CN107179479B - Visible light image-based transmission conductor strand scattering defect detection method - Google Patents
Visible light image-based transmission conductor strand scattering defect detection method Download PDFInfo
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- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/08—Locating faults in cables, transmission lines, or networks
- G01R31/081—Locating faults in cables, transmission lines, or networks according to type of conductors
- G01R31/085—Locating faults in cables, transmission lines, or networks according to type of conductors in power transmission or distribution lines, e.g. overhead
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Abstract
The invention discloses a visible light image-based power transmission conductor strand scattering defect detection method, which mainly takes a robot inspection as a carrier, carries a visible light conductor image of a power transmission conductor shot by a high-definition pan-tilt camera, extracts the edge outline of each strand of the conductor through image preprocessing, image segmentation and a sub-pixel edge extraction algorithm, determines a final suspicious strand scattering according to the direction angle and the roundness of each strand of the power transmission conductor by analyzing the arrangement characteristics and the distribution relation between strands on the surface of the power transmission conductor, and finally calculates the distance between the suspicious strand scattering and the contour lines of adjacent strands on two sides of the suspicious strand scattering and judges the fault position of the strand scattering of the power transmission conductor. The method for detecting the strand scattering defect of the transmission conductor is simple in principle, intuitive and feasible, intelligently detects the damage fault condition of the transmission line through an image processing technology, and provides a new idea for detecting and detecting the fault of the transmission conductor.
Description
Technical Field
The invention belongs to the technical field of transmission line fault detection, and particularly relates to a visible light image-based transmission conductor strand scattering defect detection method.
Background
The transmission line, an important component of the power system, is responsible for transmitting and distributing electrical energy, and is the aorta of the transmission line. With the continuous development of power systems, more and more large-capacity and long-distance power transmission lines are erected, but the power transmission lines are often erected outdoors, so that the power transmission lines not only bear the action of self mechanical load, but also can be slightly vibrated and waved by wind power, and can be influenced by various environmental factors, even construction damage, and the factors can cause strand scattering or strand breakage of power transmission wires. The transmission conductor is damaged and broken, so that the current-carrying capacity is reduced slightly, and the line breakage accident is caused seriously, thereby influencing the safe operation of the transmission line. Therefore, the method has very important significance for the research of the regular inspection and fault diagnosis method of the power transmission line.
The common modes for power transmission line inspection are mainly manual inspection, helicopter inspection, robot inspection and unmanned aerial vehicle inspection which is developed vigorously at present. Carrying out image acquisition on the power transmission line by carrying equipment such as a visible light camera, an infrared/ultraviolet camera and the like, and further processing the image; the infrared image is easy to find the thermal defect, the ultraviolet image is easy to find the corona defect, the visible light image can reflect the macroscopic overview of the line to the maximum extent along with the improvement of the resolution of the visible light equipment, and effective information can be provided for various fault diagnosis and treatment methods.
In order to improve the intelligent level of line inspection, the application research of the digital image processing technology in the identification and state detection of the power transmission line is more and more, and the fault diagnosis and detection efficiency of the power transmission line can be greatly improved. However, few studies have been made to detect the presence of stray strands of power conductors using digital image processing techniques.
Disclosure of Invention
The invention aims to provide a visible-light-image-based transmission conductor strand scattering defect detection method, which can more intuitively and accurately position the transmission conductor strand scattering position.
The invention adopts the technical scheme that a visible light image-based transmission conductor strand scattering defect detection method is implemented according to the following steps:
step 1, carrying a high-definition pan-tilt camera by using an inspection robot to acquire an image of a transmission conductor;
step 2, carrying out image graying, image enhancement and image filtering processing on the power transmission conductor image acquired in the step 1 in sequence, removing interference noise, and enhancing image contrast to highlight a target conductor;
step 3, carrying out image segmentation processing on the image obtained after the processing in the step 2, simultaneously separating the power transmission conductor from the background by combining the special texture characteristics of the power transmission conductor, thereby determining a conductor area, and carrying out subsequent processing by taking the area as an interested area;
step 4, carrying out image graying, image enhancement and image filtering treatment on the wire area obtained in the step 3 in sequence, and then extracting sub-pixel edges XLD of each strand of the surface of the wire in the area;
step 5, orderly winding and parallelly arranging all strands on the surface of the power transmission line, firstly counting the collinear edge profiles of the sub-pixel edges XLD extracted in the step 4, and then carrying out primary screening to remove the edge profiles of the surface of the non-power transmission line, thereby retaining the edge profiles of all strands on the surface of the power transmission line;
step 6, classifying and sequencing the edge profiles of the strands on the surface of the transmission line meeting the conditions obtained in the step 5, and marking the edge profiles as L1, L2 and L3 …;
step 7, calculating the distances between every two adjacent edge contour lines of the edge contour lines L1, L2 and L3 … of each strand on the surface of the power transmission conductor in the step 6, then calculating the average value of the distances, and taking the average value as the average distance between strands when the power transmission conductor has no strand scattering fault;
step 8, after step 7 is completed, sequentially extracting the direction angle and curvature characteristics of each strand of edge contour line L1, L2 and L3 … on the surface of the power transmission lead in step 6, marking the contour line where the direction angle and curvature characteristics with larger difference are located as suspicious scattered strands, and determining the final scattered strands by intersecting the suspicious scattered strands;
step 9, calculating the distance between the suspicious scattered strands and the contour lines of the adjacent strands at two sides of the suspicious scattered strands according to the final suspicious scattered strands determined in the step 8, and then comparing the distance with the average distance obtained in the step 7: if the distance of one side is more than 1.5 times of the average distance, the fault of strand scattering is defined.
The invention is also characterized in that:
in the step 1: the optimal shooting focal length is determined by continuously adjusting the shooting angle of the high-definition pan-tilt camera, so that the condition that the inspection robot acquires clear outline and surface line information of the power transmission conductor in the inspection process is guaranteed.
In step 6: and classifying and sorting the edge contour lines of all strands on the surface of the power transmission conductor and labeling, wherein the labeling is performed mainly according to the ascending arrangement of the coordinates of the left upper corner of the circumscribed rectangle of each contour line according to the column coordinates.
In step 7, the average distance between strands when the transmission line conductor has no strand scattering fault is obtained according to the following method:
the power transmission line has different types of selected power transmission line conductors according to different voltage grades, and the corresponding structures of the power transmission conductors of different types are different, and the diameters of all strands of the power transmission conductors are basically between 1mm and 5mm by searching the design specifications of the power transmission conductors of related types; when the surface edge of each transmission conductor is extracted, the diameter of the transmission conductor determines whether one conductor is similar to a thin line or two parallel thin lines, so that a certain distance is inevitably generated between strands, but the distances between the strands are the same; for more accurate and realistic reasons, the results of the extracted edges of the different conductors are compared, defining the diameter of the strands of conductors as follows:
if the diameter d of each structure of the power transmission line model is larger than 2.5mm, each strand on the surface of the power transmission line is thicker;
if the diameter d of each of the power transmission line type structures is less than or equal to 2.5mm, each strand on the surface of the power transmission line is thinner;
for the case that each strand on the surface of the power transmission line is thicker, the outline of each extracted strand edge line is approximate to two parallel thin lines, and the distance of the outline between the strands is calculated to become two distances: one is the distance between each strand of the transmission conductor, which is also equivalent to the line width of each strand; the other is that the distance between each strand and the next adjacent strand is equivalent to the distance between the strands, namely the distance parameter used for judging the strand scattering;
for the condition that each strand on the surface of the power transmission line is thin, the contour of each extracted strand edge line is an approximate straight line, so that only one condition exists for calculating the distance between the strands of the power transmission line and the contour line of each strand, and the distance between two adjacent contour edge lines is directly approximated to the distance between the strands.
Step 8 is specifically implemented according to the following steps:
step 8.1, sequentially extracting direction angles theta (included angle with the horizontal direction and positive anticlockwise rotation direction) of all strands of edge contour lines L1, L2 and L3 … on the surface of the power transmission lead in the step 6, wherein the direction angles are basically similar because all strands of lines on the surface of the power transmission lead are wound in parallel according to a certain sequence, and if strands are scattered, the direction angles at the scattered strands are changed, so that all the direction angles are judged, and the contour lines where the direction angles with larger differences are located are marked as suspicious scattered strands for the first time;
if the direction angle θ is 0 °, and θ is 90 ° or is relatively close to the two angles, the edge contour line is considered as four boundaries of the wire region, and is excluded, and the subsequent steps are not performed;
8.2, after the step 8.1 is completed, sequentially extracting curvature characteristics from each strand of edge contour line L1, L2 and L3 … on the surface of the power transmission lead in the step 6, wherein each strand of grain on the surface of the power transmission lead is basically a straight line with a slope, if strands are scattered, contour lines at the scattered strands are raised and have obvious curvature, so that the curvature characteristics of all contour lines are judged, and the contour lines with the curvature with larger difference are marked as suspicious scattered strands for the second time;
and 8.3, solving the intersection of the suspicious scattered yarns marked twice in the step 8.1 and the step 8.2, and determining the final suspicious scattered yarns.
The invention has the beneficial effects that:
(1) compared with the existing infrared image detection method and ultraviolet image detection method, the detection method for the strand scattering defect of the power transmission conductor, disclosed by the invention, has the advantages that the inspection robot is used for carrying a high-definition pan-tilt camera to acquire visible light images, the strand scattering defect of the power transmission conductor is detected by an image processing technology, the position of the strand scattering of the power transmission conductor can be more intuitively and accurately positioned, and an effective mode is provided for the state maintenance of the modern power transmission conductor;
(2) the invention provides a method for detecting the strand scattering defect of a transmission conductor, which is an automatic detection method for the strand scattering of the transmission conductor based on a digital image processing technology on the basis of analyzing the arrangement characteristics and the distribution relation among strands on the surface of the conductor.
Drawings
FIG. 1 is a flow chart of a visible light image-based method for detecting strand scattering defects of a power transmission conductor according to the invention;
fig. 2 is a diagram of a transmission conductor structure model simulated using ANSYS software;
FIG. 3 is a graph of edge contour marks of strands extracted from the surface of a power transmission conductor involved in the method for detecting a strand scattering defect of a power transmission conductor based on a visible light image according to the present invention;
fig. 4 is a schematic diagram of the normal and strand scattering structures of the surface of the power transmission conductor involved in the visible light image-based power transmission conductor strand scattering defect detection method.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
The invention discloses a visible light image-based transmission conductor strand scattering defect detection method, which is implemented by the following steps in a flow chart shown in figure 1:
step 1, carrying a high-definition pan-tilt camera by using an inspection robot to acquire a transmission conductor image (namely shooting a visible light transmission conductor image);
the optimal shooting focal length is determined by continuously adjusting the shooting angle of the high-definition pan-tilt camera, so that the condition that the inspection robot acquires clear outline and surface line information of the power transmission conductor in the inspection process is guaranteed.
And 2, sequentially carrying out image graying, image enhancement and image filtering on the power transmission conductor image acquired in the step 1, removing interference noise, and enhancing image contrast to highlight a target conductor.
And 3, carrying out image segmentation on the image obtained after the processing in the step 2, and simultaneously separating the power transmission conductor from the background by combining the special texture characteristics of the power transmission conductor so as to determine a conductor area, and carrying out subsequent processing by taking the area as an interested area.
And 4, sequentially carrying out image graying, image enhancement and image filtering on the wire area obtained in the step 3, and then extracting sub-pixel edges XLD of each strand of the surface of the wire in the area.
Step 5, orderly winding and parallelly arranging all strands on the surface of the power transmission line, firstly counting the collinear edge profiles of the sub-pixel edges XLD extracted in the step 4, and then carrying out primary screening to remove the edge profiles of the surface of the non-power transmission line, thereby retaining the edge profiles of all strands on the surface of the power transmission line;
as shown in fig. 2, which shows a block diagram of the power conductors, it can be seen that there is a protruding white curved line which represents the way in which one of the power conductors is wound, and the gray curves appearing on both sides thereof represent the power conductors on both adjacent sides thereof.
