and tracking means, include flying machine equipment, ground control system and communication module, flying machine equipment includes flight system and control and treatment device, its structural feature is, the control and treatment device is installed on the flight system, it includes image imaging exploring block and picture signal processing element, the image imaging exploring block comprises the imaging device that is electrically connected in regular turn, change-over circuit and Acquisition Circuit, the picture signal processing element includes interconnective image preprocess apparatus and recognition and tracking treating apparatus, the output terminal of Acquisition Circuit is connected with image preprocess apparatus, and the recognition and tracking treating apparatus is connected with ground control system by communication module;
Imaging device obtains the video image of target insulator, is converted to digital data signal by change-over circuit, and Acquisition Circuit sends to image preprocess apparatus after gathering this digital data signal;
After image preprocess apparatus receives the signal that Acquisition Circuit sends over, image is carried out gray processing handle, carry out medium filtering then,, carry out histogram equalization afterwards again and handle, strengthen picture contrast image smoothing;
The recognition and tracking treating apparatus includes extraction element, insulator motor behavior mathematical model, prediction unit, judgment processing device; Extraction element carries out texture feature extraction to pretreated image, according to the textural characteristics of the target insulator that extracts insulator is detected; Obtain the data of insulator moving region, according to insulator motor behavior mathematical model the target insulator is followed the tracks of, prediction unit is predicted at the next frame pattern the gravity center of human body according to the requirement that is provided with of mathematical model, the judgment processing device receives the next frame image, and judge whether gravity center of human body that prediction obtains drops in the tracking window of the insulator that the next frame image detection arrives, if, assert that then the insulator in the previous frame and the insulator of next frame are complementary, and follow the tracks of system state according to the measured value that newly obtains afterwards.
The present invention surveys the treatment of picture that obtains with the target insulator and is installed on the flying machine equipment, realization only detects in the zonule in video window based on the insulator detection of motion analysis, reduced the communications time greatly, improve the algorithm travelling speed, in addition, follow the tracks of the hunting zone that has reduced the target insulator accurately, make that the detection and the human body tracking of insulator almost are to carry out synchronously, reach the purpose of accurate tracking insulator, guaranteed to detect the accuracy and the precision of insulator.
The present invention can further be specially:
The control and treatment device also includes the servocontrol parts, and it comprises control circuit and torque motor, and the output terminal of control circuit is connected with the input end of torque motor, and the signal receiving end of control circuit is connected with the picture signal processing element.
The control and treatment device provides one at the constant directional reference of spatial stability, when the image imaging exploring block image information that collects is sent to move back high Signal Processing Element after, the picture signal processing element according to Image Information Processing result export two-way target angle control information, power amplifier formation Control current through control circuit flows to torque motor, torque motor output is given flight system with the proportional moment loading of target angle error, thereby form two degree of freedom of target insulator are followed the tracks of, and the result that will follow the tracks of and original image send ground control system to by communication module.Like this, can make flying machine equipment accurately arrive in the target insulator sky to be measured by plane, and keep the optimum measurement distance with the target insulator, and avoided instability because of flight to cause the mutual interference mutually and the collision of target device and flight equipment, cause unnecessary loss.
The servocontrol parts also include rate gyroscope, and it is connected with the output terminal of control circuit.
Rate gyroscope can be adjusted according to the instruction of control circuit and flight system, guarantees the stabilized flight and the stable position of flying machine equipment, and, high-resolution stable for obtaining, high-quality image are given security.
In general, rate gyroscope is all controlled by flight system, singularity in view of technical solution of the present invention, rate gyroscope need increase the fine setting control of servo control circuit in the orientation, to guarantee that the image imaging exploring block can access better target insulator image, improves accuracy in detection and precision.
Communication module includes wireless digital image delivering system and wireless digital instruction receive-transmit system, the data output end of recognition and tracking treating apparatus is connected with ground control system by the wireless digital image delivering system, and the control end of ground control system is connected with flight system by wireless digital instruction receive-transmit system.
In use, because the transmission quantity of digital image information is big, speed is slower, steering order then needs to pass on fast, synchronous with the tracking realization and the human body tracking that guarantee flying machine equipment, therefore, adopt communication module respectively by wireless digital image delivering system and corresponding transmission and the instruction transmitting-receiving control that realizes digital image information of wireless digital instruction receive-transmit system.The wireless image transmission system is used for the data transmission of video camera and camera, adopts the COFDM modulation system.The instruction receive-transmit system is used for the remote control to airborne equipment.
Imaging device in the image imaging exploring block preferably uses ccd video camera.
Ccd video camera has the autozoom function, can carry out the focal length adjustment according to the instruction that ground control system is sent.The benefit of doing like this is, when line of electric force present position sea level elevation changes in 100 meters scope, can be by adjusting the situation that focus of camera is observed line of electric force, and flying height that needn't the change of flight device, it is more much easier than the height of adjusting aircraft to adjust focus of camera after all.
The recognition and tracking treating apparatus is a hardware platform with field programmable gate array and high speed digital signal processor.
Can carry out target detection, identification and tracking by infrared image processing like this, can calculate the pitching and the azimuthal error angle of target, give servocontrol parts and communication module and carry out tracking Control and ground control system result demonstration.
In sum, the invention provides a kind of insulator and implement Target Recognition and tracking means based on movement background, the target insulator is surveyed the treatment of picture that obtains to be installed on the flying machine equipment, realization only detects in the zonule in video window based on the insulator detection of motion analysis, reduced the communications time greatly, improve the algorithm travelling speed, in addition, follow the tracks of the hunting zone that has reduced the target insulator accurately, make that the detection and the human body tracking of insulator almost are to carry out synchronously, reach the purpose of accurate tracking insulator, guaranteed to detect the accuracy and the precision of insulator.
Description of drawings
Figure 1 shows that the framed structure synoptic diagram of real-time Target Recognition of the insulator based on movement background of the present invention and tracking means;
Figure 2 shows that the theory structure synoptic diagram of control and treatment device of the present invention;
Figure 3 shows that the circuit principle structure view of servocontrol parts of the present invention.
Further describe the present invention below in conjunction with specific embodiment.
Embodiment
Most preferred embodiment
With reference to accompanying drawing 1, based on real-time Target Recognition of the insulator of movement background and tracking means, include flying machine equipment, ground control system and communication module, flying machine equipment includes flight system and control and treatment device, communication module includes wireless digital image delivering system and wireless digital instruction receive-transmit system, the data output end of control and treatment device sends image to ground control system via transmitter module by the wireless digital image delivering system, and gives flight system by the signal that wireless digital instruction receive-transmit system receives via the front-end processing module forwards; The control center of ground control system will instruct via instruction issuing module and send to flight system by wireless digital instruction receive-transmit system, and the information that receives via the wireless digital image delivering system, after pre-service such as filtering amplification, decoding processing, be sent to control center.
With reference to accompanying drawing 2, the control and treatment device includes servocontrol image of component imaging detection parts and picture signal processing element; The image imaging exploring block comprises in regular turn imaging device, change-over circuit and the Acquisition Circuit that is electrically connected, and wherein imaging device adopts ccd detector, i.e. ccd video camera, and change-over circuit is the A/D change-over circuit; The picture signal processing element includes interconnective image preprocess apparatus and recognition and tracking treating apparatus, and the output terminal of Acquisition Circuit is connected with image preprocess apparatus, and the recognition and tracking treating apparatus is connected with ground control system by communication module; The servocontrol parts comprise control circuit, torque motor and rate gyroscope, and the output terminal of control circuit is connected with the input end of torque motor and the control end of rate gyroscope respectively, and the signal receiving end of control circuit is connected with the picture signal processing element.
