Unmanned aerial vehicle vision wire patrol method based on gradient constraint Radon transform

Abstract

The invention discloses an unmanned aerial vehicle vision wire patrol method based on gradient constraint Radon transform. The method comprises the following steps: 1) obtaining a high-voltage line image to be processed by utilizing an unmanned aerial vehicle image acquisition device and converting the obtained degraded image into a grayscale image F; 2) carrying out edge extraction on the grayscale image F to obtain an edge image F'; 3) carrying out gradient calculation on the edge image F' to obtain gradient magnitude Gk; 4) setting eight direction pixel points of the kth pixels in the edge image F' being ki, wherein i=0,1,...,7, and when the gradient magnitudes Gk of the adjacent two pixels ki are same, grouping the pixels to the same line support region; 5) for the line support region obtained in the step 4), carrying out fitting to obtain a straight line according with conditions, and carrying out follow-up processing on the fit straight line through mathematical morphology; and 6) detecting a power transmission line through Radon transform according to the fitting result obtained in the step 5). The method realizes detection accuracy of the power transmission line in the image, removes redundant edge information and improves accuracy of power transmission line identification.

Description

technical field [0001] The invention belongs to the technical field of image processing, and in particular relates to an unmanned aerial vehicle visual wire inspection method based on gradient constrained Radon transformation. Background technique [0002] At present, the main methods of long-distance power transmission and distribution in my country are high-voltage and ultra-high-voltage overhead transmission lines. Under the action, it will produce local fatigue damage and cause partial strand breakage. If the transmission line with broken strand defect is not repaired and replaced in time, it will not only increase the power loss of the transmission line and cause power waste, but in severe cases, it will cause the wire to break, which directly threatens the safety of human life; and the transmission line usually passes through hills, mountains and bad Geological areas, etc., sometimes need to cross large rivers, lakes and straits. Therefore, my country's existing low-eff...

AI Technical Summary

Problems solved by technology

Due to the complexity of the environment around the high-voltage transmission line and the harsh imaging conditions, the edge of the high-voltage transmission line in the image is not very obvious. In addition to the complexity of the environment, the extracted edge information is not very accurate, and it also contains a lot of redundancy. The remaining edge information brings great difficulties to subsequent judgment and identification

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