Journal of Computer Applications ›› 2015, Vol. 35 ›› Issue (8): 2404-2408.DOI: 10.11772/j.issn.1001-9081.2015.08.2404

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Broken strand and foreign body fault detection method for power transmission line based on unmanned aerial vehicle image

WANG Wanguo1,2, ZHANG Jingjing1,2, HAN Jun3, LIU Liang1,2, ZHU Mingwu3   

  1. 1. Electric Power Robotics Laboratory of State Grid Corporation of China, Shandong Electric Power Research Institute, Jinan Shandong 250002, China;
    2. Shandong Luneng Intelligence Technology Company Limited, Jinan Shandong 250101, China;
    3. School of Communication and Information Engineering, Shanghai University, Shanghai 200444, China
  • Received:2015-03-12 Revised:2015-05-08 Online:2015-08-10 Published:2015-08-14


王万国1,2, 张晶晶1,2, 韩军3, 刘俍1,2, 朱铭武3   

  1. 1. 国网山东省电力公司电力科学研究院 国家电网公司电力机器人技术实验室, 济南 250002;
    2. 山东鲁能智能技术有限公司, 济南 250101;
    3. 上海大学 通信与信息工程学院, 上海 200444
  • 通讯作者: 韩军(1965-),男,河南三门峡人,高级工程师,博士,主要研究方向:图像处理、视频修复,
  • 作者简介:王万国(1984-),男,山东柳城人,中级工程师,硕士,主要研究方向:基于数字图像的变电站和输电线路设备识别、目标跟踪、图像去雾; 张晶晶(1984-),男,浙江金华人,中级工程师,硕士,主要研究方向:图像处理、人工智能、无人机巡检; 刘俍(1984-),男,山东济南人,工程师,硕士,主要研究方向:无人机巡检、计算机软件; 朱铭武(1988-),男,安徽宣城人,硕士研究生,主要研究方向:数字图像处理。
  • 基金资助:



In order to improve the efficiency of power transmission line inspection by Unmanned Aerial Vehicle (UAV), a new method was proposed for detecting broken transmission lines and defects of foreign body based on the perception of line structure. The transmission line image acquired by UAV was easily influenced by the background texture and light, the gradient operators of horizontal and vertical direction which can be used to detect the line width were used to extract line objects in the inspection image. The study on calculation of gestalt perception of similarity, continuity and colinearity connected the intermittent wires into continuous wires. Then the parallel wire groups were further determined through the calculation of parallel relationship between wires. In order to reduce the detection error rate, spacers and stockbridge dampers of wires were recognized based on a local contour feature. Finally, the width change and gray similarity of segmented conductor wire were calculated to detect the broken part of wire and foreign object defect. The experimental results show that the proposed method can detect broken wire strand and foreign object defect efficiently under complicated backgrounds from the transmission line of UAV images.

Key words: broken conductor strand, wire attached foreign body, perception of parallelism, local contour feature, defect detection



关键词: 导线断股, 导线附着异物, 感知平行性, 局部轮廓特征, 缺陷检测

CLC Number: