技术领域technical field
本发明涉及输电线路测量技术领域，具体是一种通过双目视觉系统快速获取输电线路弧垂大小的方法。The invention relates to the technical field of power transmission line measurement, in particular to a method for quickly obtaining the sag size of a power transmission line through a binocular vision system.
背景技术Background technique
输电线路弧垂是线路设计和运行维护的重要指标，弧垂大小是否控制在规定的设计容限内直接影响到线路的安全稳定运行。设计部门、施工单位和运行维护单位，都应从经济性和安全性角度出发，保证架空电力线弧垂控制在合理的范围之内。线路运行负荷和周围环境的变化都会造成线路弧垂的变化，如在高温大负荷、输电线路覆冰等工况下，弧垂会增大，造成弧垂超限交叉跨越安全距离不足的隐患。因此，对重要输电线路弧垂测量是十分必要的。传统的弧垂测量方法主要有档侧角度法、档端角度法和驰度板观测法等，这些方法需要观测的物理量多、计算过程繁琐。Transmission line sag is an important indicator of line design and operation and maintenance. Whether the sag size is controlled within the specified design tolerance directly affects the safe and stable operation of the line. The design department, construction unit and operation and maintenance unit should all proceed from the perspective of economy and safety to ensure that the sag of overhead power lines is controlled within a reasonable range. Changes in the operating load of the line and the surrounding environment will cause changes in the line sag. For example, under high temperature and heavy loads, ice-covered transmission lines, etc., the sag will increase, resulting in the hidden danger of sag exceeding the limit and insufficient crossing safety distance. Therefore, it is very necessary to measure the sag of important transmission lines. The traditional sag measurement methods mainly include the gear side angle method, the gear end angle method and the slack plate observation method, etc. These methods require many physical quantities to be observed and the calculation process is cumbersome.
随着制造可靠的大面积电子感光器件的成本越来越低，使得图像成为了一种成本低廉，信息量丰富，可靠性高的数据源。但传统基于图像的弧垂测量方法，因缺乏深度信息和拍摄角度造成输电线路图像畸变，测量误差较大，适用场合有限。The ever-increasing cost of manufacturing reliable large-area electrophotosensitive devices has made images an inexpensive, informative, and reliable source of data. However, the traditional image-based sag measurement method has limited application occasions due to the lack of depth information and shooting angles that cause transmission line image distortion and large measurement errors.
发明内容Contents of the invention
本发明的目的在于提供一种基于双目视觉的架空输电线路弧垂测量方法，其基于双目视觉系统进行输电线路图像采集，通过三维重建得到输电线路空间点的坐标信息，然后投影到弧垂计算平面，计算出输电线路弧垂值，本方法具有现场测量速度快、效率高，结果准确的优点。The purpose of the present invention is to provide a binocular vision-based overhead transmission line sag measurement method, which collects transmission line images based on the binocular vision system, obtains the coordinate information of the transmission line space point through three-dimensional reconstruction, and then projects to the sag Calculate the plane and calculate the sag value of the transmission line. This method has the advantages of fast on-site measurement, high efficiency and accurate results.
为了达到上述目的，本发明包括下列步骤：In order to achieve the above object, the present invention comprises the following steps:
(1)搭建双目视觉系统，建立三维空间坐标系；(1) Build a binocular vision system and establish a three-dimensional space coordinate system;
(2)对双目视觉系统进行标定，得到双目视觉系统内外参数；(2) Calibrate the binocular vision system to obtain the internal and external parameters of the binocular vision system;
(3)现场输电线路图像采集与修正；(3) On-site transmission line image acquisition and correction;
(4)导线选择与中心线提取；(4) Conductor selection and center line extraction;
(5)左右视图导线特征点匹配；(5) Matching of the feature points of the left and right view wires;
(6)导线特征点在弧垂测量平面投影；(6) The projection of the wire feature points on the sag measurement plane;
(7)弧垂计算。(7) Sag calculation.
进一步的，所述步骤(1)搭建双目视觉系统，建立三维空间坐标系步骤为：将双摄像终端固定在水平基线座上，保持两个摄像终端相对位置不变，旋转角度不变，均有一定向上仰角，便于拍摄架空输电线路，以左侧摄像终端为原点建立空间三维坐标系。Further, the step (1) builds a binocular vision system, and the steps of establishing a three-dimensional space coordinate system are as follows: fix the dual camera terminals on the horizontal base line seat, keep the relative positions and rotation angles of the two camera terminals unchanged, and There is a certain upward elevation angle, which is convenient for shooting overhead transmission lines, and a three-dimensional spatial coordinate system is established with the left camera terminal as the origin.
进一步的，所述步骤(2)双目视觉系统标定步骤为：利用张氏法对双目视觉系统的内参数α、β、γ、μ、υ进行标定，其中α为x轴上的比例因子，β为y轴上的比例因子，γ为图像坐标与光轴坐标的斜交因子，μ为光轴光心在图像坐标x轴上的位置，υ为光轴光心在图像坐标y轴上的位置；利用自标定法对双目视觉系统的外参数R、t进行标定，其中R为旋转因子，t为平移因子。Further, the step (2) binocular vision system calibration step is: use Zhang's method to calibrate the internal parameters α, β, γ, μ, υ of the binocular vision system, where α is the scaling factor on the x-axis , β is the scaling factor on the y-axis, γ is the oblique factor between the image coordinates and the optical axis coordinates, μ is the position of the optical center of the optical axis on the x-axis of the image coordinates, υ is the optical center of the optical axis on the y-axis of the image coordinates The position of the binocular vision system is calibrated by using the self-calibration method, where R is the rotation factor and t is the translation factor.
进一步的，所述步骤(3)中图像采集与修正具体步骤为：首先确保左右摄像终端能够同时采集到一档输电线路全长的一半以上图像，并包含最低点；其次同时各拍摄一张输电线路图像；然后利用标定参数对图像进行畸变校正与极线修正，使两张图像的匹配点处于同一水平面。Further, the specific steps of image acquisition and correction in the step (3) are as follows: first, ensure that the left and right camera terminals can simultaneously capture more than half of the entire length of a power transmission line, including the lowest point; The line image; then use the calibration parameters to correct the distortion and epipolar line of the image, so that the matching points of the two images are on the same horizontal plane.
进一步的，所述步骤(4)中导线选择与中心线提取具体步骤为：首先利用Sobel算子对左右视图进行边缘检测；其次进行二值化与滤波处理；然后通过选取兴趣区域过滤复杂的路面背景；再经过细化、去毛刺处理得到导线中心线，若图中存在多根中心线，选择需要测量弧垂的导线。Further, the specific steps of wire selection and centerline extraction in the step (4) are: firstly utilize Sobel operator to carry out edge detection to left and right views; secondly carry out binarization and filtering processing; then filter complicated road surface by selecting interest region Background: After thinning and deburring, the center line of the wire is obtained. If there are multiple center lines in the figure, select the wire that needs to measure the sag.
进一步的，所述步骤(5)中左右视图导线特征点匹配具体为：对左右视图中导线以一定步长按垂直方向扫描，确定对应的特征点，根据这些特征点在不同视图上的坐标值，结合标定参数，计算全部特征点的三维坐标值。Further, in the step (5), the matching of the characteristic points of the left and right view wires is specifically: scanning the wires in the left and right views in a certain step in the vertical direction to determine the corresponding feature points, and according to the coordinate values of these feature points on different views , combined with the calibration parameters, calculate the three-dimensional coordinate values of all the feature points.
进一步的，所述步骤(6)中导线特征点在弧垂测量平面投影具体步骤为：根据特征点三维坐标值，确定旋转因子，将特征点旋转到弧垂测量平面。Further, in the step (6), the specific steps of projecting the wire feature points on the sag measurement plane are: according to the three-dimensional coordinate values of the feature points, determine the rotation factor, and rotate the feature points to the sag measurement plane.
进一步的，所述步骤(7)中导线弧垂计算具体步骤为：在新坐标系下用悬链线方程Further, the specific steps of conductor sag calculation in the step (7) are: use the catenary equation in the new coordinate system
带入不同特征点坐标，拟合得到方程中参数a、b、c的值，其中a、b、c为拟合系数，结合导线档距和高差值，计算出该档导线起点和终点坐标，即可计算出弧垂值。Bring in the coordinates of different feature points, and fit them to obtain the values of parameters a, b, and c in the equation, where a, b, and c are fitting coefficients, and combine the wire span and height difference to calculate the starting point and end point coordinates of the wire , the sag value can be calculated.
本发明的优点在于：The advantages of the present invention are:
1、通过张氏标定法和自标定法相结合的方式，对双目视觉系统内参数与外参数进行事先标定，解决了架设后利用传统标定方法不便、精度不高和现场标定困难的问题。1. Through the combination of Zhang's calibration method and self-calibration method, the internal parameters and external parameters of the binocular vision system are calibrated in advance, which solves the problems of inconvenience, low precision and difficulty in on-site calibration after erection using traditional calibration methods.
