CN113409485B - Inspection data acquisition method and device, computer equipment and storage medium - Google Patents
Inspection data acquisition method and device, computer equipment and storage medium Download PDFInfo
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- CN113409485B CN113409485B CN202110883645.4A CN202110883645A CN113409485B CN 113409485 B CN113409485 B CN 113409485B CN 202110883645 A CN202110883645 A CN 202110883645A CN 113409485 B CN113409485 B CN 113409485B
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- 238000007689 inspection Methods 0.000 title claims abstract description 251
- 238000000034 method Methods 0.000 title claims abstract description 40
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- 238000012806 monitoring device Methods 0.000 claims description 9
- 235000005770 birds nest Nutrition 0.000 claims description 6
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
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- G07C1/20—Checking timed patrols, e.g. of watchman
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- H04B7/18502—Airborne stations
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L63/00—Network architectures or network communication protocols for network security
- H04L63/04—Network architectures or network communication protocols for network security for providing a confidential data exchange among entities communicating through data packet networks
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Abstract
The application relates to a method, a device, computer equipment and a storage medium for acquiring inspection data. The method comprises the following steps: after detecting that the unmanned aerial vehicle enters a preset area, establishing communication connection with the unmanned aerial vehicle; sending inspection indication information to the unmanned aerial vehicle; the inspection indication information is generated by the monitoring terminal in advance according to the surrounding environment of the power transmission network, and comprises a target inspection object, wherein the inspection indication information is used for indicating the unmanned aerial vehicle to inspect the target inspection object; and acquiring inspection data obtained by the unmanned aerial vehicle inspecting the target inspection object, and sending the inspection data to a server. By adopting the method, the unmanned aerial vehicle can carry out inspection on special conditions, thereby ensuring the safety of the power transmission network.
Description
Technical Field
The present application relates to the field of power grid inspection technologies, and in particular, to a method and apparatus for acquiring inspection data, a computer device, and a storage medium.
Background
With the development of unmanned aerial vehicle technology, more and more tasks can be performed by unmanned aerial vehicles. For example, the transmission network line and the tower are directly exposed in the field environment, and the conditions of long line, high tower, more tower parts, complex field environment and the like cause great difficulty for daily power grid inspection, and the problems can be solved by adopting the unmanned aerial vehicle.
At present, an unmanned aerial vehicle is adopted for power grid inspection, and there are several modes generally, one is to control the unmanned aerial vehicle to carry out inspection by inspection personnel, and the other is to control the unmanned aerial vehicle to automatically inspect according to a pre-planned inspection path.
However, the conventional project is inspected, and if the inspection is not performed in a special situation, the abnormal situation is not removed in time, so that the safety of the power transmission network is compromised.
Disclosure of Invention
Based on this, it is necessary to provide a method, a device, a computer device and a storage medium for acquiring inspection data, which can enable the unmanned aerial vehicle to inspect special situations, thereby ensuring the safety of the power transmission network.
A patrol data acquisition method is applied to a monitoring terminal, and the method comprises the following steps:
after detecting that the unmanned aerial vehicle enters a preset area, establishing communication connection with the unmanned aerial vehicle;
sending inspection indication information to the unmanned aerial vehicle; the inspection indication information is generated by the monitoring terminal in advance according to the surrounding environment of the power transmission network, and comprises a target inspection object, wherein the inspection indication information is used for indicating the unmanned aerial vehicle to inspect the target inspection object;
and acquiring inspection data obtained by the unmanned aerial vehicle for inspecting the target inspection object, and sending the inspection data to a server.
In one embodiment, before the sending of the inspection instruction information to the unmanned aerial vehicle, the method further includes:
acquiring a plurality of environment images; the plurality of environmental images comprise environmental images acquired by at least one image acquisition device at different moments;
and determining a target patrol object according to the differences among the plurality of environment images.
In one embodiment, the determining the target patrol object according to the difference between the plurality of environment images includes:
inputting a plurality of environment images into a pre-trained difference detection model to obtain differences among the plurality of environment images output by the difference detection model;
an object indicated by a difference between the plurality of environmental images is determined as a target patrol object.
In one embodiment, the method further comprises:
generating inspection environment information according to the plurality of environment images;
after communication connection is established with the unmanned aerial vehicle, sending inspection environment information to the unmanned aerial vehicle; the inspection environment information is used for the unmanned aerial vehicle to avoid the obstacle.
In one embodiment, the establishing a communication connection with the unmanned aerial vehicle includes:
sending a communication connection request to the unmanned aerial vehicle;
receiving authentication information sent by the unmanned aerial vehicle according to the communication connection request;
Carrying out identity authentication on the unmanned aerial vehicle according to the authentication information;
if the identity authentication of the unmanned aerial vehicle passes, communication connection is established with the unmanned aerial vehicle.
In one embodiment, the acquiring the inspection data obtained by the unmanned aerial vehicle inspecting the target inspection object and sending the inspection data to the server includes:
receiving a first encrypted data packet sent by the unmanned aerial vehicle, and decrypting the first encrypted data packet to obtain inspection data;
and carrying out encryption processing on the inspection data to obtain a second encrypted data packet, and sending the second encrypted data packet to the server.
In one embodiment, the encrypting the inspection data to obtain the second encrypted data packet includes:
and carrying out encryption processing on the patrol data and the position information of the monitoring terminal to obtain a second encrypted data packet.