Its workflow is:
Imaging device obtains the video image of target insulator, is converted to digital data signal by change-over circuit, and Acquisition Circuit sends to image preprocess apparatus after gathering this digital data signal;
After image preprocess apparatus receives the signal that Acquisition Circuit sends over, image is carried out gray processing handle, carry out medium filtering then,, carry out histogram equalization afterwards again and handle, strengthen picture contrast image smoothing;
The recognition and tracking treating apparatus includes extraction element, insulator motor behavior mathematical model, prediction unit, judgment processing device; In view of the insulator edge has tangible direction character, extraction element carries out texture feature extraction to pretreated image: utilize the descriptive tool among the multimedia content description standard MPEG-7 that the image in the frame of video is carried out feature extraction, and the feature of extracting selected, according to the textural characteristics of the target insulator that extracts insulator is detected;
Obtain the data of insulator moving region: carry out moving region detection and insulator identification for current frame image, obtain motion insulator zone and centre coordinate in the picture frame.In motion insulator zone, utilize the textural characteristics that extracts to carry out insulator and detect then, mark is made in the insulator zone that obtains, and the output result, as the initial value of target insulator tracking.
According to insulator motor behavior mathematical model the target insulator is followed the tracks of: utilize Kalman filtering that the insulator zone in the video is followed the tracks of, according to the current measuring value that previous step provides, displacement, speed and the acceleration of insulator center of gravity are estimated.Prediction unit is predicted at the next frame pattern the gravity center of human body according to the requirement that is provided with of mathematical model, the judgment processing device receives the next frame image, and judge whether gravity center of human body that prediction obtains drops in the tracking window of the insulator that the next frame image detection arrives, if, assert that then the insulator in the previous frame and the insulator of next frame are complementary, and follow the tracks of system state according to the measured value that newly obtains afterwards.
The control and treatment device provides one at the constant directional reference of spatial stability, when the image imaging exploring block image information that collects is sent to move back high Signal Processing Element after, the picture signal processing element according to Image Information Processing result export two-way target angle control information, power amplifier formation Control current through control circuit flows to torque motor, torque motor output is given flight system with the proportional moment loading of target angle error, thereby form two degree of freedom of target insulator are followed the tracks of, and the result that will follow the tracks of and original image send ground control system to by communication module.Like this, can make flying machine equipment accurately arrive in the target insulator sky to be measured by plane, and keep the optimum measurement distance with the target insulator.
With reference to accompanying drawing 3, the core processor of control circuit can be selected the DSPTMS320LF2407 chip for use.This chip has powerful processing power and abundant peripheral functionality, can make the design of vision cradle head control device become simple and practical.Control circuit is made up of four unit: attitude measurement unit, motor control unit, camera control unit and communication unit.Attitude measurement unit by using micro-mechanical gyroscope is measured the angular velocity output voltage signal of video camera at inertial space, enter DSP through the AD of DSP acquisition channel, can obtain the deflection of The Cloud Terrace after the calculating, for host computer and Electric Machine Control provide the decision-making data at the inertial space 3 d pose.Motor control unit produces pwm pulse according to the data and the host computer order of attitude measurement unit, the corner and the rotating speed of control motor.Camera control unit produces the square-wave signal of certain dutycycle by I/O, the state parameters such as focal length of control camera.Communication unit adopts SCI serial communication interface, to various state parameters such as the attitude of host computer transmission motor, corners, accepts the corresponding control command of host computer simultaneously.The above host computer is a ground control system.
It is same as the prior art that the present invention does not state part.