2、通过获取导线特征点空间位置信息，确定弧垂计算投影面，将导线投影到二维平面上，实现在二维平面中进行弧垂计算。目前常用的角度法需要测量驰度角、挂点角、现场温度，还要获取导线比载等信息方能计算弧垂值，本方法通过计算机软件分析双目图像信息即可得到准确的弧垂数据，提高了现场测量速度，增加了实时性。2. By obtaining the spatial position information of the characteristic points of the wire, determine the projection surface for sag calculation, project the wire onto the two-dimensional plane, and realize the sag calculation in the two-dimensional plane. The current commonly used angle method needs to measure the sag angle, hanging point angle, site temperature, and obtain information such as the specific load of the wire to calculate the sag value. This method can obtain accurate sag by analyzing binocular image information with computer software. Data, improve the speed of on-site measurement, and increase the real-time performance.
附图说明Description of drawings
图1为本发明中双目测量系统的结构示意图；Fig. 1 is the structural representation of binocular measurement system among the present invention;
图2为本发明中弧垂计算投影面的示意图；Fig. 2 is the schematic diagram of sag calculation projection plane in the present invention;
图3为本发明基于双目视觉的架空输电线路弧垂测量方法的流程示意图。Fig. 3 is a schematic flow chart of the binocular vision-based sag measurement method for overhead transmission lines according to the present invention.
图中：1—左拍摄终端，2—右拍摄终端，3—水平基线座，4—支架。In the figure: 1—left shooting terminal, 2—right shooting terminal, 3—horizontal baseline seat, 4—bracket.
具体实施方式Detailed ways
下面将结合本发明中的附图，对本发明中的技术方案进行清楚、完整地描述。The technical solutions in the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the present invention.
如图3所示，一种基于双目视觉的架空输电线路弧垂测量方法，包括如下步骤：As shown in Figure 3, a binocular vision-based sag measurement method for overhead transmission lines includes the following steps:
步骤P101：搭建双目视觉系统，建立三维空间坐标系。具体的，如图1所示，将双摄像终端(左拍摄终端1、左拍摄终端1)固定在水平基线座3上，水平基线座3固定于支架4，保持两个摄像终端相对位置不变，旋转角度不变，均有一定向上仰角，便于拍摄架空输电线路。以左侧摄像终端为原点建立空间三维坐标系。Step P101: Build a binocular vision system and establish a three-dimensional space coordinate system. Specifically, as shown in Figure 1, the double camera terminal (left camera terminal 1, left camera terminal 1) is fixed on the horizontal base line seat 3, and the horizontal base line base seat 3 is fixed on the bracket 4, keeping the relative positions of the two camera terminals unchanged , the rotation angle remains unchanged, and there is a certain upward elevation angle, which is convenient for shooting overhead transmission lines. A three-dimensional coordinate system in space is established with the left camera terminal as the origin.
步骤P102：对双目视觉系统进行标定，得到双目视觉系统内外参数。具体的，利用张氏法对双目视觉系统的内参数α、β、γ、μ、υ进行标定，其中α为x轴上的比例因子，β为y轴上的比例因子，γ为图像坐标与光轴坐标的斜交因子，μ为光轴光心在图像坐标x轴上的位置，υ为光轴光心在图像坐标y轴上的位置；利用自标定法对双目视觉系统的外参数R、t进行标定，其中R为旋转因子，t为平移因子。标定完成后，如双摄像终端相对位置、旋转角度变化，必须固定后再重新标定。Step P102: Calibrate the binocular vision system to obtain internal and external parameters of the binocular vision system. Specifically, Zhang’s method is used to calibrate the internal parameters α, β, γ, μ, and υ of the binocular vision system, where α is the scaling factor on the x-axis, β is the scaling factor on the y-axis, and γ is the image coordinate The oblique factor with the optical axis coordinates, μ is the position of the optical center of the optical axis on the x-axis of the image coordinate, and υ is the position of the optical center of the optical axis on the y-axis of the image coordinate; The parameters R and t are used for calibration, where R is the rotation factor and t is the translation factor. After the calibration is completed, if the relative position and rotation angle of the dual camera terminal change, it must be fixed before re-calibration.
步骤P103：现场输电线路图像采集与修正。具体的，现场架设双目视觉系统，调整水平。确保左右摄像终端能够同时采集到一档输电线路全长的一半以上图像，并包含最低点；然后同时各拍摄一张输电线路图像；利用标定参数对图像进行畸变校正与极线修正，使两张图像的匹配点处于同一水平面。Step P103: On-site transmission line image acquisition and correction. Specifically, set up a binocular vision system on site and adjust the level. Make sure that the left and right camera terminals can capture more than half of the entire length of a power transmission line at the same time, including the lowest point; The matching points of the images are on the same horizontal plane.
步骤P104：导线选择与中心线提取。具体的，对左右视图，均采用以下方式处理：(1)利用Sobel算子进行边缘检测；(2)进行二值化与滤波处理；(3)通过选取兴趣区域过滤复杂的路面等背景；(4)为避免同一导线由于远近不同导致在照片上粗细不一致，采用细化、去毛刺处理后，得到导线中心线。Step P104: Traverse selection and centerline extraction. Specifically, the left and right views are processed in the following ways: (1) use Sobel operator for edge detection; (2) perform binarization and filtering processing; (3) filter complex roads and other backgrounds by selecting regions of interest; ( 4) In order to avoid inconsistency in the thickness of the same wire in the photo due to the difference in distance, the center line of the wire is obtained after thinning and deburring.
若图中存在多根导线，在左右视图图片中选择需要测量弧垂的导线(以中心线表示)，进行匹配。If there are multiple wires in the figure, select the wire (represented by the center line) whose sag needs to be measured in the left and right view pictures for matching.
步骤P105：左右视图导线特征点匹配。通过步骤P103和步骤P104，左右视图中待测量弧垂导线的垂直方向上坐标是一致的，即在左右视图中的匹配点具有相同的y坐标值。左右视图导线特征点匹配具体步骤为：对左右视图中导线以一定步长按垂直方向扫描，确定对应的特征点。根据这些特征点在不同视图上的坐标值，结合标定参数，即可计算出全部特征点的三维坐标值。Step P105: matching the feature points of the left and right view wires. Through step P103 and step P104, the coordinates in the vertical direction of the sag wire to be measured in the left and right views are consistent, that is, the matching points in the left and right views have the same y coordinate value. The specific steps of matching the feature points of the wires in the left and right views are as follows: scan the wires in the left and right views in a certain step in the vertical direction to determine the corresponding feature points. According to the coordinate values of these feature points on different views, combined with the calibration parameters, the three-dimensional coordinate values of all feature points can be calculated.
步骤P106：导线特征点在弧垂测量平面投影。具体的，根据步骤P105的特征点三维坐标值，确定旋转因子，将特征点旋转到弧垂测量平面，如图2所示。建立新坐标系，将全部特征点坐标转换成新坐标系下的二维坐标。Step P106: The characteristic points of the wire are projected on the sag measurement plane. Specifically, according to the three-dimensional coordinate value of the feature point in step P105, the rotation factor is determined, and the feature point is rotated to the sag measurement plane, as shown in FIG. 2 . Establish a new coordinate system, and convert all feature point coordinates into two-dimensional coordinates in the new coordinate system.
步骤P107：弧垂计算。具体的，在步骤P106确定的坐标系下，根据悬链线方程Step P107: sag calculation. Specifically, under the coordinate system determined in step P106, according to the catenary equation
带入不同特征点坐标，拟合得到方程中参数a、b、c的值，其中a、b、c为拟合系数。Bring in the coordinates of different feature points, and fit to obtain the values of parameters a, b, and c in the equation, where a, b, and c are fitting coefficients.
步骤P108：根据步骤P107确定的悬链线方程，以及导线档距和高差值(查找线路设计运维资料得到档距和高差值)，再查找线路设计运维资料得到档距和高差值，即可计算出弧垂值。Step P108: According to the catenary equation determined in step P107, as well as the span and height difference of the wire (find the span and height difference from the line design operation and maintenance data), and then search the line design operation and maintenance data to obtain the span and height difference value, the sag value can be calculated.
以上所述，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，任何属于本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到的变化或替换，都应涵盖在本发明的保护范围之内。The above is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto, any changes or substitutions that can be easily imagined by those skilled in the art within the technical scope disclosed in the present invention, All should be covered within the protection scope of the present invention.
| Application Number | Priority Date | Filing Date | Title |
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| CN201810466357.7ACN108613628B (en) | 2018-05-16 | 2018-05-16 | Overhead transmission line sag measurement method based on binocular vision |
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| CN201810466357.7ACN108613628B (en) | 2018-05-16 | 2018-05-16 | Overhead transmission line sag measurement method based on binocular vision |
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| CN201810466357.7AActiveCN108613628B (en) | 2018-05-16 | 2018-05-16 | Overhead transmission line sag measurement method based on binocular vision |
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