CN114627046A - Power line detection method and system based on visible light multi-filtering dimensionality - Google Patents
Power line detection method and system based on visible light multi-filtering dimensionality Download PDFInfo
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Abstract
The utility model belongs to the technical field of artificial intelligence, and provides a power line detection method and system based on visible light multi-filtering dimensionality, which comprises the following steps: acquiring a power line visible light image; according to the obtained visible light image of the power line and a preset power line detection model, power line characteristics in the image are extracted, and detection of the power line is achieved; the power line detection model extracts power line image edge features through edge detection, and filters the extracted power line image edge features based on different dimensions to obtain boundary features of the power line images in different directions.
Description
Technical Field
The disclosure belongs to the technical field of artificial intelligence, and particularly relates to a power line detection method and system based on visible light multi-filtering dimensionality.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
Electric power facilities are widely distributed in cities, villages and wildlands, and electric energy transmission is realized by taking power lines as carriers. The power line and the high-voltage iron tower are difficult to be prevented from being invaded by foreign matters, the foreign matters easily cause short circuit and cause fire, damage can be caused to power equipment, and even the fire is caused; this requires a large amount of manpower and material resources to inspect and maintain the power line, and therefore accurate detection of the power line is a necessary prerequisite for carrying out work.
To the inventor's knowledge, there are two main ways of detecting the power line:
1. manual detection
Detecting the power line by artificial vision; according to the scheme, detection personnel need to arrive at the power line region to carry out work, so that the detection result is influenced by experience and fatigue degree of the detection personnel to a greater or lesser extent, false detection occurs, and the detection mode is high in human resources and labor cost.
2. Artificial intelligence means
The technical scheme is characterized in that observation instruments are arranged in a power line area by adopting infrared and laser radar means to establish a 3D model for the power line area, equipment needs to be arranged in a specific area in advance, the flexibility is poor, the equipment cost is high, and the detection of a wide area power line cannot be met.
Disclosure of Invention
In order to solve the problems, the disclosure provides a power line detection method and system based on visible light multi-filtering dimensionality, according to power line imaging and distribution rules, video image characteristics are fully exerted to carry out research, and automatic power line detection is achieved.
According to some embodiments, a first aspect of the present disclosure provides a power line detection method based on visible light multi-filtering dimensions, which adopts the following technical solutions:
a power line detection method based on visible light multi-filtering dimensionality comprises the following steps:
acquiring a power line visible light image;
according to the obtained visible light image of the power line and a preset power line detection model, power line characteristics in the image are extracted, and detection of the power line is achieved;
the power line detection model extracts power line image edge features through edge detection, and filters the extracted power line image edge features based on different dimensions to obtain boundary features of the power line images in different directions.
As a further technical limitation, a visible light camera is used to collect the power line visible light image.
As a further technical limitation, the obtained power line visible light image is subjected to image graying processing to obtain a power line visible light grayscale image.
As a further technical limitation, symmetrical edges and step edges are considered in the edge detection process.
As a further technical limitation, the specific process of extracting the power line features in the image is as follows:
constructing a filtering kernel from a plurality of directions by adopting a standardized filter;
calculating a power line image response graph corresponding to each filtering core;
and adjusting a threshold value based on the calculated power line image response graph, carrying out region detection on the power line by combining the threshold value, and extracting the power line characteristics in the image.
Furthermore, in the process of detecting the region of the power line, the potential region of the power line is calculated by constructing a hough transformation model, so that the region detection of the power line is realized.
Furthermore, under the light reflection condition, the power lines are disconnected in the image, and the adjacent disconnected power lines in the image are connected based on a clustering algorithm, so that the extraction of the power line characteristics in the image is realized.
According to some embodiments, a second aspect of the present disclosure provides a power line detection system based on visible light multi-filtering dimensions, which adopts the following technical solutions:
a power line detection system based on visible light multi-filtering dimensions, comprising:
an acquisition module configured to acquire a power line visible light image;
the detection module is configured to extract power line characteristics in the image according to the acquired visible light image of the power line and a preset power line detection model, so as to realize detection of the power line;
the power line detection model extracts power line image edge features through edge detection, and filters the extracted power line image edge features based on different dimensions to obtain boundary features of the power line images in different directions.
According to some embodiments, a third aspect of the present disclosure provides a computer-readable storage medium, which adopts the following technical solutions:
a computer readable storage medium, on which a program is stored, which when executed by a processor, implements the steps in the visible light multi-filtering dimension based power line detection method according to the first aspect of the present disclosure.
According to some embodiments, a fourth aspect of the present disclosure provides an electronic device, which adopts the following technical solutions:
an electronic device includes a memory, a processor, and a program stored on the memory and executable on the processor, and the processor executes the program to implement the steps in the visible light multi-filtering dimension-based power line detection method according to the first aspect of the present disclosure.
