CN111415355A - Image processing-based method, system and device for measuring safety distance of power transmission line - Google Patents
Image processing-based method, system and device for measuring safety distance of power transmission line Download PDFInfo
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Abstract
The invention discloses a method, a system and a device for measuring the safety distance of a power transmission line based on image processing, wherein the measuring method comprises the following steps: acquiring an image containing a target object, wherein the target object comprises two target objects with a distance to be measured; carrying out segmentation processing on the image to obtain the target object; calculating the pixel coordinates of the target object in the image; calculating to obtain the position of the target object in the world coordinate according to a transformation matrix of the pixel coordinate and the world coordinate, wherein the transformation matrix is the corresponding relation of a known world coordinate system and an image coordinate system; and calculating to obtain the distance between the two power transmission lines according to the world coordinate position of the target object. According to the invention, the distance of the power transmission line of the power grid can be calculated through image processing, and further the safety distance of the power transmission line can be judged.
Description
Technical Field
The invention relates to a method, a system and a device for measuring a safety spacing of a power transmission line based on image processing, and belongs to the technical field of image processing.
Background
Along with the continuous perfection of the high-voltage line network frame, the voltage grade of the high-voltage line is higher and higher, the kilometer number of the line is also increased rapidly, the operation and maintenance workload of the line is increased, and the inspection difficulty is also improved. The high-voltage line is mainly a power transmission line, runs in the field for a long time, crosses high-voltage lines of other voltage classes, crosses buildings, trees and the like, causes line faults or major accidents when the sag is enlarged due to weather or ice coating, and can cause high-voltage line accidents due to insufficient distance between a wire and the ground, jumper wires and the distance between towers and the like. However, the existing monitoring means can obtain results only by visual inspection of line workers or multiple measurements of theodolites, and has the problems of high difficulty, backward means, troublesome measurement and the like, which often brings inconvenience to the management of running lines and influences the running safety.
Disclosure of Invention
Based on the above, the invention provides a method, a system and a device for measuring the safe distance of the power transmission line based on image processing, which can obtain the distance of the power transmission line through image processing measurement, and further provide a basis for safety judgment.
The technical scheme of the invention is as follows:
in a first aspect, the present invention provides a method for measuring a safety distance of a power transmission line based on image processing, where the method includes:
acquiring an image containing a target object, wherein the target object comprises two target objects with a distance to be measured;
carrying out segmentation processing on the image to obtain the target object;
calculating the pixel coordinates of the target object in the image;
calculating to obtain the position of the target object in the world coordinate according to a transformation matrix of the pixel coordinate and the world coordinate, wherein the transformation matrix is the corresponding relation of a known world coordinate system and an image coordinate system;
and calculating to obtain the distance between the two power transmission lines according to the world coordinate position of the target object.
In one example, the image segmentation process includes a graying process and a binarization process.
In one example, the graying processing formula is:
Fg(i,j)＝0.299*R(i,j)+0.587*G(i,j)+0.144*B(i,j)
where i represents the ith row of the image, j represents the jth column of the image, Fg(i, j) is the gray scale value of the image after graying at (i, j), R: (i, j), G (i, j), B (i, j) represent the values of the RGB image three components at (i, j), respectively.
In one example, a template matching algorithm is used to calculate the pixel coordinates of the target object in the image.
In a second aspect, the present invention provides an apparatus for measuring a safe distance between power transmission lines based on image processing, the apparatus comprising:
an acquisition module to: acquiring an image containing a target object, wherein the target object comprises two target objects with a distance to be measured;
a segmentation module to: carrying out segmentation processing on the image to obtain the target object;
a first computing module to: calculating the pixel coordinates of the target object in the image;
a second calculation module to: calculating to obtain the position of the target object in the world coordinate according to a transformation matrix of the pixel coordinate and the world coordinate, wherein the transformation matrix is the corresponding relation of a known world coordinate system and an image coordinate system;
a third calculation module to: and calculating to obtain the distance between the two power transmission lines according to the world coordinate position of the target object.
In one example, the segmentation module comprises a graying processing sub-module and a binarization processing sub-module.
In one example, the calculation formula of the graying processing sub-module is as follows:
Fg(i,j)＝0.299*R(i,j)+0.587*G(i,j)+0.144*B(i,j)
where i represents the ith row of the image, j represents the jth column of the image, Fg(i, j) is the gray value of the image after graying at (i, j), and R (i, j), G (i, j), B (i, j) respectively represent the values of the RGB image three components at (i, j).
In one example, the first calculation module calculates the pixel coordinates of the target object in the image using a template matching algorithm.
In a third aspect, the present invention provides a power transmission line safety distance measurement system based on image processing, including a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the method described above.
In a fourth aspect, the invention provides a computer-readable medium, on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out the method described above.
The invention has the beneficial effects that: according to the invention, through image processing, the calculation of the distance of the power transmission line of the power grid can be realized, and further the safety distance of the power transmission line can be judged. Particularly, the invention provides a method combining a template matching method, which can effectively extract a target to be positioned.
The invention can effectively judge the safe operation state of the power transmission line and improve the accuracy and the practicability of detection to the maximum extent. The method is used for accurately measuring the safety distance of the power transmission line of the power grid, can find the potential safety hazard of the line in time, thereby ensuring the safety of operating the high-voltage line, and provides technical support for further improving the management level of the line and the intelligent level of the power grid.
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FIG. 1 is a flow chart of a method of an embodiment of the present invention;
FIG. 2 is a structural framework diagram of an embodiment of the present invention;
FIG. 3 is a block diagram of yet another apparatus according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a computer-readable medium according to an embodiment of the invention.
Detailed Description
The present invention will be described in detail with reference to the following embodiments in order to make the aforementioned objects, features and advantages of the invention more comprehensible. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, but rather should be construed as broadly as the present invention is capable of modification in various respects, all without departing from the spirit and scope of the present invention.
Example one
Referring to fig. 1, in an embodiment of the present invention, a method for measuring a safety distance of a power transmission line based on image processing includes:
s1, acquiring an image containing a target object, wherein the target object comprises two target objects with a distance to be measured;
specifically, an image acquisition device, such as a camera, is erected on the site of the power transmission line equipment to acquire an image of the target object. The target objects can be two power transmission lines, and also can be overhead ground wires and overhead conductors, overhead conductors and trees, stay wires and drainage wires, overhead conductors and houses, overhead conductors and the ground, drainage wires and tower bodies.
It should be noted that when an image containing a target object is captured, the image contains only the target object and the target background as much as possible, and the target object and the target background are clearly distinguished so as to facilitate subsequent accurate processing.
S2, segmenting the image to obtain the target object;
specifically, the segmentation processing performed on the image includes a graying processing and a binarization processing. Wherein,
carrying out graying processing on the image, and calculating three components of RGB in the image by a weighted average method to obtain a gray value, wherein the graying processing formula is as follows:
Fg(i,j)＝0.299*R(i,j)+0.587*G(i,j)+0.144*B(i,j)
where i represents the ith row of the image, j represents the jth column of the image, Fg(i, j) is the gray value of the image after graying at (i, j), and R (i, j), G (i, j), B (i, j) respectively represent the values of the RGB image three components at (i, j).
Because the gray value difference between the target object and the target background is large, the maximum inter-class variance method, the OTSU (OTSU), is used to obtain the threshold value, and the image is binarized:
wherein T represents a threshold value, FgRepresenting a grayed image and F representing the binarized image. Under different weather conditions, the gray value of the sky background changes, so that the threshold value change range is fully considered when the threshold value is set, and a proper threshold value is selected for image binarization processing.
Through the method, the target object can be obviously distinguished from the target background, namely, the purpose of segmenting the image and obtaining the target object is achieved.
S3, calculating the pixel coordinates of the target object in the image;
specifically, a template matching algorithm is used to obtain the pixel position of a target object in an image, for example, a matching template can be selected through the shape features of a binarized image of the target object, the image is segmented into regions with the same size as the matching template, and the similarity between each region of the image and the matching template is calculated by scanning the image, which specifically includes the following 4 key steps:
1) selecting a template characteristic and a reference template according to the characteristics of the power transmission line;
2) selecting the size of the reference template (10 x 10 pixels);
3) selecting a similarity measurement formula (such as non-negative matrix factorization) for template matching;
4) a template matching scan strategy (traversal) is selected.
According to the principle of template matching method, the highest similarity position is the region where the target is located, and the pixel position where the target is located (the central point of the region where the target is located) can be obtained accordingly.
S4, calculating the position of the target object in the world coordinate according to a transformation matrix of the pixel coordinate and the world coordinate, wherein the transformation matrix is the corresponding relation between a known world coordinate system and an image coordinate system;
specifically, the transformation matrix of the pixel coordinates and the world coordinates is determined according to camera calibration, the camera calibration relates to a pixel coordinate system, an image coordinate system, a camera coordinate system and a world coordinate system, and by utilizing transformation among the coordinates, a constraint equation between the pixel coordinate system and the world coordinate system can be obtained:
wherein, [ u v ]]TIs the pixel coordinate of the object in the pixel coordinate system, [ X ]WYWZW]TIs the world coordinate of the target object in the world coordinate system, R is the rotation matrix from the camera coordinate to the world coordinate, T is the translation matrix from the image polar coordinate to the world coordinate, ZCAs the z-axis position of the camera coordinates, (dx, dy) as the material size of each pixel, f as the camera focal length, (u)0,v0) Pixel coordinates of the center of the image.
And solving to obtain a specific numerical value of the constraint equation by utilizing the corresponding relation between the known world coordinate system (calibration plate) and the image coordinate system (the result obtained after the image processing of the calibration plate).
After the specific numerical value of the constraint equation is obtained, the pixel coordinate of the target object in the image calculated in step S3 is input into the constraint equation, and the position of the target object in the world coordinate can be calculated.
And S5, calculating the distance between the two target objects according to the world coordinate positions of the target objects.
The distance between the target objects can be calculated through the world coordinate positions of the target objects, and the judgment of the safe distance of the power transmission line is completed. On this basis, the patrol personnel can judge whether the transmission line is safe by comparing the distance with the standard distance.
Example two
Referring to fig. 2, a second embodiment of the present invention provides an apparatus for measuring a safe distance between power transmission lines based on image processing, where the apparatus includes: an acquisition module to: acquiring an image containing a target object, wherein the target object comprises two target objects with a distance to be measured; a segmentation module to: carrying out segmentation processing on the image to obtain the target object; a first computing module to: calculating the pixel coordinates of the target object in the image; a second calculation module to: calculating to obtain the position of the target object in the world coordinate according to a transformation matrix of the pixel coordinate and the world coordinate, wherein the transformation matrix is the corresponding relation of a known world coordinate system and an image coordinate system; a third calculation module to: and calculating to obtain the distance between the two power transmission lines according to the world coordinate position of the target object.
In one example, the segmentation module comprises a graying processing sub-module and a binarization processing sub-module.
In one example, the calculation formula of the graying processing sub-module is as follows:
Fg(i,j)＝0.299*R(i,j)+0.587*G(i,j)+0.144*B(i,j)
where i represents the ith row of the image, j represents the jth column of the image, Fg(i, j) is the gray value of the image after graying at (i, j), and R (i, j), G (i, j), B (i, j) respectively represent the values of the RGB image three components at (i, j).
In one example, the first calculation module calculates the pixel coordinates of the target object in the image using a template matching algorithm.
Since the apparatus described in the second embodiment of the present invention is an apparatus used for implementing the method of the first embodiment of the present invention, based on the method described in the first embodiment of the present invention, a person skilled in the art can understand the specific structure and the deformation of the apparatus, and thus the details are not described herein. All the devices adopted in the method of the first embodiment of the present invention belong to the protection scope of the present invention.
EXAMPLE III
Referring to fig. 3, it should be noted that, based on the same inventive technique as in the first embodiment and the second embodiment, a third embodiment of the present invention provides a system, including: radio frequency circuit 310, memory 320, input unit 330, display unit 340, audio circuit 350, WiFi module 360, processor 370, and power supply 380. The storage 320 stores a computer program that can be executed on the processor 370, and the processor 370 executes the computer program to implement the steps S1, S2, S3, S4, and S5 according to one embodiment.
In a specific implementation process, when the processor executes the computer program, either implementation manner of the first embodiment or the second embodiment can be realized.
Those skilled in the art will appreciate that the device configuration shown in fig. 3 is not intended to be limiting of the device itself and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
The following describes the components of the computer device in detail with reference to fig. 3:
the rf circuit 310 may be used for receiving and transmitting signals, and in particular, receives downlink information of a base station and then sends the received downlink information to the processor. In general, the radio frequency circuitry 310 includes, but is not limited to, at least one amplifier, transceiver, coupler, low noise amplifier, duplexer, and the like.
The memory 320 may be used to store software programs and modules, and the processor 370 may execute various functional applications of the computer device and data processing by operating the software programs and modules stored in the memory 320. The memory 320 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function, and the like; the storage data area may store data created according to use of the computer device, and the like. Further, the memory 320 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.
The input unit 330 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of the computer apparatus. Specifically, the input unit 330 may include a keyboard 331 and other input devices 332. The keyboard 331 is capable of collecting input operations of a user thereon and driving a corresponding connection device according to a preset program. The output information is collected by the keyboard and then fed to the processor 370. The input unit may include other input devices 332 in addition to the keyboard 331. In particular, other input devices 332 may include, but are not limited to, one or more of a touch panel, function keys (such as volume control keys, switch button lights), a trackball, a mouse, a joystick, and the like.
The display unit 340 may be used to display information input by a user or information provided to the user and various menus of the computer device. The display unit 340 may include a display panel 341, and optionally, the display panel 341 may be configured in the form of a liquid crystal display, an organic light emitting diode, or the like. Further, the keyboard 331 may cover the display panel 341, and when the keyboard 331 detects a touch operation on or near the keyboard 331, the keyboard 331 transmits the touch event to the processor 370 to determine the type of the touch event, and then the processor 370 provides a corresponding visual output on the display panel 341 according to the type of the input event. Although the keyboard 331 and the display panel 341 are shown in fig. 3 as two separate components to implement input and output functions of the computer device, in some embodiments, the keyboard 331 and the display panel 341 may be integrated to implement input and output functions of the computer device.
WiFi belongs to short-distance wireless transmission technology, and computer equipment can help a user to receive and send e-mails, browse webpages, access streaming media and the like through the WiFi module 360, and provides wireless broadband internet access for the user. Although the WiFi module 360 is shown in fig. 3, it is understood that it does not belong to the essential constitution of the computer device, and may be omitted entirely as needed within the scope not changing the essence of the invention.
The processor 370 is a control center of the computer device, connects various parts of the entire computer device using various interfaces and lines, performs various functions of the computer device and processes data by running or executing software programs and/or modules stored in the memory, and calling data stored in the memory 320, thereby monitoring the computer device as a whole. Alternatively, processor 320 may report one or more processing units; preferably, the processor 320 may be integrated with an application processor, wherein the application processor mainly processes an operating system, a user interface, an application program, and the like.
The computer device also includes a power supply 380 (such as a power adapter) for powering the various components, which may preferably be logically connected to the processor 370 through a power management system.
Example four
Based on the same inventive concept, as shown in fig. 4, the fourth embodiment provides a computer-readable storage medium 400, on which a computer program 411 is stored, and when the computer program 411 is executed by a processor, the steps S1, S2, S3, S4, and S5 in one embodiment are implemented.
