基于机载红外影像纹理特征的输电线路绝缘子自动定位
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摘要
红外成像法是一种重要的绝缘子缺陷检测方法,但传统的人工诊断方式效率较低,难以满足无人机巡检的数据处理需求。为此提出一种从无人机红外影像中自动识别绝缘子的方法,首先对影像进行拉普拉斯边缘提取,然后遍历穿过影像的直线集,根据沿线的强度直方图探测影像中的周期纹理特征,再通过角度内特征聚类与角度间特征聚类,自动识别红外影像中的绝缘子中心线。选取包含不同背景(植被、农田、杆塔)的无人机红外影像数据集进行实验,该方法识别率在85%以上。结果表明,该方法能有效地从复杂地面背景的无人机红外影像中自动识别并定位绝缘子,为实现机巡作业红外诊断智能化奠定了基础。
Infrared images have been widely used in fault detection of insulators. However, it is difficult to deal with large volumes of images collected by Unmanned Aerial Vehicle(UAV) just using the traditional manual diagnosis way. Consequently, we proposed a novel method to automatically recognize and detect insulators in infrared images collected by UAV. First,the image edges are extracted from infrared image using Laplace operator, then, a histogram of edge density along the lines crossing the image is constructed, periodic textual features are extracted, and the insulators are finally recognized by a two-step clustering method. Infrared images with different backgrounds(plant, farmland, tower) are selected as the test data, and the recognition rate by our method is over 85%. Experiments show that our method can automatically recognize insulators from the UAV infrared images with a complex background, and can be further applied for intelligent infrared diagnosis using UAV.
Infrared images have been widely used in fault detection of insulators. However, it is difficult to deal with large volumes of images collected by Unmanned Aerial Vehicle(UAV) just using the traditional manual diagnosis way. Consequently, we proposed a novel method to automatically recognize and detect insulators in infrared images collected by UAV. First,the image edges are extracted from infrared image using Laplace operator, then, a histogram of edge density along the lines crossing the image is constructed, periodic textual features are extracted, and the insulators are finally recognized by a two-step clustering method. Infrared images with different backgrounds(plant, farmland, tower) are selected as the test data, and the recognition rate by our method is over 85%. Experiments show that our method can automatically recognize insulators from the UAV infrared images with a complex background, and can be further applied for intelligent infrared diagnosis using UAV.
引文
[1]彭向阳,钟清,饶章权,等.基于无人机紫外检测的输电线路电晕放电缺陷智能诊断技术[J].高电压技术,2014,40(8):2292-2298.PENG Xiangyang, ZHONG Qing, RAO Zhangquan, et al. IntelligentdiagnostictechniquesoftransmissionlinescoronadischargedefectbasedonUAVultravioletdetection[J].HighVoltageEngineering,2014, 40(8):2292-2298.
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[9]姚建刚,付鹏,李唐兵,等.基于红外图像的绝缘子串自动提取和状态识别[J].湖南大学学报:自然科学版,2015,42(2):74-80.YAOJiangang, FUPeng,LITangbing,etal. Algorithmresearch ofautomatically extracting the area of insulator from infrared image andstate identification[J]. Journal of Hunan University:Natural Sciences,2015, 42(2):74-80.
[10]黄宵宁,张真良.直升机巡检航拍图像中绝缘子图像的提取算法[J].电网技术,2010,34(1):194-197.HUANG Xiaoning, ZHANG Zhenliang. A method to extract insulatorimage from aerial image of helicopter patrol[J]. Power System Tech-nology, 2010, 34(1):194-197.
[11]李卫国,叶高生,黄锋,等.基于改进MPEG-7纹理特征的绝缘子图像识别[J].高压电器,2010,46(10):65-68.LI Weiguo, YE Gaosheng, HUANG Feng, et al. Recognition of insu-latorbasedonrevelopedMPEG-7texturefeature[J].HighVoltageApparatus, 2010, 46(10):65-68.
[12]仲莉恩,冯辉,隋立林.一种利用边缘方向直方图检测绝缘子的方法[J].电气技术,2010(1):22-25.ZHONG Lien, FENG Hui, SUI Lilin. An insulator detection methodusing edge orientation histogram[J]. Electrical Engineering Magazine,2010(1):22-25.
[13]赵振兵,金思新,刘亚春.基于NSCT的航拍绝缘子图像边缘提取方法[J].仪器仪表学报,2012,33(9):2045-2052.ZHAO Zhenbing, JIN Sixin, LIU Yachun. Aerial insulator image edgeextractionmethodbasedonNSCT[J].ChineseJournalofScientificInstrument, 2012, 33(9):2045-2052.
[14]李俊山,朱英宏,朱艺娟,等.红外与可见光图像自相似性特征的描述与匹配[J].激光与红外,2013,43(3):339-343.LIJunshan,ZHUYinghong,ZHUYijuan,etal.Descriptionandmatching of self-similarities for IR and visual images[J]. Laser&In-frared, 2013, 43(3):339-343.
[15]黄新波,李菊清,张烨,等.复杂环境下覆冰绝缘子识别检测技术[J].高电压技术,2017,43(3):891-899.HUANG Xinbo, LI Juqing, ZHANG Ye, et al. Recognition and detec-tiontechnologyofice-coveredinsulatorsundercomplexenvironment[J]. High Voltage Engineering, 2017, 43(3):891-899.
[16]PRATT W K. Digital image processing[J]. Wiley&Sons, 1991, 3(12):1199-1202.
