CN-115240092-B - Transmission tower inspection method and device, electronic equipment and storage medium
Abstract
The embodiment of the invention discloses a transmission tower inspection method, a transmission tower inspection device, electronic equipment and a storage medium, wherein the method comprises the steps of obtaining an inspection image of a transmission tower; the method comprises the steps of inputting a patrol image into a connecting part detection model to perform connecting part detection to obtain a connecting part detection target image of the transmission tower, inputting the connecting part detection target image into an annular pin detection model to perform annular pin detection to obtain an annular pin detection result, and mapping the annular pin detection result back to the patrol image to obtain a patrol result of the transmission tower. The method and the device can automatically detect whether the annular pin exists in the inspection image by using the connecting part detection model and the annular pin detection model, and do not need to manually check whether the annular pin exists in the inspection image of the transmission tower, so that the speed and the accuracy of replacing the R-shaped pin of the connecting part of the transmission tower with the annular pin are improved, and the time cost of replacing the R-shaped pin of the connecting part of the transmission tower with the annular pin is reduced.
Inventors
- CAI LUYING
- Niu Xuhao
- JIANG MINGCHUN
- LIN HONGZE
- YANG YUZE
- ZHUANG RUFENG
- CHEN BAOPING
- YANG ZANWEI
- YANG SIYUAN
- CHEN WEIDONG
- ZHAO HAIYANG
- XU GUOWEI
- CHEN XIANKAI
- JI ZIHAN
- Zheng Guokai
- WANG YANG
- YU WENZHUO
- LAN TIAN
- CHEN ZIRONG
- LIN YIXIN
- LIN YU
- XU ZHAOFENG
- GUAN JIAN
- HUANG XUYUE
- CHEN YIHONG
- CHEN FU
- FAN ZIJIAN
- GUO PENG
- TONG XIN
- WU YU
- CAI DONGXIAO
- LIN LAIXIN
- HU HONG
- CHEN XIANGFEI
- WANG XIAOJIE
Assignees
- 广东电网有限责任公司
- 广东电网有限责任公司汕头供电局
Dates
- Publication Date
- 20260505
- Application Date
- 20220809
Claims (8)
- 1. A transmission tower inspection method, the method comprising: Acquiring a patrol image of a transmission tower; Inputting the inspection image into a connecting part detection model for connecting part detection to obtain a connecting part detection target image of the transmission tower; inputting the connecting part detection target image into an annular pin detection model to perform annular pin detection to obtain an annular pin detection result, wherein the annular pin detection result comprises position information, confidence information and characteristic information of the target annular pin in the connecting part detection target image; mapping the annular pin detection result back to the inspection image to obtain an inspection result of the transmission tower; The connecting part detection model and the annular pin detection model are obtained through the following training mode: Inputting a training image into a preset connecting part detection model to perform connecting part detection to obtain a connecting part detection training image, wherein the training image comprises a preset annular pin positioned at a preset connecting part and a mark frame of the preset annular pin; inputting the connecting part detection training image into a preset annular pin detection model to perform annular pin detection, so as to obtain a detection frame; Determining the intersection ratio of the marking frame and the detection frame; determining a target frame from the detection frames based on the intersection ratio; determining a loss function of the preset annular pin detection model based on the target frame and the mark frame, and determining a loss function of the preset connecting part detection model based on the target frame and the mark frame; optimizing model parameters of the preset annular pin detection model based on a loss function of the preset annular pin detection model to obtain the annular pin detection model; optimizing model parameters of the preset connecting part detection model based on a loss function of the preset connecting part detection model to obtain the connecting part detection model; The annular pin detection model comprises a circular extraction function and a target detection function, the connecting part detection target image is input into the annular pin detection model to carry out annular pin detection, and an annular pin detection result is obtained, and the method comprises the following steps: inputting the connecting part detection target image into the annular pin detection model to extract an annular pin characteristic image from the connecting part detection target image by using the circular extraction function, and performing annular pin detection on the annular pin characteristic image by using the target detection function to obtain an annular pin detection result, wherein the circular extraction function is as follows: In the above formula, r represents a radius, As a function of the parameters, , 、 X and y are independent variables with the center of a circle; the annular pin detection result comprises the position information, the confidence information and the characteristic information of a target annular pin in the connecting part detection target image, the annular pin detection result is mapped back to the inspection image, and the inspection result of the transmission tower is obtained, and the method comprises the following steps: and mapping the position information, the confidence coefficient information and the characteristic information of the target annular pin in the connecting part detection target image back to the inspection image to obtain the position information, the confidence coefficient information and the characteristic information of the target annular pin in the inspection image.
- 2. The method according to claim 1, wherein the connection detection model includes a first connection detection model and a second connection detection model, a detection algorithm adopted by the first connection detection model is different from a detection algorithm adopted by the second connection detection model, the inputting the inspection image into the connection detection model to perform connection detection, and obtaining a connection detection target image of the transmission tower includes: Inputting the inspection image into the first connection part detection model for connection part detection to obtain a first connection part detection image corresponding to the first connection part detection model; inputting the inspection image into the second connecting part detection model for connecting part detection to obtain a second connecting part detection image corresponding to the second connecting part detection model; And determining the connection part detection target image according to the first connection part detection image and the second connection part detection image.
- 3. The method of claim 2, wherein the step of determining the position of the substrate comprises, Inputting the inspection image into the first connection part detection model for connection part detection, and obtaining a first connection part detection image corresponding to the first connection part detection model, wherein the method comprises the steps of inputting the inspection image into the first connection part detection model for connection part detection, obtaining first connection part detection candidate images, determining a first connection part detection intermediate image from the first connection part detection candidate images based on the intersection ratio of the first connection part detection candidate images, and screening the first connection part detection image from the first connection part detection intermediate image according to the target confidence coefficient of the first connection part detection intermediate image; Inputting the inspection image into the second connection part detection model for connection part detection to obtain a second connection part detection image corresponding to the second connection part detection model, including: inputting the inspection image into the second connection part detection model to perform connection part detection to obtain second connection part detection candidate images, determining a second connection part detection intermediate image from the second connection part detection candidate images based on the intersection ratio of the second connection part detection candidate images, and screening the second connection part detection image from the second connection part detection intermediate image according to the target confidence of the second connection part detection intermediate image.
- 4. The method of claim 3, wherein the step of, The target confidence coefficient of the first connecting part detection intermediate image is obtained by multiplying the original confidence coefficient of the first connecting part detection intermediate image by the weight of the first connecting part detection model to obtain the target confidence coefficient of the first connecting part detection intermediate image; The target confidence coefficient of the second connecting part detection intermediate image is obtained by multiplying the original confidence coefficient of the second connecting part detection intermediate image by the weight of the second connecting part detection model, and the target confidence coefficient of the second connecting part detection intermediate image is obtained.
- 5. The method of claim 2, wherein the determining the connection detection target image from the first connection detection image and the second connection detection image comprises: mapping the first connection part detection image and the second connection part detection image onto the same image to obtain a connection part detection mapping image; And determining the connection detection target image from the connection detection mapping images based on the cross-over ratio of the connection detection mapping images.
- 6. Transmission tower inspection device, characterized in that it comprises: the inspection image acquisition module is used for acquiring an inspection image of the transmission tower; The target image generation module is used for inputting the inspection image into a connecting part detection model to perform connecting part detection to obtain a connecting part detection target image of the transmission tower; The annular pin detection result generation module is used for inputting the connecting part detection target image into an annular pin detection model to carry out annular pin detection to obtain an annular pin detection result, wherein the annular pin detection result comprises position information, confidence information and characteristic information of the target annular pin in the connecting part detection target image; The inspection result generation module is used for mapping the annular pin detection result back to the inspection image to obtain an inspection result of the transmission tower; The connecting part detection model and the annular pin detection model are obtained through the following training mode: Inputting a training image into a preset connecting part detection model to perform connecting part detection to obtain a connecting part detection training image, wherein the training image comprises a preset annular pin positioned at a preset connecting part and a mark frame of the preset annular pin; inputting the connecting part detection training image into a preset annular pin detection model to perform annular pin detection, so as to obtain a detection frame; Determining the intersection ratio of the marking frame and the detection frame; determining a target frame from the detection frames based on the intersection ratio; determining a loss function of the preset annular pin detection model based on the target frame and the mark frame, and determining a loss function of the preset connecting part detection model based on the target frame and the mark frame; optimizing model parameters of the preset annular pin detection model based on a loss function of the preset annular pin detection model to obtain the annular pin detection model; optimizing model parameters of the preset connecting part detection model based on a loss function of the preset connecting part detection model to obtain the connecting part detection model; the annular pin detection result generation module is specifically used for: inputting the connecting part detection target image into the annular pin detection model to extract an annular pin characteristic image from the connecting part detection target image by using a circular extraction function, and performing annular pin detection on the annular pin characteristic image by using the target detection function to obtain an annular pin detection result, wherein the circular extraction function is as follows: In the above formula, r represents a radius, As a function of the parameters, , 、 X and y are independent variables with the center of a circle; The inspection result generation module is specifically configured to: and mapping the position information, the confidence coefficient information and the characteristic information of the target annular pin in the connecting part detection target image back to the inspection image to obtain the position information, the confidence coefficient information and the characteristic information of the target annular pin in the inspection image.
- 7. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the transmission tower inspection method according to any one of claims 1 to 5 when the program is executed by the processor.
- 8. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when executed by a processor, implements the transmission tower inspection method according to any one of claims 1 to 5.
Description
Transmission tower inspection method and device, electronic equipment and storage medium Technical Field The embodiment of the invention relates to a target detection technology, in particular to a method and a device for detecting annular pins of a transmission tower image, electronic equipment and a storage medium. Background In order to ensure the normal operation of the transmission line, transmission tower images are periodically shot in the inspection area by using the unmanned aerial vehicle, and then the unmanned aerial vehicle inspection images are manually inspected to determine whether the pins are installed on the connecting parts of the transmission towers. The pins used in current transmission towers mainly comprise R-shaped pins and annular pins. R type round pin is less, and unmanned aerial vehicle shoots can obtain the transmission tower image that can't discern R type round pin because of the angle problem, causes the misjudgement of whether the connecting component of inspection transmission tower installs R type round pin. The unmanned aerial vehicle can not shoot the tower image of the annular pin which cannot be identified due to the angle problem during shooting, and the error judgment rate of whether the annular pin is installed on the connecting part of the transmission tower can be reduced. It is therefore necessary to manually check whether there are annular pins in the inspection image of the transmission tower and then replace the R-pins of the connection members of the transmission tower with the annular pins. However, the manual inspection of the transmission tower has low accuracy of inspecting whether the annular pin exists in the inspection image, the inspection speed is low, the speed of replacing the R-shaped pin of the connecting part of the transmission tower with the annular pin is reduced, and the time cost of replacing the R-shaped pin of the connecting part of the transmission tower with the annular pin is increased. Disclosure of Invention The embodiment of the invention provides a transmission tower inspection method, a transmission tower inspection device, electronic equipment and a storage medium, which can improve the speed and accuracy of replacing an R-shaped pin of a connecting part of a transmission tower with an annular pin and reduce the time cost of replacing the R-shaped pin of the connecting part of the transmission tower with the annular pin. In a first aspect, an embodiment of the present invention provides a transmission tower inspection method, where the method includes: Acquiring a patrol image of a transmission tower; Inputting the inspection image into a connecting part detection model for connecting part detection to obtain a connecting part detection target image of the transmission tower; Inputting the image of the detection target of the connecting part into an annular pin detection model to perform annular pin detection, so as to obtain an annular pin detection result; And mapping the annular pin detection result back to the inspection image to obtain the inspection result of the transmission tower. In a second aspect, an embodiment of the present invention provides a transmission tower inspection apparatus, where the apparatus includes: the inspection image acquisition module is used for acquiring an inspection image of the transmission tower; The target image generation module is used for inputting the inspection image into a connecting part detection model to perform connecting part detection to obtain a connecting part detection target image of the transmission tower; The annular pin detection result generation module is used for inputting the connecting part detection target image into an annular pin detection model to carry out annular pin detection, so as to obtain an annular pin detection result; and the inspection result generation module is used for mapping the annular pin detection result back to the inspection image to obtain the inspection result of the transmission tower. In a third aspect, an embodiment of the present invention further provides an electronic device, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor, where the processor implements the transmission tower inspection method according to any one of the embodiments of the present invention when executing the program. In a fourth aspect, an embodiment of the present invention further provides a computer readable storage medium, where a computer program is stored, where the program when executed by a processor implements a transmission tower inspection method according to any one of the embodiments of the present invention. According to the embodiment of the invention, the inspection image of the transmission tower can be obtained, the inspection image is input into the connection part detection model to be used for connection part detection to obtain the connection part detection target image of the