Step 6, classifying and sequencing the edge profiles of the strands on the surface of the transmission line meeting the conditions obtained in the step 5, and marking the edge profiles as L1, L2 and L3 …;
fig. 3 is a labeled diagram of the edge contour of the strands on the surface of the treated power transmission conductor, as shown in fig. 3: (a) the contour line marking map of the normal condition, (b) the contour line marking map of the occurrence of the strand scattering condition; the edge contour lines of each strand of the surface of the power transmission conductor are classified, sorted and labeled, and the labeling is performed mainly according to the ascending order of the coordinates of the upper left corner of the circumscribed rectangle of each contour line according to the column coordinates, so that a foundation is laid for searching two adjacent strands of contours according to the numbers and calculating the distance between the two adjacent strands of contours.
Step 7, calculating the distances between every two adjacent edge contour lines of the edge contour lines L1, L2 and L3 … of each strand on the surface of the power transmission conductor in the step 6, then calculating the average value of the distances, and taking the average value as the average distance between strands when the power transmission conductor has no strand scattering fault;
the power transmission line has the advantages that according to different voltage grades, the types (such as common types of LG, LGJ and LGJG) of selected power transmission conductors are different, the structures (the number and the diameter) corresponding to the power transmission conductors of different types are also different, and the diameter of each strand of the power transmission conductor is basically between 1mm and 5mm by searching the design specifications of the power transmission conductors of related types; in the method for detecting the scattered strand defect of the power transmission conductor, when the surface edge of each power transmission conductor is extracted, the diameter of the surface edge determines whether one power transmission conductor is similar to a thin wire or two parallel thin wires, so that a certain distance is inevitably generated between strands, but the distances between the strands are the same; therefore, for more accurate and realistic comparison of the results of the extracted edges of the different conductors, the diameter of the strands of conductors is defined as follows:
if the diameter d of each structure of the power transmission line model is larger than 2.5mm, each strand on the surface of the power transmission line is thicker;
if the diameter d of each of the structures of the power transmission line model is less than or equal to 2.5mm, each strand on the surface of the power transmission line is thinner;
for the case that each strand on the surface of the power transmission line is thicker, the outline of each extracted strand edge line is approximate to two parallel thin lines, and the distance of the outline between the strands is calculated to become two distances: one is the distance between each strand of the transmission conductor, which is also equivalent to the line width of each strand; the other is that the distance between each strand and the next adjacent strand is equivalent to the distance between the strands, namely the distance parameter used for judging the strand scattering;
for the condition that each strand on the surface of the power transmission line is thin, the contour of each extracted strand edge line is an approximate straight line, so that only one condition exists for calculating the distance between the strands of the power transmission line and the contour line of each strand, and the distance between two adjacent contour edge lines is directly approximated to the distance between the strands.
Step 8, after step 7 is completed, sequentially extracting direction angle and curvature characteristics of each strand of edge contour line L1, L2 and L3 … on the surface of the power transmission conductor in step 6, marking the contour line where the direction angle and the curvature characteristics with larger difference are located as suspicious scattered strands, determining the final scattered strands by obtaining intersection scattered strands of the direction angle and the curvature characteristics, and specifically implementing according to the following method:
step 8.1, sequentially extracting direction angles theta (included angle with the horizontal direction and positive anticlockwise rotation direction) of all strands of edge contour lines L1, L2 and L3 … on the surface of the power transmission lead in the step 6, wherein the direction angles are basically similar because all strands of lines on the surface of the power transmission lead are wound in parallel according to a certain sequence, and if strands are scattered, the direction angles at the scattered strands are changed, so that all the direction angles are judged, and the contour lines where the direction angles with larger differences are located are marked as suspicious scattered strands for the first time;
if the direction angle θ is 0 °, and θ is 90 ° or is relatively close to the two angles, the edge contour line is considered as four boundaries of the wire region, and is excluded, and the subsequent steps are not performed;
8.2, after the step 8.1 is completed, sequentially extracting curvature characteristics from each strand of edge contour line L1, L2 and L3 … on the surface of the power transmission lead in the step 6, wherein each strand of grain on the surface of the power transmission lead is basically a straight line with a slope, if strands are scattered, contour lines at the scattered strands are raised and have obvious curvature, so that the curvature characteristics of all contour lines are judged, and the contour lines with the curvature with larger difference are marked as suspicious scattered strands for the second time;
and 8.3, solving the intersection of the suspicious scattered yarns marked twice in the step 8.1 and the step 8.2, and determining the final suspicious scattered yarns.