Compared with the prior art, the beneficial effect of this disclosure is:
the acquisition of power line images is carried out through the low-cost visible light camera, the filtering processing of the images is carried out on a plurality of dimensions respectively, then the boundary characteristics of the power line in different directions are obtained, the problem of power line image fracture caused by different illumination conditions is further solved by combining hough transformation, and the complete extraction of the power line is realized.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and are not to limit the disclosure.
Fig. 1 is a flowchart of a power line detection method based on visible light multi-filtering dimensions in a first embodiment of the disclosure;
fig. 2 is a power line image filtered in different dimensions in the first embodiment of the disclosure;
fig. 3(a) is a diagram illustrating an effect of power line extraction in an urban complex environment according to a first embodiment of the disclosure;
fig. 3(b) is a diagram illustrating the effect of extracting power lines in an open environment according to a first embodiment of the disclosure;
fig. 3(c) is a diagram of an effect of extracting a power line in a partially occluded environment according to a first embodiment of the present disclosure;
fig. 3(d) is a diagram of power line extraction effect in a dense environment in the first embodiment of the disclosure;
fig. 3(e) is a diagram illustrating the effect of extracting power lines in an environment with foreign objects according to a first embodiment of the disclosure;
fig. 4 is a block diagram of a power line detection system based on visible light multi-filtering dimensions in a second embodiment of the disclosure.
Detailed Description
The present disclosure is further described with reference to the following drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict.
Example one
The embodiment of the disclosure introduces a power line detection method based on visible light multi-filtering dimensionality.
As shown in fig. 1, a power line detection method based on visible light multi-filtering dimensions includes the following steps:
acquiring a power line visible light image;
according to the obtained visible light image of the power line and a preset power line detection model, power line characteristics in the image are extracted, and detection of the power line is achieved;
the power line detection model extracts power line image edge features through edge detection, and filters the extracted power line image edge features based on different dimensions to obtain boundary features of the power line images in different directions.
In one or more embodiments, a popular visible light camera is used in the process of power line visible light image, the image resolution is larger than 640 × 480, and the collection rate is larger than 25 frames/second.
As one or more implementation modes, the power line visible light image is combined with an intelligent algorithm to realize the autonomous detection of the power line.
When the power line is a straight line segment, the power line is represented as continuous pixel points on the visible light image of the power line. The number of pixel points of the power line of the visible light image of the power line on the width layer is limited under the limit of the width of the power line; therefore, the power line detection model is designed using the properties of the symmetric edge and the step edge in the present embodiment.
First, a normalized Gaussian filter f (x) is designed:
F(x)＝G(x)-S(x) (1)
wherein G (x) is a Gaussian filter, S (x) is a regularization term, the function mean is normalized to then 0,
where σ denotes the filter scale, t is a constant, and the corresponding first derivative f (x) is:
at the symmetric edge, the f (x) response reaches a maximum and the response at the step edge is 0. When f (x) is 0, the step edge response reaches a maximum.
The principle of edge detection is to extract pixels in the image that respond more than a certain threshold. Due to the influence of noise, the fixed threshold has poor expandability and has high false alarm and missed detection rates.
The specific process of extracting the power line features in the image is as follows:
1) constructing a filtering kernel from eight directions of {0, pi/8, 2 pi/8, 3 pi/8, 4 pi/8, 5 pi/8, 6 pi/8 and 8 pi/8 } by adopting a standardized Gaussian filter;
2) computing a response Q from corresponding filter kernelsj＝I*FjWherein I represents an input image, QjRepresenting a response result corresponding to the jth filtering kernel; is differentThe dimension-filtered power line image is shown in fig. 2;
3) by using QjAdjusting a threshold value to promote low false alarm rate and missing rate of feature extraction;
TG＝cμG
wherein c is a constant, muGIs QjMean value of the response. T isGFor reference to the threshold, the adjustment is iterated.
Is the local mean of the response M. R is a filter with the size of R multiplied by R. The filtering function is to weaken the interference of noise, and the detection of the area where the power line is located is realized based on the threshold value T.
4) For the power line image in the disordered area, the influence of the ground is removed;
5) aiming at a linear power line image, constructing a hough transformation model rho which is xcos theta + ysin theta, wherein rho is the distance between coordinates x and y, and theta is an included angle between a vertical line and the positive direction of an x axis, and further calculating (rho, theta) to obtain a potential area of the power line image;
6) under the condition of light reflection, the power lines are disconnected in the image, and the adjacent disconnected power lines in the image are connected based on a clustering algorithm (in the embodiment, K-means clustering is adopted), so that the extraction of the characteristics of the power lines in the image is realized.
