CN115237159B - Wire inspection method adopting unmanned aerial vehicle - Google Patents
Wire inspection method adopting unmanned aerial vehicle Download PDFInfo
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Abstract
The application relates to the field of data processing, in particular to an electric wire inspection method adopting an unmanned plane, which comprises the steps of obtaining an image containing an electric wire; obtaining a Hough space corresponding to the image containing the electric wires according to the image containing the electric wires; obtaining a straight line ideal value corresponding to the highlight point in the Hough space according to the obtained corresponding Hough space, obtaining the necessity that two highlight points in the current Hough space need to judge the intersection of the straight lines according to the straight line ideal value corresponding to the highlight point in the Hough space, obtaining a final unmanned aerial vehicle flight angle according to the necessity that whether the judging straight lines intersect, and completing unmanned aerial vehicle angle adjustment. The scheme of the application can be used for inspecting the electric wire based on the Hough space, so that the electric wire inspection is prevented from being missed, and further the electric wire inspection is realized.
Description
Technical Field
The application relates to the field of data processing, in particular to an electric wire inspection method adopting an unmanned plane.
Background
In the wire inspection, the wire is misplaced and complicated, so that the wire is missed. When the electric wire is missed to be inspected, if the electric wire is aged, the electric wire can be short-circuited, a light person affects the normal use of a user, and a heavy person generates fire to cause a safety accident, so that the electric wire is very necessary to be comprehensively inspected.
When the unmanned aerial vehicle is adopted to carry out electric wire inspection, the existing unmanned aerial vehicle can only carry out electric wire image acquisition in the fixed direction according to the electric wire track, but the electric wire is possibly overlapped and shielded, so that the unmanned aerial vehicle is easy to leak inspection when carrying out electric wire inspection, and therefore the shooting angle needs to be adjusted in the unmanned aerial vehicle inspection so as to prevent the condition of leak inspection when inspecting the electric wire.
Disclosure of Invention
In order to solve the technical problems, the application aims to provide an electric wire inspection method adopting an unmanned aerial vehicle, which adopts the following technical scheme:
the application discloses a wire inspection method adopting an unmanned aerial vehicle, which comprises the following steps of:
step one, acquiring an image containing the electric wire acquired during the inspection of the electric wire of the unmanned aerial vehicle, and acquiring a binary image containing the electric wire acquired during the inspection of the electric wire of the unmanned aerial vehicle;
step two, obtaining a Hough space corresponding to the image containing the electric wires according to the binary image containing the electric wires; obtaining a linear ideal value corresponding to the highlight point in the Hough space according to the Hough space;
thirdly, obtaining the necessity of judging the intersection of the straight lines between any two highlight points in the Hough space according to the ideal value of the straight line corresponding to the highlight point in the Hough space;
step four, obtaining a final unmanned aerial vehicle flight angle according to the necessity of judging whether the two highlight corresponding straight lines intersect or not, and finishing unmanned aerial vehicle angle adjustment;
the process of obtaining the necessity of straight line intersection is as follows:
acquiring an angle value and a distance value of any two highlight points in a Hough space;
obtaining the possibility that the highlight points are wires according to the ideal straight line values corresponding to the highlight points, and calculating the necessity that any two highlight points are intersected with corresponding straight lines according to the possibility, the angle value and the distance value;
according to the necessity that whether any two highlight points in the current Hough space correspond to straight lines or not are intersected, the process of obtaining the final unmanned aerial vehicle flight angle is as follows: establishing a completely undirected graph, taking each highlight point in the Hough space as a vertex, and taking the necessity of the calculated intersection between two highlight points as a connecting line weight between the two vertices to obtain a graph structure of the completely undirected graph; performing two classification on the obtained completely undirected graph by adopting a spectral clustering algorithm, further solving the average value edge weight value in the two categories, screening the category with the high edge weight value, and then calculating the intersection distance value between all the high-bright points in the category with the Gao Bianquan value; and selecting the shortest distance value of the intersection distance values among all the highlight points in the Gao Bianquan value category, acquiring the corresponding intersection point position coordinate of the shortest distance value in the binary image, and adjusting the flight angle of the unmanned aerial vehicle according to the intersection point coordinate.
Further, the necessity of the straight line intersection is:
wherein ,indicating the possibility that the kth highlight is currently an electric wire,/>Indicating the possibility that the nth highlight point is currently an electric wire,/>The angle value and the distance value between the kth highlight points in the Hough space are respectively +.>The angle value and the distance value between the nth highlight points in the Hough space are respectively,xand acquiring a length value of an image corresponding to the image resolution for the current adding module.
Further, before obtaining the hough space corresponding to the wire image, the method further comprises the step of dividing the wire image acquired during inspection of the unmanned aerial vehicle wire to obtain a binary image containing the wire.
Further, the process of obtaining the ideal value of the straight line corresponding to the highlight point in the hough space is as follows:
counting points with a median value larger than or equal to a threshold value r in a Hough space to be used as highlight points in the Hough space;
randomly selecting a highlight point, and counting the ratio of the number of ideal pixels of the highlight point in the binary image to the value corresponding to the highlight point in the current Hough space to be used as the ideal linear value corresponding to the highlight point in the Hough space.
Further, before obtaining the hough space corresponding to the wire image, the method further comprises the step of dividing the wire image acquired during inspection of the unmanned aerial vehicle wire to obtain a binary image containing the wire.
The application has the beneficial effects that:
according to the scheme, after the image containing the electric wires is acquired, the necessity of judging intersection between two highlight points can be obtained by obtaining the highlight point characteristics of the image containing the electric wires in the Hough space, so that the calculated amount is reduced, the time delay is reduced when the steering condition is required, extra redundant unmanned aerial vehicle adjustment time is provided, and the unmanned aerial vehicle is prevented from colliding with the electric wires; when the necessity of calculating intersection is obtained, the situation that the final intersection point of the two high-brightness points corresponding to the straight lines is too far is prevented from occurring, so that the position of the intersection point of the two final straight lines is stable; and then unmanned steering is carried out according to the intersection point position, so that the current missed detection of the wire inspection is prevented, and the wire inspection is further realized.
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In order to more clearly illustrate the embodiments of the application or the technical solutions and advantages of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are only some embodiments of the application, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flow chart of steps of a method for inspecting an electric wire using an unmanned aerial vehicle according to the present application.
Detailed Description
In order to further describe the technical means and effects adopted by the present application for achieving the preset purpose, the following detailed description of the specific embodiments, structures, features and effects thereof according to the present application is given with reference to the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" means that the embodiments are not necessarily the same. Furthermore, the particular features, structures, or characteristics of one or more embodiments may be combined in any suitable manner.
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 application belongs.
Specifically, the present application provides a method for inspecting an electric wire by using an unmanned aerial vehicle, please refer to fig. 1, which includes the following steps:
step one, acquiring an image containing the electric wire acquired during the inspection of the electric wire of the unmanned aerial vehicle, and acquiring a binary image containing the electric wire acquired during the inspection of the electric wire of the unmanned aerial vehicle;
step two, obtaining a Hough space corresponding to the image containing the electric wires according to the binary image containing the electric wires; obtaining a linear ideal value corresponding to the highlight point in the Hough space according to the Hough space;
thirdly, obtaining the necessity of judging the intersection of the straight lines between any two highlight points in the Hough space according to the ideal value of the straight line corresponding to the highlight point in the Hough space;
and step four, obtaining a final unmanned aerial vehicle flight angle according to the necessity of judging whether the two highlighting corresponding straight lines intersect or not, and completing unmanned aerial vehicle angle adjustment.
In the embodiment, an image containing an electric wire is acquired through an unmanned aerial vehicle camera module; specifically, because the unmanned aerial vehicle is in the flight, can obtain the electric wire image by camera module shooting. And acquiring an image containing the electric wires according to the unmanned aerial vehicle to obtain a binary image corresponding to the electric wires.
