A method and system for detecting the crimping quality of transmission line hardware

Abstract

The present application relates to the field of image data processing technology, and in particular to a method and system for detecting the crimping quality of power transmission line hardware. The method includes: obtaining an initial X-ray image of a tension clamp to be detected located on a transmission line, and performing a connected domain detection on the initial X-ray image to obtain multiple connected domains; for a target connected domain among the multiple connected domains, determining the complexity value of the target connected domain; determining the gamma value of the target connected domain according to the complexity value of the target connected domain, and using the gamma value to perform a gamma transform on the target connected domain to obtain a target X-ray image after gamma transforming all connected domains; using the target X-ray image, inspecting the crimping quality of the tension clamp to be detected. Through the above technical solution, a more accurate crimping quality detection result for the tension clamp can be obtained.

Description

Technical Field

[0001] The present application relates to the technical field of image data processing, and in particular to a method and system for detecting the crimping quality of power transmission line hardware. Background Art

[0002] Strain clamps are one of the important hardware in transmission lines. They are mainly used to fix and suspend conductors, and play a role in maintaining the tension of conductors and preventing conductor slippage in transmission lines. Strain clamps are usually installed at turning points, terminal towers and straight towers of transmission lines to ensure the stability and safety of transmission lines.

[0003] Under the action of long-term conductor tension, the crimping tube or the clamp body of the tension clamp may undergo plastic deformation, thereby changing the shape or size of the crimping tube or the clamp body, reducing the crimping effect on the conductor and posing a threat to the safety of the transmission line.

[0004] In order to detect the crimping effect of the tension wire clamp, in the relevant technology, for example, in the Chinese patent application document with publication number CN115963122A, an X-ray detection device suitable for wire clamp defect detection is provided, including: a small flat-panel detector, a separate X-ray machine and a control cabinet, the small flat-panel detector and the separate X-ray machine are respectively arranged on opposite sides of the wire clamp, the separate X-ray machine emits X-rays to penetrate the wire clamp, and the small flat-panel detector receives the X-rays to form an X-ray image of the wire clamp; an X-ray machine controller, a battery and a wireless router are arranged in the control cabinet, the battery is used to centrally power the X-ray detection device, the X-ray machine controller is used to control the X-ray machine, the wireless router is connected to the small flat-panel detector and the detector processing terminal, and the wire clamp X-ray image is transmitted from the small flat-panel detector to the detector processing terminal, and the detector processing terminal processes the wire clamp X-ray image and determines whether the wire clamp has defects.

[0005] When using X-ray images to determine whether a strain clamp has defects, the features of the clamp in the X-ray images may not be obvious, making it difficult to obtain a relatively accurate crimping quality inspection result for the strain clamp. Summary of the invention

[0006] In order to overcome the problem in the related art that it is difficult to obtain relatively accurate crimping quality detection results for tension clamps, the present application provides a method and system for detecting the crimping quality of power transmission line hardware.

[0007] According to a first aspect of an embodiment of the present application, a method for detecting the crimping quality of power transmission line hardware is provided, comprising: obtaining an initial X-ray image of a tension clamp to be detected located on a transmission line, and performing a connected domain detection on the initial X-ray image to obtain a plurality of connected domains; for a target connected domain among the plurality of connected domains, determining a complexity value of the target connected domain, wherein the complexity value is at least used to characterize the complexity of the grayscale values ​​of pixels in the target connected domain; determining a gamma value of the target connected domain according to the complexity value of the target connected domain, and performing a gamma transform on the target connected domain using the gamma value to obtain a target X-ray image after gamma transforming all connected domains; using the target X-ray image, inspecting the crimping quality of the tension clamp to be detected; wherein the gamma value of the target connected domain is This is determined by: In the case of ;exist In the case of , exp is an exponential function with a natural constant as base, is the gray value with the largest frequency in the target connected domain, is the average value of the gray values ​​in the target connected domain except the gray value with the largest frequency, is the complexity value of the target connected domain, To take the absolute value.

[0008] In this way, an initial X-ray image of the tension clamp to be inspected located on the transmission line is obtained, and the gamma value of the pixel points in the connected domain is determined according to the complexity value of the connected domain in the initial X-ray image; different gamma values ​​can be used for gamma transform processing for connected domains with different characteristics. In the target X-ray image obtained after the gamma transform processing, the characteristics of the tension clamp are more obvious. Therefore, using the target X-ray image for crimping quality detection can obtain a more accurate detection result of the crimping quality.

[0009] Optionally, the complexity value of the target connected domain is determined by: , where F is the complexity value of the target connected domain; is the parameter value of the initial X-ray image, which is used to characterize the difference in the grayscale values ​​of the pixels in the initial X-ray image. norm is the normalization function. n is the number of pixels in the target connected domain. c is the contrast value of the target connected domain. is the preset value.

[0010] In this way, by considering the number of pixels in the target connected domain or the contrast value of the target connected domain, the complexity value of the target connected domain is determined, and the complexity value of the target connected domain can better characterize the complexity of the pixels in the target connected domain.

[0011] Optionally, the parameter values ​​of the initial X-ray image are determined by: , where L is the parameter value of the initial X-ray image, is the minimum grayscale difference between any two adjacent peaks in the grayscale histogram of the initial X-ray image, is the maximum grayscale difference between any two adjacent peaks in the grayscale histogram of the initial X-ray image, M is the number of connected domains in the initial light image, is the variance of the grayscale values ​​of the pixels in the i-th connected domain in the initial X-ray image.

