基于无人机图像的输电线断股与异物缺陷检测方法.docVIP

基于无人机图像的输电线断股与异物缺陷检测方法 　　摘要：为提高无人机（UAV）巡检输电线路的效率，提出一种基于线结构感知的输电线断股与异物缺陷的检测方法。由于无人机巡检的图像受背景纹理及光线影响较大，采用能检测线宽度的水平与垂直方向的梯度算子提取巡检图像上的线对象，进而研究感知定律中的共线性、近似性、连续性的计算，将断续线段连接成长的线段，通过长线段的平行性计算，识别出输电线路结构中显著的平行导线组。为识别导线上安装的防振锤与间隔棒连接部件，提出一种基于局部轮廓特征的形状部件识别方法。在识别出这些连接部件的基础上，对导线进行分段分析，计算分段导线的宽度变化、灰度相似度来检测导线上的断股与异物缺陷。通过对无人机巡检采集的输电线路图像的测试，验证了这种方法在复杂的背景条件下能有效地检测导线上断股与附着异物缺陷。 　　关键词：导线断股；导线附着异物；感知平行性；局部轮廓特征；缺陷检测 　　中图分类号： TN911.73 　　文献标志码：A 　　Transmission line strand broken and foreign body fault detection method based on UAV image 　　Broken strand and foreign body fault detection method for power transmission line based on unmanned aerial vehicle image 　　WANG Wanguo1，2， ZHANG Jingjing1，2， HAN Jun3*， LIU Liang1，2， ZHU Mingwu3 　　1.Electric Power Robotics Laboratory of State Grid Corporation of China， Shandong Electric Power Research Institute， Jinan Shandong 250002， China 　　； 　　2.Shandong Luneng Intelligence Technology Company Limited， Jinan Shandong 250101， China 　　； 　　3.School of Communication and Information Engineering， Shanghai University， Shanghai 200444， China 　　Abstract： 　　In order to improve the efficiency of power transmission line inspection by Unmanned Aerial Vehicle （UAV）， a new method was proposed for detecting broken transmission lines and defects of foreign body based on the perception of line structure. The transmission line image acquired by UAV was easily influenced by the background texture and light， the gradient operators of horizontal and vertical direction which can be used to detect the line width were used to extract line objects in the inspection image. The study on calculation of gestalt perception of similarity， continuity and colinearity connected the intermittent wires into continuous wires. Then the parallel wire groups were further determined through the calculation of parallel relationship between wires. In order to reduce the detection error rate， spacers and stockbridge dampers of wires were recognized based on a local contour feature. Fin