CN106296694A - Shaft tower tilts intelligent image identification measuring method - Google Patents
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
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- G—PHYSICS
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
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Abstract
The present invention proposes a kind of shaft tower and tilts intelligent image identification measuring method, belongs to intelligent power grid technology field.First, collection shaft tower video or image information and horizontally or vertically information, and calculate both horizontally and vertically；Then, both horizontally and vertically shaft tower video or image information are carried out angle correction according to calculate, then carry out pretreatment；Pick out the shaft tower in image and extract shaft tower geological information, analyzing and processing obtains the profile information of shaft tower, and then determine the geometric center lines of shaft tower profile, calculate shaft tower geometric center lines angle of inclination in video image, use triangulation method can obtain the angle of inclination of shaft tower.The present invention utilizes image processing method to combine horizontal vertical orientation measurement sensor and corrects image, will not be affected by shooting angle and be caused producing of error during making image procossing and calculating, improve measurement accuracy, can be widely applied to the inclination measurement of electric power line pole tower.
Description
Technical field
The present invention relates to a kind of shaft tower and tilt intelligent image identification measuring method, belong to intelligent power grid technology field.
Background technology
Along with the fast development of national economy, electric power has become as product indispensable in daily life and commercial production
Product, the stability of electric power transmission is the most increasing on the impact of social development.Transmission tower is important as electrical power transmission system
Ingredient, plays vital effect to the stability of electric power transmission.Due to by external force destroy, ice disaster destroy,
Column foot soil stone loose damage, shaft tower is susceptible to tower body.If operation maintenance personnel can not find in time, it will causes shaft tower
Topple over, destroy electric power transmission stability, have a strong impact on socioeconomic development, accordingly, it would be desirable to electric power line pole tower is inclined
Ramp-like condition is measured in real time.
At present, shaft tower inclination measurement mainly uses the method that obliquity sensor is measured, shaft tower inclination measurement based on image
Method is few, Chinese patent " a kind of method that inclination of transmission line tower based on video variance is measured " (application number:
201110157735.1) propose to obtain the image collected and background image subtraction shaft tower target image, then after processing
Calculate shaft tower angle of inclination.But the background image clean due to acquisition is the most difficult, and background is also to change always,
So that the method is difficult to；And the method does not carry out angle correction to the image collected, it is impossible to correction map picture
The image rotation that collecting device installation deviation causes, therefore, measurement error is big, and accuracy of measurement is low.
Summary of the invention
In order to overcome the deficiencies in the prior art, it is an object of the invention to provide a kind of shaft tower and tilt intelligent image identification measurement
Method, measures shaft tower with the method identification of image procossing and tilts, with low cost, simple in construction, convenient for installation and maintenance；Utilize image
Process combines horizontal vertical orientation measurement sensor and carries out shaft tower inclination measurement, will not be clapped during making image procossing and calculating
Take the photograph angle impact and cause the generation of error, be effectively improved computational accuracy, improve the accuracy rate measured.
For solving the problems referred to above, the technical solution adopted in the present invention is:
Described shaft tower tilts intelligent image identification measuring method, uses following steps to realize:
1) shaft tower fair line road and the video in horizontal path direction or image information are gathered respectively with video image acquisition equipment；Video
Image capture device typically can use DV and photographing unit, can completely gather monitored shaft tower video or image letter
Breath；
2) by horizontal vertical orientation measurement sensor Real-time Collection horizontally or vertically information, horizontal and vertical side is calculated accordingly
To；When horizontal vertical orientation measurement sensor acquisition horizontal information, vertical information can be calculated in the picture, when level is hung down
During straight orientation measurement sensor acquisition vertical information, horizontal information can be calculated in the picture；
3) the shaft tower video according to the horizontal and vertical information calculated, video image acquisition equipment collected or image information
Carry out angle correction；
4) image information after correction is carried out pretreatment, including image filtering denoising, image enhancement processing, reduce complexity
The environmental background interference to system image procossing, accurately identifies shaft tower image information, improves the accuracy of shaft tower inclination measurement；Figure
As filtering and noise reduction can reduce the noise produced in image acquisition process, making picture quality more preferable, filtering and noise reduction can use intermediate value
Filter method, because the mainly salt-pepper noise produced in image acquisition process, median filtering method can effectively suppress the spiced salt to make an uproar
Sound, can preferably retain again the edge details in image；
5) pretreated image information being analyzed process, the shaft tower being recognized accurately in image is also accurately positioned, then
Extract the shaft tower information in image；
6) being analyzed the shaft tower information extracted processing, including image gray processing process, image binaryzation processes, edge is examined
Survey process, Hough straight-line detection process, and obtain the outline information of shaft tower, so that it is determined that the geometric center lines of shaft tower outline,
Calculate the angle of inclination in video image of shaft tower geometric center lines, calculate shaft tower further according to triangulation methods actual
Angle of inclination.Image binaryzation can use Otsu method to carry out Threshold segmentation, Otsu method can well by background and
Target object is split；Rim detection can use the Canny edge detection method, Canny edge detection method to be considered as
Edge detection method optimum up to now；Hough straight-line detection uses the Hough straight-line detection improved, at traditional Hough
Straight line angle threshold is set on the basis of straight-line detection, so can eliminate the impact on detection of background and transmission line of electricity, further
The geometric center lines that can calculate shaft tower outline, obtain geometric center lines inclination angle in the picture by mathematical calculation
Degree namely the angle of inclination of shaft tower.
Step 3) in described method, 4), 5), 6) following step can be used to replace, there is the effect of equivalent:
3) the shaft tower video image information collected is carried out pretreatment, including image filtering denoising, image enhancement processing,
Reduce the interference to system image procossing of the complex environment background, accurately identify shaft tower image information, improve shaft tower inclination measurement
Accuracy；
4) pretreated image information being analyzed process, the shaft tower being recognized accurately in image is also accurately positioned, then
Extract the shaft tower information in image；
5) being analyzed the shaft tower information extracted processing, including image gray processing process, image binaryzation processes, edge is examined
Survey process, Hough straight-line detection process, and obtain the outline information of shaft tower, so that it is determined that the geometric center lines of shaft tower outline；
6) the horizontal or vertical direction information calculated is combined with geometric center lines, calculates shaft tower inclination angle in the picture
Degree, calculates, further according to triangulation methods, the angle of inclination that shaft tower is actual.
In described method, angle correction is that the horizontally or vertically information according to horizontal vertical orientation measurement sensor acquisition is repaiied
The image just caused because of video image acquisition equipment installation deviation tilts.
In described method, it is analyzed pretreated image information processing, for accurately identifying shaft tower region, at analysis
Reason method is template matching method, template image accurately identify shaft tower and position shaft tower position.
In described method, it is analyzed pretreated image information processing, for accurately identifying shaft tower region, at analysis
Reason method can also be corner detection approach, and shaft tower is angle point Dense objects, the region i.e. shaft tower region that angle point is the most intensive, uses
Angle point intensive nature identifies shaft tower and shaft tower position, location.
In described method, geometric center lines refers to shaft tower outline top center and the line of bottom wheel point in image.
In described method, computational geometry centrage angle of inclination in video imageθIf two end points of geometric center lines areP 1、P 2,P 3、P 4Coordinate be respectively (x 1, y 1)、(x 2, y 2), then angle of inclinationθFor:
θ=arctan(y 2 -y 1)/(x 2 -x 1)。
In described method, the principle using triangulation method to measure shaft tower actual angle of inclination is: known shaft tower geometric center
Line angle of inclination is in the directional image of fair line roadα 1, the angle of inclination in horizontal path directional image isα 2, then shaft tower is actual
Angle of inclination。
Method provided by the present invention has the beneficial effect that:
The method identification using intelligent image to process calculates shaft tower angle of inclination, has with low cost, simple in construction, installation is safeguarded
The advantages such as convenience.
Horizontally or vertically information in conjunction with horizontal vertical orientation measurement sensor acquisition carries out angle correction to image, makes figure
Will not be affected by shooting angle and be caused producing of error during processing and calculating, substantially increase shaft tower and tilt identification meter
The accuracy calculated.
Shaft tower contours extract is used to determine that the mode of geometric center lines carries out angle of bank measurement calculating, it is easy to accomplish, and
Certainty of measurement can be effectively improved.
Accompanying drawing explanation
Fig. 1: shaft tower tilts intelligent image identification measuring method flow chart.
Fig. 2: triangulation methods schematic diagram.
Detailed description of the invention
The present invention is further detailed explanation for embodiment below in conjunction with the accompanying drawings.
As it is shown in figure 1, the flow process that realizes that shaft tower tilts intelligent image identification measuring method is:
First, shaft tower fair line road and horizontal path direction video or image information are gathered respectively with video image acquisition equipment.Depending on
Frequently image capture device is generally common DV and photographing unit, can be with the video image of the monitored shaft tower of Real-time Collection
Information；
By horizontal vertical orientation measurement sensor Real-time Collection horizontally or vertically information, calculate accordingly both horizontally and vertically.
Horizontal vertical orientation measurement sensor can use Gravity accelerometer, gyroscope or level indicator, can measure bar in real time
Tower vertically or horizontally information；When horizontal vertical orientation measurement sensor acquisition horizontal information, can be in the picture
Calculate vertical information, when horizontal vertical orientation measurement sensor acquisition vertical information, level can be calculated in the picture
Information.
Then, the shaft tower video according to the horizontal and vertical information calculated, video image acquisition equipment collected or figure
As information carries out angle correction.Angle correction can tilt with the image that modifying factor video image acquisition equipment installation deviation causes,
Improve the accuracy of shaft tower inclination measurement.
Further, the image information after correcting being carried out pretreatment, pretreatment includes image filtering denoising, image
Enhancement process, reduces the interference to system image procossing of the complex environment background, accurately identifies shaft tower image information, improves shaft tower and inclines
The accuracy tiltedly measured.Image filtering denoising can reduce the noise in image, improves the quality of image；Image enhaucament can be dashed forward
Publish picture as in the edge details of shaft tower, be conducive to shaft tower being identified and positioning.
Further, being analyzed pretreated image information processing, the shaft tower being recognized accurately in image is the most accurate
Determine position, then extract the shaft tower information in image；Identify and location shaft tower can use template matching method, accurate by template image
Really identify shaft tower and position shaft tower position；Can also use corner detection approach, shaft tower is angle point Dense objects, and angle point is the most intensive
Region i.e. shaft tower region, identifies shaft tower and shaft tower position, location with angle point intensive nature.
Further, it is analyzed the shaft tower information extracted processing, including image gray processing process, image two-value
Change process, edge detection process, Hough straight-line detection process, and obtain the outline information of shaft tower, so that it is determined that shaft tower outline
Geometric center lines.Target object can be split by image binaryzation with background, and rim detection and Hough straight-line detection can
To obtain the outline of shaft tower.The cluster center line of shaft tower outline is shaft tower outline top center and midpoint, bottom in image
Line.
Finally, the angle of inclination in video image of shaft tower geometric center lines is calculated, further according to triangulation methods
Calculate shaft tower actual angle of inclination.Geometric center lines is angle of inclination in video imageθEquation below can be used to carry out
Calculate, if two end points of geometric center lines areP 1、P 2,P 3、P 4Coordinate be respectively (x 1, y 1)、(x 2, y 2), then angle of inclinationθ
For:θ=arctan(y 2 -y 1)/(x 2 -x 1)。
As in figure 2 it is shown, employing triangulation methods, carry out the principle that Vector operation obtains the actual angle of inclination of shaft tower
It is: assuming that along line direction be X-direction, horizontal path direction is Y direction.The throwing on XOY face of the shaft tower geometric center lines
Shadow isL,LBeing projected as in X-directionL x , being projected as in the Y-axis directionL y ,L 2=L x 2 +L y 2 , then shaft tower geometric center lines exists
Along the cotangent cot at the inclination angle of projection on line directionθ 1=L y /H, the cotangent cot at the inclination angle of projection on horizontal path directionθ 2=L x /H, the cotangent at the actual inclination angle of shaft tower is cot againθ=L/H, therefore can obtain the inclination angle of shaft tower。
The foregoing is only the preferable embodiment of the present invention, not in order to limit the present invention, all spirit in the present invention
Within principle, any modification, equivalent substitution and improvement etc. made, should be included within the scope of the present invention.