[0012] In this way, by comparing the minimum of the grayscale differences between any two adjacent peaks in the grayscale histogram of the initial X-ray image with the maximum of the grayscale differences between any two adjacent peaks in the grayscale histogram of the initial X-ray image, and combining the number of connected domains in the initial light image, and the variance of the grayscale values ​​of the pixels in the same connected domain in the initial X-ray image, the parameter value of the initial X-ray image obtained can better characterize the difficulty of using the initial X-ray image to determine whether there is an undervoltage defect in the tension clamp.

[0013] Optionally, the parameter values ​​of the initial X-ray image are determined by: , where L is the parameter value of the initial X-ray image, is the minimum grayscale difference between any two adjacent peaks in the grayscale histogram of the initial X-ray image, is the maximum grayscale difference between any two adjacent peaks in the grayscale histogram of the initial X-ray image, and T is the variance of the grayscale values ​​of all pixels in the initial X-ray image.

[0014] Optionally, the target connected domain is gamma-transformed using the gamma value, including: taking any pixel point in the target connected domain as the target pixel point, and the pixel value of the target pixel point after the gamma transformation ,in, is the pixel value of the target pixel before gamma transformation, is the gamma value of the target connected domain.

[0015] In this way, since the gamma value of the gamma transform of the target connected domain is determined according to the actual situation of the target connected domain, the gamma value is used to process the pixel points in the target connected domain. After gamma processing of all connected domains in the initial X-ray image, the contrast between the pixel points in the connected domain can be improved. Therefore, using the connected domain after gamma processing, it is easier to distinguish between different parts of the centering tension clamp.

[0016] Optionally, the crimping quality of the strain clamp to be inspected is inspected using the target X-ray image, including: obtaining a reference X-ray image corresponding to the strain clamp to be inspected, and comparing the target X-ray image with the reference X-ray image to determine the crimping quality inspection result of the strain clamp to be inspected based on the comparison result.

[0017] Optionally, the X-ray image of the tension clamp to be inspected is acquired in the following manner: controlling the first unmanned aerial vehicle to fix the X-ray image acquisition device to the transmission line where the tension clamp to be inspected is located, and controlling the first driving component of the X-ray image acquisition device to move so that the X-ray image acquisition device moves to the position where the tension clamp to be inspected is located; when the X-ray image acquisition device moves to the position where the tension clamp to be inspected is located, controlling the second driving component of the X-ray image acquisition device to move so that the X-ray imaging plate and the X-ray emitter of the X-ray image acquisition device are located on different sides of the tension clamp to be inspected; acquiring the X-ray image of the tension clamp to be inspected by the X-ray image acquisition device.

[0018] In this way, the X-ray image acquisition device is moved to the vicinity of the tension clamp to be tested by a drone, and through the cooperation between the different components of the X-ray image acquisition device itself, the X-ray image of the tension clamp to be tested can be acquired. The machine replaces the operator to acquire the X-ray image through high-altitude operations, ensuring the safety of the operator.

[0019] Optionally, the X-ray image of the tension clamp to be inspected is obtained in the following manner: controlling the second UAV to move the X-ray imaging plate to one side of the tension clamp to be inspected; controlling the third UAV to move the X-ray transmitter to the other side of the tension clamp to be inspected, and obtaining the X-ray image of the tension clamp to be inspected by the X-ray imaging device carried by the third UAV.

[0020] Optionally, a Faraday cage is provided outside the X-ray imaging device, the second drone is connected to the X-ray imaging plate via an insulating rope, and the third drone is connected to the X-ray transmitter via an insulating rope.

[0021] According to a second aspect of an embodiment of the present application, a system for detecting the crimping quality of power transmission line fittings is provided, comprising: a processor and a memory, wherein the memory stores computer program instructions, and when the computer program instructions are executed by the processor, the steps of the method for detecting the crimping quality of power transmission line fittings provided in the first aspect of the present application are implemented.

[0022] The technical solution provided by the embodiments of the present application may include the following beneficial effects: obtaining an initial X-ray image of the tension clamp to be inspected located on the transmission line, and determining the gamma value of the pixel points in the connected domain according to the complexity value of the connected domain in the initial X-ray image; different gamma values ​​can be used for gamma transform processing for connected domains with different characteristics, and in the target X-ray image obtained after the gamma transform processing, the characteristics of the tension clamp are more obvious. Therefore, using the target X-ray image to perform crimping quality inspection can obtain more accurate inspection results for the crimping quality.

[0023] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0025] Figure 1 It is a flow chart of a method for detecting the crimping quality of power transmission line hardware according to an exemplary embodiment;

[0026] Figure 2 is a schematic diagram of an X-ray image of a tension clamp with understress;

[0027] Figure 3 yes Figure 2 A partial schematic diagram of an X-ray image of a tension clamp with undervoltage;

[0028] Figure 4 The present invention is a schematic structural diagram of a transmission line hardware crimping quality detection system according to an exemplary embodiment. DETAILED DESCRIPTION

[0029] Here, exemplary embodiments are described in detail, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application.

[0030] First, the application scenario of the embodiment of the present application is briefly introduced. In the application scenario of the present application, in order to detect the crimping defects of the tension clamp and avoid the derailment of the transmission line due to insufficient crimping capacity of the tension clamp, the X-ray image of the tension clamp can be used to detect the crimping quality of the tension clamp.

[0031] However, in the X-ray image of the tension clamp, the features of the tension clamp may not be obvious. For example, due to the low contrast between different parts of the tension clamp in the X-ray image, different parts of the tension clamp may be misjudged as the same part, resulting in inaccurate detection results of the crimping quality of the tension clamp.

[0032] In view of the above technical problems, the embodiments of the present application provide a method and system for detecting the crimping quality of power transmission line hardware, which can be applied to terminal equipment for detecting the crimping quality of tension clamps in power transmission lines. Figure 1 is a flow chart of a method for detecting the crimping quality of power transmission line hardware according to an exemplary embodiment. Figure 1 As shown, the method includes the following steps.

[0033] In step S101, an initial X-ray image of a tension clamp to be inspected located on a power transmission line is acquired, and a connected domain detection is performed on the initial X-ray image to obtain a plurality of connected domains.

[0034] X-ray imaging equipment can be used to collect X-ray images of the tension clamps to be tested on the transmission line. Since the main component of the tension clamp is metal, compared with the surface image of the tension clamp, the X-ray image of the tension clamp can better reflect the possible defects inside the tension clamp, thereby obtaining a more accurate detection result of the crimping quality of the tension clamp.

[0035] In one embodiment, an X-ray image of a tension clamp to be inspected is acquired in the following manner: controlling a first unmanned aerial vehicle to fix an X-ray image acquisition device to a transmission line where the tension clamp to be inspected is located, and controlling a first driving component of the X-ray image acquisition device to move so that the X-ray image acquisition device moves to the position where the tension clamp to be inspected is located; when the X-ray image acquisition device moves to the position where the tension clamp to be inspected is located, controlling a second driving component of the X-ray image acquisition device to move so that an X-ray imaging plate and an X-ray emitter of the X-ray image acquisition device are located on different sides of the tension clamp to be inspected; acquiring an X-ray image of the tension clamp to be inspected by the X-ray image acquisition device.

[0036] The terminal device, the UAV and any two devices among the X-ray image acquisition device are communicatively connected, data transmission can be realized between the terminal device, the UAV and any two devices among the X-ray image acquisition device, and the terminal device can send control instructions to the UAV or the X-ray image acquisition device to realize the control of the UAV or the X-ray image acquisition device by the terminal device.

[0037] The first UAV can be connected to the X-ray image acquisition device via an insulating suspension rope to realize the aerial movement of the X-ray image acquisition device. By adjusting the position of the first UAV, the relative position of the X-ray image acquisition device with respect to the transmission line where the tension clamp to be detected is located can be changed; when it is determined that the X-ray image acquisition device falls on the transmission line where the tension clamp to be detected is located in a specified direction, the X-ray image acquisition device can be fixed to the transmission line by a grabbing component.

[0038] The first driving component of the X-ray image acquisition device can be used to realize the movement of the X-ray image acquisition device along the wire, thereby realizing the movement of the X-ray image acquisition device along the wire direction through the first driving component.

[0039] When the X-ray image acquisition device moves to the position where the tension clamp to be inspected is located, the X-ray image acquisition device can utilize the movement of the second driving component to make the X-ray imaging plate and the X-ray emitter of the X-ray image acquisition device be located on different sides of the tension clamp to be inspected. For example, the second driving component can control the rotation or extension of the X-ray imaging plate through movement, so as to achieve the acquisition of the X-ray image of the tension clamp to be inspected through the cooperation of the X-ray imaging plate and the X-ray emitter.

[0040] In this way, the X-ray image acquisition device is moved to the vicinity of the tension clamp to be tested by a drone, and through the cooperation between the different components of the X-ray image acquisition device itself, the X-ray image of the tension clamp to be tested can be acquired. The machine replaces the operator to acquire the X-ray image through high-altitude operations, ensuring the safety of the operator.

[0041] In one embodiment, an X-ray image of the tension clamp to be inspected is obtained by: controlling the second UAV to move the X-ray imaging plate to one side of the tension clamp to be inspected; controlling the third UAV to move the X-ray transmitter to the other side of the tension clamp to be inspected, and obtaining an X-ray image of the tension clamp to be inspected by the X-ray imaging device carried by the third UAV.

[0042] Through the cooperation of the X-ray imaging plate and the X-ray transmitter, the X-ray imaging device can acquire the X-ray image of the tension clamp to be inspected. Since the X-ray imaging device and the X-ray transmitter are carried by the third UAV, compared with the X-ray image acquisition device adjusting its body position, the third UAV has a wider range of position adjustment in the air and can more easily adjust the X-ray image acquisition device to a position suitable for acquiring X-ray images.

[0043] Furthermore, by separating the X-ray imaging plate and the X-ray transmitter and carrying them separately by different drones, the same drone needs to carry less weight, which can reduce the difficulty of the drone to adjust the position of the weight it carries, thereby reducing the load requirements for a single drone.

[0044] In this way, by having the second drone carry the X-ray imaging plate and the third drone carry the X-ray transmitter, not only can the weight of a single drone be reduced, but also a more flexible adjustment of the position relationship of the X-ray imaging plate and the X-ray transmitter can be achieved, thereby obtaining a more accurate X-ray image of the tension clamp to be inspected.

[0045] In one embodiment, a Faraday cage is disposed outside the X-ray imaging device, the second drone is connected to the X-ray imaging plate via an insulating rope, and the third drone is connected to the X-ray transmitter via an insulating rope.

[0046] A Faraday cage is a closed or semi-closed structure made of conductive material. It can block interference from external electromagnetic fields (such as radio waves, microwaves, and electromagnetic pulses) or prevent leakage of internal electromagnetic fields. When external electromagnetic waves encounter the Faraday cage, due to the conductive material's response to the electromagnetic field, the electromagnetic waves will cause a redistribution of charges on the conductive surface. These charges will form a closed current inside the conductive material, thereby generating an electric field inside the conductive material that is opposite to the external electromagnetic waves, offsetting the impact of the external electromagnetic waves.

[0047] By setting up a Faraday cage outside the X-ray imaging device, the external electromagnetic interference that may exist near the transmission line can be effectively shielded to ensure the stable operation and image quality of the imaging device. The Faraday cage can also prevent the X-ray imaging device from malfunctioning or data corruption by preventing the X-ray imaging device from being affected by the electromagnetic field generated by the high-voltage line.

[0048] The second UAV is connected to the X-ray imaging plate through an insulating rope, and the third UAV is connected to the X-ray transmitter through an insulating rope, which can prevent the current from being directly transmitted to the UAV and reduce the threat of power transmission lines to the UAV.

[0049] In humid or rainy environments, the use of insulating ropes can also prevent short circuits that may be caused by water vapor, ensuring the safe operation of drones, X-ray imaging equipment, and X-ray transmitters.

[0050] The insulating rope can also absorb some vibrations, reduce the direct impact of the drone on the X-ray imaging equipment and X-ray transmitter during flight, and improve the stability of the X-ray image. Through the traction of the insulating rope, the position of the X-ray imaging plate and the X-ray transmitter can be controlled more accurately, thereby ensuring the imaging quality of the X-ray image of the tension clamp to be inspected.

[0051] In step S102, for a target connected domain among multiple connected domains, a complexity value of the target connected domain is determined.

[0052] The target connected domain may be any one of the multiple connected domains, and the complexity value is at least used to characterize the complexity of the grayscale values ​​of the pixels in the target connected domain; the larger the complexity value of the target connected domain is, the greater the complexity of the grayscale values ​​of the pixels in the target connected domain is.

[0053] The tension clamp includes a clamp body, crimping tubes, bolts, nuts, washers and seals. The clamp body is the main part of the tension clamp, usually made of metal (such as aluminum, copper or alloy), and is used to wrap and fix the wire; the crimping tube is used to directly contact the wire and apply pressure to ensure a good electrical connection between the wire and the clamp; bolts and nuts are used to fasten the various parts of the clamp together to ensure that the clamp can be firmly fixed on the wire; washers and seals are used to ensure the sealing of the clamp, prevent the intrusion of moisture and corrosive substances, and protect the wire.

[0054] When using X-ray images to detect the crimping quality of tension clamps, the clamp body and the crimping tube may be misjudged as the same area, affecting the detection results of the crimping quality of the tension clamp; for example, a tension clamp with underpressure may be misjudged as a tension clamp without underpressure, thereby failing to replace the tension clamp with underpressure; or, a tension clamp with severe underpressure may be misjudged as a tension clamp with slight underpressure.

[0055] By determining the complexity value of the target connected domain, it is helpful to discover the different components of the tension clamp that may exist in the connected domain, and to distinguish between the different components of the tension clamp in the same connected domain, so as to more accurately detect the crimping defects of the tension clamp.

[0056] In one embodiment, the complexity value of the target connected domain is determined by: , where F is the complexity value of the target connected domain; is the parameter value of the initial X-ray image, which is used to characterize the difference in the grayscale values ​​of the pixels in the initial X-ray image. norm is the normalization function. n is the number of pixels in the target connected domain. c is the contrast value of the target connected domain. is the preset value.

[0057] The degree of difference in the grayscale values ​​of pixels in the initial X-ray image can reflect the overall complexity of the X-ray image; the larger the parameter value of the initial X-ray image, the higher the overall complexity of the X-ray image; conversely, the smaller the parameter value of the initial X-ray image, the lower the overall complexity of the X-ray image; wherein the parameter value of the initial X-ray image is between 0 and 1.

[0058] The larger the parameter value of the initial X-ray image, the more likely it is that the grayscale value of the pixel points in the connected domain in the initial X-ray image is more complex; the more the number of pixel points in the target connected domain is, the more diverse components of the tension clamp can be included in the target connected domain.

[0059] Figure 2 is a schematic diagram of an X-ray image of a tension clamp with undervoltage in an embodiment of the present application, Figure 2 The aluminum tube in the steel anchor groove of the tension clamp shown in the figure is under-pressurized. Figure 3 For Figure 2 A partial enlarged view of the left part of the middle tension clamp. Figure 3 The characteristics of the voids at the bottom of the aluminum tube, Figure 3 The voids at the top of the aluminum tube are more difficult to detect. Figure 2 When performing connected domain detection, due to Figure 2 The characteristics of the gap at the top of the aluminum tube shown in the figure are difficult to detect, and part or all of the gap may be divided into the same connected domain as the aluminum tube or the steel anchor, affecting the judgment of whether the tension clamp is under-pressurized or the degree of under-pressurization.

[0060] Here, the parameter value of the initial X-ray image is taken as the base, and the parameter value of the initial X-ray image is in the range of 0 to 1. In the calculation formula of the complexity value, the exponential term of the parameter value of the initial X-ray image is determined according to the inverse of the exponential function with a natural constant as the base, so that in the calculation formula of the complexity value, the exponential term for the exponential operation of the parameter value of the initial X-ray image is in the range of 0 to 1.

[0061] In the calculation formula of the complexity value, when an exponential operation is performed on a base term in the range of 0 to 1 using an exponential term in the range of 0 to 1, the larger the number of pixels in the target connected domain or the contrast value of the target connected domain, the smaller the exponential term in the range of 0 to 1 in the calculation formula of the complexity value, and the larger the value of the exponential operation result obtained by performing the exponential operation on the base term in the range of 0 to 1. Therefore, the larger the number of pixels in the target connected domain or the contrast value of the target connected domain, the larger the complexity value of the target connected domain.

[0062] In this way, by considering the number of pixels in the target connected domain or the contrast value of the target connected domain, the complexity value of the target connected domain is determined, and the complexity value of the target connected domain can better characterize the complexity of the pixels in the target connected domain.

[0063] The contrast value of the target connected domain can be obtained through the range, standard deviation, root mean square contrast and Michelson contrast of the grayscale values ​​of the pixels in the target connected domain. For example, the Michelson contrast of the target connected domain can be determined by the following methods: determining the difference between the maximum grayscale value and the minimum grayscale value of the pixels in the target connected domain; determining the sum of the maximum grayscale value and the minimum grayscale value of the pixels in the target connected domain; and taking the ratio of the difference to the sum as the Michelson contrast of the target connected domain.

[0064] In one embodiment, the parameter values ​​of the initial X-ray image are determined by: , where L is the parameter value of the initial X-ray image, is the minimum grayscale difference between any two adjacent peaks in the grayscale histogram of the initial X-ray image, is the maximum grayscale difference between any two adjacent peaks in the grayscale histogram of the initial X-ray image, M is the number of connected domains in the initial light image, is the variance of the grayscale values ​​of the pixels in the i-th connected domain in the initial X-ray image.

[0065] The parameter value of the initial X-ray image can characterize the difficulty of directly using the initial X-ray image to determine whether there is an undervoltage defect in the tension clamp; the larger the parameter value of the initial X-ray image, the higher the difficulty of directly using the initial X-ray image to determine whether there is an undervoltage defect in the tension clamp; on the contrary, the smaller the parameter value of the initial X-ray image, the lower the difficulty of directly using the initial X-ray image to determine whether there is an undervoltage defect in the tension clamp.

[0066] By dividing the smallest grayscale difference between any two adjacent peaks in the grayscale histogram of the initial X-ray image by the largest grayscale difference between any two adjacent peaks in the grayscale histogram of the initial X-ray image, it is possible to eliminate the possible influence of the grayscale value range in the initial X-ray image on the calculation result and reflect the degree of difference in grayscale values ​​of pixels in the initial X-ray image.

[0067] The smaller the ratio between the minimum of the grayscale differences between any two adjacent peaks in the grayscale histogram of the initial X-ray image and the maximum of the grayscale differences between any two adjacent peaks in the grayscale histogram of the initial X-ray image, the greater the variation amplitude of the grayscale difference between any two adjacent peaks in the grayscale histogram of the initial X-ray image, the more obvious the difference between the pixel points corresponding to different parts of the tension clamp in the initial X-ray image, and the lower the difficulty of identifying the initial X-ray image.

[0068] The variance of the grayscale values ​​of the pixels in the connected domain can reflect the degree of difference in the grayscale values ​​of the pixels in the connected domain. The larger the variance of the grayscale values ​​of the pixels in the same connected domain, the easier it is to identify the different components of the corresponding tension clamp in the same connected domain. Therefore, the difficulty of determining whether there is an undervoltage defect in the tension clamp using the initial X-ray image where the connected domain is located is lower.

[0069] In this way, by comparing the minimum of the grayscale differences between any two adjacent peaks in the grayscale histogram of the initial X-ray image with the maximum of the grayscale differences between any two adjacent peaks in the grayscale histogram of the initial X-ray image, and combining the number of connected domains in the initial light image, and the variance of the grayscale values ​​of the pixels in the same connected domain in the initial X-ray image, the parameter value of the initial X-ray image obtained can better characterize the difficulty of using the initial X-ray image to determine whether there is an undervoltage defect in the tension clamp.

[0070] In one embodiment, the parameter values ​​of the initial X-ray image are determined by: , where L is the parameter value of the initial X-ray image, is the minimum grayscale difference between any two adjacent peaks in the grayscale histogram of the initial X-ray image, is the maximum grayscale difference between any two adjacent peaks in the grayscale histogram of the initial X-ray image, and T is the variance of the grayscale values ​​of all pixels in the initial X-ray image.

[0071] is the variance of the grayscale values ​​of all pixels in the initial X-ray image, which can characterize the overall difference in the grayscale values ​​of the pixels in the initial X-ray image. The larger the variance of the grayscale values ​​of all pixels in the initial X-ray image, the easier it is to identify the different components of the corresponding tension clamp in the initial X-ray image. Therefore, the easier it is to use the initial X-ray image to determine whether there is an undervoltage defect in the tension clamp.

[0072] By comparing the minimum grayscale difference between any two adjacent peaks in the grayscale histogram of the initial X-ray image with the maximum grayscale difference between any two adjacent peaks in the grayscale histogram of the initial X-ray image, the difference in adjacent grayscale peaks of the initial X-ray image can be characterized so as to determine the parameter value of the initial X-ray image.

