CN110415249A - Transmission of electricity line detecting method based on CBS line segment detection - Google Patents
Transmission of electricity line detecting method based on CBS line segment detection Download PDFInfo
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- CN110415249A CN110415249A CN201910492848.3A CN201910492848A CN110415249A CN 110415249 A CN110415249 A CN 110415249A CN 201910492848 A CN201910492848 A CN 201910492848A CN 110415249 A CN110415249 A CN 110415249A
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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
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/13—Edge detection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
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- Computer Vision & Pattern Recognition (AREA)
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Abstract
The invention discloses the transmission of electricity line detecting method based on CBS line segment detection, the detection method includes: that use direction controllable filter is split unmanned plane image；Line segment detection is carried out to image after segmentation using CBS line detection method；Detected straightway is attached according to Gestalt principle.Unmanned plane image is split by Steerable filter.Then, line segment detection is carried out to image obtained by segmentation based on the CBS line Segment Detection of image geometry relationship as what is proposed.Finally, neighbouring straightway is connected by the method based on Gestalt principle proposed.It completes power transmission line and detects work.The method of the present invention detects transmission line of electricity accuracy height, and omission factor, false detection rate are low.
Description
Technical field
The invention belongs to polling transmission line fields, more particularly to the transmission of electricity line detecting method based on CBS line segment detection.
Background technique
The territory in China is vast in territory, and landform is also relative complex, and hills is more, Plain is less, in addition meteorological condition is answered
It is miscellaneous changeable, many difficulties are brought to polling transmission line.And traditional manual inspection expends a large amount of manpower and material resources.In intelligence
During the construction of energy power grid promotes, the inspection intelligence of transmission line of electricity is extremely urgent.With unmanned air vehicle technique, Digital Image Processing skill
The development of art proposes the thinking of unmanned plane inspection transmission line of electricity.
The thinking of unmanned plane inspection transmission line of electricity is the image that transmission line of electricity is obtained by carrying the unmanned plane of optical device,
Then processing is carried out to image and completes inspection work.Power transmission line detection is the vital link of image procossing, only accurately
It detects power transmission line, could further analyze and diagnose whether power transmission line occurs the failures such as damaged, stranded.
Existing transmission of electricity line detecting method exists, many drawbacks.For example, edge detection stage uses Canny filter, meeting
Two edges are detected in same power transmission line two sides, are interfered.Hough transform isoline detection method expends a large amount of calculate
Time, and detected next neighbouring straightway, connection work is not done, detected short straight line section can not be connected
Form longer straightway.
Summary of the invention
The object of the present invention is to provide the transmission of electricity line detecting methods based on CBS line segment detection, to improve transmission line of electricity inspection
The accuracy of survey.
To achieve the goals above, technical solution of the present invention is as follows:
Transmission of electricity line detecting method based on CBS line segment detection, the detection method include:
Use direction controllable filter is split unmanned plane image；
Line segment detection is carried out to image after segmentation using CBS line detection method；
Detected straightway is attached according to Gestalt principle.
Optionally, the use direction controllable filter is split unmanned plane image, comprising:
Steerable filter is applied on unmanned plane image, edge detection segmentation is carried out to image.
It is optionally, described that line segment detection is carried out to image after segmentation using CBS line detection method, comprising:
The available point of straight line is detected by drawing circle algorithm.
Optionally, the available point that straight line is detected by picture circle algorithm, comprising:
A. pass through picture circle algorithm search available point；
If b. as shown in Figure 1, available point, available Dx and Dy；
C. as shown in Fig. 2, being moved according to the Dy value of Dx sum along symmetry direction；
D. such as fruit dot (x, y) is available point, is moved into point (x+skip × Dx, y+skip × Dy), has continued searching
Effect point, until search less than；
E. first and the last one available point are saved；
F. the straightway between first available point and the last one available point is drawn.
Optionally, picture circle algorithm refers to that quick grid draws circle algorithm, based on its eight points of intrinsic symmetry, passes through
Complete circle can be drawn by rounding up；
Whether a pair of of point based on eight points of Symmetry Detections centered on (xc, yc) belongs to same straight line.