A patrol data acquisition device applied to a monitoring terminal, the device comprising:
the connection establishment module is used for establishing communication connection with the unmanned aerial vehicle after detecting that the unmanned aerial vehicle enters a preset area;
the first information sending module is used for sending inspection indication information to the unmanned aerial vehicle; the inspection indication information is generated by the monitoring terminal in advance according to the surrounding environment of the power transmission network, and comprises a target inspection object, wherein the inspection indication information is used for indicating the unmanned aerial vehicle to inspect the target inspection object;
The data acquisition module is used for acquiring inspection data obtained by the unmanned aerial vehicle inspecting the target inspection object and sending the inspection data to the server.
In one embodiment, the apparatus further comprises:
the image acquisition module is used for acquiring a plurality of environment images; the plurality of environmental images comprise environmental images acquired by at least one image acquisition device at different moments;
and the object determining module is used for determining a target patrol object according to the differences among the plurality of environment images.
In one embodiment, the object determining module is specifically configured to input a plurality of environmental images into a pre-trained difference detection model, so as to obtain differences between the plurality of environmental images output by the difference detection model; an object indicated by a difference between the plurality of environmental images is determined as a target patrol object.
In one embodiment, the apparatus further comprises:
the information generation module is used for generating inspection environment information according to the plurality of environment images;
the second information sending module is used for sending inspection environment information to the unmanned aerial vehicle after communication connection is established with the unmanned aerial vehicle; the inspection environment information is used for the unmanned aerial vehicle to avoid the obstacle.
In one embodiment, the connection establishment module is specifically configured to send a communication connection request to the unmanned aerial vehicle; receiving authentication information sent by the unmanned aerial vehicle according to the communication connection request; carrying out identity authentication on the unmanned aerial vehicle according to the authentication information; if the identity authentication of the unmanned aerial vehicle passes, communication connection is established with the unmanned aerial vehicle.
In one embodiment, the data acquisition module includes:
the data acquisition sub-module is used for receiving a first encrypted data packet sent by the unmanned aerial vehicle and decrypting the first encrypted data packet to obtain inspection data;
and the data transmission sub-module is used for carrying out encryption processing on the inspection data to obtain a second encrypted data packet and transmitting the second encrypted data packet to the server.
In one embodiment, the data sending sub-module is specifically configured to encrypt the inspection data and the position information of the monitoring terminal to obtain a second encrypted data packet.
A computer device comprising a memory storing a computer program and a processor which when executing the computer program performs the steps of:
after detecting that the unmanned aerial vehicle enters a preset area, establishing communication connection with the unmanned aerial vehicle;
sending inspection indication information to the unmanned aerial vehicle; the inspection indication information is generated by the monitoring terminal in advance according to the surrounding environment of the power transmission network, and comprises a target inspection object, wherein the inspection indication information is used for indicating the unmanned aerial vehicle to inspect the target inspection object;
and acquiring inspection data obtained by the unmanned aerial vehicle for inspecting the target inspection object, and sending the inspection data to a server.
A computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of:
after detecting that the unmanned aerial vehicle enters a preset area, establishing communication connection with the unmanned aerial vehicle;
sending inspection indication information to the unmanned aerial vehicle; the inspection indication information is generated by the monitoring terminal in advance according to the surrounding environment of the power transmission network, and comprises a target inspection object, wherein the inspection indication information is used for indicating the unmanned aerial vehicle to inspect the target inspection object;
and acquiring inspection data obtained by the unmanned aerial vehicle for inspecting the target inspection object, and sending the inspection data to a server.
According to the inspection data acquisition method, the inspection data acquisition device, the computer equipment and the storage medium, after the monitoring terminal detects that the unmanned aerial vehicle enters the preset area, communication connection is established with the unmanned aerial vehicle; sending inspection indication information to the unmanned aerial vehicle; and acquiring inspection data obtained by the unmanned aerial vehicle for inspecting the target inspection object, and sending the inspection data to a server. In the embodiment of the disclosure, the inspection indication information sent by the monitoring terminal to the unmanned aerial vehicle is generated by the monitoring terminal in advance according to the surrounding environment of the power transmission network and comprises the target inspection object, and the unmanned aerial vehicle can inspect the target inspection object to obtain inspection data after receiving the inspection indication information. Therefore, the unmanned aerial vehicle can carry out inspection on special conditions around the power transmission network, and the safety of the power transmission network is ensured.
Drawings
FIG. 1 is an application environment diagram of a method for acquiring inspection data in one embodiment;
FIG. 2 is a flow chart of a method for acquiring inspection data according to an embodiment;
FIG. 3 is a flowchart illustrating a step of determining a target patrol object according to an embodiment;
FIG. 4 is a flowchart illustrating a step of sending inspection environment information to the unmanned aerial vehicle in one embodiment;
FIG. 5 is a flow chart of the steps for establishing a communication connection with a drone in one embodiment;
FIG. 6 is a flow chart illustrating a step of sending inspection data to a server in one embodiment;
fig. 7 is a block diagram of a patrol data-acquisition device according to an embodiment.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
The inspection data acquisition method provided by the application can be applied to an application environment shown in figure 1. The application environment comprises a monitoring device 101, a monitoring terminal 102 and a unmanned aerial vehicle 103. Wherein, monitoring device 101 and monitoring terminal 102 are installed around the power transmission network, and monitoring device 101 monitors the surrounding environment of the power transmission network, and monitoring terminal 102 communicates with monitoring device 101 through the network, acquires monitoring data from monitoring device 101. For example, the monitoring device 101 includes a camera, and the monitoring terminal 102 acquires an environmental image of the power transmission network from the camera. After establishing communication connection with the unmanned aerial vehicle 103, the monitoring terminal 102 may acquire inspection data from the unmanned aerial vehicle 103. The application environment may further include a server 104, and after the monitoring terminal 102 obtains the monitoring data and the inspection data, the monitoring data and the inspection data may be sent to the server 104.