[0073] In this way, the parameter value of the initial X-ray image is determined in combination with the variance of the grayscale values ​​of all pixels in the initial X-ray image. The obtained parameter value can better characterize the difficulty of using the initial X-ray image to determine whether there is an undervoltage defect in the tension clamp.

[0074] In step S103, the gamma value of the target connected domain is determined according to the complexity value of the target connected domain, and the gamma value is used to perform a gamma transformation on the target connected domain to obtain a target X-ray image after gamma transformation of all connected domains.

[0075] In order to facilitate targeted gamma transformation of connected domains in the initial X-ray image, different gamma values ​​can be used for gamma transformation for connected domains with different characteristics. After gamma transformation of the connected domains, the contrast between the connected domains can be improved, so as to distinguish the pixel points of different components belonging to the tension clamp, and avoid misjudgment of the crimping quality of the tension clamp.

[0076] Among them, the gamma value of the target connected domain This is determined by: In the case of ;exist In the case of , exp is an exponential function with a natural constant as base, is the gray value with the largest frequency in the target connected domain, is the average value of the gray values ​​in the target connected domain except the gray value with the largest frequency, is the complexity value of the target connected domain, To take the absolute value.

[0077] By comparing the gray value with the highest frequency in the target connected domain with the average value of other gray values ​​except the gray value with the highest frequency in the target connected domain, the gamma value of the target connected domain can be adaptively determined according to the actual situation of the target connected domain, so as to perform gamma transformation on the target connected domain with a more matching gamma value.

[0078] For example, if the gray value with the highest frequency in the target connected domain is greater than or equal to the average of the other gray values ​​in the target connected domain except the gray value with the highest frequency, it means that the dominant pixel in the target connected domain has a higher brightness and the overall brightness of the target connected domain is brighter. By determining a gamma value less than 1 for the target connected domain, it helps to compress the dynamic range of the dominant bright area in the target connected domain, making the gray distribution of the target connected domain more uniform.

[0079] On the contrary, if the gray value with the highest frequency in the target connected domain is smaller than the average value of other gray values ​​except the gray value with the highest frequency in the target connected domain, it means that the brightness of the dominant pixel in the target connected domain is smaller, and the overall brightness of the target connected domain is darker. By determining a gamma value greater than 1 for the target connected domain, it is helpful to enhance the contrast of the non-dominant bright area in the target connected domain, so that after the target connected domain is gamma transformed, it is easier to distinguish different components of the tension clamp in the target connected domain after the gamma transformation.

[0080] If the average value of gray values ​​other than the gray value with the highest frequency in the target connected domain is larger, the gray value of the non-dominant pixel in the target connected domain is larger, and the probability that the pixels in the target connected domain are evenly distributed is greater, a gamma value closer to 1 can be used to avoid over-enhancing or over-weakening the contrast of the target connected domain, thereby maintaining the naturalness of the image details and colors of the target connected domain.

[0081] Since the closer the gamma value is to 1, the less the contrast adjustment of the target connected domain is, the gamma value of the target connected domain is In the calculation formula, whether in The situation is still situation, The larger the value of is, the closer the gamma value of the target connected domain can be to 1. Therefore, it is helpful to reduce the adjustment amount of the contrast of the target connected domain when the overall target connected domain is brighter.

[0082] The larger the complexity value of the target connected domain, the higher the difference between the grayscale values ​​of the pixels in the target connected domain, and the easier it is to distinguish the different components of the tension clamp in the target connected domain. Therefore, the larger the complexity value of the target connected domain, the closer the gamma value to 1 can be assigned to the target connected domain, thereby reducing the amount of adjustment for the contrast of the target connected domain.

[0083] In this way, according to the complexity value of the target connected domain, the gray value with the highest frequency in the target connected domain, and the average value of other gray values ​​in the target connected domain except the gray value with the highest frequency, the gamma value of the target connected domain can be adaptively determined so that the gamma value can match the actual situation of the target connected domain, which helps to distinguish between different components of the tension clamp in the target connected domain after the gamma change.

[0084] In one embodiment, the target connected domain is gamma-transformed using the gamma value, including: taking any pixel point in the target connected domain as the target pixel point, and the pixel value of the target pixel point after the gamma transformation ,in, is the pixel value of the target pixel before gamma transformation, is the gamma value of the target connected domain.

[0085] when When it is less than 1, the gamma transform will enhance the brightness of pixels with low gray values ​​in the connected domain and compress the brightness range of pixels with high gray values ​​in the connected domain, thereby improving the contrast of the darker parts in the connected domain and making the details contained in the darker parts in the connected domain clearer.

[0086] when When it is greater than 1, the gamma transform will enhance the brightness of pixels with high grayscale values ​​in the connected domain and compress the brightness range of pixels with low grayscale values ​​in the connected domain, thereby improving the contrast of the brighter parts in the connected domain and making the details of the brighter parts in the connected domain more prominent.

[0087] In this way, since the gamma value of the gamma transform of the target connected domain is determined according to the actual situation of the target connected domain, the gamma value is used to process the pixel points in the target connected domain. After gamma processing of all connected domains in the initial X-ray image, the contrast between the pixel points in the connected domain can be improved. Therefore, using the connected domain after gamma processing, it is easier to distinguish between different parts of the centering tension clamp.

[0088] In step S104, the crimping quality of the strain clamp to be inspected is inspected using the target X-ray image.