Step 9, calculating the distance between the suspicious scattered strands and the contour lines of the adjacent strands at two sides of the suspicious scattered strands according to the final suspicious scattered strands determined in the step 8, and then comparing the distance with the average distance obtained in the step 7: if the distance of one side is more than 1.5 times of the average distance, defining the fault as a strand scattering fault;
as shown in fig. 4, a schematic diagram of the distances between strands and stray strands of a simulated normal power conductor is shown; the simulated transmission conductor surface edges here belong to the relatively thick strands described in step 7 above; the contour of the extracted strands of the edge lines of the surface of the power conductor is therefore approximated by two parallel thin lines, so that two distances occur, one being the width of the strands of the power conductor and one being the distance between adjacent strands, and the two distances of each power conductor being approximately equal in magnitude. When a strand breaks out of a power conductor, the distance between the strand and its adjacent power conductor increases significantly, and thus the position of the strand breaks can be determined from this distance in comparison with the average strand-to-strand distance.
The visible-light-image-based method for detecting the strand scattering defect of the transmission conductor has a simple and easy principle, can effectively detect the condition of the transmission conductor, and provides a new idea for safe operation of the transmission line.
Claims (4)
1. The visible light image-based transmission conductor strand scattering defect detection method is characterized by comprising the following steps:
step 1, carrying a high-definition pan-tilt camera by using an inspection robot to acquire an image of a transmission conductor;
step 2, carrying out image graying, image enhancement and image filtering processing on the power transmission conductor image acquired in the step 1 in sequence, removing interference noise, and enhancing image contrast to highlight a target conductor;
step 3, carrying out image segmentation processing on the image obtained after the processing in the step 2, simultaneously separating the power transmission conductor from the background by combining the special texture characteristics of the power transmission conductor, thereby determining a conductor area, and carrying out subsequent processing by taking the area as an interested area;
step 4, carrying out image graying, image enhancement and image filtering treatment on the wire area obtained in the step 3 in sequence, and then extracting sub-pixel edges XLD of each strand of the surface of the wire in the area;
step 5, orderly winding and parallelly arranging all strands on the surface of the power transmission line, firstly counting the collinear edge profiles of the sub-pixel edges XLD extracted in the step 4, and then carrying out primary screening to remove the edge profiles of the surface of the non-power transmission line, thereby retaining the edge profiles of all strands on the surface of the power transmission line;
step 6, classifying and sequencing the edge profiles of the strands on the surface of the transmission line meeting the conditions obtained in the step 5, and marking the edge profiles as L1, L2 and L3 …;
step 7, calculating the distances between every two adjacent edge contour lines of the edge contour lines L1, L2 and L3 … of each strand on the surface of the power transmission conductor in the step 6, then calculating the average value of the distances, and taking the average value as the average distance between strands when the power transmission conductor has no strand scattering fault;
step 8, after step 7 is completed, sequentially extracting the direction angle and curvature characteristics of each strand of edge contour line L1, L2 and L3 … on the surface of the power transmission conductor in step 6, marking the contour line where the direction angle and curvature characteristics with larger difference are located as suspicious scattered strands, and determining the final suspicious scattered strands by solving the two intersecting scattered strands; the method is implemented according to the following steps:
8.1, sequentially extracting direction angles theta of the edge contour lines L1, L2 and L3 … of the strands on the surface of the power transmission conductor in the step 6, wherein the direction angles theta are included angles between the edge contour lines of the strands on the surface of the power transmission conductor and the horizontal direction, and the anticlockwise rotation direction is positive;
if the direction angle θ is 0 °, and θ is 90 ° or is relatively close to the two angles, the edge contour line is considered as four boundaries of the wire region, and is excluded, and the subsequent steps are not performed;
8.2, after the step 8.1 is completed, sequentially extracting curvature characteristics from each strand of edge contour line L1, L2 and L3 … on the surface of the power transmission lead in the step 6, wherein each strand of grain on the surface of the power transmission lead is basically a straight line with a slope, if strands are scattered, contour lines at the scattered strands are raised and have obvious curvature, so that the curvature characteristics of all contour lines are judged, and the contour lines with the curvature with larger difference are marked as suspicious scattered strands for the second time;
step 8.3, solving the intersection of the suspicious scattered yarns marked twice in the step 8.1 and the step 8.2, and determining the final suspicious scattered yarns;
step 9, calculating the distance between the suspicious scattered strands and the contour lines of the adjacent strands at two sides of the suspicious scattered strands according to the final suspicious scattered strands determined in the step 8, and then comparing the distance with the average distance obtained in the step 7: if the distance of one side is more than 1.5 times of the average distance, the fault of strand scattering is defined.