The above-described monitoring device 101 includes, but is not limited to, various cameras, radars, temperature sensors, infrared sensors, and humidity sensors.
The monitor terminal 102 may include a processor, memory, and a communication interface coupled via a system bus. Wherein the processor of the monitoring terminal is configured to provide computing and control capabilities. For example, the processor performs data screening on the monitoring data and eliminates abnormal monitoring data; determining a target inspection object of the unmanned aerial vehicle according to the monitoring data; and (3) carrying out encryption processing and decryption processing on the monitoring data, and carrying out identity authentication and the like on the unmanned aerial vehicle. The memory of the monitoring terminal comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program; the internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium, and may also store monitoring data, patrol data, and the like. The communication interface of the monitoring terminal is used for carrying out wired or wireless communication with external monitoring equipment, unmanned aerial vehicle, a server and the like, and the wireless mode can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The monitor terminal 102 may further include a display screen and an input device, where the display screen of the monitor terminal may be a liquid crystal display screen or an electronic ink display screen, and the input device of the monitor terminal may be a touch layer covered on the display screen, or may also be a key, a track ball, or a touch pad disposed on a housing of the monitor terminal, or may also be an external keyboard, a touch pad, or a mouse. The monitoring terminal 102 may further include a positioning device, where the positioning device may perform positioning processing on the monitoring data and the inspection data, and the positioning device of the monitoring terminal may be a beidou positioning module, a GPS positioning module, or the like.
The drones 103 may include, but are not limited to, rotary-wing drones, multi-rotor drones, fixed-wing, unmanned helicopters, umbrella-wing drones, and ornithopters.
The server 104 may be implemented as a stand-alone server or as a server cluster comprising a plurality of servers.
In one embodiment, as shown in fig. 2, a method for acquiring inspection data is provided, and the method is applied to the monitoring terminal in fig. 1 for illustration, and includes the following steps:
step 201, after detecting that the unmanned aerial vehicle enters a preset area, establishing communication connection with the unmanned aerial vehicle.
The monitoring terminal can acquire monitoring data from the monitoring equipment, and whether the unmanned aerial vehicle enters a preset area is detected according to the monitoring data. For example, the monitoring terminal obtains an environmental image from the camera, and detects whether an unmanned aerial vehicle enters a preset area according to the environmental image. Or the monitoring terminal acquires point cloud data from the radar, and detects whether the unmanned aerial vehicle enters a preset area according to the point cloud data. Or, the monitoring terminal detects whether the unmanned aerial vehicle enters a preset area through the wireless network. The detection mode and the preset area are not limited in the embodiment of the disclosure.
After detecting that unmanned aerial vehicle gets into the region of predetermineeing, monitor terminal can establish communication connection through wireless network and unmanned aerial vehicle, also can establish communication connection through other modes such as bluetooth, NFC with unmanned aerial vehicle. The embodiments of the present disclosure do not limit the manner in which the communication is connected.
Step 202, sending inspection instruction information to the unmanned aerial vehicle.
The inspection indication information is generated by the monitoring terminal in advance according to the surrounding environment of the power transmission network, and comprises a target inspection object; the inspection indication information is used for indicating the unmanned aerial vehicle to inspect the target inspection object.
When the unmanned aerial vehicle is used for carrying out inspection on the power transmission network, the inspection path of the unmanned aerial vehicle is planned mostly. Therefore, the unmanned aerial vehicle can carry out inspection according to the inspection path, and conventional inspection items can be covered. However, the surrounding environment of the power transmission network may change, for example, the tree length near the tower, cracks occur in the mountain where the tower is erected, bird nests occur on the power transmission line, and so on. If the unmanned aerial vehicle only performs inspection according to the inspection path, special conditions may not be inspected.
Embodiments of the present disclosure address this situation in the following manner: the monitoring terminal acquires monitoring data from the monitoring equipment in real time or at regular time, judges whether special conditions exist according to the monitoring data, and if the special conditions exist, determines a target inspection object and generates inspection indication information. Thus, after communication connection is established with the unmanned aerial vehicle, the monitoring terminal sends the pre-generated inspection instruction information to the unmanned aerial vehicle. And the unmanned aerial vehicle receives the inspection indication information sent by the monitoring terminal, determines a target inspection object according to the inspection indication information, and inspects the target inspection object.
For example, if the target inspection object is a mountain on which a tower is installed, the unmanned aerial vehicle inspects the mountain on which the tower is installed. And the target inspection object is a bird nest appearing on the transmission line, and then the unmanned aerial vehicle inspects the transmission line.