It is optionally, described that detected straightway is attached according to Gestalt principle, comprising:
Determine whether a straightway is adjacent with another straightway by the feature of Gestalt principle, and connects and to be formed
Longer straightway.
Optionally, the feature of the Gestalt principle includes:
Similarity, the i.e. angle of straightway；
Length handles longer straightway since power transmission line is usually longer straightway in image；
Approximation is determined by the Euclidean distance between each point of two straightways of calculating, if two straightways connect
It is close and similar, then it is replaced by straight line, reduces redundancy.
The utility model has the advantages that
Unmanned plane image is split by Steerable filter.Then, by being proposed based on image geometry
The CBS line Segment Detection of relationship carries out line segment detection to segmentation gained image.Finally, by being proposed based on format
The method of tower principle connects neighbouring straightway.It completes power transmission line and detects work.The method of the present invention detects transmission line of electricity accuracy
Height, omission factor, false detection rate are low.
Detailed description of the invention
Fig. 1 is effective point diagram that the present invention draws that circle algorithm detects available point；
Fig. 2 is effective point diagram that the present invention draws that circle algorithm detects available point；
Fig. 3 is CBS treatment process figure of the present invention；
Fig. 4 is original image of the embodiment of the present invention；
The effect picture that Fig. 5 is CBS search radius of the embodiment of the present invention when being 5；
The effect picture that Fig. 6 is CBS search radius of the embodiment of the present invention when being 20.
Fig. 7 is the final detection effect figure after connection of the embodiment of the present invention.
Specific embodiment
Technical solution of the present invention is described in further details with reference to the accompanying drawings and examples, following embodiment is not constituted
Limitation of the invention.
The general thought of benefit of the invention is to use computer vision technique, is carried out to the collected transmission line of electricity image of unmanned plane
Analysis processing, to detect transmission line of electricity.The present embodiment is illustrated by taking unmanned plane transmission line of electricity image as an example.
Transmission of electricity line detecting method based on CBS line segment detection, as shown in Figure 1, including the following steps:
Step S1, use direction controllable filter is split unmanned plane image.
The Gauss convolutional filter in Steerable filter is selected, the different directions of unmanned plane image are applied to
To obtain more energy points.Second dervative kernel function used is,
In cartesian coordinate system x and y, this is a two-dimensional circle symmetrical Gaussian function, and σ is to rely on the standard of line width
Difference.
Step S2, line segment detection is carried out to image after segmentation using CBS line detection method.
Its key step is as follows:
A. pass through picture circle algorithm search available point.
If b. as shown in Fig. 2, available point, available Dx and Dy.
C. as shown in figure 3, being moved according to the Dy value of Dx sum along symmetry direction.
D. such as fruit dot (x, y) is available point, is moved into point (x+skip × Dx, y+skip × Dy), has continued searching
Effect point, until search less than.
E. first and the last one available point are saved.
F. the straightway between first available point and the last one available point is drawn.
Picture circle algorithm in A refers to that quick grid draws circle algorithm, based on its eight points of intrinsic symmetry, by rounding up
Draw complete circle；
Whether a pair of of point based on eight points of Symmetry Detections centered on (xc, yc) belongs to same straight line.
The pseudocode of step S2 is as follows:
Step S3, detected straightway is attached according to Gestalt principle.
Purpose is can be determined that whether a straightway is adjacent with another straightway by the feature of Gestalt principle,
And it connects and forms longer straightway
According to 3 points in step S2 detection acquired results neighbouring straight line is short is attached
A. similarity: the angle of straightway.
B. length: since power transmission line is usually longer straightway in image, so the longer straightway of priority processing.
C. approximation: the Euclidean distance between each point by calculating two straightways determines, if two straightways
It is close enough and similar, then it can be replaced by straight line, to reduce redundancy.
It is shown as effect, Fig. 4 is original image of the embodiment of the present invention；Fig. 5 is that CBS search radius of the embodiment of the present invention is 5
When effect picture；The effect picture that Fig. 6 is CBS search radius of the embodiment of the present invention when being 20.Fig. 7 is after the embodiment of the present invention connects
Final detection effect figure.Unmanned plane image is split by Steerable filter.Then, by proposed based on
The CBS line Segment Detection of image geometry relationship carries out line segment detection to segmentation gained image.Finally, by being proposed
Method based on Gestalt principle connects neighbouring straightway.It completes power transmission line and detects work.The method of the present invention detects power transmission line
Road accuracy is high, and omission factor, false detection rate are low.
Claims (7)
1. the transmission of electricity line detecting method based on CBS line segment detection, which is characterized in that the detection method includes:
Use direction controllable filter is split unmanned plane image；
Line segment detection is carried out to image after segmentation using CBS line detection method；
Detected straightway is attached according to Gestalt principle.
2. the transmission of electricity line detecting method according to claim 1 based on point-to-point transmission linear search, which is characterized in that described to make
Unmanned plane image is split with Steerable filter, comprising:
Steerable filter is applied on unmanned plane image, edge detection segmentation is carried out to image.
3. the transmission of electricity line detecting method according to claim 1 based on CBS line segment detection, which is characterized in that described to make
Line segment detection is carried out to image after segmentation with CBS line detection method, comprising:
The available point of straight line is detected by drawing circle algorithm.
4. the transmission of electricity line detecting method according to claim 1 based on CBS line segment detection, which is characterized in that described logical
Cross the available point of picture circle algorithm detection straight line, comprising:
A. pass through picture circle algorithm search available point；
If b. as shown in Figure 1, available point, available Dx and Dy；
C. as shown in Fig. 2, being moved according to the Dy value of Dx sum along symmetry direction；
D. such as fruit dot (x, y) is available point, is moved into point (x+skip × Dx, y+skip × Dy), continues searching available point,
Until search less than；
E. first and the last one available point are saved；
F. the straightway between first available point and the last one available point is drawn.
5. the transmission of electricity line detecting method according to claim 3 based on CBS line segment detection, which is characterized in that described
It draws circle algorithm and refers to that quick grid draws circle algorithm, based on its eight points of intrinsic symmetry, draw complete circle by rounding up；
Whether a pair of of point based on eight points of Symmetry Detections centered on (xc, yc) belongs to same straight line.
6. the transmission of electricity line detecting method according to claim 1 based on CBS line segment detection, which is characterized in that described
Detected straightway is attached according to Gestalt principle, comprising:
It whether adjacent with another straightway can be determined that a straightway by the feature of Gestalt principle, and connect and to be formed
Longer straightway.
7. the transmission of electricity line detecting method according to claim 6 based on CBS line segment detection, which is characterized in that the lattice
The feature of formula tower principle includes:
Similarity, the i.e. angle of straightway；
Length handles longer straightway since power transmission line is usually longer straightway in image；
Approximation is determined by the Euclidean distance between each point of two straightways of calculating, if two straightways are close to simultaneously
And it is similar, then it is replaced by straight line, reduces redundancy.
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| CN201910492848.3A CN110415249A (en) | 2019-06-06 | 2019-06-06 | Transmission of electricity line detecting method based on CBS line segment detection |
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| CN201910492848.3A CN110415249A (en) | 2019-06-06 | 2019-06-06 | Transmission of electricity line detecting method based on CBS line segment detection |
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Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106570863A (en) * | 2016-10-25 | 2017-04-19 | 南方电网科学研究院有限责任公司 | Detection method and device for power transmission line |
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- 2019-06-06 CN CN201910492848.3A patent/CN110415249A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106570863A (en) * | 2016-10-25 | 2017-04-19 | 南方电网科学研究院有限责任公司 | Detection method and device for power transmission line |
Non-Patent Citations (1)
| Title |
|---|
| 王坚俊 等: "《一种两点间直线搜索的输电线检测方法》", 《计算机测量与控制》 * |
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