With the method for detecting power lines based on multiple filtering dimensions of visible light described in this embodiment, the extracted power line extraction effect graphs under different environments are shown in fig. 3(a), fig. 3(b), fig. 3(c), fig. 3(d), and fig. 3(e), respectively.
In the embodiment, the visible light images of the power line are acquired through the visible light camera, so that the method is lower in cost and convenient to use compared with other methods for acquiring data through the power line; filtering the image by adopting 8 dimensions, and highlighting boundary characteristics of power lines in different directions; by adopting hough change, the problem of power line image fracture caused by different illumination conditions is solved, and complete extraction of the power line is realized.
Example two
The second embodiment of the disclosure introduces a power line detection system based on visible light multi-filtering dimensionality.
A power line detection system based on visible light multi-filtering dimension as shown in fig. 4 includes:
an acquisition module configured to acquire a power line visible light image;
the detection module is configured to extract power line characteristics in the image according to the acquired visible light image of the power line and a preset power line detection model, so as to realize detection of the power line;
the power line detection model extracts power line image edge features through edge detection, and filters the extracted power line image edge features based on different dimensions to obtain boundary features of the power line images in different directions.
The detailed steps are the same as those of the power line detection method based on visible light multi-filtering dimensions provided in the first embodiment, and are not described herein again.
EXAMPLE III
The third embodiment of the disclosure provides a computer-readable storage medium.
A computer readable storage medium, on which a program is stored, which when executed by a processor implements the steps in the visible light multi-filtering dimension-based power line detection method according to the first embodiment of the disclosure.
The detailed steps are the same as those of the power line detection method based on visible light multi-filtering dimensions provided in the first embodiment, and are not described herein again.
Example four
The fourth embodiment of the disclosure provides an electronic device.
An electronic device includes a memory, a processor, and a program stored in the memory and executable on the processor, where the processor executes the program to implement the steps in the method for detecting a power line based on multiple filtering dimensions of visible light according to the first embodiment of the present disclosure.
The detailed steps are the same as those of the power line detection method based on visible light multi-filtering dimensions provided in the first embodiment, and are not described herein again.
The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Claims (10)
1. A power line detection method based on visible light multi-filtering dimensionality is characterized by comprising the following steps:
acquiring a power line visible light image;
according to the obtained visible light image of the power line and a preset power line detection model, power line characteristics in the image are extracted, and detection of the power line is achieved;
the power line detection model extracts power line image edge features through edge detection, and filters the extracted power line image edge features based on different dimensions to obtain boundary features of the power line images in different directions.
2. The method for detecting the power line based on the visible light multi-filtering dimension as claimed in claim 1, wherein a visible light camera is adopted to collect the visible light image of the power line.
3. The method for detecting the power line based on the visible light multi-filtering dimension as claimed in claim 1, wherein the obtained power line visible light image is subjected to image graying processing to obtain a power line visible light grayscale image.
4. The method for detecting the power line based on the visible light multi-filtering dimension as claimed in claim 1, wherein symmetrical edges and step edges are considered in the edge detection process.
5. The method for detecting the power line based on the visible light multi-filtering dimension as claimed in claim 1, wherein the specific process for extracting the power line features in the image is as follows:
constructing a filtering kernel from a plurality of directions by adopting a standardized filter;
calculating a power line image response graph corresponding to each filtering core;
and adjusting a threshold value based on the calculated power line image response graph, carrying out region detection on the power line by combining the threshold value, and extracting the power line characteristics in the image.
6. The method for detecting the power line based on the visible light multi-filtering dimension as claimed in claim 5, wherein in the process of detecting the region of the power line, the region detection of the power line is realized by constructing a hough transform model to calculate the potential region of the power line.
7. The method for detecting the power lines based on the visible light multi-filtering dimensions as claimed in claim 5, wherein under a light reflection condition, the power lines are disconnected in the image, and the adjacent disconnected power lines in the image are connected based on a clustering algorithm to realize the extraction of the power line characteristics in the image.
8. A power line detection system based on visible light multi-filtering dimensionality is characterized by comprising:
an acquisition module configured to acquire a power line visible light image;
the detection module is configured to extract power line characteristics in the image according to the acquired visible light image of the power line and a preset power line detection model, so as to realize detection of the power line;
the power line detection model extracts power line image edge features through edge detection, and filters the extracted power line image edge features based on different dimensions to obtain boundary features of the power line images in different directions.
9. A computer-readable storage medium, on which a program is stored, wherein the program, when executed by a processor, implements the steps in the visible light multi-filtering dimension-based power line detection method according to any one of claims 1 to 7.
10. An electronic device comprising a memory, a processor and a program stored in the memory and executable on the processor, wherein the processor implements the steps of the method for detecting power lines based on multiple filtering dimensions of visible light according to any one of claims 1 to 7 when executing the program.
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