In one embodiment, if the unmanned aerial vehicle completes one-time inspection of the target inspection object in the process of inspecting according to the inspection path, after receiving the inspection indication information, the unmanned aerial vehicle can not inspect the target inspection object according to the inspection indication information any more, and can inspect the target inspection object again. It can be appreciated that the unmanned aerial vehicle can ensure the accuracy of the inspection data after inspection again.
Step 203, obtaining inspection data obtained by the unmanned aerial vehicle inspecting the target inspection object, and sending the inspection data to the server.
After sending the inspection indication information to the unmanned aerial vehicle, the monitoring terminal can send a data acquisition request to the unmanned aerial vehicle; after receiving the data acquisition request, the unmanned aerial vehicle sends inspection data obtained by inspecting the target inspection object to the monitoring terminal. Or after the monitoring terminal sends the inspection indication information to the unmanned aerial vehicle, the inspection data sent by the unmanned aerial vehicle can be received in real time or at regular time. The embodiment of the disclosure does not limit the acquisition mode of the inspection data.
After the monitoring terminal acquires the inspection data from the unmanned aerial vehicle, the inspection data are sent to a server; the server can generate alarm information according to the inspection data, so as to inform maintenance personnel to maintain the power transmission network.
In the inspection data acquisition method, after detecting that the unmanned aerial vehicle enters a preset area, the monitoring terminal establishes communication connection with the unmanned aerial vehicle; sending inspection indication information to the unmanned aerial vehicle; and acquiring inspection data obtained by the unmanned aerial vehicle for inspecting the target inspection object, and sending the inspection data to a server. In the embodiment of the disclosure, the inspection indication information sent by the monitoring terminal to the unmanned aerial vehicle is generated by the monitoring terminal in advance according to the surrounding environment of the power transmission network and comprises the target inspection object, and the unmanned aerial vehicle can inspect the target inspection object to obtain inspection data after receiving the inspection indication information. Therefore, the unmanned aerial vehicle can patrol the special conditions around the power transmission network, so that maintenance personnel can acquire the special conditions from the server in time, the power transmission network is maintained in time, and the safety of the power transmission network is ensured.
In one embodiment, as shown in fig. 3, on the basis of the above embodiment, the method may further include:
In step 301, a plurality of environmental images are acquired.
Wherein the plurality of environmental images includes environmental images acquired by at least one image acquisition device at different times.
In the surroundings of the power transmission network, the image acquisition devices may be set up in different positions. The monitoring terminal communicates with the image acquisition devices through a network, and acquires an environment image of the power transmission network from the image acquisition devices.
For example, two adjacent towers are respectively provided with a camera capable of rotating by 360 degrees, the two cameras can acquire the environmental images of the power transmission network in real time or at fixed time, and the monitoring terminal acquires the environmental images of the power transmission network from the cameras.
Step 302, determining a target patrol object according to differences among a plurality of environment images.
The monitoring terminal can compare the plurality of environment images to obtain differences among the plurality of environment images, and then determine the target patrol object according to the differences among the plurality of environment images.
In one embodiment, a plurality of environment images are input into a pre-trained difference detection model, so that differences among the plurality of environment images output by the difference detection model are obtained; an object indicated by a difference between the plurality of environmental images is determined as a target patrol object.
For example, a plurality of environmental images are input into a difference detection model, the difference detection model identifies differences of bird nests, continuous wire breaks, bending towers, vegetation touch networks and the like from the plurality of environmental images, and then the monitoring terminal determines the bird nests, the wires, the towers and the vegetation as target inspection objects.
In practical application, the monitoring device may further include an infrared sensor, the monitoring terminal may acquire infrared data from the infrared sensor, and determine the target inspection object according to the change of the infrared data. For example, the monitoring terminal determines mountain fires, electric shocks, fire lights, etc. based on the changes in the infrared data. The method for determining the target patrol objects and the target patrol objects are not limited in the embodiment of the disclosure.
In the above embodiment, the monitoring terminal acquires a plurality of environmental images; and determining a target patrol object according to the differences among the plurality of environment images. According to the embodiment of the disclosure, after the monitoring terminal determines the target inspection object according to the environment image, the unmanned aerial vehicle can conduct special inspection on the target inspection object, so that special conditions are confirmed, anomalies are found in time, and the power transmission network is maintained in time.
In one embodiment, as shown in fig. 4, on the basis of the above embodiment, the method may further include:
Step 401, generating inspection environment information according to a plurality of environment images.
The inspection environment information is used for representing the surrounding environment of the power transmission network, and comprises wire positions and tower positions of the power transmission network, vegetation states, animal states, mountain states and the like around the power transmission network. The embodiment of the disclosure does not limit the patrol environment information.
After the monitoring terminal acquires a plurality of environment images, the monitoring terminal can determine a target patrol object according to the environment images, model the surrounding environment of the power transmission network and generate patrol environment information.
For example, the monitoring terminal acquires environment images acquired by two cameras at different positions, obtains an environment model of the power transmission network by using a cross vision technology, and generates inspection environment information according to the environment model.
Step 402, after establishing communication connection with the unmanned aerial vehicle, sending inspection environment information to the unmanned aerial vehicle.
The inspection environment information is used for the unmanned aerial vehicle to avoid the obstacle according to the inspection environment.
Unmanned aerial vehicles are usually used for avoiding barriers according to images acquired by cameras carried by the unmanned aerial vehicle and/or point cloud data acquired by radars. The obstacle avoidance mode has higher requirements on cameras and radars and also has higher requirements on data processing speed.