In this embodiment, when obtaining the wire image, in order to facilitate analysis of the wire, the image needs to be segmented to obtain an image segmentation result with the wire, and a binary image of the wire image is obtained.
Because the background change is large and the electric wires are more disturbed finely in the shooting process of no one, the image segmentation effect by the existing Ojin threshold segmentation method is not good when the electric wires are segmented, and the segmented image still has larger noise interference after segmentation, so that the segmented image needs to be analyzed later.
In this embodiment, a Hough algorithm is performed on the binary image to obtain a Hough space corresponding to the binary image of the electric wire.
In this embodiment, after the Hough space is obtained, the electric wires in the collected image are found by the highlight points in the Hough space, but because the background of the photographed image is complex when the unmanned aerial vehicle patrols and examines the electric wires, the noise of the segmented binary image is more, so that more highlight points formed by non-electric wires exist in the Hough space, and further the judgment of whether the straight line corresponding to the highlight points is the electric wires is affected. Therefore, when the intersection judgment is performed on the electric wires, the problem of excessive calculation amount is caused due to excessive bright spots in the Hough space.
The threshold r is set, a value with relatively large brightness in the hough space is selected, if the brightness value in the hough space is smaller than the threshold r, the value is considered to be a highlight generated by noise, and if the brightness value is larger than or equal to r, the possibility that an electric wire is generated by the highlight is considered to be high.
And obtaining K points with brightness values larger than or equal to a threshold value r in the Hough space, and obtaining K highlight points. If the kth high-bright point in the K high-bright points is an electric wire, and the condition of sudden interruption of the electric wire is not considered in the inspection process of the electric wire, the imaging result of the electric wire necessarily penetrates through the whole acquired image when the electric wire is imaged.
The k-th highlight point is obtained, and the ratio between the number of ideal pixel points in the binary image corresponding to the straight line and the brightness value of the k-th highlight point in the current Hough space is obtained, wherein the current k-th brightness value is the statistical value of the number of pixel points of the straight line formed by the corresponding straight line in the wire binary image.
Wherein the number of ideal pixel points of the straight line corresponding to the kth highlight point in the binary image is used for obtaining the angle value corresponding to the kth highlight point in the Hough spaceAnd distance value->And then pass the angle value->And distance value->Obtaining a straight line corresponding to the kth highlight point by a conversion formula of the Hough space, generating a mask image which is equal to the electric wire binary image in size for the straight line, wherein the mask image only contains a mask corresponding to the straight line, and counting the sum of all pixel point values in the mask image>Indicating that the line should have +.>A pixel point, and the brightness value of the current kth highlight point is +.>Representing that in actual case the wire binary image has only +.>And a pixel point.
When (when)And->The smaller the difference is, the closer the straight line corresponding to the kth highlight point is to the ideal straight line, and since the electric wire is in the image and there is a condition of penetrating the whole image, when +>And->The smaller the difference, the more likely the straight line corresponding to the kth highlight is a straight line, which is the greater the likelihood of belonging to the electric wire when the intersection calculation of the electric wire is performed.
When judging whether the two straight lines intersect, knowing the angle values of the two straight lines in the Hough spaceAnd distance value->And obtaining the slope of the straight line corresponding to the kth highlight and the distance value between the straight line corresponding to the kth highlight and the coordinate origin of the binary image through the existing Hough formula and slope formula.
So if the angle value between two highlights is knownAnd distance value->The intersection point coordinates between two highlight points corresponding to the straight lines can be calculated through the existing Hough inverse operation formula and trigonometric function formula, and the distance value L between the intersection point coordinates and the origin point coordinates in the image at the intersection position of the two straight lines and the origin point in the binary image is obtained.
However, since there are many highlight points in the hough space, the calculation amount is too large. And some data may approach infinity as a result of the distance value L being found approximately parallel.
Therefore, a completely undirected graph is established, each highlight point in the Hough space is taken as a vertex, and the necessity of calculating the intersection between two highlight points is taken as the connecting line weight between the two vertices. Therefore, through establishing a graph structure, partial highlight points can be conveniently screened out, and the phenomenon that the distance value L is very large when L is calculated is prevented.