Claims (6)
1. based on real-time Target Recognition of the insulator of movement background and tracking means, include flying machine equipment, ground control system and communication module, flying machine equipment includes flight system and control and treatment device, its structural feature is, the control and treatment device is installed on the flight system, it includes image imaging exploring block and picture signal processing element, the image imaging exploring block comprises the imaging device that is electrically connected in regular turn, change-over circuit and Acquisition Circuit, the picture signal processing element includes interconnective image preprocess apparatus and recognition and tracking treating apparatus, the output terminal of Acquisition Circuit is connected with image preprocess apparatus, and the recognition and tracking treating apparatus is connected with ground control system by communication module;
Imaging device obtains the video image of target insulator, is converted to digital data signal by change-over circuit, and Acquisition Circuit sends to image preprocess apparatus after gathering this digital data signal;
After image preprocess apparatus receives the signal that Acquisition Circuit sends over, image is carried out gray processing handle, carry out medium filtering then,, carry out histogram equalization afterwards again and handle, strengthen picture contrast image smoothing;
The recognition and tracking treating apparatus includes extraction element, insulator motor behavior mathematical model, prediction unit, judgment processing device; Extraction element carries out texture feature extraction to pretreated image, according to the textural characteristics of the target insulator that extracts insulator is detected; Obtain the data of insulator moving region, according to insulator motor behavior mathematical model the target insulator is followed the tracks of, prediction unit is predicted at the next frame pattern the gravity center of human body according to the requirement that is provided with of mathematical model, the judgment processing device receives the next frame image, and judge whether gravity center of human body that prediction obtains drops in the tracking window of the insulator that the next frame image detection arrives, if, assert that then the insulator in the previous frame and the insulator of next frame are complementary, and follow the tracks of system state according to the measured value that newly obtains afterwards.
2. real-time Target Recognition of the insulator based on movement background according to claim 1 and tracking means, it is characterized in that, the control and treatment device also includes the servocontrol parts, it comprises control circuit and torque motor, the output terminal of control circuit is connected with the input end of torque motor, and the signal receiving end of control circuit is connected with the picture signal processing element.
3. real-time Target Recognition of the insulator based on movement background according to claim 2 and tracking means is characterized in that the servocontrol parts also include rate gyroscope, and it is connected with the output terminal of control circuit.
4. real-time Target Recognition of the insulator based on movement background according to claim 1 and tracking means, it is characterized in that, communication module includes wireless digital image delivering system and wireless digital instruction receive-transmit system, the data output end of recognition and tracking treating apparatus is connected with ground control system by the wireless digital image delivering system, and the control end of ground control system is connected with flight system by wireless digital instruction receive-transmit system.
5. real-time Target Recognition of the insulator based on movement background according to claim 1 and tracking means is characterized in that, the imaging device in the image imaging exploring block is a kind of ccd video camera.
6. real-time Target Recognition of the insulator based on movement background according to claim 1 and tracking means is characterized in that, the recognition and tracking treating apparatus is a hardware platform with field programmable gate array and high speed digital signal processor.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102508110A (en) * | 2011-10-10 | 2012-06-20 | 上海大学 | Texture-based insulator fault diagnostic method |
| CN103076338A (en) * | 2012-05-31 | 2013-05-01 | 西南交通大学 | Rapid fuzzy matching method for testing bad conditions of high-speed rail catenary rod type insulators |
| CN107346548A (en) * | 2017-07-06 | 2017-11-14 | 电子科技大学 | A kind of tracking for electric transmission line isolator |
| CN113469953A (en) * | 2021-06-10 | 2021-10-01 | 南昌大学 | Transmission line insulator defect detection method based on improved YOLOv4 algorithm |
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| JP2005147879A (en) * | 2003-11-17 | 2005-06-09 | Tokyo Metro Co Ltd | Method and apparatus for detecting hard aerial line support insulator |
| CN101381002A (en) * | 2008-10-24 | 2009-03-11 | 华北电力大学 | Flying robot for detecting transmission line insulator |
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| CN102508110A (en) * | 2011-10-10 | 2012-06-20 | 上海大学 | Texture-based insulator fault diagnostic method |
| CN102508110B (en) * | 2011-10-10 | 2014-07-09 | 上海大学 | Texture-based insulator fault diagnostic method |
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| CN107346548A (en) * | 2017-07-06 | 2017-11-14 | 电子科技大学 | A kind of tracking for electric transmission line isolator |
| CN113469953A (en) * | 2021-06-10 | 2021-10-01 | 南昌大学 | Transmission line insulator defect detection method based on improved YOLOv4 algorithm |
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