Insulator rod core positioning method and device, terminal equipment and storage medium

Abstract

The invention discloses an insulator rod core positioning method and device, terminal equipment and a storage medium. The method comprises the steps that a composite insulator string infrared image of a power transmission line is acquired; inputting the infrared image of the composite insulator string into an instance segmentation model to enable the instance segmentation model to output a mask image of the composite insulator string; performing cyclic corrosion on the composite insulator string mask image until other pixel points except the pixel points on the composite insulator rod core in the composite insulator string mask image are corroded and the number of connected pixel points in the to-be-processed composite insulator string mask image is not less than 2, and generating a composite insulator string corrosion image; performing regression analysis on the composite insulator string corrosion image, and determining a main axis of the composite insulator string corrosion image; and determining the positioning of the composite insulator rod core according to the main axis of the composite insulator string corrosion image. According to the invention, the positioning accuracy of the composite insulator rod core can be improved.

Description

Technical Field

[0001] The present invention relates to the field of electric power technology, and in particular to an insulator rod core positioning method, device, terminal equipment and storage medium. Background Art

[0002] Temperature anomaly in transmission lines is one of the issues that cannot be ignored during power inspections. Temperature anomaly in insulators in transmission lines may cause the insulation performance of insulators to deteriorate, leading to tripping, short circuits, and other consequences. Therefore, when processing infrared images of insulators in transmission lines, target detection and temperature measurement are required to determine whether the insulators are abnormally heated.

[0003] In the infrared image of the insulator, the area occupied by the insulator shed is larger than that of the insulator rod core, and the shed is geometrically dispersed. There is a certain deviation in the normal temperature of each shed. Therefore, when selecting the temperature measurement point, the rod core part of the insulator is first extracted, and the points on the rod core are used as temperature measurement points for measurement.

[0004] However, when the existing technology uses target detection to process the infrared image of the insulator, the position of the insulator rod core is obtained by connecting the midpoints of the short sides of the minimum circumscribed matrix. This method relies on the accuracy of the regression frame, and when errors occur in the instance segmentation of the insulator shed image, the target detection frame will be offset, resulting in the inability to completely fit the insulator rod core by connecting the midpoints of the minimum circumscribed rectangle, resulting in inaccurate positioning of the insulator rod core. Summary of the invention

[0005] The embodiments of the present invention provide an insulator rod core positioning method, device, terminal equipment and storage medium, which can improve the positioning accuracy of the insulator rod core.

[0006] An embodiment of the present invention provides an insulator rod core positioning method, comprising:

[0007] Acquire infrared images of composite insulator strings of transmission lines;

[0008] Inputting the composite insulator string infrared image into the instance segmentation model so that the instance segmentation model outputs a composite insulator string mask image;

[0009] The composite insulator string mask image is cyclically corroded until all pixel points in the composite insulator string mask image except the pixel points on the composite insulator rod core are corroded and the number of connected pixel point blocks in the composite insulator string mask image to be processed is not less than 2, thereby generating a composite insulator string corrosion image;

[0010] Perform regression analysis on the corrosion image of the composite insulator string to determine the main axis of the corrosion image of the composite insulator string;

[0011] The composite insulator rod core positioning is determined according to the main axis of the composite insulator string corrosion image.

[0012] Furthermore, the construction of the instance segmentation model includes:

[0013] Acquire a plurality of composite insulator string infrared image samples and composite insulator string mask image samples corresponding to each composite insulator string infrared image sample;

[0014] An initial instance segmentation model is constructed, with composite insulator string infrared image samples as input and composite insulator string mask image samples corresponding to the composite insulator string infrared image samples as output, and the initial instance segmentation model is trained until the initial instance segmentation model converges, thereby generating the instance segmentation model.