In a specific implementation process, when the computer program 411 is executed by a processor, the implementation of any one of the first and second embodiments may be implemented.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, hard disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable medium that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable medium produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (10)
1. The method for measuring the safe distance of the power transmission line based on image processing comprises the following steps:
acquiring an image containing a target object, wherein the target object comprises two target objects with a distance to be measured;
carrying out segmentation processing on the image to obtain the target object;
calculating the pixel coordinates of the target object in the image;
calculating to obtain the position of the target object in the world coordinate according to a transformation matrix of the pixel coordinate and the world coordinate, wherein the transformation matrix is the corresponding relation of a known world coordinate system and an image coordinate system;
and calculating to obtain the distance between the two power transmission lines according to the world coordinate position of the target object.
2. The method for measuring the safety spacing of the power transmission line based on the image processing as claimed in claim 1, wherein the image segmentation processing comprises graying processing and binarization processing.
3. The method for measuring the safety spacing of the power transmission line based on the image processing as claimed in claim 2, wherein the graying processing formula is as follows:
Fg(i,j)＝0.299*R(i,j)+0.587*G(i,j)+0.144*B(i,j)
where i represents the ith row of the image, j represents the jth column of the image, Fg(i, j) is the gray value of the image after graying at (i, j), and R (i, j), G (i, j), B (i, j) respectively represent the values of the RGB image three components at (i, j).
4. The method for measuring the safety spacing of the power transmission line based on the image processing as claimed in claim 1, wherein a template matching algorithm is adopted to calculate the pixel coordinates of the target object in the image.
5. The transmission line safe distance measuring device based on image processing comprises:
an acquisition module to: acquiring an image containing a target object, wherein the target object comprises two target objects with a distance to be measured;
a segmentation module to: carrying out segmentation processing on the image to obtain the target object;
a first computing module to: calculating the pixel coordinates of the target object in the image;
a second calculation module to: calculating to obtain the position of the target object in the world coordinate according to a transformation matrix of the pixel coordinate and the world coordinate, wherein the transformation matrix is the corresponding relation of a known world coordinate system and an image coordinate system;
a third calculation module to: and calculating to obtain the distance between the two power transmission lines according to the world coordinate position of the target object.
6. The device for measuring the safety spacing of the power transmission line based on the image processing as claimed in claim 5, wherein the segmentation module comprises a graying processing sub-module and a binarization processing sub-module.
7. The device for measuring the safety spacing of the power transmission line based on the image processing as claimed in claim 6, wherein the calculation formula of the graying processing module is as follows:
Fg(i,j)＝0.299*R(i,j)+0.587*G(i,j)+0.144*B(i,j)
where i represents the ith row of the image, j represents the jth column of the image, Fg(i, j) is the gray value of the image after graying at (i, j), and R (i, j), G (i, j), B (i, j) respectively represent the values of the RGB image three components at (i, j).
8. The image processing-based transmission line safe distance measuring device of claim 6, wherein the first calculating module calculates the pixel coordinates of the target object in the image by adopting a template matching algorithm.
9. Image processing-based transmission line safety distance measuring system, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor performs the method of any one of claims 1 to 4.
10. A computer-readable medium, on which a computer program is stored which, when being executed by a processor, carries out the method of any one of claims 1 to 4.
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| CN102252623A (en) * | 2011-06-24 | 2011-11-23 | 西安工程大学 | Measurement method for lead/ground wire icing thickness of transmission line based on video variation analysis |
| CN104835166A (en) * | 2015-05-13 | 2015-08-12 | 山东大学 | Liquid medicine bottle foreign matter detection method based on machine visual detection platform |
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| CN117789131A (en) * | 2024-02-18 | 2024-03-29 | 广东电网有限责任公司广州供电局 | Risk monitoring method, risk monitoring device, risk monitoring equipment and storage medium |
| CN117789131B (en) * | 2024-02-18 | 2024-05-28 | 广东电网有限责任公司广州供电局 | Risk monitoring method, risk monitoring device, risk monitoring equipment and storage medium |
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