In the embodiment of the disclosure, the monitoring terminal generates the inspection environment information in advance and sends the inspection environment information to the unmanned aerial vehicle. After the unmanned aerial vehicle receives the inspection environment information, the surrounding environment of the power transmission network can be determined according to the inspection environment information, so that the surrounding environment of the power transmission network is combined with the image acquired by the camera and the point cloud data acquired by the radar to avoid the obstacle.
In the above embodiment, the monitoring terminal generates the inspection environment information according to the plurality of environment images; after communication connection is established with the unmanned aerial vehicle, the inspection environment information is sent to the unmanned aerial vehicle. According to the embodiment of the disclosure, the unmanned aerial vehicle is assisted in obstacle avoidance by using the inspection environment information generated in advance by the monitoring terminal, so that the obstacle avoidance efficiency of the unmanned aerial vehicle can be improved, and the requirements of the unmanned aerial vehicle on cameras, radars and data processing speeds can be properly reduced.
In one embodiment, as shown in fig. 5, the step of establishing a communication connection with the unmanned aerial vehicle may include:
in step 2011, a communication connection request is sent to the unmanned aerial vehicle.
In step 2012, authentication information sent by the unmanned aerial vehicle according to the communication connection request is received.
After receiving the communication connection request, the unmanned aerial vehicle sends authentication information to the monitoring terminal, and correspondingly, the monitoring terminal receives the authentication information sent by the unmanned aerial vehicle.
The authentication information may include an identity of the unmanned aerial vehicle, a communication connection key, and the like. The embodiment of the disclosure does not limit the authentication information.
And step 2013, performing identity authentication on the unmanned aerial vehicle according to the authentication information.
And after receiving the authentication information, the monitoring terminal performs identity authentication on the unmanned aerial vehicle according to the authentication information. For example, the monitoring terminal prestores an identity list allowing communication connection to be established, and if the identity of the unmanned aerial vehicle is found in the identity list, the identity authentication of the unmanned aerial vehicle is determined to pass; if the identity of the unmanned aerial vehicle is not found in the identity list, determining that the identity authentication of the unmanned aerial vehicle fails. Or the monitoring terminal pre-stores a key list allowing communication connection to be established, and if a communication connection key of the unmanned aerial vehicle is found in the key list, the identity authentication of the unmanned aerial vehicle is determined to pass; if the communication connection key of the unmanned aerial vehicle is not found in the key list, the identity authentication failure of the unmanned aerial vehicle is determined. In practical application, other identity authentication modes such as biological characteristics can be adopted, and the embodiment of the disclosure is not limited to the method.
And step 2014, if the identity authentication of the unmanned aerial vehicle passes, establishing communication connection with the unmanned aerial vehicle.
After the identity authentication of the unmanned aerial vehicle is confirmed to pass, the unmanned aerial vehicle is indicated to be allowed to be connected to the network where the monitoring terminal is located, and the monitoring terminal and the unmanned aerial vehicle are in communication connection.
In practical application, a hybrid networking technology of private network and public network can be adopted, the private network can be a private network formed by the monitoring terminal, the monitoring equipment and the unmanned aerial vehicle, and the public network can be a public network formed by the monitoring terminal and the external internet. The networking mode is not limited by the embodiment of the disclosure.
In the process of establishing communication connection with the unmanned aerial vehicle, the monitoring terminal sends a communication connection request to the unmanned aerial vehicle; receiving authentication information sent by the unmanned aerial vehicle according to the communication connection request; carrying out identity authentication on the unmanned aerial vehicle according to the authentication information; if the identity authentication of the unmanned aerial vehicle passes, communication connection is established with the unmanned aerial vehicle. In the embodiment of the disclosure, the monitoring terminal authenticates the identity of the unmanned aerial vehicle, and illegal communication equipment or a network where the illegal unmanned aerial vehicle is accessed to the monitoring terminal can be avoided, so that data security is protected.
In one embodiment, as shown in fig. 6, the step of obtaining inspection data obtained by inspecting the target inspection object by the unmanned aerial vehicle and sending the inspection data to the server may include:
Step 501, a first encrypted data packet sent by the unmanned aerial vehicle is received, and decryption processing is performed on the first encrypted data packet to obtain inspection data.
The unmanned aerial vehicle acquires inspection data after inspecting the target inspection object, then the unmanned aerial vehicle encrypts the inspection data to acquire a first encrypted data packet, and then the first encrypted data packet is sent to the monitoring terminal. Correspondingly, the monitoring terminal receives a first encrypted data packet sent by the unmanned aerial vehicle. And then, the monitoring terminal decrypts the first encrypted data packet to obtain the patrol data.
The unmanned aerial vehicle encrypts the inspection data, the monitoring terminal decrypts the first encrypted data packet, a shared key can be adopted, other encryption algorithms can also be adopted, and the embodiment of the disclosure does not limit the method.
Step 502, performing encryption processing on the inspection data to obtain a second encrypted data packet, and sending the second encrypted data packet to a server.
After decrypting the first encrypted data packet to obtain the inspection data, the monitoring terminal can encrypt the inspection data in an encryption mode different from that of the unmanned aerial vehicle to obtain a second encrypted data packet, and then sends the second encrypted data packet to the server. The embodiment of the disclosure does not limit the encryption mode of the monitoring terminal.
In one embodiment, encrypting the inspection data to obtain a second encrypted data packet includes: and carrying out encryption processing on the patrol data and the position information of the monitoring terminal to obtain a second encrypted data packet.
In practical application, the monitoring terminal can encrypt the inspection data and the position information of the monitoring terminal together to obtain a second encrypted data packet. Thus, after receiving the second encrypted data packet, the server can determine the geographic position corresponding to the inspection data according to the position information.
The location information of the monitoring terminal may include a terminal identifier of the monitoring terminal, GPS positioning information, and the like. If the position information of the monitoring terminal is the terminal identification of the monitoring terminal, the server needs to establish a corresponding relation between the terminal identification and the geographic position in advance, so that after receiving the second encrypted data packet, the server analyzes the terminal identification of the monitoring terminal from the second encrypted data packet, and then determines the geographic position corresponding to the inspection data according to the pre-established corresponding relation and the terminal identification of the monitoring terminal. The embodiment of the disclosure does not limit the position information of the monitoring terminal.
It can be understood that the server determines the geographic position corresponding to the inspection data, so that maintenance personnel can maintain the corresponding position, and the abnormality is rapidly removed.
The method comprises the steps of obtaining the inspection data obtained by the unmanned aerial vehicle in the inspection of the target inspection object, sending the inspection data to the server, receiving a first encrypted data packet sent by the unmanned aerial vehicle, and decrypting the first encrypted data packet to obtain the inspection data. And carrying out encryption processing on the inspection data to obtain a second encrypted data packet, and sending the second encrypted data packet to the server. In the embodiment of the disclosure, when the monitoring terminal performs data transmission with the unmanned aerial vehicle and the server, the monitoring terminal encrypts the inspection data, so that the security of the inspection data can be ensured, and the risk of data leakage is reduced.
It should be understood that, although the steps in the flowcharts of fig. 2 to 6 are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least a portion of the steps of fig. 2-6 may include steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor does the order in which the steps or stages are performed necessarily occur sequentially, but may be performed alternately or alternately with other steps or at least a portion of the steps or stages in other steps.
In one embodiment, as shown in fig. 7, there is provided a patrol data-obtaining device, applied to a monitoring terminal, including:
the connection establishing module 601 is configured to establish communication connection with the unmanned aerial vehicle after detecting that the unmanned aerial vehicle enters a preset area;
a first information sending module 602, configured to send inspection instruction information to the unmanned aerial vehicle; the inspection indication information is generated by the monitoring terminal in advance according to the surrounding environment of the power transmission network, and comprises a target inspection object, wherein the inspection indication information is used for indicating the unmanned aerial vehicle to inspect the target inspection object;
the data acquisition module 603 is configured to acquire inspection data obtained by inspecting the target inspection object by the unmanned aerial vehicle, and send the inspection data to the server.
In one embodiment, the apparatus further comprises:
the image acquisition module is used for acquiring a plurality of environment images; the plurality of environmental images comprise environmental images acquired by at least one image acquisition device at different moments;
and the object determining module is used for determining a target patrol object according to the differences among the plurality of environment images.
In one embodiment, the object determining module is specifically configured to input a plurality of environmental images into a pre-trained difference detection model, so as to obtain differences between the plurality of environmental images output by the difference detection model; an object indicated by a difference between the plurality of environmental images is determined as a target patrol object.
In one embodiment, the apparatus further comprises:
the information generation module is used for generating inspection environment information according to the plurality of environment images;
the second information sending module is used for sending inspection environment information to the unmanned aerial vehicle after communication connection is established with the unmanned aerial vehicle; the inspection environment information is used for the unmanned aerial vehicle to avoid the obstacle.
In one embodiment, the connection establishment module 601 is specifically configured to send a communication connection request to the unmanned aerial vehicle; receiving authentication information sent by the unmanned aerial vehicle according to the communication connection request; carrying out identity authentication on the unmanned aerial vehicle according to the authentication information; if the identity authentication of the unmanned aerial vehicle passes, communication connection is established with the unmanned aerial vehicle.
In one embodiment, the data obtaining module 603 includes:
the data acquisition sub-module is used for receiving a first encrypted data packet sent by the unmanned aerial vehicle and decrypting the first encrypted data packet to obtain inspection data;
and the data transmission sub-module is used for carrying out encryption processing on the inspection data to obtain a second encrypted data packet and transmitting the second encrypted data packet to the server.
In one embodiment, the data sending sub-module is specifically configured to encrypt the inspection data and the position information of the monitoring terminal to obtain a second encrypted data packet.
The detailed limitation of the inspection data acquisition device can be referred to above as limitation of the inspection data acquisition method, and will not be described herein. The above-mentioned various modules in the inspection data acquisition device may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a computer device is provided comprising a memory and a processor, the memory having stored therein a computer program, the processor when executing the computer program performing the steps of:
after detecting that the unmanned aerial vehicle enters a preset area, establishing communication connection with the unmanned aerial vehicle;
sending inspection indication information to the unmanned aerial vehicle; the inspection indication information is generated by the monitoring terminal in advance according to the surrounding environment of the power transmission network, and comprises a target inspection object, wherein the inspection indication information is used for indicating the unmanned aerial vehicle to inspect the target inspection object;
and acquiring inspection data obtained by the unmanned aerial vehicle for inspecting the target inspection object, and sending the inspection data to a server.