[0015] Furthermore, the cyclically corroding the composite insulator string mask image includes:

[0016] Determining corrosion structural elements according to the composite insulator string mask image; wherein the corrosion structural elements include corrosion range and corrosion shape;

[0017] The composite insulator string mask image is cyclically eroded according to the erosion structure element. Further,

[0018] Further, performing regression analysis on the corrosion image of the composite insulator string to determine the main axis of the corrosion image of the composite insulator string includes:

[0019] Determining the arrangement direction of the composite insulator string according to the corrosion image of the composite insulator string; wherein the arrangement direction includes horizontal arrangement and vertical arrangement;

[0020] Determine the fitting equation to be solved of the corrosion image of the composite insulator string according to the arrangement direction of the composite insulator string; wherein, when the arrangement direction is horizontal arrangement, the fitting equation to be solved is the fitting equation to be solved in the horizontal direction; when the arrangement direction is vertical arrangement, the fitting equation to be solved is the fitting equation to be solved in the vertical direction;

[0021] Solving the fitting equation to be solved to generate a solved fitting equation;

[0022] The principal axis of the corrosion image of the composite insulator string is determined according to the solved fitting equation and the corrosion image of the composite insulator string.

[0023] Further, the method of determining the composite insulator rod core positioning according to the main axis of the composite insulator string corrosion image includes:

[0024] Determine the angle between the main axis and the Y axis of the composite insulator string corrosion image according to the main axis of the composite insulator string corrosion image;

[0025] The composite insulator string corrosion image is rotated to be parallel to the Y axis based on the main axis, and the pixel points on the rotated composite insulator string corrosion image are projected to the Y axis;

[0026] Determine the projection curve according to each projection pixel point on the Y axis;

[0027] The composite insulator rod core positioning is determined according to the projection curve.

[0028] Furthermore, after determining the composite insulator rod core position according to the projection curve, the method further includes:

[0029] The location of the composite insulator shed in the composite insulator string infrared image is determined according to the wave crest point of the projection curve.

[0030] Based on the above method embodiment, the present invention provides a corresponding device embodiment;

[0031] An embodiment of the present invention provides an insulator rod core positioning device, including: a data acquisition module, a mask module, a corrosion module, a regression analysis module and a positioning module;

[0032] The data acquisition module is used to acquire an infrared image of a composite insulator string of a transmission line;

[0033] The mask module is used to input the composite insulator string infrared image into the instance segmentation model so that the instance segmentation model outputs the composite insulator string mask image;

[0034] The corrosion module is used to perform cyclic corrosion on the composite insulator string mask image until all pixel points in the composite insulator string mask image except the pixel points on the composite insulator rod core are all corroded and the number of connected pixel point blocks in the composite insulator string mask image to be processed is not less than 2, thereby generating a composite insulator string corrosion image;

[0035] The regression analysis module is used to perform regression analysis on the corrosion image of the composite insulator string to determine the main axis of the corrosion image of the composite insulator string;

[0036] The positioning module is used to determine the composite insulator rod core positioning according to the main axis of the composite insulator string corrosion image.

[0037] Further, performing regression analysis on the corrosion image of the composite insulator string to determine the main axis of the corrosion image of the composite insulator string includes:

[0038] Determining the arrangement direction of the composite insulator string according to the corrosion image of the composite insulator string; wherein the arrangement direction includes horizontal arrangement and vertical arrangement;

[0039] Determine the fitting equation to be solved of the corrosion image of the composite insulator string according to the arrangement direction of the composite insulator string; wherein, when the arrangement direction is horizontal arrangement, the fitting equation to be solved is the fitting equation to be solved in the horizontal direction; when the arrangement direction is vertical arrangement, the fitting equation to be solved is the fitting equation to be solved in the vertical direction;

[0040] Solving the fitting equation to be solved to generate a solved fitting equation;

[0041] The principal axis of the corrosion image of the composite insulator string is determined according to the solved fitting equation and the corrosion image of the composite insulator string.

[0042] Another embodiment of the present invention provides a terminal device, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and when the processor executes the computer program, an insulator rod core positioning method described in the above-mentioned embodiment of the invention is implemented.

[0043] Another embodiment of the present invention provides a storage medium, which includes a stored computer program, wherein when the computer program is executed, the device where the storage medium is located is controlled to execute the insulator rod core positioning method described in the above-mentioned embodiment of the invention.

[0044] The following beneficial effects are achieved by implementing the present invention:

[0045] The invention provides an insulator rod core positioning method, device, terminal equipment and storage medium. The insulator rod core positioning method obtains an infrared image of a composite insulator string of a transmission line; inputs the infrared image of the composite insulator string into an instance segmentation model so that the instance segmentation model outputs a composite insulator string mask image; performs cyclic corrosion based on the composite insulator string mask image until all pixel points except the pixel points on the composite insulator rod core in the composite insulator string mask image are corroded and the number of connected pixel point blocks in the composite insulator string mask image to be processed is not less than 2, thereby generating a composite insulator string corrosion image; eliminates the pixel points except the pixel points on the composite insulator rod core in the composite insulator string mask image through cyclic corrosion, thereby eliminating the error caused by the extraction of the edge of the composite insulator string in obtaining the composite insulator string mask image, improving the accuracy of the composite insulator string corrosion image when being used for regression analysis, and then performing regression analysis on the composite insulator string corrosion image to determine the main axis of the composite insulator string corrosion image; when the composite insulator rod core positioning is determined according to the main axis of the composite insulator string corrosion image, the positioning accuracy of the insulator rod core can be further improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 The present invention is a flowchart of an insulator rod core positioning method provided by an embodiment of the present invention.

[0047] Figure 2 The present invention is a schematic structural diagram of an insulator rod core positioning device provided in one embodiment of the present invention. DETAILED DESCRIPTION

[0048] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0049] like Figure 1 As shown, a method for positioning an insulator rod core provided by an embodiment of the present invention includes:

[0050] Step S1: acquiring an infrared image of a composite insulator string of a transmission line;

[0051] Step S2: inputting the composite insulator string infrared image into the instance segmentation model, so that the instance segmentation model outputs a composite insulator string mask image;

[0052] Step S3: performing cyclic corrosion on the composite insulator string mask image until all pixel points in the composite insulator string mask image except the pixel points on the composite insulator rod core are all corroded and the number of connected pixel point blocks in the composite insulator string mask image to be processed is not less than 2, thereby generating a composite insulator string corrosion image;

[0053] Step S4: performing regression analysis on the corrosion image of the composite insulator string to determine the main axis of the corrosion image of the composite insulator string;

[0054] Step S5: determining the composite insulator rod core positioning according to the main axis of the composite insulator string corrosion image.

[0055] For step S1, an infrared image of a composite insulator string of a power transmission line with a resolution of 640×512 is obtained by taking it via a drone.

[0056] For step S2, the infrared image of the composite insulator string in step S1 is input into the trained instance segmentation model, so that the instance segmentation model outputs a composite insulator string mask image.

[0057] In a preferred embodiment, the construction of the instance segmentation model includes: obtaining a number of composite insulator string infrared image samples and composite insulator string mask image samples corresponding to each composite insulator string infrared image sample; constructing an initial instance segmentation model, taking the composite insulator string infrared image samples as input and the composite insulator string mask image samples corresponding to the composite insulator string infrared image samples as output, training the initial instance segmentation model until the initial instance segmentation model converges, and generating the instance segmentation model.

[0058] Specifically, when constructing an instance segmentation model, it is first necessary to obtain a number of composite insulator string infrared image samples and composite insulator string mask image samples corresponding to each composite insulator string infrared image sample. These samples are all samples with a resolution of 640×512 taken by a drone. These samples can be used to construct training data for the initial instance segmentation model. Construct an initial instance segmentation model. Preferably, the initial instance segmentation model is a Mask-CNN instance segmentation model. Take the composite insulator string infrared image samples as input and the composite insulator string mask image samples corresponding to the composite insulator string infrared image samples as output, and train the initial instance segmentation model to train the initial instance segmentation model to separate the composite insulator string mask image in the composite insulator string infrared image samples. When the initial instance segmentation model converges, that is, when the maximum number of iterations is reached or the loss function of the initial instance segmentation model is minimized, an instance segmentation model is generated. At this time, the instance segmentation model has the ability to convert the composite insulator string infrared image into the composite insulator string mask image.

[0059] It should be noted that the portion of the composite insulator string mask image containing the composite insulator string is white, and the portion outside the composite insulator string is black, that is, the composite insulator string mask image contains only black and white colors. This mask processing method can facilitate highlighting the shape of the composite insulator. Preferably, if there are multiple strings of composite insulators in the image, the mask is subjected to connected domain analysis, so that only one connected area is divided into white for analysis each time, and the other connected areas are black and regarded as background. This method enables specific insulator string analysis when multiple composite insulator strings are contained in the image, avoiding interference from redundant insulator strings.

[0060] For step S3, the composite insulator string mask image obtained in step S2 is cyclically eroded until all pixel points in the composite insulator string mask image except the pixel points on the composite insulator rod core are eroded, and the number of connected pixel blocks in the composite insulator string mask image to be processed is not less than 2, and then a composite insulator string eroded image is obtained. The composite insulator string eroded image only contains pixel points of the composite insulator string itself, and all other pixel points as the background are eroded.

[0061] In a preferred embodiment, the cyclically corroding the composite insulator string mask image includes: determining corrosion structural elements according to the composite insulator string mask image; wherein the corrosion structural elements include corrosion range and corrosion shape; and cyclically corroding the composite insulator string mask image according to the corrosion structural elements.

[0062] Specifically, the corrosion structure element is determined according to the composite insulator string mask image. In the present invention, the corrosion shape of the corrosion structure element is circular, and the element size can be adjusted according to the resolution of the composite insulator string mask image. For the 640×512 image in the embodiment of the present invention, a binary matrix of (3,3) is generally used. The binary matrix is ​​shown as follows:

[0063]

[0064] In cyclic corrosion, the corrosion operation can be expressed as:

[0065]

[0066] Among them, E(I) represents the image after corrosion processing; I represents the input image; B represents the structural element (kernel), which is usually defined as a binary matrix as shown above, and the value in it determines the range and shape of the corrosion operation.

[0067] The specific principle of the cyclic corrosion operation process is that after defining the above-mentioned corrosion structure element, a certain pixel point is taken as the center on the composite insulator string mask image, and the structure element B is covered on it. If the structure element is not completely within the composite insulator string mask image, the pixel point will be corroded to a color consistent with the background color, that is, corroded to black.

[0068] Specifically, after determining the structural element B, the composite insulator string mask image is cyclically eroded, that is:

[0069] E n (I) = E(E n-1 (I)),E0=I

[0070] When all masks in the composite insulator string mask image are completely eroded, that is, for any pixel point (x, y) in I, I(x, y) = 0, that is, the pixel values ​​in image I are all zero, and the image is completely black. Record the number of cyclic erosions n at this time, and then erode the composite insulator string mask image n-1 times, and detect the number of pixel blocks remaining at this time. If the number of connected pixel blocks is ≥ 2, do not continue to erode, otherwise perform n-2 times of erosion.

[0071]

[0072] Among them, Ci is the connected pixel region, and k is the number of corrosion times. This ensures that there are two or more pixel regions in the image after corrosion.

[0073] In step S4, regression analysis is performed on the corrosion image of the composite insulator string to determine the main axis of the corrosion image of the composite insulator string.

[0074] In a preferred embodiment, the regression analysis of the corrosion image of the composite insulator string is performed to determine the main axis of the corrosion image of the composite insulator string, including: determining the arrangement direction of the composite insulator string according to the corrosion image of the composite insulator string; wherein the arrangement direction includes horizontal arrangement and vertical arrangement; determining the fitting equation to be solved of the corrosion image of the composite insulator string according to the arrangement direction of the composite insulator string; wherein, when the arrangement direction is horizontal arrangement, the fitting equation to be solved is the fitting equation to be solved in the horizontal direction; when the arrangement direction is vertical arrangement, the fitting equation to be solved is the fitting equation to be solved in the vertical direction; solving the fitting equation to be solved to generate a solved fitting equation; determining the main axis of the corrosion image of the composite insulator string according to the solved fitting equation and the corrosion image of the composite insulator string.

[0075] Specifically, firstly, the arrangement direction of the composite insulator is judged according to the corrosion image of the composite insulator string, and it is judged whether the arrangement direction of the composite insulator string in the corrosion image of the composite insulator string is horizontal arrangement or vertical arrangement. The judgment method is to find the maximum and minimum values ​​of the horizontal and vertical coordinates of the points on the composite insulator string and compare them. If the maximum value difference of the vertical coordinate is greater than the maximum value difference of the horizontal coordinate, it is considered that the arrangement direction of the composite insulator string is vertical arrangement; if the maximum value difference of the vertical coordinate is less than the maximum value difference of the horizontal coordinate, it is considered that the arrangement direction of the composite insulator string is horizontal arrangement. That is:

[0076] Δx=max(x i )-min(x i )

[0077] Δy=max(y i )-min(y i )

[0078] Among them, x i is the horizontal coordinate of the i-th pixel point contained in the composite insulator string in the composite insulator string corrosion image; i is the ordinate of the i-th pixel point contained in the composite insulator string in the corrosion image of the composite insulator string; Δx is the maximum difference of the abscissa; Δy is the maximum difference of the ordinate; if Δy>Δx, the arrangement direction is considered to be vertical, and if Δy<Δx, the arrangement direction is considered to be horizontal.

[0079] The regression analysis is performed on the corrosion image of the composite insulator string after k corrosions. The remaining point set after corrosion is {(xi ,y i )}, if the composite insulator string is arranged horizontally, then the regression analysis in the horizontal direction is performed, and if the composite insulator string is arranged vertically, then the regression analysis in the vertical direction is performed. The regression analysis of the present invention is described by taking the regression analysis in the vertical direction as an example. The regression analysis in the horizontal direction can be performed by exchanging x and y on the basis of the regression analysis in the vertical direction, and will not be repeated here.

[0080] For example, in the vertical regression analysis, the fitting equation to be solved is:

[0081] x=β0+β1y

[0082] The above equation is converted into matrix form as follows:

[0083] X=YB

[0084] X=(x1,x2,...,x m ) T

[0085]

[0086] B=(β1,β0) T

[0087] Among them, m is the number of pixels in the remaining point set after corrosion; x1,…,x m and y1,…,y m are the horizontal and vertical coordinates of each data point in the remaining point set; β1, β0 are the parameters of the fitting equation to be solved.

[0088] The objective function of constructing the least squares method is:

[0089] min||X-YB|| 2

[0090] Using the least squares solution formula, we get:

[0091] B=(Y T Y) -1 Y T X

[0092] Then according to B=(β1,β0) T β0 and β1 can be obtained, and the obtained β0 and β1 are brought into the fitting equation to be solved, that is, the solved fitting equation is generated. The straight line where the solved fitting equation is located coincides with the main axis direction of the composite insulator string. Based on the straight line where the solved fitting equation is located, the part of the corrosion image of the composite insulator string that coincides with the straight line is separated, that is, the main axis of the composite insulator string in the corrosion image of the composite insulator string is obtained.

[0093] For step S5, in a preferred embodiment, the determining the composite insulator rod core positioning according to the main axis of the composite insulator string corrosion image includes: determining the angle between the main axis and the Y-axis of the composite insulator string corrosion image according to the main axis of the composite insulator string corrosion image; rotating the composite insulator string corrosion image to be parallel to the Y-axis based on the main axis, and projecting the pixel points on the rotated composite insulator string corrosion image to the Y-axis; determining a projection curve according to each projected pixel point on the Y-axis; and determining the composite insulator rod core positioning according to the projection curve.

[0094] In a preferred embodiment, after determining the position of the composite insulator rod core according to the projection curve, the method further comprises: determining the position of the composite insulator shed in the infrared image of the composite insulator string according to the peak point of the projection curve.