[2]林韩,林朝辉,汤明文,等.电力输电线路无人直升机巡视的应用[J].华东电力,2011(10):1657-1660.LINHan,LINChaohui,TANGMingwen,etal.Applicationofun-mannedhelicopterpatroltopowertransmissionline[J].EastChinaElectric Power, 2011(10):1657-1660.
[3]彭向阳,陈驰,饶章权,等.基于无人机多传感器数据采集的电力线路安全巡检及智能诊断[J].高电压技术,2015,41(1):159-166.PENG Xiangyang, CHEN Chi, RAO Zhangquan, et al. Safety inspec-tion and intelligent diagnosis of transmission line based on unmannedhelicopterofsensordataacquisition[J].HighVoltageEngineering,2015, 41(1):159-166.
[4]彭向阳,钱金菊,吴功平,等.架空输电线路机器人全自主巡检系统及示范应用[J].高电压技术,2017,43(8):2582-2591.PENG Xiagnyang, QIAN Jinju, WU Gongping, et al. Full automaticinspection system and its demonstration application based on robot foroverhead transmission lines[J]. High Voltage Engineering, 2017, 43(8):2582-2591.
[5]张少成,徐耀良,杨宁,等.基于最大熵和Hough变换的绝缘子图像提取算法[J].华东电力,2012(4):595-598.ZHANG Shaocheng, XU Yaoliang, YANG Ning, et al. Algorithm forinsulatorimageextractionbasedonmaximumentropyandHoughtransform[J]. East China Electric Power, 2012(4):595-598.
[6]徐耀良,张少成,杨宁,等.航拍图像中绝缘子的提取算法[J].上海电力学院学报,2011,27(5):515-518.XU Yaoliang, ZHANG Shaocheng, YANG Ning, et al. An algorithm toextractinsulatorimagefromaerialimage[J].JournalofShanghaiUniversity of Electric Power, 2011, 27(5):515-518.
[7]方挺,董冲,胡兴柳,等.航拍图像中绝缘子串的轮廓提取和故障检测[J].上海交通大学学报,2013,47(12):1818-1822.FANG Ting, DONG Chong, HU Xingliu, et al. Contour extraction andfaultdetectionofinsulatorstringsinaerialimages[J].JournalofShanghai Jiaotong University, 2013, 47(12):1818-1822.
[8]陈芳,姚建刚,李佐胜,等.绝缘子串红外图像中单个绝缘子盘面的提取方法[J].电网技术,2010,34(5):220-224.CHEN Fang, YAO Jiangang, LI Zuosheng, et al. The method to extractshed surface image of a single insulator from infrared image of a insu-lator string[J]. Power System Technology, 2010, 34(5):220-224.
[9]姚建刚,付鹏,李唐兵,等.基于红外图像的绝缘子串自动提取和状态识别[J].湖南大学学报:自然科学版,2015,42(2):74-80.YAOJiangang, FUPeng,LITangbing,etal. Algorithmresearch ofautomatically extracting the area of insulator from infrared image andstate identification[J]. Journal of Hunan University:Natural Sciences,2015, 42(2):74-80.
[10]黄宵宁,张真良.直升机巡检航拍图像中绝缘子图像的提取算法[J].电网技术,2010,34(1):194-197.HUANG Xiaoning, ZHANG Zhenliang. A method to extract insulatorimage from aerial image of helicopter patrol[J]. Power System Tech-nology, 2010, 34(1):194-197.
[11]李卫国,叶高生,黄锋,等.基于改进MPEG-7纹理特征的绝缘子图像识别[J].高压电器,2010,46(10):65-68.LI Weiguo, YE Gaosheng, HUANG Feng, et al. Recognition of insu-latorbasedonrevelopedMPEG-7texturefeature[J].HighVoltageApparatus, 2010, 46(10):65-68.
[12]仲莉恩,冯辉,隋立林.一种利用边缘方向直方图检测绝缘子的方法[J].电气技术,2010(1):22-25.ZHONG Lien, FENG Hui, SUI Lilin. An insulator detection methodusing edge orientation histogram[J]. Electrical Engineering Magazine,2010(1):22-25.
[13]赵振兵,金思新,刘亚春.基于NSCT的航拍绝缘子图像边缘提取方法[J].仪器仪表学报,2012,33(9):2045-2052.ZHAO Zhenbing, JIN Sixin, LIU Yachun. Aerial insulator image edgeextractionmethodbasedonNSCT[J].ChineseJournalofScientificInstrument, 2012, 33(9):2045-2052.
[14]李俊山,朱英宏,朱艺娟,等.红外与可见光图像自相似性特征的描述与匹配[J].激光与红外,2013,43(3):339-343.LIJunshan,ZHUYinghong,ZHUYijuan,etal.Descriptionandmatching of self-similarities for IR and visual images[J]. Laser&In-frared, 2013, 43(3):339-343.
[15]黄新波,李菊清,张烨,等.复杂环境下覆冰绝缘子识别检测技术[J].高电压技术,2017,43(3):891-899.HUANG Xinbo, LI Juqing, ZHANG Ye, et al. Recognition and detec-tiontechnologyofice-coveredinsulatorsundercomplexenvironment[J]. High Voltage Engineering, 2017, 43(3):891-899.
[16]PRATT W K. Digital image processing[J]. Wiley&Sons, 1991, 3(12):1199-1202.