In one embodiment, the processor when executing the computer program further performs the steps of:
acquiring a plurality of environment images; the plurality of environmental images comprise environmental images acquired by at least one image acquisition device at different moments;
and determining a target patrol object according to the differences among the plurality of environment images.
In one embodiment, the processor when executing the computer program further performs the steps of:
inputting a plurality of environment images into a pre-trained difference detection model to obtain differences among the plurality of environment images output by the difference detection model;
an object indicated by a difference between the plurality of environmental images is determined as a target patrol object.
In one embodiment, the processor when executing the computer program further performs the steps of:
generating inspection environment information according to the plurality of environment images;
after communication connection is established with the unmanned aerial vehicle, sending inspection environment information to the unmanned aerial vehicle; the inspection environment information is used for the unmanned aerial vehicle to avoid the obstacle.
In one embodiment, the processor when executing the computer program further performs the steps of:
sending a communication connection request to the unmanned aerial vehicle;
receiving authentication information sent by the unmanned aerial vehicle according to the communication connection request;
carrying out identity authentication on the unmanned aerial vehicle according to the authentication information;
If the identity authentication of the unmanned aerial vehicle passes, communication connection is established with the unmanned aerial vehicle.
In one embodiment, the processor when executing the computer program further performs the steps of:
receiving a first encrypted data packet sent by the unmanned aerial vehicle, and decrypting the first encrypted data packet to obtain inspection data;
and carrying out encryption processing on the inspection data to obtain a second encrypted data packet, and sending the second encrypted data packet to the server.
In one embodiment, the processor when executing the computer program further performs the steps of:
and carrying out encryption processing on the patrol data and the position information of the monitoring terminal to obtain a second encrypted data packet.
In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, performs the steps of:
after detecting that the unmanned aerial vehicle enters a preset area, establishing communication connection with the unmanned aerial vehicle;
sending inspection indication information to the unmanned aerial vehicle; the inspection indication information is generated by the monitoring terminal in advance according to the surrounding environment of the power transmission network, and comprises a target inspection object, wherein the inspection indication information is used for indicating the unmanned aerial vehicle to inspect the target inspection object;
And acquiring inspection data obtained by the unmanned aerial vehicle for inspecting the target inspection object, and sending the inspection data to a server.
In one embodiment, the computer program when executed by the processor further performs the steps of:
acquiring a plurality of environment images; the plurality of environmental images comprise environmental images acquired by at least one image acquisition device at different moments;
and determining a target patrol object according to the differences among the plurality of environment images.
In one embodiment, the computer program when executed by the processor further performs the steps of:
inputting a plurality of environment images into a pre-trained difference detection model to obtain differences among the plurality of environment images output by the difference detection model;
an object indicated by a difference between the plurality of environmental images is determined as a target patrol object.
In one embodiment, the computer program when executed by the processor further performs the steps of:
generating inspection environment information according to the plurality of environment images;
after communication connection is established with the unmanned aerial vehicle, sending inspection environment information to the unmanned aerial vehicle; the inspection environment information is used for the unmanned aerial vehicle to avoid the obstacle.
In one embodiment, the computer program when executed by the processor further performs the steps of:
Sending a communication connection request to the unmanned aerial vehicle;
receiving authentication information sent by the unmanned aerial vehicle according to the communication connection request;
carrying out identity authentication on the unmanned aerial vehicle according to the authentication information;
if the identity authentication of the unmanned aerial vehicle passes, communication connection is established with the unmanned aerial vehicle.
In one embodiment, the computer program when executed by the processor further performs the steps of:
receiving a first encrypted data packet sent by the unmanned aerial vehicle, and decrypting the first encrypted data packet to obtain inspection data;
and carrying out encryption processing on the inspection data to obtain a second encrypted data packet, and sending the second encrypted data packet to the server.
In one embodiment, the computer program when executed by the processor further performs the steps of:
and carrying out encryption processing on the patrol data and the position information of the monitoring terminal to obtain a second encrypted data packet.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, or the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
Claims (10)
1. The method for acquiring the inspection data is characterized by being applied to a monitoring terminal, and comprises the following steps:
after detecting that the unmanned aerial vehicle enters a preset area, establishing communication connection with the unmanned aerial vehicle;
sending inspection indication information to the unmanned aerial vehicle; the inspection indication information is generated by the monitoring terminal in advance according to the surrounding environment of the power transmission network monitored by the monitoring equipment, and comprises a target inspection object, wherein the inspection indication information is used for indicating the unmanned aerial vehicle to inspect the target inspection object; the monitoring terminal and the monitoring equipment are arranged around the power transmission network;
The method comprises the steps of obtaining patrol data obtained by the unmanned aerial vehicle for carrying out patrol on the target patrol object, and sending the patrol data to a server;
wherein, it is detected that the unmanned aerial vehicle enters a preset area, including:
acquiring an environment image, and detecting whether an unmanned aerial vehicle enters the preset area according to the environment image; or, acquiring point cloud data, and detecting whether an unmanned aerial vehicle enters the preset area according to the point cloud data; or detecting whether the unmanned aerial vehicle enters the preset area through a wireless network;
the monitoring equipment comprises at least one of a camera and an infrared sensor, and before sending inspection indication information to the unmanned aerial vehicle, the monitoring equipment further comprises:
acquiring a plurality of environment images acquired by the camera; the plurality of environment images comprise environment images acquired by at least one image acquisition device at different moments;
determining the target patrol object according to the differences among the plurality of environment images; the difference comprises at least one of bird nest occurrence, wire continuous breakage, tower bending and vegetation touch net occurrence;
and/or acquiring infrared data acquired by the infrared sensor;
and determining the target inspection object according to the change of the infrared data.
