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Cable position determination method and system based on adaptive vector transformation

A determination method and self-adaptive technology, applied in image data processing, instruments, calculations, etc., can solve the problem of cable positioning, difficulty in accurately positioning cables, etc., and achieve the effect of precise positioning

Pending Publication Date: 2021-07-30
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In order to solve the above problems, maintenance robots are now used for operations. However, one of the urgent problems to be solved by the distribution network live working robot is the positioning of cables, especially in complex environments, such as strong light, trees and Under interference such as cable crossing, it is particularly difficult to accurately locate the cable

Method used

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  • Cable position determination method and system based on adaptive vector transformation
  • Cable position determination method and system based on adaptive vector transformation
  • Cable position determination method and system based on adaptive vector transformation

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Experimental program
Comparison scheme
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Embodiment 1

[0044] A method for determining cable position based on adaptive vector transformation proposed by the present invention, such as Figure 1-4 shown, including the following steps:

[0045] Step 1: Collect the color images of the cables separately through the dual cameras.

[0046] Specifically: fix the two cameras to ensure that their relative positions will not move, and take a large number of cable pictures through the two cameras.

[0047] Step 2, extracting the cable outlines in each image respectively according to the color images collected by the two cameras.

[0048]Make deep learning samples from a large number of pictures taken. The neural network is trained through the produced samples, the maximum number of training times is 800,000, the initial learning rate is 0.01, the training error is less than 0.1, and finally the weight of the training model is obtained. This part of the neural network training is the prior art, and the cable outlines captured by the two c...

Embodiment 2

[0064] A cable position determination system based on adaptive vector transformation is also provided, comprising:

[0065] Image acquisition module:

[0066] Used to separately capture color images of the cable through dual cameras;

[0067] Cable profile extraction module:

[0068] Used to extract the cable profile from the collected color image;

[0069] Filter the extracted cable profile;

[0070] Cable position determination module: used to obtain the adaptive vector transformation diagram of the multi-section cable contour through adaptive vectorized segment scanning of the filtered cable contour, and obtain the centerline point set of the cable contour according to the adaptive vector transformation diagram;

[0071] Obtain the points with the same name in the images collected by the two cameras according to the centerline point set of the cable outline;

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Abstract

The invention discloses a cable position determination method based on adaptive vector transformation. The cable position determination method comprises the following steps: respectively acquiring color images of a cable through double cameras; extracting a cable contour according to the acquired color image; filtering the extracted cable contour; performing adaptive vectorization segmented scanning on the filtered cable contour to obtain an adaptive vector transformation diagram of multiple segments of cable contours, and obtaining a cable contour centerline point set according to the adaptive vector transformation diagram; obtaining homonymy points in the images collected by the two cameras according to the cable contour midline point set; and acquiring three-dimensional coordinates of the cable according to the homonymy points.

Description

technical field [0001] The invention belongs to the technical field of power grid control, and in particular relates to a method and system for determining cable positions based on adaptive vector transformation. Background technique [0002] The high-voltage power grid is an important carrier and tool for power transmission in today's society, especially in the ultra-high voltage transmission line with a voltage of 500KV. The 500KV ultra-high voltage line transmission has two main advantages: the line involved in power transmission is long And transmission power capacity is large. Therefore, the safety and reliability of ultra-high voltage transmission lines in line transmission has received considerable attention. As we all know, the high-voltage line material is a bare metal wire, which has been exposed to the natural environment. Over the years, it has suffered various damages. If it is not repaired in time and various faults on the high-voltage line are eliminated, it ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/73G06T7/12G06T7/66G06T7/00
CPCG06T7/73G06T7/12G06T7/66G06T7/0004G06T2207/10004G06T2207/10024G06T2207/30172G06T2207/30108
Inventor 李开宇朱鹏飞李瑾
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS