Line discharge intensity detection method, device, equipment, medium and program product

Abstract

The present application relates to a method, apparatus, computer device, computer-readable storage medium, and computer program product for detecting line discharge intensity. Applied to a lightweight pan / tilt platform, the method comprises: if a line component target exists in the current scene, obtaining an initial ultraviolet image and an initial visible light image; if the initial visible light image meets the requirements of a reference image, determining the position of the line component target, and obtaining a registered ultraviolet image based on the initial visible light image, the distance between the visible light camera, and the line component target; determining a first visible light filtered image corresponding to the initial visible light image, and obtaining a first ultraviolet conversion image based on the registered ultraviolet image to determine the corresponding first ultraviolet filtered image; fusing the first visible light filtered image and the first ultraviolet filtered image to obtain a first detection image; and if a discharge defect is identified based on the actual discharge intensity of the line component target after determining a discharge phenomenon based on the first detection image, issuing an alarm prompt message to improve detection efficiency.

Description

Technical Field

[0001] The present application relates to the field of discharge detection technology, and in particular to a method, apparatus, computer equipment, computer-readable storage medium, and computer program product for detecting line discharge intensity. Background Art

[0002] With the development of detection technology, people have noticed that under the influence of long-term electric fields, mechanical stress, and environmental factors, transmission lines may suffer from insulation aging, degradation, breakage, cracking, loosening and other accidents; at the same time, improper handling of any link in the design, manufacturing, installation, operation, and maintenance may cause defects, leading to local electric field concentration and possibly the formation of corona discharge.

[0003] In the related art, inspection personnel are usually required to inspect transmission lines to detect whether there is any discharge on the transmission lines. However, manual inspection methods are difficult to perform efficient discharge detection on transmission lines, that is, there is a problem of low efficiency in line discharge intensity detection. Summary of the Invention

[0004] Based on this, it is necessary to provide a line discharge intensity detection method, apparatus, computer equipment, computer-readable storage medium and computer program product that can improve the efficiency of line discharge intensity detection in order to address the above technical problems.

[0005] In a first aspect, the present application provides a line discharge intensity detection method, which is applied to a lightweight gimbal, comprising:

[0006] When a line component target is detected in the current scene, an initial ultraviolet image and an initial visible light image are acquired, wherein the initial ultraviolet image is acquired by photographing the target transmission line with an ultraviolet camera at a matching first pitch angle, and the initial visible light image is acquired by photographing the target transmission line with a visible light camera at a matching second pitch angle;

[0007] When it is verified that the initial visible light image meets the reference image requirement, performing target detection on the initial visible light image to determine the line component target and the position of the line component target;

[0008] Using the initial visible light image as a reference image, registering the initial ultraviolet image based on the distance between the visible light camera and the circuit component target to obtain a registered ultraviolet image;

[0009] Based on the initial visible light image, performing visible light filtering processing to obtain a first visible light filtered image, performing format conversion on the registered ultraviolet image according to a preset format to obtain a first ultraviolet converted image, and based on the first ultraviolet converted image, performing ultraviolet filtering processing to obtain a first ultraviolet filtered image;

[0010] Obtaining a first detection image through image fusion processing based on the first visible light filtered image and the first ultraviolet filtered image, and determining the distance between the ultraviolet camera and the line component target based on the size of the line component target in the first visible light filtered image, a preset actual size of the line component target, and preset ranging parameters of the lightweight pan / tilt platform when it is determined based on the first detection image that a discharge phenomenon exists in the line component target;

[0011] determining an actual discharge intensity on the circuit component target based on the first ultraviolet filtered image, ultraviolet camera parameters, and a distance between the ultraviolet camera and the circuit component target;

[0012] When a discharge defect is detected in the line component target according to the actual discharge intensity, an alarm prompt information corresponding to the discharge defect is issued.

[0013] In a second aspect, the present application further provides a circuit discharge intensity detection device, comprising:

[0014] an image acquisition module, configured to acquire, upon detecting the presence of a line component target in the current scene, an initial ultraviolet image and an initial visible light image, wherein the initial ultraviolet image is obtained by photographing the target transmission line with an ultraviolet camera at a matching first pitch angle, and the initial visible light image is obtained by photographing the target transmission line with a visible light camera at a matching second pitch angle;

[0015] a target detection module, configured to perform target detection on the initial visible light image and determine the position of the line component target and the line component target when the initial visible light image is verified to meet the reference image requirement;

[0016] an image registration module, configured to register the initial ultraviolet image using the initial visible light image as a reference image based on the distance between the visible light camera and the circuit component target, thereby obtaining a registered ultraviolet image;

[0017] an image filtering module configured to obtain a first visible light filtered image by performing visible light filtering processing on the initial visible light image, convert the format of the registered ultraviolet image into a first ultraviolet converted image according to a preset format, and obtain a first ultraviolet filtered image by performing ultraviolet filtering processing on the first ultraviolet converted image;

[0018] a distance determination module configured to obtain a first detection image through image fusion processing based on the first visible light filtered image and the first ultraviolet filtered image, and, when it is determined based on the first detection image that a discharge phenomenon exists in the line component target, determine the distance between the ultraviolet camera and the line component target based on the size of the line component target in the first visible light filtered image, a preset actual size of the line component target, and preset ranging parameters of the lightweight pan / tilt platform;

[0019] an intensity determination module, configured to determine an actual discharge intensity on the circuit component target based on the first ultraviolet filtered image, ultraviolet camera parameters, and a distance between the ultraviolet camera and the circuit component target;

[0020] The information issuing module is used to issue an alarm prompt information corresponding to the discharge defect when a discharge defect is detected in the line component target according to the actual discharge intensity.

[0021] In a third aspect, the present application further provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0022] When a line component target is detected in the current scene, an initial ultraviolet image and an initial visible light image are acquired, wherein the initial ultraviolet image is acquired by photographing the target transmission line with an ultraviolet camera at a matching first pitch angle, and the initial visible light image is acquired by photographing the target transmission line with a visible light camera at a matching second pitch angle;

[0023] When it is verified that the initial visible light image meets the reference image requirement, performing target detection on the initial visible light image to determine the line component target and the position of the line component target;

[0024] Using the initial visible light image as a reference image, registering the initial ultraviolet image based on the distance between the visible light camera and the circuit component target to obtain a registered ultraviolet image;

[0025] Based on the initial visible light image, performing visible light filtering processing to obtain a first visible light filtered image, performing format conversion on the registered ultraviolet image according to a preset format to obtain a first ultraviolet converted image, and based on the first ultraviolet converted image, performing ultraviolet filtering processing to obtain a first ultraviolet filtered image;

[0026] Obtaining a first detection image through image fusion processing based on the first visible light filtered image and the first ultraviolet filtered image, and determining the distance between the ultraviolet camera and the line component target based on the size of the line component target in the first visible light filtered image, a preset actual size of the line component target, and preset ranging parameters of the lightweight pan / tilt platform when it is determined based on the first detection image that a discharge phenomenon exists in the line component target;

[0027] determining an actual discharge intensity on the circuit component target based on the first ultraviolet filtered image, ultraviolet camera parameters, and a distance between the ultraviolet camera and the circuit component target;

[0028] When a discharge defect is detected in the line component target according to the actual discharge intensity, an alarm prompt information corresponding to the discharge defect is issued.

[0029] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the following steps are implemented:

[0030] When a line component target is detected in the current scene, an initial ultraviolet image and an initial visible light image are acquired, wherein the initial ultraviolet image is acquired by photographing the target transmission line with an ultraviolet camera at a matching first pitch angle, and the initial visible light image is acquired by photographing the target transmission line with a visible light camera at a matching second pitch angle;

[0031] When it is verified that the initial visible light image meets the reference image requirement, performing target detection on the initial visible light image to determine the line component target and the position of the line component target;

[0032] Using the initial visible light image as a reference image, registering the initial ultraviolet image based on the distance between the visible light camera and the circuit component target to obtain a registered ultraviolet image;

[0033] Based on the initial visible light image, performing visible light filtering processing to obtain a first visible light filtered image, performing format conversion on the registered ultraviolet image according to a preset format to obtain a first ultraviolet converted image, and based on the first ultraviolet converted image, performing ultraviolet filtering processing to obtain a first ultraviolet filtered image;

[0034] Obtaining a first detection image through image fusion processing based on the first visible light filtered image and the first ultraviolet filtered image, and determining the distance between the ultraviolet camera and the line component target based on the size of the line component target in the first visible light filtered image, a preset actual size of the line component target, and preset ranging parameters of the lightweight pan / tilt platform when it is determined based on the first detection image that a discharge phenomenon exists in the line component target;

[0035] determining an actual discharge intensity on the circuit component target based on the first ultraviolet filtered image, ultraviolet camera parameters, and a distance between the ultraviolet camera and the circuit component target;

[0036] When a discharge defect is detected in the line component target according to the actual discharge intensity, an alarm prompt information corresponding to the discharge defect is issued.

[0037] In a fifth aspect, the present application further provides a computer program product, comprising a computer program, which, when executed by a processor, implements the following steps:

[0038] When a line component target is detected in the current scene, an initial ultraviolet image and an initial visible light image are acquired, wherein the initial ultraviolet image is acquired by photographing the target transmission line with an ultraviolet camera at a matching first pitch angle, and the initial visible light image is acquired by photographing the target transmission line with a visible light camera at a matching second pitch angle;

[0039] When it is verified that the initial visible light image meets the reference image requirement, performing target detection on the initial visible light image to determine the line component target and the position of the line component target;

[0040] Using the initial visible light image as a reference image, registering the initial ultraviolet image based on the distance between the visible light camera and the circuit component target to obtain a registered ultraviolet image;

[0041] Based on the initial visible light image, performing visible light filtering processing to obtain a first visible light filtered image, performing format conversion on the registered ultraviolet image according to a preset format to obtain a first ultraviolet converted image, and based on the first ultraviolet converted image, performing ultraviolet filtering processing to obtain a first ultraviolet filtered image;

[0042] Obtaining a first detection image through image fusion processing based on the first visible light filtered image and the first ultraviolet filtered image, and determining the distance between the ultraviolet camera and the line component target based on the size of the line component target in the first visible light filtered image, a preset actual size of the line component target, and preset ranging parameters of the lightweight pan / tilt platform when it is determined based on the first detection image that a discharge phenomenon exists in the line component target;

[0043] determining an actual discharge intensity on the circuit component target based on the first ultraviolet filtered image, ultraviolet camera parameters, and a distance between the ultraviolet camera and the circuit component target;

[0044] When a discharge defect is detected in the line component target according to the actual discharge intensity, an alarm prompt information corresponding to the discharge defect is issued.

[0045] The aforementioned line discharge intensity detection method, apparatus, computer device, computer-readable storage medium, and computer program product are applied to a lightweight pan / tilt head. Upon detecting the presence of a line component target in the current scene, detection is initiated, and the pitch angles of the UV camera and visible light camera are pre-calibrated to obtain matching first and second pitch angles, ensuring accurate capture of the target transmission line. This results in an initial UV image and an initial visible light image. If the initial visible light image is verified to meet the requirements of the reference image, that is, the pre-calibrated, more informative initial visible light image can be used as a registration reference, and target detection is performed on the initial visible light image to accurately detect the line component target and its location. Using the initial visible light image as a reference image, the initial ultraviolet image is registered based on the distance between the visible light camera and the line component target to obtain a registered ultraviolet image. Based on the initial visible light image, visible light filtering is performed to obtain a first visible light filtered image. The registered ultraviolet image is format-converted according to a preset format to obtain a first ultraviolet converted image. Based on the first ultraviolet converted image, ultraviolet filtering is performed to obtain a first ultraviolet filtered image. Based on the first ultraviolet converted image, the first visible light filtered image and the first ultraviolet filtered image are subjected to image fusion processing to obtain a first detection image. If the presence of discharge in the line component target is determined based on the first detection image, the distance between the ultraviolet camera and the line component target is determined based on the line component target size in the first visible light filtered image, the preset actual size of the line component target, and the preset ranging parameters of the lightweight pan / tilt system. Based on the first UV filtered image, UV camera parameters, and the distance between the UV camera and the line component target, the system can accurately identify the actual discharge intensity of the line component target. This allows for more accurate verification of discharge defects, improving the accuracy of discharge detection. If a discharge defect is detected in the line component target based on the actual discharge intensity, an alarm corresponding to the discharge defect is automatically issued, providing timely early warning. While ensuring the accuracy of line discharge intensity detection, automated processing and alarm generation throughout the entire process eliminates the need for manual inspections by inspectors, improving the efficiency of line discharge intensity detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following briefly introduces the drawings required for use in the embodiments of the present application or related technical descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying any creative work.

[0047] Figure 1 2. A diagram showing an application environment of a method for detecting line discharge intensity in one embodiment;

[0048] Figure 2 is a partial schematic diagram of a drone in one embodiment;

[0049] Figure 3 is a schematic diagram of a housing of a control unit in one embodiment;

[0050] Figure 4 A schematic diagram of a turbo blower cooling fan arrangement according to one embodiment;

[0051] Figure 5 1 is a flow chart of a method for detecting line discharge intensity in one embodiment;

[0052] Figure 6 is a structural block diagram of a circuit discharge intensity detection device in one embodiment;

[0053] Figure 7 FIG. 1 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0055] The circuit discharge intensity detection method provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown in the figure, Figure 1 The diagram illustrates drone 102 communicating with lightweight gimbal 104 via a network. For example, newly deployed equipment includes data acquisition equipment and lightweight gimbal 104. The data acquisition equipment includes, but is not limited to, ultraviolet cameras, visible light cameras, and rangefinders. For example, the data acquisition equipment can also be deployed directly on the gimbal. The lightweight gimbal 104 is integrated with a micro-discharge detection sensor, with a combined weight of less than 200g. The micro-discharge detection sensor includes an ultraviolet sensor and a visible light camera. For example, the gimbal can have a dual-light configuration of ultraviolet and visible light cameras. The gimbal is located on top of the drone and features pitch adjustment and anti-shake capabilities. It also includes an edge-side intelligent processing unit, which encompasses local edge-side AI (artificial intelligence) computing power and architecture, and intelligent recognition capabilities for insulators, wire clamps, and other components.

[0056] like Figure 2FIG. 1 is a partial schematic diagram of a UAV in one embodiment. Figure 2 The figure shows the partial structure of a drone, which is equipped with a lightweight gimbal. The gimbal houses a servo unit, a UV camera, and a visible light camera lens (such as a wide-angle visible light camera). For example, the visible light camera lens ensures that the UV detection spot is displayed in real time overlaid on the visible light image.

[0057] The housing of the gimbal control unit is embedded with a card slot and a heat sink. A UV camera and a visible light camera are mounted on the drone body via a servo unit. A rangefinder is also mounted on the drone body and is used to measure the distance between the visible light camera and the target power transmission line, as well as the distance between the UV camera and the target power transmission line. Exemplarily, the rangefinder can be a laser rangefinder. Exemplarily, both the drone body and the servo unit are constructed of aluminum alloy.

[0058] like Figure 3 The figure shows a schematic diagram of the housing of a control unit in one embodiment. A heat dissipation unit can be set on the housing, and a heat sink is embedded in the housing surface of the control unit. The heat sink is a passive heat dissipation unit. The heat sink is tooth-shaped, which can increase the contact area between the external air and the heat sink, thereby effectively increasing the heat dissipation area and enhancing the heat dissipation effect. A turbo blower cooling fan is embedded in the heat sink to actively dissipate heat, such as Figure 4 The figure shows a schematic diagram of the turbo blower cooling fan arrangement in one embodiment. The heat dissipation unit includes a heat sink and a turbo blower cooling fan. It should be noted that the turbo blower cooling fan has the characteristics of low power consumption and large air volume, which can quickly blow away the heat on the heat sink, reduce the temperature of the heat sink, and thus reduce the temperature of the heat-generating components, achieving a good heat dissipation effect. The specific setting process of the turbo blower cooling fan is as follows: embed it into the heat sink, with the air suction side facing upwards, and the air outlet aligned with the tooth-like protrusions on the heat sink. This setting design can increase the amount of air intake, while allowing the cooling wind to take away more heat.

[0059] For example, the lightweight gimbal 104 can also be wirelessly connected to the drone body, and the drone body can also be directly wirelessly connected to a control unit in the gimbal, which is used to control the drone body to fly along the target power transmission line. For example, the control unit is wirelessly connected to the drone body, the steering unit, the UV camera, the visible light camera, and the rangefinder; the control unit is used to control the drone body to fly along the power transmission line, control the steering unit to adjust the position of the UV camera and the visible light camera, and control the UV camera and the visible light camera to synchronously capture initial UV and initial visible light images of the target power transmission line.

[0060] In other embodiments, the new equipment deployed on the drone also includes a positioning unit, which is used to obtain the location information of the drone itself; the location information includes the longitude, latitude, and altitude of the drone itself. Exemplarily, the positioning unit can also be wirelessly connected to the control unit. The positioning unit transmits the location information to the control unit. Exemplarily, the control unit can determine the exact discharge location of the target transmission line where the discharge phenomenon is occurring based on the longitude, latitude, altitude, and distance of the drone itself, facilitating the staff's next steps and improving detection and positioning efficiency.

[0061] The control unit in the gimbal mentioned above can be a smart handheld terminal, a microprocessor or an edge computing unit. The edge computing unit can be an AI (Artificial Intelligence) unit. The AI ​​unit consists of a carrier board, a core board and a shell. The core board includes basic components such as memory, MCU (Microcontroller Unit), flash (a non-volatile memory), power interface, network port, etc. The shell of the AI ​​unit can be made of aluminum alloy or magnesium-aluminum alloy, with an average wall thickness of 1.2 mm, which is easy to carry. Openings are provided on the surface of the shell to facilitate the transmission of data from the input and output ends of the carrier board and the core board. For example, there is a heat sink above the AI ​​unit, and thermal grease is applied to both the AI ​​unit and the heat sink to increase the thermal contact surface and enhance the thermal efficiency.

[0062] The aforementioned servo unit consists of a servo and a metal housing. The servo is built into the metal housing to conceal the interface wiring, resulting in a compact structure that combines aesthetics with safety. The servo unit is connected to the control unit via a U-shaped structural member. The U-shaped member is used to secure the camera and maintain stability. The UV camera interface inside the control unit is connected to the UV camera via an extremely thin coaxial cable that passes through the servo arm. This allows the wiring to be hidden within the servo arm, making the overall structure more compact, with no exposed wiring, and reducing wind resistance.

[0063] In some embodiments, when the lightweight pan-tilt head 104 detects the presence of a line component target in the current scene, it obtains an initial ultraviolet image and an initial visible light image, where the initial ultraviolet image is obtained by photographing the target transmission line with a matching first pitch angle by the ultraviolet camera, and the initial visible light image is obtained by photographing the target transmission line with a matching second pitch angle by the visible light camera; when the lightweight pan-tilt head 104 verifies that the initial visible light image meets the reference image requirements, it performs target detection on the initial visible light image to determine the position of the line component target and the line component target; using the initial visible light image as the reference image, based on the distance between the visible light camera and the line component target, it aligns the initial ultraviolet image to obtain a registered ultraviolet image; based on the initial visible light image, the lightweight pan-tilt head 104 obtains a first visible light filtered image through visible light filtering. The registered ultraviolet image is format converted according to a preset format to obtain a first ultraviolet converted image, and based on the first ultraviolet converted image, a first ultraviolet filtered image is obtained through ultraviolet filtering processing; based on the first visible light filtered image and the first ultraviolet filtered image, a first detection image is obtained through image fusion processing, and when it is determined based on the first detection image that there is a discharge phenomenon in the line component target, the distance between the ultraviolet camera and the line component target is determined based on the line component target size in the first visible light filtered image, the preset actual size of the line component target, and the preset ranging parameters of the lightweight pan-tilt head; based on the first ultraviolet filtered image, the ultraviolet camera parameters, and the distance between the ultraviolet camera and the line component target, the actual discharge intensity on the line component target is determined; when it is verified that a discharge defect exists in the line component target according to the actual discharge intensity, an alarm prompt information corresponding to the discharge defect is issued.

[0064] The lightweight pan-tilt platform 104 may be a terminal, which may be, but is not limited to, various personal computers, laptops, smart phones, tablet computers, and the like.

[0065] In an exemplary embodiment, Figure 5 As shown, a method for detecting the discharge intensity of a line is provided, which is applied to Figure 1 The lightweight pan-tilt head 104 in FIG. 1 is used as an example to illustrate the method, which includes the following steps S502 to S514.

[0066] Step S502: When a line component target is detected in the current scene, an initial ultraviolet image and an initial visible light image are obtained. The initial ultraviolet image is obtained by photographing the target transmission line with a matching first pitch angle using a ultraviolet camera, and the initial visible light image is obtained by photographing the target transmission line with a matching second pitch angle using a visible light camera.

[0067] The target transmission line is the transmission line to be inspected, and the line component target can be understood as the line component on the target transmission line that is the target for inspection. For example, the line component target can be a hardware fitting, an insulator, and the like.

[0068] Exemplarily, when the detection period has expired, a visible light camera takes a preliminary photo of the current scene in which the drone is located, obtaining a scene image. The gimbal then identifies the scene image and obtains a recognition result. If the recognition result indicates the presence of a line component target in the current scene, the lightweight gimbal generates an acquisition request for line discharge intensity detection and sends it to the UV camera and visible light camera on the drone, respectively, instructing the UV camera to adjust its position to a first pitch angle, and the visible light camera to adjust its position to a second pitch angle. Furthermore, the UV camera at the first pitch angle and the visible light camera at the second pitch angle are instructed to simultaneously capture images of the target transmission line to obtain an initial UV image and an initial visible light image. The lightweight gimbal then receives the initial UV image captured by the UV camera and the initial visible light image captured by the visible light camera. The UV camera and the visible light camera have the same shooting direction and capture data synchronously.

[0069] Exemplarily, when the detection period is reached, a visible light camera is used to initially capture the current scene of the drone to obtain a scene image. The target detection unit in the lightweight gimbal performs image recognition on the scene image to obtain a recognition result. If the recognition result indicates that the current scene contains a line component target located on the target transmission line, the pitch angle adjustment unit of the lightweight gimbal determines a first pitch angle that matches the target transmission line and the UV camera, and determines a second pitch angle that matches the target transmission line and the visible light camera. Based on the first pitch angle and the second pitch angle, an acquisition request for line discharge intensity detection is generated to instruct the UV camera to adjust its position so that the UV camera is at the first pitch angle, and to instruct the visible light camera to adjust its position so that the visible light camera is at the second pitch angle. Furthermore, the UV camera at the first pitch angle and the visible light camera at the second pitch angle are instructed to simultaneously capture images of the target transmission line to obtain an initial UV image and an initial visible light image.

[0070] Step S504 : When it is verified that the initial visible light image meets the reference image requirement, target detection is performed on the initial visible light image to determine the line component target and the position of the line component target.

[0071] Among them, the benchmark image can be understood as a reference standard when performing image registration on the image to be registered. The benchmark image requirement can be that the image quality of the image reaches the image quality of the benchmark image. For example, the higher the resolution of the image, the higher the probability that the image meets the benchmark image requirement.

[0072] Optionally, the lightweight gimbal determines the resolution of the initial visible light image, and determines whether the initial visible light image meets the reference image requirement based on the resolution.

[0073] Exemplarily, the control unit in the lightweight gimbal scores the image quality of the initial visible light image based on the resolution to obtain a corresponding image quality score. If the image quality score is greater than or equal to a preset quality score threshold, it is determined that the initial visible light image meets the baseline image requirements.

[0074] For example, the control unit of the lightweight gimbal obtains an image quality assessment model based on a neural network, inputs the resolution of the initial visible light image into the image quality assessment model, and obtains an image quality score.

[0075] It should be noted that in the discharge detection scenario, the initial ultraviolet image is grayscale and the initial visible light image is color. Generally, the initial visible light image may obtain more details of the target transmission line. Since the initial ultraviolet image has a stronger ability to capture discharge features, the baseline image requirement is used to pre-verify whether the initial visible light image has more details. If so, the initial ultraviolet image is aligned based on the initial visible light image with more details to ensure that the discharge features in the aligned ultraviolet image are obvious and have more detailed information, so that discharge detection can be performed more accurately.

[0076] Object detection is used to identify target objects and locations from images.

[0077] Exemplarily, upon verifying that the initial visible light image meets the reference image requirements, the lightweight gimbal invokes an object detection model or an object detection algorithm to perform image detection on the initial visible light image, determine the line component target and its location in the initial visible light image, and further determine the size of the line component target.

[0078] For example, the target detection model can be constructed based on a neural network, and the target detection algorithm can be a YOLO (You Only Look Once, a detection algorithm) series algorithm, or a PKAMNet (a small target detection algorithm) algorithm, etc., without specific limitation.

[0079] Step S506 , using the initial visible light image as a reference image, and based on the distance between the visible light camera and the circuit component target, registering the initial ultraviolet image to obtain a registered ultraviolet image.

[0080] In some embodiments, the method further includes: determining the resolution of the initial ultraviolet image and the resolution of the initial visible light image; when the resolution of the initial ultraviolet image is less than or equal to the resolution of the initial visible light image, determining that the initial visible light image meets the baseline image requirements; when the resolution of the initial ultraviolet image is greater than the resolution of the initial visible light image, determining that the initial visible light image does not meet the baseline image requirements.

[0081] Exemplarily, the control unit of the lightweight gimbal compares the resolution of the initial ultraviolet image and the resolution of the initial visible light image when both the resolution of the initial ultraviolet image and the resolution of the initial visible light image are greater than or equal to a resolution threshold. If the resolution of the initial ultraviolet image is less than or equal to the resolution of the initial visible light image, it determines that the initial visible light image meets the baseline image requirements; if the resolution of the initial ultraviolet image is greater than the resolution of the initial visible light image, it determines that the initial visible light image does not meet the baseline image requirements.

[0082] Exemplarily, when the resolution of the initial ultraviolet image is greater than or equal to the resolution threshold and the resolution of the initial visible light image is less than the resolution threshold, it is determined that the initial visible light image does not meet the reference image requirement.

[0083] Exemplarily, when the resolution of the initial ultraviolet image is less than the resolution threshold and the resolution of the initial visible light image is greater than or equal to the resolution threshold, it is determined that the initial visible light image meets the reference image requirement.

[0084] In this embodiment, the resolution of the initial visible light image is determined to be higher than that of the initial UV image. If so, the initial visible light image is more detailed than the initial UV image, and the initial visible light image with greater detail is selected as the reference. If not, the initial visible light image is less detailed than the initial UV image, and the initial UV image is selected as the reference. This ensures the accuracy and effectiveness of discharge detection.

[0085] Optionally, the initial visible light image is used as a reference image, and based on the position of the visible light camera and the position of the line component target, the distance between the visible light camera and the line component target is determined. Based on this distance, the initial visible light image is registered through corresponding registration processing to obtain a registered UV image.

[0086] Optionally, when the control unit of the lightweight gimbal verifies that the initial visible light image meets the reference image requirements, it uses the initial visible light image as the reference image, calls the first affine transformation matrix registration table, and registers the initial ultraviolet image based on the distance between the visible light camera and the line component target and the distance between the visible light camera and the ultraviolet camera to obtain a registered ultraviolet image.

[0087] Exemplarily, the step of determining the first affine transformation matrix registration table includes: obtaining a first image of the calibration plate taken by a visible light camera at various fixed distances, and a second image of the calibration plate taken by an ultraviolet camera at various fixed distances, and preprocessing the first image and the second image, wherein the preprocessing operations sequentially include using a Wiener filtering algorithm to remove multiplicative noise and salt and pepper noise in the first image and the second image, using a median filtering algorithm to filter out Gaussian noise in the first image and the second image, and using a He algorithm (a defogging algorithm) to defog the first image and the second image to obtain the defogged first image and the second image. A contour detection algorithm and a circle center detection algorithm are applied to calculate the coordinates of each pixel in the first image and the second image after dehazing. Then, based on the coordinates of each pixel in the first image after dehazing, the coordinates of each pixel in the first image after dehazing are calculated, and the calculated first image after dehazing is used as the first registered image. A random sampling consensus algorithm is applied to calculate the optimal affine transformation matrix with the first image as the reference image based on the first registered image, and a first affine transformation matrix registration table is constructed based on each distance and the corresponding optimal affine transformation matrix.

[0088] Step S508: Based on the initial visible light image, a first visible light filtered image is obtained by performing visible light filtering processing, and the format of the registered ultraviolet image is converted according to a preset format to obtain a first ultraviolet converted image, and based on the first ultraviolet converted image, a first ultraviolet filtered image is obtained by performing ultraviolet filtering processing.

[0089] The visible light filtering process may be at least one of least squares filtering and bilateral filtering. The preset format may be a YUV format (Y represents brightness, i.e., grayscale value; U and V represent chrominance). The ultraviolet filtering process may be least squares filtering.

[0090] Optionally, the control unit of the lightweight gimbal performs at least one of least squares filtering and bilateral filtering on the initial visible light image to obtain a first visible light filtered image. The registered ultraviolet image is converted into a first ultraviolet converted image in YUV format, and the first ultraviolet converted image is subjected to least squares filtering to obtain a first ultraviolet filtered image.

[0091] Exemplarily, the control unit of the lightweight gimbal performs least squares filtering on the initial visible light image to obtain a first visible light filtered image. Alternatively, the lightweight gimbal performs bilateral filtering on the initial visible light image to obtain a first visible light filtered image. Alternatively, the lightweight gimbal performs least squares filtering on the initial visible light image to obtain a first filtered sub-image, and then performs bilateral filtering on the first filtered sub-image to obtain a second filtered sub-image. The first filtered sub-image and the second filtered sub-image are fused to obtain the first visible light filtered image.

[0092] In some embodiments, based on the initial visible light image, a first visible light filtered image is obtained through visible light filtering processing, including: performing least squares filtering processing on the initial visible light image to obtain a first filtered sub-image; performing bilateral filtering processing on the first filtered sub-image to obtain a second filtered sub-image, and the first filtered sub-image and the second filtered sub-image have the same image size; performing mean calculation on the pixel values ​​at the same pixel position in the first filtered sub-image and the second filtered sub-image to obtain the mean corresponding to each pixel position; and generating the first visible light filtered image based on the mean corresponding to each pixel position.

[0093] Exemplarily, after determining the first and second filtered sub-images, the control unit of the lightweight gimbal may, for each pixel position, obtain a first pixel value at that pixel position from the first filtered sub-image and a second pixel value at that pixel position from the second filtered sub-image, perform mean calculation on the first and second pixel values ​​to obtain the mean value at that pixel position, and generate a first visible light filtered image based on the mean values ​​at each pixel.

[0094] In this embodiment, after two filtering steps, the corresponding first filtered sub-image and second filtered sub-image are obtained respectively. More accurate pixel values ​​can be obtained through mean calculation to generate a more effective first visible light filtered image, thereby ensuring the effectiveness of subsequent discharge detection.

[0095] In some embodiments, based on the first ultraviolet converted image, a first ultraviolet filtered image is obtained through ultraviolet filtering processing, including: performing channel separation on the first ultraviolet converted image to obtain a channel ultraviolet image belonging to the target channel; performing least squares filtering on the channel ultraviolet image to obtain the first ultraviolet filtered image.

[0096] Exemplarily, the first ultraviolet converted image is channel-separated to obtain a channel ultraviolet image of the Y channel, a channel ultraviolet image of the U channel, and a channel ultraviolet image of the V channel. A target channel is selected from the Y channel, the U channel, and the V channel, and the channel ultraviolet image of the target channel is subjected to least squares filtering to obtain a first ultraviolet filtered image.

[0097] For example, the information in the ultraviolet image of the Y channel is more relevant to discharge detection, and thus the Y channel can be used as the target channel.

[0098] For example, when the channel ultraviolet image of the target channel is subjected to least squares filtering, a base sub-image and an ultraviolet filtered sub-image are obtained, wherein the base sub-image can be regarded as a base sub-image.

