CN112256060A - Method for automatically naming pictures for automatic inspection of power transmission line unmanned aerial vehicle in real time - Google Patents
Method for automatically naming pictures for automatic inspection of power transmission line unmanned aerial vehicle in real time Download PDFInfo
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
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- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- H—ELECTRICITY
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Abstract
The invention discloses a real-time automatic naming method for pictures of automatic inspection of an unmanned aerial vehicle of a power transmission line. Acquiring three-dimensional point cloud data of a power transmission line and a tower pole to be inspected; determining a picture collecting route marking point according to the three-dimensional point cloud data; establishing a corresponding power transmission line and tower pole part name table at the picture acquisition route marking point; collecting the pictures of the power transmission line and the tower pole according to the route marking points in the routing inspection process, and storing the collected pictures of the power transmission line and the tower pole; and when the memory change is detected, automatically naming the collected power transmission line and tower pole pictures in real time according to the power transmission line and tower pole part name table. The real-time naming of the pictures is realized, and meanwhile, the working efficiency of workers and the operation and maintenance efficiency of the power transmission line are improved.
Description
Technical Field
The embodiment of the invention relates to a file naming technology, in particular to a method for automatically naming pictures in real time for automatic inspection of an unmanned aerial vehicle of a power transmission line.
Background
Along with the development of unmanned aerial vehicle technique, it uses more and more becoming more meticulous, diversified, and wherein unmanned aerial vehicle has obtained the wide application in the electric power field of patrolling and examining, patrols and examines to unmanned aerial vehicle is automatic from manual operation unmanned aerial vehicle, great improvement transmission line fortune dimension efficiency.
However, after a route is set, the number of pictures acquired by automatic inspection of the unmanned aerial vehicle is large, at present, the pictures are mainly recognized manually and named and filed in sequence, the mode is low in efficiency, the body parts of part of the pictures are not well distinguished, and difficulty is also added to naming.
Disclosure of Invention
The invention provides a real-time automatic naming method for pictures of automatic inspection of an unmanned aerial vehicle of a power transmission line, which improves the real-time property of picture naming, and simultaneously improves the working efficiency of workers and the operation and maintenance efficiency of the power transmission line.
The invention provides a method for automatically naming pictures for automatic inspection of an unmanned aerial vehicle of a power transmission line in real time, which comprises the following steps:
acquiring three-dimensional point cloud data of a power transmission line and a tower pole to be inspected;
determining a picture collecting route marking point according to the three-dimensional point cloud data;
establishing a corresponding power transmission line and tower pole part name table at the picture acquisition route marking point;
collecting the pictures of the power transmission line and the tower pole according to the route marking points in the routing inspection process, and storing the collected pictures of the power transmission line and the tower pole;
and when the memory change is detected, automatically naming the collected power transmission line and tower pole pictures in real time according to the power transmission line and tower pole part name table.
Optionally, the collection sequence of the electric transmission line and tower pole pictures is consistent with the sequence of the electric transmission line and tower pole part name list.
Optionally, when a memory change is detected, automatically naming the collected power transmission line and tower pole pictures in real time according to the power transmission line and tower pole part name table, including:
and when the memory change is detected, reading the pictures in the memory, and renaming the read pictures by using the names in the power transmission line and tower pole part name tables.
Optionally, obtaining three-dimensional point cloud data of the power transmission line and the tower pole to be inspected includes:
scanning the power transmission line on site through a laser radar to generate three-dimensional point cloud data;
determining a picture acquisition route marking point according to the three-dimensional point cloud data, and establishing a power transmission line and tower pole part name table corresponding to the picture acquisition route marking point;
when a model generated by the three-dimensional point cloud data of the power transmission line is marked, the names of the line or tower parts corresponding to the marked points are recorded.
The invention provides a device for automatically naming pictures in real time for automatic inspection of an unmanned aerial vehicle of a power transmission line, which comprises a laser radar scanning device, the unmanned aerial vehicle and a processor, wherein the unmanned aerial vehicle has an RTK positioning function.
The laser radar scanning device is used for acquiring three-dimensional point cloud data;
the unmanned aerial vehicle is used for determining picture collection route marking points according to the three-dimensional point cloud data and establishing a corresponding power transmission line and tower pole part name table;
the unmanned aerial vehicle is also used for collecting the pictures of the power transmission line and the tower pole according to the picture collecting route mark points in the inspection process;
and the processor is used for automatically naming the collected power transmission line and tower pole pictures in real time according to the power transmission line and tower pole part name table.
Optionally, the system further comprises a memory detection unit, wherein the memory detection unit is used for detecting a memory of the storage of the unmanned aerial vehicle, and if the memory of the storage of the unmanned aerial vehicle becomes smaller, a detection signal is sent to the processor.
Optionally, when the processor receives the detection signal, the processor reads a picture in the memory, and renames the read picture by using names in the power transmission line and tower pole part name table.
Optionally, the first power supply module is configured to supply power to the drone;
and the second power supply module is used for supplying power to the processor and the memory detection unit.
The invention introduces a method for automatically naming pictures of automatic inspection of a power transmission line unmanned aerial vehicle in real time, which comprises the steps of obtaining three-dimensional point cloud data of a power transmission line and a tower pole to be inspected; determining a picture collecting route marking point according to the three-dimensional point cloud data; establishing a corresponding power transmission line and tower pole part name table at the picture acquisition route marking point; collecting the pictures of the power transmission line and the tower pole according to the route marking points in the routing inspection process, and storing the collected pictures of the power transmission line and the tower pole; and when the memory change is detected, automatically naming the collected power transmission line and tower pole pictures in real time according to the power transmission line and tower pole part name table. The method is used for solving the problem that the polling pictures can not be named automatically, realizes real-time naming of the files, and simultaneously improves the working efficiency of workers and the operation and maintenance efficiency of the power transmission line.
Drawings
Fig. 1 is a flowchart of a method for automatically naming pictures in real time for automatic unmanned aerial vehicle inspection of a power transmission line according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of automatic routing inspection of an unmanned aerial vehicle according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a device for automatically naming pictures in real time for automatic unmanned aerial vehicle inspection of a power transmission line according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a flowchart of a method for automatically naming pictures in real time for automatic unmanned aerial vehicle inspection of a power transmission line according to an embodiment of the present invention, and fig. 2 is a schematic diagram of automatic unmanned aerial vehicle inspection according to an embodiment of the present invention with reference to fig. 1 and fig. 2. The method specifically comprises the following steps:
and 110, acquiring three-dimensional point cloud data of the power transmission line and the tower pole to be inspected.
The power transmission line and the tower pole to be inspected refer to each part, position and the like, for example, a tower pole connecting wire, a tower body of the tower pole, an insulator, a lightning conductor and the like. The three-dimensional point cloud data refers to the scanning data recorded in the form of points, and each point comprises any position of a three-dimensional space which can be represented by a three-dimensional coordinate.
And according to the three-dimensional point cloud data, the corresponding spatial positions of the power transmission line and the tower pole to be inspected in the three-dimensional space can be represented.
And 120, determining a picture collecting route marking point according to the three-dimensional point cloud data.
The picture collecting route mark points refer to mark points of the flying and hovering positions of the unmanned aerial vehicle, the unmanned aerial vehicle is used for completing corresponding picture collection according to the picture collecting route mark points, and the hovering time of the unmanned aerial vehicle can be set according to actual needs. And determining a picture acquisition route of the unmanned aerial vehicle through the picture acquisition route mark points, and finishing automatic inspection flight and picture acquisition by the unmanned aerial vehicle according to the route.
The picture collecting route mark points cover the power transmission line and the tower pole part which need to be patrolled. The picture collecting route mark point sets corresponding flying and hovering distances according to the power transmission line and the tower pole which need to be patrolled, and the distances are flight safety distances of the unmanned aerial vehicle.
And step 130, establishing a corresponding power transmission line and tower pole part name table at the mark point of the picture collection route.
The method comprises the steps that a picture collection route marking point covers a power transmission line and a tower pole part which need to be patrolled, and the picture collection route marking point is the same as the power transmission line and the tower pole part which need to be patrolled in number, namely the marking point is the part which needs to be patrolled. And establishing a power transmission line and tower pole part name table according to the power transmission line and tower pole part correspondingly patrolled at the picture acquisition route marking point.
And 140, acquiring the pictures of the power transmission line and the tower pole according to the route marking points in the inspection process, and storing the acquired pictures of the power transmission line and the tower pole.
The unmanned aerial vehicle collects the pictures of the power transmission line and the tower pole according to the picture collection route mark points, and then stores the collected pictures in the unmanned aerial vehicle memory.
Optionally, the collection sequence of the electric transmission line and the tower pole pictures is consistent with the sequence of the name list of the electric transmission line and the tower pole parts.
Specifically, the sequence of the collected pictures of the power transmission line and the tower pole is consistent with the sequence of the names in the power transmission line and tower pole part name list established in the above steps. The method aims to enable collected power transmission line and tower pole pictures to correspond to picture collection route marking points and further correspond to corresponding power transmission line and tower pole part name tables, and the problem of dislocation of the naming sequence is avoided.
And 150, automatically naming the collected power transmission line and tower pole pictures in real time according to the power transmission line and tower pole part name table when the memory change is detected.
And detecting the change of the storage memory means that the picture is collected when the storage memory of the unmanned aerial vehicle is reduced. The real-time automatic naming means that when a photo is collected, the photo is matched with a power transmission line and a tower pole part name table to finish naming storage immediately.
Optionally, when the memory change is detected, reading the picture in the memory, and renaming the read picture by using the names in the power transmission line and tower pole component name table.
Specifically, after the electric transmission line and tower pole pictures are collected, the memory of the storage of the unmanned aerial vehicle is reduced, the newly collected electric transmission line and tower pole pictures are read, and names in the electric transmission line and tower pole part name list corresponding to the picture collection route marking point during picture collection are automatically matched and named in real time. And when the memory of the unmanned aerial vehicle memory is not changed, the picture is not collected, and the picture is not read for naming operation.
According to the technical scheme of the embodiment of the invention, the picture acquisition route marking points are set through the acquired three-dimensional point cloud data, the inspection route can be generated according to the picture acquisition route marking points, and the name list of the power transmission line and the tower pole part is established. And then, acquiring pictures according to the picture acquisition route marking points, and automatically naming the names in the power transmission line and tower pole part name lists corresponding to the picture acquisition route marking points in the picture acquisition in real time when the memory is detected as the acquired pictures. The real-time naming of the pictures is realized, and meanwhile, the working efficiency of workers and the operation and maintenance efficiency of the power transmission line are improved.
Fig. 3 is a schematic structural diagram of an apparatus for automatically naming pictures in real time for automatic unmanned aerial vehicle inspection of a power transmission line according to an embodiment of the present invention, and refer to fig. 3.
The device for automatically naming the pictures in real time for the automatic inspection of the unmanned aerial vehicle of the power transmission line comprises a laser radar scanning device 310, the unmanned aerial vehicle 320 and a processor 330, wherein the unmanned aerial vehicle 320 has an RTK positioning function.
The laser radar scanning device 310 is used for acquiring three-dimensional point cloud data;
the unmanned aerial vehicle 320 is used for determining mark points of a picture collecting route according to the three-dimensional point cloud data and establishing a name table of corresponding power transmission lines and tower pole parts; (ii) a
The unmanned aerial vehicle 320 is also used for collecting the pictures of the power transmission line and the tower pole according to the picture collecting route mark points in the inspection process;
the processor 330 is configured to automatically name the collected transmission line and tower pole pictures in real time according to the transmission line and tower pole part name table.
Optionally, the memory detection unit 340 is configured to detect the drone storage memory 350, and send a detection signal to the processor 330 if the memory of the drone storage 350 becomes smaller.
Specifically, the memory detection unit 340 is disposed inside the drone 320 and connected to the drone memory 350, and is configured to detect a memory change in the drone memory 350 and send a detection signal according to a detection result. And if the detected memory is smaller, sending a detection signal, otherwise, not sending the detection signal, and continuously detecting the memory change of the unmanned aerial vehicle memory 350, so that the judgment of whether the picture acquisition is finished is realized, and the picture repeated naming or the naming sequence error in the naming process is avoided.
Optionally, after receiving the detection signal, the processor 330 reads the picture in the memory, and renames the read picture by using the names in the power transmission line and tower part name table.
Specifically, the processor 330 is a programmable processor and is arranged inside the unmanned aerial vehicle 320 and connected with the unmanned aerial vehicle memory 350 and the memory detection unit 340, when the processor 330 receives a detection signal sent by the memory detection unit 340, the processor 330 reads a latest stored photo from the unmanned aerial vehicle memory 350, and names in the power transmission line and tower part name list corresponding to the picture collection route marking point when the picture is collected are automatically matched for real-time naming. The automatic real-time naming of the power transmission line and tower pole pictures and the tower pole part name list is realized by matching the picture acquisition route marking points with the power transmission line and tower pole part name list, and the real-time property of picture naming is realized, so that the accuracy of picture naming is improved.
Optionally, a first power supply module 360, configured to supply power to the drone 320;
the second power supply module 370 is configured to supply power to the processor 330 and the memory detection unit 340.
Specifically, the first power supply module 360 and the second power supply module 370 are disposed inside the drone 320, and the first power supply module 360 is connected with the drone 320 and supplies power. The second power supply module 370 is connected to the processor 330 and the memory detection unit 340 and supplies power.
The embodiment of the invention provides a device for automatically naming pictures for automatic inspection of an unmanned aerial vehicle of a power transmission line in real time, which is characterized in that three-dimensional point cloud data are obtained through a laser radar scanning device; establishing a corresponding power transmission line and tower pole part name table according to the three-dimensional point cloud data; collecting the pictures of the power transmission line and the tower pole by using an unmanned aerial vehicle according to the picture collecting route mark points; and automatically naming the collected electric transmission line and tower pole pictures in real time by utilizing a processor. The problem of unmanned aerial vehicle automatic patrol and examine the picture of collection rely on artifical discernment picture and name in proper order and file inefficiency when a large number of pictures is solved, reached the real-time that improves the picture naming, improve staff work efficiency and transmission line's fortune dimension efficiency's effect simultaneously.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A method for automatically naming pictures for automatic inspection of an unmanned aerial vehicle of a power transmission line in real time,
the method comprises the following steps:
acquiring three-dimensional point cloud data of a power transmission line and a tower pole to be inspected;
determining a picture collecting route marking point according to the three-dimensional point cloud data;
establishing a corresponding power transmission line and tower pole part name table at the picture acquisition route marking point;
collecting the pictures of the power transmission line and the tower pole according to the route marking points in the routing inspection process, and storing the collected pictures of the power transmission line and the tower pole;
and when the memory change is detected, automatically naming the collected power transmission line and tower pole pictures in real time according to the power transmission line and tower pole part name table.
2. The method for automatically naming the pictures for the automatic routing inspection of the power transmission line unmanned aerial vehicle in real time according to claim 1, is characterized in that:
and the acquisition sequence of the electric transmission line and tower pole pictures is consistent with the sequence of the name list of the electric transmission line and the tower pole parts.
3. The method according to claim 1, wherein when a memory change is detected, the method for automatically naming the collected electric transmission line and tower pole pictures in real time according to the electric transmission line and tower pole part name table comprises the following steps:
and when the memory change is detected, reading the pictures in the memory, and renaming the read pictures by using the names in the power transmission line and tower pole part name tables.
4. The method for automatically naming the pictures for the automatic routing inspection of the power transmission line unmanned aerial vehicle in real time according to claim 3, is characterized in that:
the method for acquiring the three-dimensional point cloud data of the power transmission line and the tower pole needing to be patrolled comprises the following steps:
scanning the power transmission line on site through a laser radar to generate three-dimensional point cloud data;
determining a picture acquisition route marking point according to the three-dimensional point cloud data, and establishing a power transmission line and tower pole part name table corresponding to the picture acquisition route marking point;
when a model generated by the three-dimensional point cloud data of the power transmission line is marked, the names of the line or tower parts corresponding to the marked points are recorded.
5. The utility model provides a device of automatic picture real-time automatic naming of patrolling and examining of transmission line unmanned aerial vehicle, includes laser radar scanning device, unmanned aerial vehicle and treater, unmanned aerial vehicle has RTK locate function, its characterized in that:
the laser radar scanning device is used for acquiring three-dimensional point cloud data;
the unmanned aerial vehicle is used for determining picture collection route marking points according to the three-dimensional point cloud data and establishing a corresponding power transmission line and tower pole part name table;
the unmanned aerial vehicle is also used for collecting the pictures of the power transmission line and the tower pole according to the picture collecting route mark points in the inspection process;
and the processor is used for automatically naming the collected power transmission line and tower pole pictures in real time according to the power transmission line and tower pole part name table.
6. The device of claim 5, further comprising:
and the memory detection unit is used for detecting the memory of the unmanned aerial vehicle memory, and sending a detection signal to the processor if the memory of the unmanned aerial vehicle memory becomes smaller.
7. The device of claim 6, wherein the device for automatically naming the pictures of the unmanned aerial vehicle for automatic inspection of the power transmission line in real time comprises:
and when the processor receives the detection signal, reading the picture in the memory, and renaming the read picture by using the names in the power transmission line and tower pole part name table.
8. The device of claim 5, wherein the device for automatically naming the pictures of the unmanned aerial vehicle for automatic inspection of the power transmission line in real time comprises:
the first power supply module is used for supplying power to the unmanned aerial vehicle.
9. The device of claim 6, wherein the device for automatically naming the pictures of the unmanned aerial vehicle for automatic inspection of the power transmission line in real time comprises:
and the second power supply module is used for supplying power to the processor and the memory detection unit.
10. The device of claim 5, wherein the device for automatically naming the pictures of the unmanned aerial vehicle for automatic inspection of the power transmission line in real time comprises:
the processor and the memory detection unit are arranged inside the unmanned aerial vehicle.
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| CN113987246A (en) * | 2021-10-08 | 2022-01-28 | 佛山中科云图智能科技有限公司 | Automatic picture naming method, device, medium and electronic equipment for unmanned aerial vehicle inspection |
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Application publication date: 20210122 |
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