The necessity of calculating intersection between the kth highlight point and any other highlight point (such as the nth highlight point) is as follows:
wherein ,representing the current likelihood that the kth highlight point is a wire, if the likelihood that the kth highlight point is a wire is higher, the computed intersection necessity of the kth highlight point should be higher, the +.>The larger the value of (2) is, the closer to 1 is, so the minimum value between the kth highlight and the nth highlight is taken for +.>Is calculated by the computer.
Since the solution of the equation is complex and time-consuming, and the phenomenon of near infinity distance can occur, the angle value between two highlight points in the Hough space is calculatedAnd distance value->And part of highlight points are removed, so that the calculated amount is reduced.
If two straight lines intersect, there will be a difference in angle value, but if the angle difference is small, the two straight lines will be close to parallel, the necessity of intersection calculation will be lower, and the probability of the flight angle of the camera will need to be adjusted is lower. I.e.The smaller the value of (c) is, the more parallel the two curves are, and the less necessary the intersection calculation is. It is required to map it negatively so that +.>The smaller exp (- | +|)>I) the larger the necessity of intersection computation +.>The larger.
If the angle difference is large, the greater the likelihood of intersection, the more the camera's angle of flight needs to be adjusted. But if the two highlights correspond to a distance valueIf the distance between the two images is too large, the two images are considered to be relatively long, and the necessity is also considered to be highThe position of the intersection is reduced because the calculation result is not significant because the distance value corresponding to the area range represented on the binary image between the two straight lines is too far. So according to the distance value corresponding to the two highlights +.>And the image length x difference, representing the approximate location of the intersection by prediction. And x is the length value of the image corresponding to the resolution of the image acquired by the current adding module, and represents the forward looking direction of the unmanned aerial vehicle. I.e. if->If the value is greater than 0, it is simply considered that even if L is calculated, L is not in the image, meaning that calculation is not significant, so L is a factor of +.>Make a 0-1 function sgn, that is sgn +.>Representation->Above 0 sgn->Is 1 whenAt 0 or less sgn->Is 0.
So thatThe larger the value of (c) is, the higher the necessity of calculating the intersection between the kth highlight and the nth highlight is, and the more the flying angle of the camera needs to be adjusted.
And further carrying out two classification on the obtained completely undirected graph by adopting a spectral clustering algorithm, further solving the average value edge weight value in the two categories, screening the category with the high edge weight value, and then calculating the intersection distance value L between all the high-brightness points in the category with the Gao Bianquan value. However, the condition that the intersection point is not on the binary image can be obtained, and the flight angle judgment of the unmanned aerial vehicle is not affected.
And selecting the shortest distance value of the intersection distance value L between all the highlight points in the Gao Bianquan value category, acquiring the corresponding intersection point position coordinate of the shortest distance value in the binary image, and adjusting the flight angle of the unmanned aerial vehicle according to the intersection point coordinate. And if the unmanned aerial vehicle needs to be adjusted, the unmanned aerial vehicle flight angle is left or right inclination, and the unmanned aerial vehicle flight shooting is carried out.
In the oblique shooting process, according to the intersection point position calculated in real time, the left or right inclination angle value of the unmanned aerial vehicle is adjusted, if the abscissa and x in the intersection point position coordinate distance are too small, the electric wire intersection point distance is relatively close to an unmanned aerial vehicle, larger inclination is needed, namely, the unmanned aerial vehicle is continuously inclined through the flight angle of the unmanned aerial vehicle, so that the difference value between the abscissa and x in the intersection point position coordinate distance is not smaller than a distance threshold range, and the fact that the intersecting electric wire does not influence the inspection result when the image is acquired is ensured.
Where the distance threshold range is xr=50, and the practitioner can adjust according to the specific implementation requirements. When the distance threshold range is determined to be xr, calibration between a camera coordinate system and a world coordinate system is needed, so that the distance range in reality can be converted into an xr value in an image, wherein the left-right tilting speed is a fixed value, and when tilting is needed, the unmanned aerial vehicle is not advanced for safety until the intersection point is controlled to be within a certain range, or the intersection point does not exist in the image.
The relation between the inclination value of the unmanned aerial vehicle flight angle and the intersection point position can be obtained through experiments by an implementer, and then the relation table between the inclination value of the unmanned aerial vehicle flight angle and the intersection point position is obtained, and the inclination of the unmanned aerial vehicle flight angle is completed through searching the relation table after the intersection point position is obtained each time. It should be noted that, in the specific implementation, the table of the relationship between the inclination value of the unmanned aerial vehicle flight angle and the intersection point position is inconsistent between different devices.
The above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (2)
1. The wire inspection method adopting the unmanned aerial vehicle is characterized by comprising the following steps of:
step one, acquiring an image containing an electric wire acquired during unmanned aerial vehicle electric wire inspection, wherein the image containing the electric wire is shot by a camera module to obtain a binary image containing the electric wire acquired during unmanned aerial vehicle electric wire inspection;
step two, obtaining a Hough space corresponding to the image containing the electric wires according to the binary image containing the electric wires; obtaining a linear ideal value corresponding to the highlight point in the Hough space according to the Hough space;
thirdly, obtaining the necessity of judging the intersection of the straight lines between any two highlight points in the current Hough space according to the ideal value of the straight line corresponding to the highlight point in the Hough space;
step four, according to the necessity of judging whether the two highlight corresponding straight lines intersect, obtaining the final unmanned aerial vehicle flight angle, and completing the real-time adjustment of the unmanned aerial vehicle angle;
the process of obtaining the ideal value of the straight line corresponding to the highlight point in the Hough space is as follows:
counting points with brightness values larger than or equal to a threshold value r in the Hough space to be used as highlight points in the Hough space;
randomly selecting a highlight point, and counting the ratio of the number of ideal pixel points of the highlight point in a binary image to the value corresponding to the highlight point in the current Hough space to be used as a linear ideal value corresponding to the highlight point in the Hough space;
the process of obtaining the necessity of straight line intersection is as follows:
acquiring an angle value and a distance value of any two highlight points in a Hough space; obtaining the possibility that the highlight point is an electric wire according to the ideal value of the straight line corresponding to the highlight point, and calculating the necessity that any two highlight points are intersected corresponding to the straight line according to the possibility, the angle value and the distance value, wherein the calculation formula is as follows:
wherein ,indicating the possibility that the kth highlight is currently an electric wire,/>Indicating the possibility that the nth highlight point is currently an electric wire,/>The angle value and the distance value between the kth highlight points in the Hough space are respectively +.>Respectively an angle value and a distance value between the nth highlight points in the Hough space, wherein x is a length value of an image corresponding to the resolution of the acquired image of the current camera module;
according to the necessity of whether any two highlight points corresponding to straight lines intersect in the current Hough space, the process of obtaining the final unmanned aerial vehicle flight angle is as follows: establishing a completely undirected graph, taking each highlight point in the Hough space as a vertex, and taking the necessity of the calculated intersection between two highlight points as a connecting line weight between the two vertices to obtain a graph structure of the completely undirected graph; performing two classification on the obtained completely undirected graph by adopting a spectral clustering algorithm, further solving the average value edge weight value in the two categories, screening the category with the high edge weight value, and then calculating the intersection distance value between all the high-bright points in the category with the Gao Bianquan value; and selecting the shortest distance value of the intersection distance values among all the highlight points in the Gao Bianquan value category, acquiring the corresponding intersection point position coordinate of the shortest distance value in the binary image, and adjusting the flight angle of the unmanned aerial vehicle in real time according to the intersection point coordinate.
2. The method for inspecting electric wires by using an unmanned aerial vehicle according to claim 1, wherein the method further comprises dividing an electric wire image acquired during inspection of the electric wires by the unmanned aerial vehicle to obtain a binary image containing the electric wires before obtaining the hough space corresponding to the electric wire image.
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