[0089] As the use time of the strain clamp to be tested increases, the connection between the components of the strain clamp to be tested may become loose or even crack, resulting in under-pressure in the crimping of the strain clamp to be tested. This can be manifested in the X-ray image of the strain clamp as a difference from the X-ray image when the crimping quality of the strain clamp is qualified. Since the contrast between different components of the strain clamp is improved in the target X-ray image, the target X-ray image can be used to more accurately obtain the test result of the crimping quality of the strain clamp to be tested.

[0090] In one embodiment, the crimping quality of the strain clamp to be inspected is inspected using a target X-ray image, including: obtaining a reference X-ray image corresponding to the strain clamp to be inspected, and comparing the target X-ray image with the reference X-ray image to determine the crimping quality inspection result of the strain clamp to be inspected based on the comparison result.

[0091] In order to provide a reference for the crimping quality inspection of the tension clamp to be inspected, so as to determine whether there is any abnormality in the crimping quality of the tension clamp to be inspected, the reference X-ray image corresponding to the tension clamp to be inspected can be an X-ray image of the tension clamp to be inspected when it has passed the inspection during the installation stage, or it can be an X-ray image of other tension clamps of the same type as the tension clamp to be inspected that have passed the inspection.

[0092] By comparing the target X-ray image with the reference X-ray image, it can be determined whether there is a difference between the target X-ray image and the reference X-ray image; when there is no abnormality in the tension clamp, the target X-ray image and the reference X-ray image are usually consistent. Therefore, when there is a difference between the target X-ray image and the reference X-ray image, the abnormal part of the tension clamp can be determined based on the part where there is a difference between the target X-ray image and the reference X-ray image, thereby determining the crimping defect of the tension clamp.

[0093] For example, if there is a difference between the target X-ray image and the reference X-ray image at the aluminum tube of the steel anchor groove of the tension clamp, it means that there is an underpressure defect at the aluminum tube at the steel anchor groove.

[0094] The comparison between the target X-ray image and the reference X-ray image can utilize feature matching, place the two images in the same direction and then perform a subtraction operation between the images, or compare them through a pre-trained image comparison model. Those skilled in the art can make adaptive choices based on actual needs, which will not be elaborated here.

[0095] In one embodiment, the target X-ray image can be input into a pre-trained crimping quality detection model to obtain the area where the crimping defects are located output by the crimping quality detection model; wherein the crimping quality detection model is trained using the X-ray image of the tension clamp and the mask image corresponding to the X-ray image, and the pixel values ​​of the other pixels in the mask image except for the pixels where the crimping defects exist are 0.

[0096] For example, an X-ray image of a tension clamp sample can be obtained, and the pixel points where the crimping defects exist in the X-ray image are located can be marked, and the pixel values ​​of other pixel points in the X-ray image except the pixel points with crimping defects can be marked as 0 to obtain a mask image corresponding to the X-ray image; the X-ray image of the tension clamp sample is used as the input of a pre-constructed network model, and the mask image corresponding to the X-ray image is used as the output of the network model, so that the network model can be trained and the trained network model can be used as a crimping quality detection model.

[0097] In this way, the target X-ray image is detected using the pre-trained crimping quality detection model. Since the features of the strain clamp in the target X-ray image are more obvious, the crimping quality model can output more accurate crimping quality detection results for the strain clamp.

[0098] Through the transmission line hardware crimping quality detection method provided in the embodiment of the present application, an initial X-ray image of the strain clamp to be detected located on the transmission line is obtained, and the gamma value of the pixel points in the connected domain is determined according to the complexity value of the connected domain in the initial X-ray image; different gamma values ​​can be used for gamma transform processing for connected domains with different characteristics. In the target X-ray image obtained after the gamma transform processing, the characteristics of the strain clamp are more obvious. Therefore, using the target X-ray image for crimping quality detection can obtain a more accurate detection result of the crimping quality.

[0099] Figure 4 FIG. 1 is a schematic diagram of a transmission line hardware crimping quality detection system 1000 according to an exemplary embodiment. Figure 4 The transmission line hardware crimping quality detection system 1000 includes: a processor 1100 and a memory 1200, wherein the memory 1200 stores computer program instructions, and when the computer program instructions are executed by the processor 1100, all or part of the steps of the transmission line hardware crimping quality detection method in the present application are implemented.

[0100] It should be understood that the features of some embodiments of the various applications described herein may be combined with each other, unless specifically stated otherwise.

[0101] Although terms such as "first", "second", and "third" may be used herein to describe various components, parts, regions, layers, or sections, these components, parts, regions, layers, or sections are not limited to these terms. Instead, these terms are only used to distinguish one component, part, region, layer, or section from another component, part, region, layer, or section. Therefore, without departing from the teachings of the examples described herein, the first component, part, region, layer, or section mentioned in the examples may also be referred to as the second component, part, region, layer, or section.

[0102] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description herein, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0103] In addition, the word "exemplary" is used herein to mean serving as an example, instance, or diagram. Any aspect or design described herein as "exemplary" is not necessarily to be understood as being advantageous over other aspects or designs. Instead, the use of the word exemplary is intended to present concepts in a concrete manner. As used herein, the term "or" is intended to mean an inclusive "or" rather than an exclusive "or".

[0104] Likewise, although the present application has been shown and described with respect to one or more implementations, equivalent variations and modifications will occur to those skilled in the art upon reading and understanding this specification and the accompanying drawings. With particular regard to the various functions performed by the components (e.g., elements, resources, etc.) described above, unless otherwise noted, the terms used to describe such components are intended to correspond to any component (functionally equivalent) that performs the specific functions of the described components, even if not structurally equivalent to the disclosed structures.

[0105] Additionally, while particular features of the present application may have been disclosed with respect to only one of several implementations, such features may be combined with one or more other features of other implementations as may be desired and advantageous for any given or particular application.

[0106] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary technical means in the art that are not disclosed in the present application, and the specification and embodiments are only considered as exemplary.

[0107] It should be understood that the present application is not limited to the exact construction that has been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof.

Claims

1. A method for detecting the crimping quality of power transmission line hardware, characterized in that: include: Acquire an initial X-ray image of the tension clamp to be detected on the transmission line, and perform connected domain detection on the initial X-ray image to obtain multiple connected domains; For a target connected domain among multiple connected domains, a complexity value of the target connected domain is determined, which is at least used to characterize the complexity of the grayscale values ​​of the pixels in the target connected domain, and is determined in the following manner: , where F is the complexity value of the target connected domain; is the parameter value of the initial X-ray image, which is used to characterize the difference in the grayscale values ​​of the pixels in the initial X-ray image. norm is the normalization function. n is the number of pixels in the target connected domain. c is the contrast value of the target connected domain. is the preset value; There are two ways to calculate the parameter values ​​of the initial X-ray image, one of which is: , where L is the parameter value of the initial X-ray image, is the minimum grayscale difference between any two adjacent peaks in the grayscale histogram of the initial X-ray image, is the maximum grayscale difference between any two adjacent peaks in the grayscale histogram of the initial X-ray image, M is the number of connected domains in the initial light image, is the variance of the grayscale values ​​of the pixels in the i-th connected domain in the initial X-ray image; According to the complexity value of the target connected domain, the gamma value of the target connected domain is determined, and the gamma value is used to perform gamma transformation on the target connected domain to obtain the target X-ray image after the gamma transformation of all connected domains; Use the target X-ray image to inspect the crimping quality of the tension clamp to be tested; Among them, the gamma value of the target connected domain This is determined by: exist In the case of ;exist In the case of , exp is an exponential function with a natural constant as base, is the gray value with the largest frequency in the target connected domain, is the average value of the gray values ​​in the target connected domain except the gray value with the largest frequency, is the complexity value of the target connected domain, To take the absolute value.

2. The method for detecting the crimping quality of power transmission line hardware according to claim 1, characterized in that: The parameter values ​​of the initial X-ray image can also be determined in the following way: , where L is the parameter value of the initial X-ray image, is the minimum grayscale difference between any two adjacent peaks in the grayscale histogram of the initial X-ray image, is the maximum grayscale difference between any two adjacent peaks in the grayscale histogram of the initial X-ray image, and T is the variance of the grayscale values ​​of all pixels in the initial X-ray image.

3. The method for detecting the crimping quality of power transmission line hardware according to claim 1, characterized in that: The gamma value is used to perform gamma transformation on the target connected domain, including: Any pixel in the target connected domain is taken as the target pixel. The pixel value of the target pixel after gamma transformation ,in, is the pixel value of the target pixel before gamma transformation, is the gamma value of the target connected domain.

4. The method for detecting the crimping quality of power transmission line hardware according to claim 1, characterized in that: Using the target X-ray image, the crimping quality of the tension clamp to be tested is inspected, including: A reference X-ray image corresponding to the strain clamp to be inspected is obtained, and the target X-ray image is compared with the reference X-ray image to determine the crimping quality inspection result of the strain clamp to be inspected based on the comparison result.

5. The method for detecting the crimping quality of power transmission line hardware according to claim 1, characterized in that: The X-ray image of the tension clamp to be inspected is obtained by: Controlling the first drone to fix the X-ray image acquisition device to the transmission line where the tension clamp to be detected is located, and controlling the first driving component of the X-ray image acquisition device to move so that the X-ray image acquisition device moves to the position where the tension clamp to be detected is located; When the X-ray image acquisition device moves to the position where the tension wire clamp to be detected is located, the second driving component of the X-ray image acquisition device is controlled to move so that the X-ray imaging plate and the X-ray emitter of the X-ray image acquisition device are located on different sides of the tension wire clamp to be detected; An X-ray image of the tension clamp to be inspected is obtained by an X-ray image acquisition device.

6. The method for detecting the crimping quality of power transmission line hardware according to claim 1, characterized in that: The X-ray image of the tension clamp to be inspected is obtained by: Control the second UAV to move the X-ray imaging plate to one side of the tension clamp to be inspected; The third UAV is controlled to move the X-ray transmitter to the other side of the tension clamp to be inspected, and an X-ray image of the tension clamp to be inspected is obtained through the X-ray imaging device carried by the third UAV.

7. The method for detecting the crimping quality of power transmission line hardware according to claim 6, characterized in that: A Faraday cage is arranged outside the X-ray imaging device, the second UAV is connected to the X-ray imaging plate through an insulating rope, and the third UAV is connected to the X-ray transmitter through an insulating rope.

8. A transmission line hardware crimping quality detection system, characterized in that: include: A processor and a memory, wherein the memory stores computer program instructions, and when the computer program instructions are executed by the processor, the method for detecting the crimping quality of power transmission line hardware according to any one of claims 1 to 7 is implemented.

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