CN112947519A - Unmanned aerial vehicle inspection method and device and edge calculation module - Google Patents
Unmanned aerial vehicle inspection method and device and edge calculation module Download PDFInfo
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Abstract
The invention provides a method and a device for routing inspection of an unmanned aerial vehicle and an edge calculation module, wherein the method comprises the following steps: acquiring video data acquired by an unmanned aerial vehicle at a preset suspension point in the process of flying according to a preset air route; identifying a target according to the video data, and determining the position of the target; and photographing the target according to the position of the target to obtain the image information of the target. The scheme of the invention can make the unmanned aerial vehicle more intelligent and accurate in the flight process, and improve the utilization rate of the pictures automatically photographed by the unmanned aerial vehicle during the post data processing.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle flight control, in particular to an unmanned aerial vehicle inspection method, an unmanned aerial vehicle inspection device and an edge calculation module.
Background
The operation is patrolled and examined to transmission line outward appearance is an important monitoring mode of carrying out the circuit operation conditions, and traditional circuit is patrolled and is used people to patrol and take the people to be the owner, along with the continuous popularization that unmanned aerial vehicle used, and transmission line patrols and examines the mode and patrol and examine, unmanned aerial vehicle is leading in coordination gradually to man-machine in coordination, patrols and examines, unmanned aerial vehicle is leading in coordination independently patrols and examines the mode transition. From the current unmanned aerial vehicle inspection technical level, the following problems still exist:
1) although some places have developed the pilot application of unmanned aerial vehicle full-autonomous inspection, the efficiency improvement is not obvious, and is limited by the flight time of the multi-rotor unmanned aerial vehicle and the complex circuit environment, so that the input-output ratio is not high;
2) the mode that unmanned aerial vehicle patrols and examines in current stage adopts manual control and independently shoots through setting up experience preset point position is mostly adopted, and degree of autonomy is not high.
Disclosure of Invention
The invention aims to provide a method and a device for routing inspection of an unmanned aerial vehicle and an edge calculation module. Can let unmanned aerial vehicle more intelligent, more accurate at the flight in-process, improve the automatic picture of shooing of unmanned aerial vehicle and carry out the utilization ratio when later stage data processing.
In order to solve the technical problems, the technical scheme of the invention is as follows:
an inspection method of an unmanned aerial vehicle is applied to an edge computing module, and comprises the following steps:
acquiring video data acquired by an unmanned aerial vehicle at a preset suspension point in the process of flying according to a preset air route;
identifying a target according to the video data, and determining the position of the target;
and photographing the target according to the position of the target to obtain the image information of the target.
Optionally, identifying a target according to the video data, and determining a position of the target includes: identifying targets in the video data through a classification algorithm to obtain at least one target;
screening the at least one target to determine an attention target;
obtaining a location of the object of interest.
Optionally, the classification algorithm is a Yolov4-Tiny algorithm.
Optionally, screening the at least one target to determine a target of interest, including:
and screening the at least one target according to the characteristics of the target, deleting the target with the same first preset characteristics or deleting the target with different second preset characteristics, and determining the rest targets as the attention targets.
Optionally, the step of photographing the target according to the position of the target to obtain the image information of the target includes:
and sending a control instruction to the unmanned aerial vehicle, wherein the control instruction is used for controlling a camera of the unmanned aerial vehicle to aim at the position of the target, zooming and amplifying the target, and then photographing the target to obtain the image information of the target.
Optionally, the edge computing module is in communication connection with a flight control center of the unmanned aerial vehicle through a data communication interface.
The embodiment of the invention also provides an inspection device of the unmanned aerial vehicle, which is applied to the edge computing module, and the device comprises:
the first acquisition module is used for acquiring video data acquired by the unmanned aerial vehicle at a preset suspension point in the process of flying according to a preset air route;
the determining module is used for identifying a target according to the video data and determining the position of the target;
and the second acquisition module is used for photographing the target according to the position of the target to acquire the image information of the target.
An embodiment of the present invention further provides an edge calculation module, including: a processor, a memory storing a computer program which, when executed by the processor, performs the method as described above.
Optionally, the edge calculation module further includes: the circuit board, the treater with the memory with the circuit board electricity is connected, have the data communication interface on the circuit board, and pass through data communication interface and unmanned aerial vehicle's flight control center communication connection.
Embodiments of the present invention also provide a processor-readable storage medium having stored thereon processor-executable instructions for causing a processor to perform the method as described above.
The scheme of the invention at least comprises the following beneficial effects:
according to the scheme, video data collected at a preset suspension point in the process that the unmanned aerial vehicle flies according to a preset air route are obtained; identifying a target according to the video data, and determining the position of the target; and photographing the target according to the position of the target to obtain the image information of the target. The unmanned aerial vehicle can carry out autonomous inspection under the condition that the three-dimensional point cloud precision is not high, and the flight attitude of the unmanned aerial vehicle is adjusted in real time through real-time AI identification of the edge calculation module to obtain a clearer target image.
Drawings
Fig. 1 is a schematic flow chart of the inspection method of the unmanned aerial vehicle of the present invention;
fig. 2 is a schematic diagram of an initial position of a target in the inspection method of the unmanned aerial vehicle of the invention;
fig. 3 is a schematic diagram of a state after target alignment in the inspection method of the unmanned aerial vehicle of the invention;
FIG. 4 is a schematic diagram of a state after a camera zooms and focuses in the inspection method of the unmanned aerial vehicle;
fig. 5 is a flowchart of a specific implementation of the inspection method for the unmanned aerial vehicle of the present invention;
fig. 6 is a schematic block diagram of the inspection device of the unmanned aerial vehicle of the present invention;
fig. 7 is a hardware configuration diagram of the edge calculation module of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
As shown in fig. 1, an embodiment of the present invention provides a method for routing inspection of an unmanned aerial vehicle, which is applied to an edge calculation module, and the method includes:
step 11, acquiring video data acquired by the unmanned aerial vehicle at a preset suspension point in the process of flying according to a preset air route;
and step 13, photographing the target according to the position of the target to obtain the image information of the target.
In the embodiment, the predetermined route can be a route generated based on three-dimensional point cloud, and video data acquired at a predetermined suspension point in the process that the unmanned aerial vehicle flies according to the predetermined route is acquired; identifying a target according to the video data, and determining the position of the target; and photographing the target according to the position of the target to obtain the image information of the target. The unmanned aerial vehicle can carry out autonomous inspection under the condition that the three-dimensional point cloud precision is not high, and the flight attitude of the unmanned aerial vehicle is adjusted in real time through real-time AI identification of the edge calculation module to obtain a clearer target image.
In an alternative embodiment of the present invention, step 12 may include:
step 121, identifying targets in the video data through a classification algorithm to obtain at least one target;
step 122, screening the at least one target to determine a target of interest;
and step 123, obtaining the position of the attention target.
In the embodiment, a real-time video acquired by a suspension point in an air route of the unmanned aerial vehicle is acquired, and the content of the real-time video is intelligently identified based on components through a classification algorithm, so that the target position existing in the visual field of the unmanned aerial vehicle is determined.
In an alternative embodiment of the present invention, the classification algorithm is Yolov4-Tiny algorithm, but other classification algorithms are also possible as long as the target in the video data can be identified.
In an alternative embodiment of the present invention, the step 122 may include:
and screening the at least one target according to the characteristics of the target, deleting the target with the same first preset characteristics or deleting the target with different second preset characteristics, and determining the rest targets as the attention targets.
In this embodiment, the edge calculation module obtains the real-time video of the unmanned aerial vehicle, and performs component-based intelligent recognition on the real-time video content, thereby determining the target position existing in the field of view of the unmanned aerial vehicle. For example, deleting the target with the same first preset characteristic, and taking the rest targets as the targets needing attention; or deleting the target which is not the same as the second preset characteristic, and the rest targets are targets needing attention. Here, the first preset feature or the second preset feature may be a location, a name, and the like of the target, for example, a name obtained when the target is identified is an insulator string or a strain clamp.
In the example of an implementation, to the discernment of target, in carrying out electric power shaft tower and independently patrolling and examining, can let marginal calculation module carry out real-time intelligent analysis, the main target of present discernment includes: the unmanned aerial vehicle system comprises an insulator string, a strain clamp, a connecting hardware (a hanging plate, a connecting part of an insulator and a tower, and the like), a suspension clamp and the like, which objects of interest exist in the field of view of the unmanned aerial vehicle are identified in real time through an identification method, and other objects which do not need to be focused are automatically discarded;
because unmanned aerial vehicle patrols and examines the in-process, unmanned aerial vehicle patrols and examines the scene more complicated, and various parts are crisscross together, can distinguish all kinds of targets, combine simultaneously to have different attention targets in the position of shooing of difference, consequently conveniently filter the target.
In an alternative embodiment of the present invention, step 13 may include:
and sending a control instruction to the unmanned aerial vehicle, wherein the control instruction is used for controlling a camera of the unmanned aerial vehicle to aim at the position of the target, zooming and amplifying the target, and then photographing the target to obtain the image information of the target.
In this embodiment, a camera of the unmanned aerial vehicle is adjusted through a control instruction, so that a target is located in the center of the camera, the target is aligned, zooming processing is performed on the target, the size of the target in the field of view of the camera is enlarged, focusing is triggered at the same time, and the target is made clearer, as shown in fig. 2, 3 and 4, where fig. 2 is an initial position of the target, fig. 3 is a state after the target is aligned, and fig. 4 is a state after the camera is zoomed and focused. And finally, detecting whether the waypoints on the air route are all executed, if so, returning the unmanned aerial vehicle, and if not, flying the unmanned aerial vehicle to the next waypoint to continue execution.
As shown in fig. 5, a specific implementation flow of the above embodiment of the present invention includes:
the unmanned aerial vehicle takes a planned air route to start flight operation;
starting flight operation by the unmanned aerial vehicle, and simultaneously starting a video intelligent identification operation mode;
when the unmanned aerial vehicle flies to the suspension point, the photographing operation is started, and the specific operation is as follows:
the method comprises the steps that an edge calculation module obtains a real-time video of the unmanned aerial vehicle, and intelligent identification based on components is carried out on the content of the real-time video, so that the target position existing in the visual field of the unmanned aerial vehicle is determined;
according to the target position calculated by the edge calculation module, the cradle head is controlled to calibrate the target by combining the priority level of the target, so that the target is positioned at the center position of the camera;
and controlling the holder to zoom, continuously drawing the distance between the lens and the target from the sense, and amplifying the size of the target in the visual field of the camera to finish photographing.
And detecting whether the execution of the waypoints is finished or not, if so, returning the unmanned aerial vehicle, and if not, flying the unmanned aerial vehicle to the next waypoint to continue the execution.
In an optional embodiment of the present invention, the edge computing module is in communication connection with a flight control center of the unmanned aerial vehicle through a data communication interface.
Here, the edge calculation module mainly designs based on NVIDIA TX2, combines to carry the volume that needs to consider to unmanned aerial vehicle, weight, power etc. factor, can exert the computing power as far as possible under the long prerequisite of unmanned aerial vehicle operation not influenced too much for unmanned aerial vehicle carries out intelligent flight and becomes possible, and this edge calculation module carries out operations such as data transmission and power supply through type-c data line simultaneously, very big promotion board carries the ease used and the portability of module.
According to the embodiment of the invention, autonomous inspection can be carried out under the condition that the precision of the three-dimensional point cloud is not high, and the flight attitude of the unmanned aerial vehicle is adjusted in real time through real-time AI identification of the edge calculation module; when the target is photographed, the target is filtered through the AI recognition result, because many other targets exist in the same scene, and the photographing point only cares about one type of the targets, in order to reduce the interference on the post data processing, the invention can filter the redundant other targets by utilizing the AI recognition result; can be through the screening of marginal calculation module to the target, through calling unmanned aerial vehicle control interface, control the cloud platform, through the angle of recognition result automatic adjustment cloud platform for the target is located in the middle of the camera lens all the time, and the focus is adjusted to the while, zooms and focuses to specific target, makes the occupation of image ratio of waiting to discern the target and bigger, the target is more clear taking the picture.
As shown in fig. 6, an embodiment of the present invention further provides an inspection device 60 for an unmanned aerial vehicle, which is applied to an edge computing module, where the inspection device 60 includes:
the first acquisition module 61 is used for acquiring video data acquired by the unmanned aerial vehicle at a preset suspension point in the process of flying according to a preset air route;
a determining module 62, configured to identify a target according to the video data, and determine a position of the target;
and a second obtaining module 63, configured to take a picture of the target according to the position of the target, so as to obtain image information of the target.
Optionally, identifying a target according to the video data, and determining a position of the target includes: identifying targets in the video data through a classification algorithm to obtain at least one target;
screening the at least one target to determine an attention target;
obtaining a location of the object of interest.
Optionally, the classification algorithm is a Yolov4-Tiny algorithm.
Optionally, screening the at least one target to determine a target of interest, including:
and screening the at least one target according to the characteristics of the target, deleting the target with the same first preset characteristics or deleting the target with different second preset characteristics, and determining the rest targets as the attention targets.
Optionally, the step of photographing the target according to the position of the target to obtain the image information of the target includes:
and sending a control instruction to the unmanned aerial vehicle, wherein the control instruction is used for controlling a camera of the unmanned aerial vehicle to aim at the position of the target, zooming and amplifying the target, and then photographing the target to obtain the image information of the target.
It should be noted that the apparatus is an apparatus corresponding to the above method, and all the implementations of the above method are applicable to the embodiment of the apparatus, and the same technical effects can be achieved.
As shown in fig. 7, an embodiment of the present invention further provides an edge calculation module, including: a processor, a memory storing a computer program which, when executed by the processor, performs the method as described above.
Optionally, the edge calculation module further includes: the circuit board is electrically connected with the processor (CPU and/or GPU) and the memory, and a data communication interface is arranged on the circuit board and is in communication connection with a flight control center of the unmanned aerial vehicle through the data communication interface. The data communication interface can be a type-c interface, and a power supply can be connected to the circuit board.
According to the embodiment of the invention, autonomous inspection can be carried out under the condition that the precision of the three-dimensional point cloud is not high, and the flight attitude of the unmanned aerial vehicle is adjusted in real time through real-time AI identification of the edge calculation module; when the target is photographed, the target is filtered through the AI recognition result, because many other targets exist in the same scene, and the photographing point only cares about one type of the targets, in order to reduce the interference on the post data processing, the AI recognition result can be utilized to filter the redundant other targets; can be through the screening of marginal calculation module to the target, through calling unmanned aerial vehicle control interface, control the cloud platform, through the angle of recognition result automatic adjustment cloud platform for the target is located in the middle of the camera lens all the time, and the focus is adjusted to the while, zooms and focuses to specific target, makes the occupation of image ratio of waiting to discern the target and bigger, the target is more clear taking the picture. The edge calculation module is mounted on the unmanned aerial vehicle and can be connected through a type-c interface, so that plug and play, convenience and rapidness are realized.
Embodiments of the present invention also provide a processor-readable storage medium having stored thereon processor-executable instructions for causing a processor to perform the method as described above. All the implementation manners in the above embodiments are applicable to the embodiment, and the same technical effects can be achieved.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a U disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.
Furthermore, it is to be noted that in the device and method of the invention, it is obvious that the individual components or steps can be decomposed and/or recombined. These decompositions and/or recombinations are to be regarded as equivalents of the present invention. Also, the steps of performing the series of processes described above may naturally be performed chronologically in the order described, but need not necessarily be performed chronologically, and some steps may be performed in parallel or independently of each other. It will be understood by those skilled in the art that all or any of the steps or elements of the method and apparatus of the present invention may be implemented in any computing device (including processors, storage media, etc.) or network of computing devices, in hardware, firmware, software, or any combination thereof, which can be implemented by those skilled in the art using their basic programming skills after reading the description of the present invention.
