Image edge detection is a fundamental problem in image processing and computer vision, particularly in the area of feature extraction. However, the time complexity increases squarely with the increase of image resolution in conventional serial computing mode. This results in being unbearably time consuming when dealing with a large amount of image data. In this paper, a novel resolution free parallel implementation algorithm for gradient based edge detection, namely EDENP, is proposed. The key point of our method is the introduction of an enzymatic numerical P system (ENPS) to design the parallel computing algorithm for image processing for the first time. The proposed algorithm is based on a cell-like P system with a nested membrane structure containing four membranes. The start and stop of the system is controlled by the variables in the skin membrane. The calculation of edge detection is performed in the inner three membranes in a parallel way. The performance and efficiency of this algorithm are evaluated on the CUDA platform. The main advantage of EDENP is that the time complexity of $O\left(1\right)$ can be achieved regardless of image resolution theoretically.

Compared with traditional manual inspection, inspection robots can not only meet the all-weather, real-time, and accurate inspection needs of substation inspection, they also reduce the work intensity of operation and maintenance personnel and decrease the probability of safety accidents. For the urgent demand of substation inspection robot intelligence enhancement, an environment understanding algorithm is proposed in this paper, which is an improved DeepLab V3+ neural network. The improved neural network replaces the original dilate rate combination in the ASPP (atrous spatial pyramid pooling) module with a new dilate rate combination with better segmentation accuracy of object edges and adds a CBAM (convolutional block attention module) in the two up-samplings, respectively. In order to be transplanted to the embedded platform with limited computing resources, the improved neural network is compressed. Multiple sets of comparative experiments on the standard dataset PASCAL VOC 2012 and the substation dataset have been made. Experimental results show that, compared with the DeepLab V3+, the improved DeepLab V3+ has a mean intersection-over-union (mIoU) of eight categories of 57.65% on the substation dataset, with an improvement of 6.39%, and the model size of 13.9 M, with a decrease of 147.1 M.