2. The method of claim 1, wherein the determining the target patrol object based on differences between the plurality of environmental images comprises:
inputting the plurality of environment images into a pre-trained difference detection model to obtain differences among the plurality of environment images output by the difference detection model;
an object indicated by a difference between the plurality of environmental images is determined as the target patrol object.
3. The method according to claim 1, wherein the method further comprises:
generating inspection environment information according to the plurality of environment images;
after communication connection is established with the unmanned aerial vehicle, sending the patrol environment information to the unmanned aerial vehicle; the inspection environment information is used for the unmanned aerial vehicle to avoid the obstacle.
4. The method of claim 3, wherein the inspection environment information includes at least one of a wire location, a tower location, and a vegetation status, an animal status, and a mountain status around the power transmission network.
5. The method of claim 1, wherein the establishing a communication connection with the drone comprises:
Sending a communication connection request to the unmanned aerial vehicle;
receiving authentication information sent by the unmanned aerial vehicle according to the communication connection request;
carrying out identity authentication on the unmanned aerial vehicle according to the authentication information;
and if the identity authentication of the unmanned aerial vehicle passes, establishing communication connection with the unmanned aerial vehicle.
6. The method of claim 1, wherein the obtaining the inspection data obtained by the drone inspecting the target inspection object and sending the inspection data to a server comprises:
receiving a first encrypted data packet sent by the unmanned aerial vehicle, and decrypting the first encrypted data packet to obtain the inspection data;
and carrying out encryption processing on the inspection data to obtain a second encrypted data packet, and sending the second encrypted data packet to the server.
7. The method of claim 6, wherein the encrypting the inspection data to obtain a second encrypted data packet comprises:
and carrying out encryption processing on the patrol data and the position information of the monitoring terminal to obtain the second encrypted data packet.
8. A patrol data acquisition device, characterized in that it is applied to a monitoring terminal, said device comprising:
The connection establishment module is used for establishing communication connection with the unmanned aerial vehicle after detecting that the unmanned aerial vehicle enters a preset area;
the first information sending module is used for sending inspection indication information to the unmanned aerial vehicle; the inspection indication information is generated by the monitoring terminal in advance according to the surrounding environment of the power transmission network monitored by the monitoring equipment, and comprises a target inspection object, wherein the inspection indication information is used for indicating the unmanned aerial vehicle to inspect the target inspection object; the monitoring terminal and the monitoring equipment are arranged around the power transmission network;
the data acquisition module is used for acquiring patrol data obtained by the unmanned aerial vehicle for carrying out patrol on the target patrol object and sending the patrol data to a server;
the connection establishment module is specifically configured to obtain an environmental image, and detect whether an unmanned aerial vehicle enters the preset area according to the environmental image; or, acquiring point cloud data, and detecting whether an unmanned aerial vehicle enters the preset area according to the point cloud data; or detecting whether the unmanned aerial vehicle enters the preset area through a wireless network;
the monitoring device comprises at least one of a camera and an infrared sensor, the apparatus further comprising:
The image acquisition module is used for acquiring a plurality of environment images acquired by the camera; the plurality of environment images comprise environment images acquired by at least one image acquisition device at different moments;
the object determining module is used for determining the target patrol object according to the differences among the plurality of environment images; the difference comprises at least one of bird nest occurrence, wire continuous breakage, tower bending and vegetation touch net occurrence;
the infrared acquisition module is used for acquiring infrared data acquired by the infrared sensor;
the object determining module is used for determining the target patrol object according to the change of the infrared data.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 7 when the computer program is executed.
10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 7.
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| CN114184894A (en) * | 2021-12-10 | 2022-03-15 | 重庆大学 | Cooperative inspection method for power transmission line online monitoring device and mobile inspection equipment |
| CN114627569B (en) * | 2022-03-10 | 2023-09-12 | 中国南方电网有限责任公司超高压输电公司检修试验中心 | Abnormality processing method and device for power line inspection unmanned aerial vehicle and computer equipment |
| CN115022364A (en) * | 2022-05-31 | 2022-09-06 | 中国工商银行股份有限公司 | Monitoring method, monitoring device, computer equipment and storage medium |
| CN116029537A (en) * | 2023-03-29 | 2023-04-28 | 中国南方电网有限责任公司超高压输电公司广州局 | Power transmission line inspection method, device, computer equipment and storage medium |
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| CN112702566A (en) * | 2020-12-14 | 2021-04-23 | 广东电网有限责任公司佛山供电局 | Power line patrol unmanned aerial vehicle communication system and method |
| CN213661802U (en) * | 2020-12-22 | 2021-07-09 | 生态环境部华南环境科学研究所 | Rural pollution supervisory systems based on video monitoring and unmanned aerial vehicle patrol |
| CN113075938A (en) * | 2021-03-26 | 2021-07-06 | 广东电网有限责任公司珠海供电局 | Remote intelligent inspection system and method for power transmission line |
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