[0099] In this embodiment, after converting the registered ultraviolet image into a first ultraviolet converted image in a preset format, ultraviolet filtering processing adapted to the ultraviolet image is performed to obtain a first ultraviolet filtered image that is more suitable for discharge detection, thereby ensuring the effectiveness of subsequent discharge detection.

[0100] Step S510: Based on the first visible light filtered image and the first ultraviolet filtered image, a first detection image is obtained through image fusion processing. When it is determined based on the first detection image that a discharge phenomenon exists in the line component target, the distance between the ultraviolet camera and the line component target is determined based on the size of the line component target in the first visible light filtered image, the preset actual size of the line component target, and the preset ranging parameters of the lightweight pan-tilt head.

[0101] Exemplarily, a pre-set first image fusion mode and a pre-set second image fusion mode are obtained, wherein the first image fusion mode is a fusion mode based on the spatial domain or the frequency domain, and the second image fusion mode is a fusion mode based on the discharge area.

[0102] The lightweight gimbal control unit selects a target fusion mode from the first image fusion mode and the second image fusion mode, and fuses the first visible light filtered image and the first ultraviolet filtered image according to the target fusion mode to obtain a first detection image. Based on the first detection image, a discharge detection is performed on the line component target to determine whether a discharge is present in the line component target. If so, the actual discharge intensity on the line component target is further determined.

[0103] Specifically, when it is determined based on the first detection image that there is a discharge phenomenon in the line component target, the preset actual size of the detected line component target and the preset ranging parameters of the lightweight pan-tilt head are obtained. Thus, based on the line component target size in the first visible light filtered image, the preset actual size of the line component target, and the preset ranging parameters of the lightweight pan-tilt head, the distance between the lens of the visible light camera and the line component target, and the distance between the lens of the ultraviolet camera and the line component target are determined.

[0104] Therefore, the actual discharge intensity is subsequently determined based on the determined distance between the lens of the ultraviolet camera and the circuit component target.

[0105] The following introduces the process of image fusion using the first image fusion method. In some embodiments, the first ultraviolet filtered image includes a base sub-image and an ultraviolet filtered sub-image. Based on the first visible light filtered image and the first ultraviolet filtered image, an image fusion process is performed to obtain a first detection image, including: based on the first visible light filtered image and the ultraviolet filtered sub-image, an intermediate fused image is obtained through domain fusion processing, and the domain fusion process includes one of time domain fusion and frequency domain fusion; and the base sub-image and the intermediate fused image are superimposed to obtain the first detection image.

[0106] Domain fusion can be performed in either the spatial or frequency domain. Spatial domain fusion includes alpha fusion (a transparency-based fusion method), pyramid fusion, image Poisson fusion, IHS (Intensity, Hue, Saturation) fusion, and PCA (Principal Component Analysis) fusion. Frequency domain fusion methods include DCT (Discrete Cosine Transform) fusion and wavelet fusion.

[0107] For example, after obtaining the intermediate fused image, the pixel values ​​at the same pixel position in the base sub-image and the intermediate fused image are superimposed to obtain the sum value corresponding to each pixel position. Based on each sum value, a superimposed image is generated, and the superimposed image is converted into RGB format to obtain the first detection image.

[0108] In this embodiment, the first visible light filtered image and the first ultraviolet filtered image are effectively fused by domain fusion, thereby ensuring the effectiveness of subsequent line discharge intensity detection.

[0109] The following describes the process of image fusion using the second image fusion method. In some embodiments, the first ultraviolet filtered image includes a base sub-image and an ultraviolet filtered sub-image. Based on the first visible light filtered image and the first ultraviolet filtered image, a first detection image is obtained through image fusion processing, including: performing format conversion on the first visible light filtered image according to a preset format to obtain a first visible light converted image; performing region identification on the discharge area in the ultraviolet filtered sub-image to obtain a discharge area image; performing channel separation on the first visible light converted image to obtain a channel visible light image belonging to the target channel; and fusing the channel visible light image, the discharge area image, and the base sub-image to obtain the first detection image.

[0110] Exemplarily, the first visible light filtered image is converted into a YUV format image to obtain a first visible light converted image. The discharge region in the UV filtered sub-image is identified to obtain a discharge region image. The first visible light converted image is then channel-separated to obtain a channel visible light image of the Y channel, a channel visible light image of the U channel, and a channel visible light image of the Y channel. The Y channel is used as the target channel, and the channel visible light image of the Y channel is fused with the discharge region image to obtain an intermediate fused registration image. The intermediate fused registration image is then superimposed with the base sub-image to obtain a first detection image.

[0111] Exemplarily, a single-scale wavelet transform is performed on the discharge area image and the channel visible light image of the Y channel by selecting a base wavelet to obtain a transformed discharge area image and a transformed channel visible light image, respectively, and the frequency classification of the two transformed images is performed and weighted averaged to obtain a fused transformed registration image; the fused transformed registration image is subjected to an inverse wavelet transform to obtain a fused registration Y channel area, and the fused registration Y channel area is used to replace the discharge area corresponding to the channel visible light image of the Y channel to obtain an intermediate fused registration image.

[0112] Exemplarily, a discharge area recognition model based on a neural network is obtained, and the ultraviolet filtered sub-image is input into the discharge area recognition model to obtain a discharge area image.

[0113] Exemplarily, the maximum inter-class variance method is applied to determine a pixel threshold between the discharge region and the background region in the UV filtered sub-image. For each pixel position in the UV filtered sub-image, the pixel value at that pixel position is compared with the pixel threshold to determine a comparison result, which indicates whether the pixel position is a discharge region. Based on the comparison results for each pixel position, an image of the discharge region in the UV filtered sub-image is obtained.

[0114] Exemplarily, after the intermediate fused registration image and the base sub-image are superimposed to obtain a corresponding superimposed image, the superimposed image is converted into an image in RGB format to obtain a first detection image.

[0115] In this embodiment, the discharge area in the ultraviolet filter sub-image is effectively identified through a fusion method based on the discharge area. Therefore, after the fusion is completed, the detail information of the discharge area in the first detection image is more prominent, ensuring the accuracy of subsequent discharge detection.

[0116] Step S512 : determining the actual discharge intensity on the circuit component target based on the first ultraviolet filtered image, the ultraviolet camera parameters, and the distance between the ultraviolet camera and the circuit component target.

[0117] Exemplarily, the actual discharge intensity on the circuit component target is determined based on the number of ultraviolet photons within the circuit component target range contained in the first ultraviolet filtered image, the magnification, ultraviolet camera parameters, and the distance between the ultraviolet camera and the circuit component target.

[0118] Step S514: When a discharge defect is detected in a target line component according to the actual discharge intensity, an alarm message corresponding to the discharge defect is issued.

[0119] Exemplarily, when the PTZ determines that the actual discharge intensity is greater than the threshold intensity corresponding to the discharge defect, it determines that a discharge defect occurs in the target power transmission circuit, and determines a matching alarm level based on the type of the discharge defect, and sends an alarm prompt message corresponding to the alarm level.

[0120] The aforementioned line discharge intensity detection method, applied to a lightweight pan / tilt head, confirms the start of detection upon detecting the presence of a line component target in the current scene. The pitch angles of the UV camera and visible light camera are pre-calibrated to obtain matching first and second pitch angles, ensuring accurate capture of the target transmission line. This generates initial UV and initial visible light images. If the initial visible light image is verified to meet the baseline image requirements, the pre-calibrated, more informative initial visible light image can be used as a registration reference, and target detection is performed on the initial visible light image to accurately detect the line component target and its location. Using the initial visible light image as a reference image, the initial ultraviolet image is registered based on the distance between the visible light camera and the line component target to obtain a registered ultraviolet image. Based on the initial visible light image, visible light filtering is performed to obtain a first visible light filtered image. The registered ultraviolet image is format-converted according to a preset format to obtain a first ultraviolet converted image. Based on the first ultraviolet converted image, ultraviolet filtering is performed to obtain a first ultraviolet filtered image. Based on the first ultraviolet converted image, the first visible light filtered image and the first ultraviolet filtered image are subjected to image fusion processing to obtain a first detection image. If the presence of discharge in the line component target is determined based on the first detection image, the distance between the ultraviolet camera and the line component target is determined based on the line component target size in the first visible light filtered image, the preset actual size of the line component target, and the preset ranging parameters of the lightweight pan / tilt system. Based on the first UV filtered image, UV camera parameters, and the distance between the UV camera and the line component target, the system can accurately identify the actual discharge intensity of the line component target. This allows for more accurate verification of discharge defects, improving the accuracy of discharge detection. If a discharge defect is detected in the line component target based on the actual discharge intensity, an alarm corresponding to the discharge defect is automatically issued, providing timely early warning. While ensuring the accuracy of line discharge intensity detection, automated processing and alarm generation throughout the entire process eliminates the need for manual inspections by inspectors, improving the efficiency of line discharge intensity detection.