Thus, the objects of the invention may also be achieved by running a program or a set of programs on any computing device. The computing device may be a general purpose device as is well known. The object of the invention is thus also achieved solely by providing a program product comprising program code for implementing the method or the apparatus. That is, such a program product also constitutes the present invention, and a storage medium storing such a program product also constitutes the present invention. It is to be understood that the storage medium may be any known storage medium or any storage medium developed in the future. It is further noted that in the apparatus and method of the present invention, it is apparent that each component or step can be decomposed and/or recombined. These decompositions and/or recombinations are to be regarded as equivalents of the present invention. Also, the steps of executing the series of processes described above may naturally be executed chronologically in the order described, but need not necessarily be executed chronologically. Some steps may be performed in parallel or independently of each other.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. The inspection method of the unmanned aerial vehicle is applied to an edge calculation module, and comprises the following steps:
acquiring video data acquired by an unmanned aerial vehicle at a preset suspension point in the process of flying according to a preset air route;
identifying a target according to the video data, and determining the position of the target;
and photographing the target according to the position of the target to obtain the image information of the target.
2. The unmanned aerial vehicle inspection method according to claim 1, wherein identifying a target and determining a location of the target based on the video data comprises:
identifying targets in the video data through a classification algorithm to obtain at least one target;
screening the at least one target to determine an attention target;
obtaining a location of the object of interest.
3. The inspection method for unmanned aerial vehicles according to claim 2, wherein the classification algorithm is Yolov4-Tiny algorithm.
4. The inspection method according to claim 2, wherein the screening of the at least one target to determine the object of interest includes:
and screening the at least one target according to the characteristics of the target, deleting the target with the same first preset characteristics or deleting the target with different second preset characteristics, and determining the rest targets as the attention targets.
5. The unmanned aerial vehicle inspection method according to claim 2, wherein the step of photographing the target according to the position of the target to obtain image information of the target includes:
and sending a control instruction to the unmanned aerial vehicle, wherein the control instruction is used for controlling a camera of the unmanned aerial vehicle to aim at the position of the target, zooming and amplifying the target, and then photographing the target to obtain the image information of the target.
6. The inspection method according to claim 1, wherein the edge computing module is in communication connection with a flight control center of the unmanned aerial vehicle via a data communication interface.
7. The utility model provides an unmanned aerial vehicle's inspection device which characterized in that is applied to the edge calculation module, the device includes:
the first acquisition module is used for acquiring video data acquired by the unmanned aerial vehicle at a preset suspension point in the process of flying according to a preset air route;
the determining module is used for identifying a target according to the video data and determining the position of the target;
and the second acquisition module is used for photographing the target according to the position of the target to acquire the image information of the target.
8. An edge calculation module, comprising: a processor, a memory storing a computer program that, when executed by the processor, performs the method of any of claims 1 to 6.
9. The edge calculation module of claim 8, further comprising: the circuit board, the treater with the memory with the circuit board electricity is connected, have the data communication interface on the circuit board, and pass through data communication interface and unmanned aerial vehicle's flight control center communication connection.
10. A processor-readable storage medium having stored thereon processor-executable instructions for causing a processor to perform the method of any one of claims 1 to 6.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113537119A (en) * | 2021-07-28 | 2021-10-22 | 国网河南省电力公司电力科学研究院 | Transmission line connecting part detection method based on improved Yolov4-tiny |
| CN114020039A (en) * | 2021-12-09 | 2022-02-08 | 北京中电普华信息技术有限公司 | Automatic focusing system and method for unmanned aerial vehicle inspection tower |
| CN115578662A (en) * | 2022-11-23 | 2023-01-06 | 国网智能科技股份有限公司 | Unmanned aerial vehicle front-end image processing method, system, storage medium and equipment |
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