2. The visible-light-image-based transmission conductor strand divergence defect detection method according to claim 1, wherein in the step 1: the optimal shooting focal length is determined by continuously adjusting the shooting angle of the high-definition pan-tilt camera, so that the condition that the inspection robot acquires clear outline and surface line information of the power transmission conductor in the inspection process is guaranteed.
3. The visible-light-image-based transmission conductor strand divergence defect detection method according to claim 1, wherein in step 6:
and classifying and sorting the edge contour lines of all strands on the surface of the power transmission conductor and labeling, wherein the labeling is performed mainly according to the ascending arrangement of the coordinates of the left upper corner of the circumscribed rectangle of each contour line according to the column coordinates.
4. The visible-light-image-based transmission conductor strand divergence defect detection method according to claim 1, wherein the average distance between strands in step 7 when the transmission conductor has no strand divergence fault is obtained by the following method:
the power transmission line has different types of selected power transmission line conductors according to different voltage grades, and the corresponding structures of the power transmission conductors of different types are different, and the diameters of all strands of the power transmission conductors are basically between 1mm and 5mm by searching the design specifications of the power transmission conductors of related types; when the surface edge of each transmission conductor is extracted, the diameter of the transmission conductor determines whether one conductor is similar to a thin line or two parallel thin lines, so that a certain distance is inevitably generated between strands, but the distances between the strands are the same; for more accurate and realistic reasons, the results of the extracted edges of the different conductors are compared, defining the diameter of the strands of conductors as follows:
if the diameter d of each structure of the power transmission line model is larger than 2.5mm, each strand on the surface of the power transmission line is thicker;
if the diameter d of each of the power transmission line type structures is less than or equal to 2.5mm, each strand on the surface of the power transmission line is thinner;
for the case that each strand on the surface of the power transmission line is thicker, the outline of each extracted strand edge line is approximate to two parallel thin lines, and the distance of the outline between the strands is calculated to become two distances: one is the distance between each strand of the transmission conductor, which is also equivalent to the line width of each strand; the other is that the distance between each strand and the next adjacent strand is equivalent to the distance between the strands, namely the distance parameter used for judging the strand scattering;
for the condition that each strand on the surface of the power transmission line is thin, the contour of each extracted strand edge line is an approximate straight line, so that only one condition exists for calculating the distance between the strands of the power transmission line and the contour line of each strand, and the distance between two adjacent contour edge lines is directly approximated to the distance between the strands.
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| CN109449093B (en) * | 2018-10-24 | 2020-12-04 | 武汉新芯集成电路制造有限公司 | Wafer detection method |
| CN109712116B (en) * | 2018-12-04 | 2023-03-28 | 华南理工大学 | Fault identification method for power transmission line and accessories thereof |
| CN110728672B (en) * | 2019-10-17 | 2023-04-25 | 云南电网有限责任公司昆明供电局 | Measurement method for identifying structural model of round wire concentric stranded wire |
| CN111024705A (en) * | 2019-10-17 | 2020-04-17 | 广东电网有限责任公司清远供电局 | Method, device, equipment and storage medium for detecting broken power line |
| CN112461243B (en) * | 2020-11-23 | 2021-07-02 | 国网江苏省电力有限公司电力科学研究院 | Positioning method and system for inspection robot |
| CN112926556B (en) * | 2021-04-28 | 2023-05-02 | 上海大学 | Semantic segmentation-based aerial photography transmission line broken strand identification method and system |
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