Claims (5)
1. shaft tower tilts intelligent image identification measuring method, it is characterised in that:
1) shaft tower fair line road and the video in horizontal path direction or image information are gathered respectively with video image acquisition equipment；
2) by horizontal vertical orientation measurement sensor Real-time Collection horizontally or vertically information, horizontal and vertical side is calculated accordingly
To；
3) according to the shaft tower video both horizontally and vertically video image acquisition equipment collected calculated or image information
Carry out angle correction；
4) image information after correcting is carried out pretreatment, including image filtering denoising, image enhancement processing；
5) it is analyzed pretreated image information processing, picks out the shaft tower in image and be accurately positioned, then extracting
Shaft tower information in image；
6) it is analyzed the shaft tower information extracted processing, including image gray processing, image binaryzation, rim detection, Hough
Straight-line detection, obtains the outline information of shaft tower, so that it is determined that the geometric center lines of shaft tower outline, calculates in shaft tower geometry
Heart line angle of inclination in video image, calculates, further according to triangulation methods, the angle of inclination that shaft tower is actual.
Shaft tower the most according to claim 1 tilts intelligent image identification measuring method, it is characterised in that: described angle is rectified
Install because of video image acquisition equipment according to the horizontally or vertically Information revision of horizontal vertical orientation measurement sensor acquisition just
The image that deviation causes tilts.
Shaft tower the most according to claim 1 tilts intelligent image identification measuring method, it is characterised in that: described locates pre-
Image information after reason is analyzed processing, and method is template matching method, template image accurately identify shaft tower and position shaft tower
Position.
Shaft tower the most according to claim 1 tilts intelligent image identification measuring method, it is characterised in that: described locates pre-
Image information after reason is analyzed processing, and method is corner detection approach, and shaft tower is angle point Dense objects, the district that angle point is the most intensive
Territory i.e. shaft tower region, identifies shaft tower and shaft tower position, location with angle point intensive nature.
Shaft tower the most according to claim 1 tilts intelligent image identification measuring method, it is characterised in that: in described geometry
Heart line refers to head of mast profile midpoint and the line at bottom profile midpoint in image.
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| CN107221006A (en) * | 2017-05-11 | 2017-09-29 | 南京邮电大学 | A kind of communication single pipe tower slant detection method based on unmanned plane imaging platform |
| CN108387215A (en) * | 2018-02-10 | 2018-08-10 | 杭州后博科技有限公司 | A kind of Iron tower incline angle computation method and system based on satellite positioning |
| WO2019119663A1 (en) * | 2017-12-22 | 2019-06-27 | 北京金风科创风电设备有限公司 | Method, device and system for measuring tower top displacement of wind power generator set |
| CN111024041A (en) * | 2019-12-03 | 2020-04-17 | 国网新疆电力有限公司电力科学研究院 | Device and method for measuring wind deflection motion attitude of insulator string of power transmission line |
| CN111193845A (en) * | 2018-11-15 | 2020-05-22 | 韩国科学技术研究院 | Portable plant image acquisition device |
| CN111738259A (en) * | 2020-06-29 | 2020-10-02 | 广东电网有限责任公司 | Tower state detection method and device |
| CN112037275A (en) * | 2020-08-21 | 2020-12-04 | 广东电网有限责任公司 | Method, device and system for measuring inclination of power transmission line tower |
| CN112082530A (en) * | 2020-08-11 | 2020-12-15 | 风脉能源（武汉）股份有限公司 | Method, device and equipment for measuring inclination of tower drum foundation ring based on marked machine vision |
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| CN114898221A (en) * | 2022-07-14 | 2022-08-12 | 灵图数据(杭州)有限公司 | Tower inclination detection method and device, electronic equipment and medium |
| CN117636176A (en) * | 2024-01-26 | 2024-03-01 | 内蒙古工业大学 | Deep learning-based telegraph pole verticality detection method and device |
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| CN107221006A (en) * | 2017-05-11 | 2017-09-29 | 南京邮电大学 | A kind of communication single pipe tower slant detection method based on unmanned plane imaging platform |
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| CN112949644A (en) * | 2021-02-25 | 2021-06-11 | 哈尔滨市科佳通用机电股份有限公司 | Fault image identification method for lower pull rod of truck |
| CN112949644B (en) * | 2021-02-25 | 2022-03-08 | 哈尔滨市科佳通用机电股份有限公司 | Fault image identification method for lower pull rod of truck |
| CN114898221A (en) * | 2022-07-14 | 2022-08-12 | 灵图数据(杭州)有限公司 | Tower inclination detection method and device, electronic equipment and medium |
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