[0121] In some embodiments, the method further includes: when it is verified that the initial visible light image does not meet the requirements of the reference image, using the initial ultraviolet image as the reference image, and aligning the initial visible light image based on the distance between the ultraviolet camera and the line component target to obtain a registered visible light image; based on the aligned visible light image, obtaining a second visible light filtered image through visible light filtering, performing format conversion on the initial ultraviolet image according to a preset format to obtain a second ultraviolet converted image, and based on the second ultraviolet converted image, obtaining a second ultraviolet filtered image through ultraviolet filtering; based on the second visible light filtered image and the second ultraviolet filtered image, obtaining a second detection image through image fusion processing, and determining whether there is a discharge phenomenon in the line component target based on the second detection image.

[0122] Exemplarily, the initial ultraviolet image is used as the reference image, and the second affine transformation matrix registration table is called. The initial visible light image is registered based on the distance between the ultraviolet camera and the line component target and the distance between the ultraviolet camera and the visible light camera to obtain the registered visible light image.

[0123] Exemplarily, the registered visible light image is subjected to least squares filtering to obtain a third filtered sub-image; the third filtered sub-image is subjected to bilateral filtering to obtain a fourth filtered sub-image, and the third filtered sub-image and the fourth filtered sub-image have the same image size; the pixel values ​​at the same pixel position in the third filtered sub-image and the fourth filtered sub-image are averaged to obtain the mean corresponding to each pixel position; and based on the mean corresponding to each pixel position, a second visible light filtered image is generated.

[0124] Exemplarily, channel separation is performed on the second ultraviolet converted image to obtain a channel initial ultraviolet image belonging to the target channel; and least square filtering is performed on the channel initial ultraviolet image to obtain a second ultraviolet filtered image.

[0125] Exemplarily, the second UV-converted image includes other base sub-images and other UV-filtered sub-images.

[0126] Exemplarily, the process of image fusion using domain fusion is as follows: based on the second visible light filtered image and other ultraviolet filtered sub-images, other intermediate fused images are obtained through domain fusion processing, and the domain fusion processing includes one of time domain fusion and frequency domain fusion; other base sub-images and other intermediate fused images are superimposed to obtain a second detection image.

[0127] For example, the process of image fusion using the discharge area-based fusion method is as follows:

[0128] The second visible light filter image is format converted according to a preset format to obtain a second visible light conversion image; the discharge area in the other ultraviolet filter sub-images is regionally identified to obtain other discharge area images; the second visible light conversion image is channel-separated to obtain a channel visible light conversion image belonging to the target channel; the channel visible light conversion image, other discharge area images and other base sub-images are fused to obtain a second detection image.

[0129] For example, the target channel may be a Y channel, and the preset format may be a YUV image.

[0130] Exemplarily, the process of fusing the channel visible light conversion image, other discharge area images and other substrate sub-images to obtain the second detection image is similar to the method of fusing the channel visible light image, discharge area image and substrate sub-image to obtain the first detection image as mentioned above, and reference may be made to the above text.

[0131] In this embodiment, when it is determined that the initial visible light image does not meet the reference image requirements, the initial ultraviolet image contains more information and discharge details, so the initial ultraviolet image is used as a reference for alignment, thereby performing image fusion, which can ensure the accuracy of image fusion.

[0132] In one specific embodiment, a line discharge intensity detection method is applied to a lightweight gimbal. The specific implementation process is as follows: A UV camera and a visible light camera on a drone simultaneously capture a target transmission line, obtaining an initial UV image captured by the UV camera and an initial visible light image captured by the visible light camera. The UV camera and visible light camera on the drone, respectively, transmit the initial UV image and initial visible light image to the lightweight gimbal. The lightweight gimbal performs the following process:

[0133] When a line component target is detected in the current scene, an initial ultraviolet image and an initial visible light image are acquired. The initial ultraviolet image is obtained by photographing the target transmission line with an ultraviolet camera at a matching first pitch angle, and the initial visible light image is obtained by photographing the target transmission line with a visible light camera at a matching second pitch angle. The resolution of the initial ultraviolet image and the resolution of the initial visible light image are determined. If the resolution of the initial ultraviolet image is less than or equal to the resolution of the initial visible light image, the initial visible light image is determined to meet the baseline image requirements. If the resolution of the initial ultraviolet image is greater than the resolution of the initial visible light image, the initial visible light image is determined to not meet the baseline image requirements.

[0134] If the initial visible light image is verified to meet the reference image requirements, the initial ultraviolet image is registered using the initial visible light image as the reference image based on the distance between the visible light camera and the target circuit component to obtain a registered ultraviolet image. The initial visible light image is least squares filtered to obtain a first filtered sub-image. The first filtered sub-image is bilaterally filtered to obtain a second filtered sub-image, with the first and second filtered sub-images having the same image size. The pixel values ​​at the same pixel position in the first and second filtered sub-images are averaged to obtain the mean corresponding to each pixel position. Based on the mean corresponding to each pixel position, a first visible light filtered image is generated. Channel separation is performed on the first ultraviolet converted image to obtain a channel ultraviolet image belonging to the target channel. The channel ultraviolet image is least squares filtered to obtain a first ultraviolet filtered image. The first ultraviolet filtered image includes a base sub-image and an ultraviolet filtered sub-image.

[0135] Subsequently, based on the first visible light filtered image and the ultraviolet filtered sub-image, an intermediate fused image is obtained through domain fusion processing, and the domain fusion processing includes one of time domain fusion and frequency domain fusion; the base sub-image and the intermediate fused image are superimposed to obtain a first detection image.

[0136] Alternatively, the first visible light filter image is format converted according to a preset format to obtain a first visible light converted image; the discharge area in the ultraviolet filter sub-image is regionally identified to obtain a discharge area image; the first visible light converted image is channel-separated to obtain a channel visible light image belonging to the target channel; the channel visible light image, the discharge area image and the base sub-image are fused to obtain a first detection image.

[0137] When it is verified that the initial visible light image meets the requirements of the reference image, target detection is performed on the initial visible light image to determine the position of the line component target and the line component target; the initial visible light image is used as the reference image, and based on the distance between the visible light camera and the line component target, the initial ultraviolet image is registered to obtain a registered ultraviolet image; based on the initial visible light image, a first visible light filtered image is obtained by performing visible light filtering processing, and the format of the registered ultraviolet image is converted according to a preset format to obtain a first ultraviolet converted image, and based on the first ultraviolet converted image, a first ultraviolet filtered image is obtained by performing ultraviolet filtering processing; based on the first visible light filtering The image and the first ultraviolet filtered image are processed by image fusion to obtain a first detection image. When it is determined that a discharge phenomenon exists in the line component target based on the first detection image, the distance between the ultraviolet camera and the line component target is determined based on the line component target size in the first visible light filtered image, the preset actual size of the line component target, and the preset ranging parameters of the lightweight pan-tilt head; the actual discharge intensity on the line component target is determined based on the first ultraviolet filtered image, the ultraviolet camera parameters, and the distance between the ultraviolet camera and the line component target; and when a discharge defect is detected in the line component target based on the actual discharge intensity, an alarm prompt information corresponding to the discharge defect is issued.

[0138] If the initial visible light image is found to not meet the reference image requirements, the initial UV image is used as the reference image and registered based on the distance between the UV camera and the target transmission line to obtain a registered visible light image. The registered visible light image is then least squares filtered to obtain a third filtered sub-image. The third filtered sub-image is then bilaterally filtered to obtain a fourth filtered sub-image, with the third and fourth filtered sub-images having the same image size. The pixel values ​​at the same pixel position in the third and fourth filtered sub-images are averaged to obtain the mean value corresponding to each pixel position. A second visible light filtered image is generated based on the mean value corresponding to each pixel position. The second UV converted image is then channel-separated to obtain the initial UV image of the target channel. The initial UV image is then least squares filtered to obtain the second UV filtered image.

[0139] Next, the process of image fusion using domain fusion is as follows: based on the second visible light filtered image and other ultraviolet filtered sub-images, other intermediate fused images are obtained through domain fusion processing, and the domain fusion processing includes one of time domain fusion and frequency domain fusion; other base sub-images and other intermediate fused images are superimposed to obtain the second detection image.

[0140] Alternatively, the second visible light filtered image is format-converted according to a preset format to obtain a second visible light converted image; the discharge regions in the other UV filtered sub-images are identified to obtain other discharge region images; the second visible light converted image is channel-separated to obtain a channel visible light converted image belonging to the target channel; and the channel visible light converted image, other discharge region images, and other base sub-images are fused to obtain a second detection image. Based on the second detection image, it is determined whether the line component target exhibits discharge. If so, the actual discharge intensity of the line component target is further used to determine whether a discharge defect has occurred. If so, a corresponding alarm is issued.

[0141] In this embodiment, a lightweight pan / tilt camera detects the presence of a line component target in the current scene, confirms the start of detection, pre-calibrates the pitch angles of the UV camera and the visible light camera, and obtains matching first and second pitch angles, ensuring accurate capture of the target transmission line. This generates an initial UV image and an initial visible light image. If the initial visible light image is verified to meet the reference image requirements, that is, the pre-calibrated, more informative initial visible light image can be used as a registration reference, and target detection is performed on the initial visible light image to accurately detect the line component target and its position. Using the initial visible light image as a reference image, the initial ultraviolet image is registered based on the distance between the visible light camera and the line component target to obtain a registered ultraviolet image. Based on the initial visible light image, visible light filtering is performed to obtain a first visible light filtered image. The registered ultraviolet image is format-converted according to a preset format to obtain a first ultraviolet converted image. Based on the first ultraviolet converted image, ultraviolet filtering is performed to obtain a first ultraviolet filtered image. Based on the first ultraviolet converted image, the first visible light filtered image and the first ultraviolet filtered image are subjected to image fusion processing to obtain a first detection image. If the presence of discharge in the line component target is determined based on the first detection image, the distance between the ultraviolet camera and the line component target is determined based on the line component target size in the first visible light filtered image, the preset actual size of the line component target, and the preset ranging parameters of the lightweight pan / tilt system. Based on the first ultraviolet filtered image, the ultraviolet camera parameters, and the distance between the ultraviolet camera and the line component target, the actual discharge intensity on the line component target can be accurately identified. Based on this, it is possible to more accurately verify whether there is a discharge defect, thereby improving the accuracy of discharge detection. When a discharge defect is detected in the line component target based on the actual discharge intensity, an alarm prompt message corresponding to the discharge defect is automatically issued, thereby enabling timely early warning. Under the premise of ensuring the accuracy of line discharge intensity detection, automated processing and automated alarms are performed throughout the process, eliminating the need for manual inspections by inspection personnel, thereby improving the efficiency of line discharge intensity detection. It should be understood that although the various steps in the flowcharts involved in the various embodiments described above are displayed in sequence as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, at least part of the steps in the flowcharts involved in the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the steps or stages in other steps.

[0142] Based on the same inventive concept, embodiments of the present application also provide a line discharge intensity detection device for implementing the aforementioned line discharge intensity detection method. The solution provided by this device is similar to the solution described in the aforementioned method. Therefore, the specific limitations of one or more embodiments of the line discharge intensity detection device provided below can be found in the aforementioned limitations of the line discharge intensity detection method and will not be further elaborated here.

[0143] In an exemplary embodiment, Figure 6 As shown, a line discharge intensity detection device 600 is provided, comprising: an image acquisition module 602, a target detection module 604, an image registration module 606, an image filtering module 608, a distance determination module 610, an intensity determination module 612, and an information sending module 614, wherein:

[0144] An image acquisition module 602 is configured to acquire an initial ultraviolet image and an initial visible light image upon detecting the presence of a line component target in the current scene. The initial ultraviolet image is obtained by photographing the target transmission line with a UV camera at a matching first pitch angle, and the initial visible light image is obtained by photographing the target transmission line with a visible light camera at a matching second pitch angle.

[0145] The target detection module 604 is configured to perform target detection on the initial visible light image when it is verified that the initial visible light image meets the reference image requirements, and determine the line component target and the position of the line component target;

[0146] An image registration module 606 is configured to register the initial ultraviolet image using the initial visible light image as a reference image based on the distance between the visible light camera and the circuit component target to obtain a registered ultraviolet image;

[0147] An image filtering module 608 is configured to perform visible light filtering processing on the initial visible light image to obtain a first visible light filtered image, perform format conversion on the registered ultraviolet image according to a preset format to obtain a first ultraviolet converted image, and perform ultraviolet filtering processing on the first ultraviolet converted image to obtain a first ultraviolet filtered image;

[0148] A distance determination module 610 is configured to obtain a first detection image through image fusion processing based on the first visible light filtered image and the first ultraviolet filtered image. If a discharge phenomenon is determined in the line component target based on the first detection image, the distance between the ultraviolet camera and the line component target is determined based on the size of the line component target in the first visible light filtered image, the preset actual size of the line component target, and the preset ranging parameters of the lightweight pan / tilt platform.

[0149] an intensity determination module 612 for determining an actual discharge intensity on the line component target based on the first UV filtered image, UV camera parameters, and a distance between the UV camera and the line component target;

[0150] The information issuing module 614 is configured to issue an alarm prompt message corresponding to the discharge defect when a discharge defect is detected in a target line component according to the actual discharge intensity.

[0151] In some embodiments, the device also includes a requirement determination module, which is used to determine the resolution of the initial ultraviolet image and the resolution of the initial visible light image; when the resolution of the initial ultraviolet image is less than or equal to the resolution of the initial visible light image, it is determined that the initial visible light image meets the baseline image requirement; when the resolution of the initial ultraviolet image is greater than the resolution of the initial visible light image, it is determined that the initial visible light image does not meet the baseline image requirement.

[0152] In some embodiments, the image filtering module 608 is used to perform least squares filtering on the initial visible light image to obtain a first filtered sub-image; perform bilateral filtering on the first filtered sub-image to obtain a second filtered sub-image, and the image sizes of the first filtered sub-image and the second filtered sub-image are the same; perform mean calculation on the pixel values ​​at the same pixel position in the first filtered sub-image and the second filtered sub-image to obtain the mean corresponding to each pixel position; generate a first visible light filtered image based on the mean corresponding to each pixel position; the image filtering module 608 is used to perform channel separation on the first ultraviolet converted image to obtain a channel ultraviolet image belonging to the target channel; perform least squares filtering on the channel ultraviolet image to obtain a first ultraviolet filtered image.

[0153] In some embodiments, the first ultraviolet filtered image includes a base sub-image and an ultraviolet filtered sub-image, and the intensity determination module 612 is used to obtain an intermediate fused image through domain fusion processing based on the first visible light filtered image and the ultraviolet filtered sub-image, and the domain fusion processing includes one of time domain fusion and frequency domain fusion; superimpose the base sub-image and the intermediate fused image to obtain a first detection image.

[0154] In some embodiments, the first ultraviolet filtered image includes a base sub-image and an ultraviolet filtered sub-image, and the intensity determination module 612 is used to convert the format of the first visible light filtered image according to a preset format to obtain a first visible light converted image; perform region identification on the discharge area in the ultraviolet filtered sub-image to obtain a discharge area image; perform channel separation on the first visible light converted image to obtain a channel visible light image belonging to the target channel; and fuse the channel visible light image, the discharge area image and the base sub-image to obtain a first detection image.

[0155] In some embodiments, the image registration module 606 is further used to, when it is verified that the initial visible light image does not meet the reference image requirements, use the initial ultraviolet image as the reference image, and register the initial visible light image based on the distance between the ultraviolet camera and the line component target to obtain a registered visible light image; the image filtering module 608 is further used to obtain a second visible light filtered image through visible light filtering based on the registered visible light image, perform format conversion on the initial ultraviolet image according to a preset format to obtain a second ultraviolet converted image, and obtain a second ultraviolet filtered image through ultraviolet filtering based on the second ultraviolet converted image; the intensity determination module 612 is further used to obtain a second detection image through image fusion based on the second visible light filtered image and the second ultraviolet filtered image, and determine whether there is a discharge phenomenon in the line component target according to the second detection image.

[0156] Each module in the aforementioned circuit discharge intensity detection device can be implemented in whole or in part through software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a computer device memory in the form of software, so that the processor can call and execute the corresponding operations of each module.

[0157] In an exemplary embodiment, a computer device is provided. The computer device is the aforementioned lightweight pan-tilt head. The lightweight pan-tilt head can also be a terminal. The internal structure diagram thereof can be as shown in FIG. Figure 7 As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O) and a communication interface. The processor, memory and input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a line discharge intensity detection method is implemented.

[0158] Those skilled in the art will understand that Figure 7 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0159] In one embodiment, a computer device is further provided, including a memory and a processor. The memory stores a computer program, and the processor implements the steps in the above method embodiments when executing the computer program.

[0160] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0161] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0162] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0163] Those skilled in the art will understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. In particular, any reference to memory, database, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The databases involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the various embodiments provided herein may be, but are not limited to, general-purpose processors, central processing units (CPUs), graphics processing units (GPUs), digital signal processors (DSPs), programmable logic devices (PLDs), quantum computing-based data processing logic devices, artificial intelligence (AI) processors, and the like.

[0164] The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0165] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A method for detecting line discharge intensity, characterized in that: Applied to a lightweight gimbal, the method includes: When a line component target is detected in the current scene, an initial ultraviolet image and an initial visible light image are acquired, wherein the initial ultraviolet image is acquired by photographing the target transmission line with an ultraviolet camera at a matching first pitch angle, and the initial visible light image is acquired by photographing the target transmission line with a visible light camera at a matching second pitch angle; When it is verified that the initial visible light image meets the reference image requirement, performing target detection on the initial visible light image to determine the line component target and the position of the line component target; Using the initial visible light image as a reference image, registering the initial ultraviolet image based on the distance between the visible light camera and the circuit component target to obtain a registered ultraviolet image; Based on the initial visible light image, performing visible light filtering processing to obtain a first visible light filtered image, performing format conversion on the registered ultraviolet image according to a preset format to obtain a first ultraviolet converted image, and based on the first ultraviolet converted image, performing ultraviolet filtering processing to obtain a first ultraviolet filtered image; Obtaining a first detection image through image fusion processing based on the first visible light filtered image and the first ultraviolet filtered image, and determining the distance between the ultraviolet camera and the line component target based on the size of the line component target in the first visible light filtered image, a preset actual size of the line component target, and preset ranging parameters of the lightweight pan / tilt platform when it is determined based on the first detection image that a discharge phenomenon exists in the line component target; determining an actual discharge intensity on the circuit component target based on the first ultraviolet filtered image, ultraviolet camera parameters, and a distance between the ultraviolet camera and the circuit component target; When a discharge defect is detected in the line component target according to the actual discharge intensity, an alarm prompt information corresponding to the discharge defect is issued.

2. The method according to claim 1, characterized in that The method further comprises: determining a resolution of the initial ultraviolet image and a resolution of the initial visible light image; When the resolution of the initial ultraviolet image is less than or equal to the resolution of the initial visible light image, determining that the initial visible light image meets the reference image requirement; When the resolution of the initial ultraviolet image is greater than the resolution of the initial visible light image, it is determined that the initial visible light image does not meet the reference image requirement.

3. The method according to claim 1, characterized in that The step of obtaining a first visible light filtered image by performing visible light filtering processing based on the initial visible light image includes: performing least squares filtering on the initial visible light image to obtain a first filtered sub-image; performing bilateral filtering on the first filtered sub-image to obtain a second filtered sub-image, wherein the first filtered sub-image and the second filtered sub-image have the same image size; Calculating the mean of pixel values ​​at the same pixel position in the first filtered sub-image and the second filtered sub-image to obtain the mean corresponding to each pixel position; generating a first visible light filtered image based on the mean value corresponding to each pixel position; The method of obtaining a first ultraviolet filtered image by ultraviolet filtering based on the first ultraviolet converted image includes: performing channel separation on the first ultraviolet converted image to obtain a channel ultraviolet image belonging to a target channel; The channel ultraviolet image is subjected to least square filtering processing to obtain a first ultraviolet filtered image.

4. The method according to claim 1, wherein The first ultraviolet filtered image includes a base sub-image and an ultraviolet filtered sub-image. The first detection image is obtained by image fusion processing based on the first visible light filtered image and the first ultraviolet filtered image, including: Based on the first visible light filtered image and the ultraviolet filtered sub-image, performing domain fusion processing to obtain an intermediate fused image, wherein the domain fusion processing includes one of time domain fusion and frequency domain fusion; The base sub-image and the intermediate fused image are superimposed to obtain a first detection image.

5. The method according to claim 1, wherein The first ultraviolet filtered image includes a base sub-image and an ultraviolet filtered sub-image. The first detection image is obtained by image fusion processing based on the first visible light filtered image and the first ultraviolet filtered image, including: Performing format conversion on the first visible light filtered image according to a preset format to obtain a first visible light converted image; performing region recognition on the discharge region in the ultraviolet filter sub-image to obtain a discharge region image; performing channel separation on the first visible light converted image to obtain a channel visible light image belonging to a target channel; The channel visible light image, the discharge area image and the substrate sub-image are fused to obtain a first detection image.

6. The method according to claim 1, characterized in that The method further comprises: When it is verified that the initial visible light image does not meet the reference image requirement, the initial ultraviolet image is used as the reference image, and the initial visible light image is registered based on the distance between the ultraviolet camera and the circuit component target to obtain a registered visible light image; Based on the registered visible light image, performing visible light filtering processing to obtain a second visible light filtered image, performing format conversion on the initial ultraviolet image according to a preset format to obtain a second ultraviolet converted image, and based on the second ultraviolet converted image, performing ultraviolet filtering processing to obtain a second ultraviolet filtered image; Based on the second visible light filtered image and the second ultraviolet filtered image, a second detection image is obtained through image fusion processing, and according to the second detection image, it is determined whether there is a discharge phenomenon in the line component target.

7. A circuit discharge intensity detection device, characterized in that: The device comprises: an image acquisition module, configured to acquire, upon detecting the presence of a line component target in the current scene, an initial ultraviolet image and an initial visible light image, wherein the initial ultraviolet image is obtained by photographing the target transmission line with an ultraviolet camera at a matching first pitch angle, and the initial visible light image is obtained by photographing the target transmission line with a visible light camera at a matching second pitch angle; a target detection module, configured to perform target detection on the initial visible light image and determine the position of the line component target and the line component target when the initial visible light image is verified to meet the reference image requirement; an image registration module, configured to register the initial ultraviolet image using the initial visible light image as a reference image based on the distance between the visible light camera and the circuit component target, thereby obtaining a registered ultraviolet image; an image filtering module configured to obtain a first visible light filtered image by performing visible light filtering processing on the initial visible light image, convert the format of the registered ultraviolet image into a first ultraviolet converted image according to a preset format, and obtain a first ultraviolet filtered image by performing ultraviolet filtering processing on the first ultraviolet converted image; a distance determination module configured to obtain a first detection image through image fusion processing based on the first visible light filtered image and the first ultraviolet filtered image, and, when it is determined based on the first detection image that a discharge phenomenon exists in the line component target, determine the distance between the ultraviolet camera and the line component target based on the size of the line component target in the first visible light filtered image, a preset actual size of the line component target, and preset ranging parameters of the lightweight pan / tilt platform; an intensity determination module, configured to determine an actual discharge intensity on the circuit component target based on the first ultraviolet filtered image, ultraviolet camera parameters, and a distance between the ultraviolet camera and the circuit component target; The information issuing module is used to issue an alarm prompt information corresponding to the discharge defect when a discharge defect is detected in the line component target according to the actual discharge intensity.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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