[0095] Specifically, the solved fitting equation obtained above is analyzed. Taking x=β0+β1y as an example, it can be known that the angle between the straight line and the Y axis is:

[0096] θ=arctanβ1

[0097] The composite insulator string corrosion image is rotated counterclockwise by an angle of θ based on the main axis. If θ is a negative value, it is rotated clockwise by an angle of θ. After the rotation is completed, the composite insulator string of the composite insulator string corrosion image is parallel to the Y axis. The pixel points on the rotated composite insulator string corrosion image are projected onto the Y axis, and the number of projected pixels of each projection point on the Y axis is calculated, and a projection curve is generated according to each projection pixel point on the Y axis.

[0098] Specifically, the peak points in the projection curve are the points where the composite insulator sheds are located in the infrared image of the composite insulator string, and the positioning of the composite insulator sheds in the infrared image of the composite insulator string can be determined according to the points where they are located. A dividing line perpendicular to the Y axis is drawn through these peak points in the vertical direction of the composite insulator string, and the composite insulator string can be divided to obtain the composite insulator rod core part between two separate composite insulator sheds, and the positioning of the composite insulator rod core in the infrared image of the composite insulator string is completed at this time.

[0099] Preferably, the temperature measurement results of the composite insulator rod core and the composite insulator shed in the infrared image of the composite insulator string are determined to determine the severity level of the heating of the composite insulator string, and the severity level is fed back to the corresponding operation and maintenance personnel to assist the operation and maintenance personnel in maintaining the stable operation of the power system. Specifically, the temperature rise of the high-voltage terminal of the composite insulator of the AC line (within the range of the upper and lower three large sheds of the grading ring) exceeds 1-3K, and the corresponding severity level of heating is other. The temperature rise of the high-voltage terminal of the composite insulator of the AC line (within the range of the upper and lower three large sheds of the grading ring) is 3-5K, and the temperature rise of the high-voltage terminal of the composite insulator of the DC line (within the range of the upper and lower three large sheds of the grading ring) exceeds 1-3K, and the corresponding severity level of heating is general. The temperature rise of the high-voltage terminal of the composite insulator of the AC line (within the range of the upper and lower three large sheds of the grading ring) exceeds 5-10K, and the temperature rise of the high-voltage terminal of the composite insulator of the DC line (within the range of the upper and lower three large sheds of the grading ring) exceeds 3-5K, and the corresponding severity level of heating is serious. If the temperature rise of the high-voltage terminal of the composite insulator of the AC line (within the range of the upper and lower three large skirts of the grading ring) is greater than 10K, or there is a segmental temperature rise (across the range of two large umbrellas) or a medium and low voltage terminal temperature rise (exceeding 5K), and the temperature rise of the high-voltage terminal of the composite insulator of the DC line (within the range of the upper and lower three large umbrellas of the grading ring) exceeds 5K, or there is a segmental temperature rise (across the range of two large umbrellas) and a medium and low voltage terminal temperature rise (exceeding 3K), the corresponding heat severity level is emergency.

[0100] Based on the above method embodiment, the present invention provides a corresponding device embodiment.

[0101] like Figure 2 As shown, an embodiment of the present invention provides an insulator rod core positioning device, including: a data acquisition module, a mask module, a corrosion module, a regression analysis module and a positioning module;

[0102] The data acquisition module is used to acquire an infrared image of a composite insulator string of a transmission line;

[0103] The mask module is used to input the composite insulator string infrared image into the instance segmentation model so that the instance segmentation model outputs the composite insulator string mask image;

[0104] The corrosion module is used to perform cyclic corrosion on the composite insulator string mask image until all pixel points in the composite insulator string mask image except the pixel points on the composite insulator rod core are all corroded and the number of connected pixel point blocks in the composite insulator string mask image to be processed is not less than 2, thereby generating a composite insulator string corrosion image;

[0105] The regression analysis module is used to perform regression analysis on the corrosion image of the composite insulator string to determine the main axis of the corrosion image of the composite insulator string;

[0106] The positioning module is used to determine the composite insulator rod core positioning according to the main axis of the composite insulator string corrosion image.

[0107] In a preferred embodiment, performing regression analysis on the corrosion image of the composite insulator string to determine the main axis of the corrosion image of the composite insulator string includes:

[0108] Determining the arrangement direction of the composite insulator string according to the corrosion image of the composite insulator string; wherein the arrangement direction includes horizontal arrangement and vertical arrangement;

[0109] Determine the fitting equation to be solved of the corrosion image of the composite insulator string according to the arrangement direction of the composite insulator string; wherein, when the arrangement direction is horizontal arrangement, the fitting equation to be solved is the fitting equation to be solved in the horizontal direction; when the arrangement direction is vertical arrangement, the fitting equation to be solved is the fitting equation to be solved in the vertical direction;

[0110] Solving the fitting equation to be solved to generate a solved fitting equation;

[0111] The principal axis of the corrosion image of the composite insulator string is determined according to the solved fitting equation and the corrosion image of the composite insulator string.

[0112] It should be noted that the device embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, in the accompanying drawings of the device embodiments provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, which may be specifically implemented as one or more communication buses or signal lines. A person of ordinary skill in the art may understand and implement it without paying any creative effort.

[0113] Those skilled in the art can clearly understand that for the sake of convenience and brevity, the specific working process of the device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0114] Based on the above method item embodiments, the present invention provides corresponding terminal device item embodiments.

[0115] An embodiment of the present invention provides a terminal device, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and when the processor executes the computer program, an insulator rod core positioning method as described in any one of the present invention is implemented.

[0116] The terminal device may be a computing device such as a desktop computer, a notebook, a PDA, a cloud server, etc. The terminal device may include, but is not limited to, a processor and a memory.

[0117] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc. The processor is the control center of the terminal device, and uses various interfaces and lines to connect various parts of the entire terminal device.

[0118] The memory can be used to store the computer program, and the processor realizes various functions of the terminal device by running or executing the computer program stored in the memory and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application required for a function, etc.; the data storage area can store data created according to the use of the mobile phone, etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0119] Based on the above method item embodiments, the present invention provides a corresponding storage medium item embodiment.

[0120] An embodiment of the present invention provides a storage medium, wherein the storage medium includes a stored computer program, wherein when the computer program is executed, the device where the storage medium is located is controlled to execute an insulator rod core positioning method as described in any one of the present inventions.

[0121] The storage medium is a computer-readable storage medium, and the computer program is stored in the computer-readable storage medium. When the computer program is executed by the processor, the steps of each of the above-mentioned method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium.

[0122] The above is a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A method for positioning an insulator rod core, characterized in that: include: Acquire infrared images of composite insulator strings of transmission lines; Inputting the composite insulator string infrared image into the instance segmentation model so that the instance segmentation model outputs a composite insulator string mask image; The composite insulator string mask image is cyclically corroded until all pixel points in the composite insulator string mask image except the pixel points on the composite insulator rod core are corroded and the number of connected pixel point blocks in the composite insulator string mask image to be processed is not less than 2, thereby generating a composite insulator string corrosion image; Perform regression analysis on the corrosion image of the composite insulator string to determine the main axis of the corrosion image of the composite insulator string; The positioning of the composite insulator rod core is determined according to the main axis of the corrosion image of the composite insulator string.

2. The insulator rod core positioning method according to claim 1, characterized in that: The construction of the instance segmentation model includes: Acquire a plurality of composite insulator string infrared image samples and composite insulator string mask image samples corresponding to each composite insulator string infrared image sample; An initial instance segmentation model is constructed, with composite insulator string infrared image samples as input and composite insulator string mask image samples corresponding to the composite insulator string infrared image samples as output, and the initial instance segmentation model is trained until the initial instance segmentation model converges, thereby generating the instance segmentation model.

3. The insulator rod core positioning method according to claim 1, characterized in that: The cyclically corroding the composite insulator string mask image comprises: Determining corrosion structural elements according to the composite insulator string mask image; wherein the corrosion structural elements include corrosion range and corrosion shape; The composite insulator string mask image is cyclically eroded according to the erosion structure element.

4. The insulator rod core positioning method according to claim 1, characterized in that: The performing regression analysis on the composite insulator string corrosion image to determine the main axis of the composite insulator string corrosion image includes: Determining the arrangement direction of the composite insulator string according to the corrosion image of the composite insulator string; wherein the arrangement direction includes horizontal arrangement and vertical arrangement; Determine the fitting equation to be solved of the corrosion image of the composite insulator string according to the arrangement direction of the composite insulator string; wherein, when the arrangement direction is horizontal arrangement, the fitting equation to be solved is the fitting equation to be solved in the horizontal direction; when the arrangement direction is vertical arrangement, the fitting equation to be solved is the fitting equation to be solved in the vertical direction; Solving the fitting equation to be solved to generate a solved fitting equation; The principal axis of the corrosion image of the composite insulator string is determined according to the solved fitting equation and the corrosion image of the composite insulator string.

5. The insulator rod core positioning method according to claim 1, characterized in that: The method of determining the composite insulator rod core positioning according to the main axis of the composite insulator string corrosion image comprises: Determine the angle between the main axis and the Y axis of the composite insulator string corrosion image according to the main axis of the composite insulator string corrosion image; The composite insulator string corrosion image is rotated to be parallel to the Y axis based on the main axis, and the pixel points on the rotated composite insulator string corrosion image are projected to the Y axis; Determine the projection curve according to each projection pixel point on the Y axis; The composite insulator rod core positioning is determined according to the projection curve.

6. The insulator rod core positioning method according to claim 5, characterized in that: After determining the composite insulator rod core position according to the projection curve, the method further includes: The location of the composite insulator shed in the composite insulator string infrared image is determined according to the wave crest point of the projection curve.

7. An insulator rod core positioning device, characterized in that: include: Data acquisition module, mask module, corrosion module, regression analysis module and positioning module; The data acquisition module is used to acquire an infrared image of a composite insulator string of a transmission line; The mask module is used to input the composite insulator string infrared image into the instance segmentation model so that the instance segmentation model outputs the composite insulator string mask image; The corrosion module is used to perform cyclic corrosion on the composite insulator string mask image until all pixel points in the composite insulator string mask image except the pixel points on the composite insulator rod core are all corroded and the number of connected pixel point blocks in the composite insulator string mask image to be processed is not less than 2, thereby generating a composite insulator string corrosion image; The regression analysis module is used to perform regression analysis on the corrosion image of the composite insulator string to determine the main axis of the corrosion image of the composite insulator string; The positioning module is used to determine the composite insulator rod core positioning according to the main axis of the composite insulator string corrosion image.

8. An insulator rod core positioning device as claimed in claim 7, characterized in that: The performing regression analysis on the composite insulator string corrosion image to determine the main axis of the composite insulator string corrosion image includes: Determining the arrangement direction of the composite insulator string according to the corrosion image of the composite insulator string; wherein the arrangement direction includes horizontal arrangement and vertical arrangement; Determine the fitting equation to be solved of the corrosion image of the composite insulator string according to the arrangement direction of the composite insulator string; wherein, when the arrangement direction is horizontal arrangement, the fitting equation to be solved is the fitting equation to be solved in the horizontal direction; when the arrangement direction is vertical arrangement, the fitting equation to be solved is the fitting equation to be solved in the vertical direction; Solving the fitting equation to be solved to generate a solved fitting equation; The principal axis of the corrosion image of the composite insulator string is determined according to the solved fitting equation and the corrosion image of the composite insulator string.

9. A terminal device, characterized in that: The method comprises a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, an insulator rod core positioning method according to any one of claims 1 to 6 is implemented.

10. A storage medium, characterized in that: The storage medium includes a stored computer program, wherein when the computer program is executed, the device where the storage medium is located is controlled to execute the insulator rod core positioning method according to any one of claims 1 to 6.

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