CN113900436A - Inspection control method, device, equipment and storage medium - Google Patents
Inspection control method, device, equipment and storage medium Download PDFInfo
- Publication number
- CN113900436A CN113900436A CN202111047244.1A CN202111047244A CN113900436A CN 113900436 A CN113900436 A CN 113900436A CN 202111047244 A CN202111047244 A CN 202111047244A CN 113900436 A CN113900436 A CN 113900436A
- Authority
- CN
- China
- Prior art keywords
- point
- target
- inspection
- mobile terminal
- inspection point
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000007689 inspection Methods 0.000 title claims abstract description 509
- 238000000034 method Methods 0.000 title claims abstract description 69
- 230000008569 process Effects 0.000 claims abstract description 24
- 230000007547 defect Effects 0.000 claims description 11
- 230000015654 memory Effects 0.000 claims description 9
- 230000009467 reduction Effects 0.000 claims description 7
- 238000013507 mapping Methods 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 5
- 238000004590 computer program Methods 0.000 claims description 4
- 238000012937 correction Methods 0.000 claims description 3
- 238000009529 body temperature measurement Methods 0.000 description 12
- 230000009471 action Effects 0.000 description 6
- 230000002159 abnormal effect Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 4
- 239000012212 insulator Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000010801 machine learning Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000007781 pre-processing Methods 0.000 description 1
- 238000013441 quality evaluation Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000004861 thermometry Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application provides a method, a device, equipment and a storage medium for routing inspection control, wherein the method comprises the following steps: acquiring a polling task instruction which is distributed to a mobile terminal, wherein the polling task instruction carries target polling point information; judging whether the target inspection point is a necessary stop point or not; if the target inspection point is not a necessary stop point, controlling the mobile terminal to move to the target inspection point, and adjusting a collector of the mobile terminal according to preset parameters of the target inspection point in the moving process of the mobile terminal; and when the mobile terminal reaches the preset acquisition range of the target inspection point, controlling the collector to collect the image information of the equipment to be inspected of the target inspection point. This application mobile terminal walks limit adjustment collection system on patrolling and examining the road to the image information of waiting to examine equipment is gathered when arriving the inspection point, has practiced thrift the time of patrolling and examining, has improved and has patrolled and examined efficiency.
Description
Technical Field
The application relates to the technical field of intelligent control, in particular to a patrol control method, a device, equipment and a storage medium.
Background
In the application of intelligent power inspection, an intelligent inspection robot is used for replacing manual work to inspect the state of equipment in an outdoor substation scene. Such as infrared thermometry, visible light image recognition, equipment defect detection, personnel safety risks, foreign object detection are commonly used functions.
However, the existing robot inspection is basically fixed-point observation detection, namely, the robot drives to a fixed point position to stop, and then the camera shooting and detection recognition are carried out after the cloud deck is adjusted and the focal length is adjusted. The robot inspection efficiency is reduced by the pose adjustment time, the holder adjustment time and the focal length adjustment time after reaching the point. In order to fully utilize the manual replacement capability of the robot, the inspection application value of the excavating robot is required to improve the inspection efficiency of the robot, so that how to improve the inspection efficiency of the robot becomes a problem to be solved urgently.
Disclosure of Invention
An object of the embodiment of the application is to provide a patrol control method, device, equipment and storage medium, which realize that a mobile terminal adjusts acquisition equipment while walking on a patrol road, and acquires image information of equipment to be detected when arriving at a patrol point, thereby saving patrol time and improving patrol efficiency.
The first aspect of the embodiments of the present application provides a method for controlling routing inspection, including: acquiring a polling task instruction which is distributed to a mobile terminal, wherein the polling task instruction carries target polling point information; judging whether the target inspection point is a necessary stop point or not; if the target inspection point is not a necessary stop point, controlling the mobile terminal to move to the target inspection point, and adjusting a collector of the mobile terminal according to preset parameters of the target inspection point in the moving process of the mobile terminal; and when the mobile terminal reaches the preset acquisition range of the target inspection point, controlling the collector to collect the image information of the equipment to be inspected of the target inspection point.
In an embodiment, the determining whether the target inspection point is a necessary stop point includes: and inquiring the routing inspection mark of the target routing inspection point in a preset database, and judging whether the target routing inspection point is a necessary stop point or not according to the routing inspection mark.
In one embodiment, the routing inspection tag includes: the target inspection point needs to acquire target image information quantity information; the judging whether the target inspection point is a necessary stop point according to the inspection mark comprises the following steps: judging whether the quantity of target image information required to be collected at the target inspection point exceeds a preset quantity or not according to the inspection mark; and if the number of the target image information exceeds the preset number, determining that the target inspection point is a necessary stop point, otherwise, determining that the target inspection point is not the necessary stop point.
In one embodiment, the routing inspection tag includes: security level information of the target patrol point; the judging whether the target inspection point is a necessary stop point according to the inspection mark comprises the following steps: judging whether the target patrol inspection point is marked as a dangerous area or not according to the patrol inspection mark; and if the target inspection point is marked as a dangerous area, determining that the target inspection point is a stop-necessary point, otherwise, determining that the target inspection point is not the stop-necessary point.
In one embodiment, the method further comprises: if the target inspection point is a necessary stop point, the mobile terminal is controlled to move towards the target inspection point, the mobile terminal arrives at the target inspection point and is controlled to stop when the preset acquisition range is reached, the collector of the mobile terminal is adjusted according to preset parameters of the target inspection point, and the collector is controlled to collect image information of equipment to be inspected at the target inspection point.
In an embodiment, the controlling the mobile terminal to move to the target patrol point includes: and planning a shortest path from the mobile terminal to the target inspection point according to the current position of the mobile terminal and the position of the target inspection point, and controlling the mobile terminal to move to the target inspection point according to the shortest path.
In one embodiment, the inspection task is: an infrared inspection task and/or a visible light inspection task; if the target inspection point is not the necessary stop point, controlling the mobile terminal to move to the target inspection point, comprising: and controlling the mobile terminal to move towards the target inspection point according to a first speed, and controlling the mobile terminal to move towards the target inspection point according to a second speed when the mobile terminal reaches a preset speed reduction range of the target inspection point, wherein the first speed is greater than the second speed.
In one embodiment, the inspection task is: inspecting the defects of the equipment to be inspected; if the target inspection point is not the necessary stop point, controlling the mobile terminal to move to the target inspection point, comprising: and controlling the mobile terminal to move towards the target inspection point at a constant speed according to a preset speed.
In an embodiment, after the acquiring the image information of the device to be inspected at the target inspection point, the method further includes: carrying out feature matching on the image information of the equipment to be detected and a preset template image to generate a matching point set; mapping the region to be detected of the equipment to be detected in the template image to the image information according to the matching point set, and correcting the region to be detected in the image information; and outputting the inspection result information of each equipment to be inspected of the target inspection point according to the corrected image information.
The second aspect of the embodiments of the present application provides a patrol inspection control device, including: the system comprises a receiving module, a processing module and a processing module, wherein the receiving module is used for acquiring a polling task instruction which is distributed to a mobile terminal, and the polling task instruction carries target polling point information; the judging module is used for judging whether the target inspection point is a necessary stop point; the first control module is used for controlling the mobile terminal to move to the target inspection point if the target inspection point is not a necessary stop point, and adjusting the collector of the mobile terminal according to the preset parameters of the target inspection point in the moving process of the mobile terminal; and the acquisition module is used for controlling the collector to collect the image information of the equipment to be detected of the target inspection point when the mobile terminal arrives in the preset acquisition range of the target inspection point.
In one embodiment, the determining module is configured to: and inquiring the routing inspection mark of the target routing inspection point in a preset database, and judging whether the target routing inspection point is a necessary stop point or not according to the routing inspection mark.
In one embodiment, the routing inspection tag includes: the target inspection point needs to acquire target image information quantity information; the judging whether the target inspection point is a necessary stop point according to the inspection mark comprises the following steps: judging whether the quantity of target image information required to be collected at the target inspection point exceeds a preset quantity or not according to the inspection mark; and if the number of the target image information exceeds the preset number, determining that the target inspection point is a necessary stop point, otherwise, determining that the target inspection point is not the necessary stop point.
In one embodiment, the routing inspection tag includes: security level information of the target patrol point; the judging whether the target inspection point is a necessary stop point according to the inspection mark comprises the following steps: judging whether the target patrol inspection point is marked as a dangerous area or not according to the patrol inspection mark; and if the target inspection point is marked as a dangerous area, determining that the target inspection point is a stop-necessary point, otherwise, determining that the target inspection point is not the stop-necessary point.
In one embodiment, the method further comprises: and the second control module is used for controlling the mobile terminal to move towards the target inspection point if the target inspection point is a necessary stop point, controlling the mobile terminal to stop according to the preset parameters of the target inspection point, adjusting the collector of the mobile terminal and controlling the collector to collect the image information of the equipment to be detected of the target inspection point.
In an embodiment, the controlling the mobile terminal to move to the target patrol point includes: and planning a shortest path from the mobile terminal to the target inspection point according to the current position of the mobile terminal and the position of the target inspection point, and controlling the mobile terminal to move to the target inspection point according to the shortest path.
In one embodiment, the inspection task is: an infrared inspection task and/or a visible light inspection task; the first control module is configured to: and controlling the mobile terminal to move towards the target inspection point according to a first speed, and controlling the mobile terminal to move towards the target inspection point according to a second speed when the mobile terminal reaches a preset speed reduction range of the target inspection point, wherein the first speed is greater than the second speed.
In one embodiment, the inspection task is: inspecting the defects of the equipment to be inspected; the first control module is further configured to: and controlling the mobile terminal to move towards the target inspection point at a constant speed according to a preset speed.
In one embodiment, the method further comprises: the matching module is used for carrying out feature matching on the image information of the equipment to be detected of the target inspection point and a preset template image after the image information of the equipment to be detected of the target inspection point is collected, so as to generate a matching point set; the correction module is used for mapping the region to be detected of the equipment to be detected in the template image to the image information according to the matching point set and correcting the region to be detected in the image information; and the output module is used for outputting the inspection result information of each equipment to be inspected of the target inspection point according to the corrected image information.
A third aspect of embodiments of the present application provides an electronic device, including: a memory to store a computer program; a processor configured to execute the computer program to implement the method of the first aspect and any embodiment of the present application.
A fourth aspect of embodiments of the present application provides a non-transitory electronic device-readable storage medium, including: a program which, when run by an electronic device, causes the electronic device to perform the method of the first aspect of an embodiment of the present application and any embodiment thereof.
The inspection control method, the device, the equipment and the storage medium provided by the application judge whether the target inspection point is a necessary stop point or not based on the information of each target inspection point in the inspection task, if one target inspection point is not the necessary stop point, the mobile terminal does not need to stop at the position of the target inspection point, and can acquire the image of the equipment to be inspected at the target inspection point through the collector, so that the mobile terminal can be controlled to move to the position of the target inspection point, meanwhile, in the mobile terminal form process, the relevant parameters of the collector are adjusted according to the preset parameters of the target inspection point, the process of adjusting the collector while walking is realized, when the mobile terminal reaches the acquisition range of the target inspection point, the collector can be directly controlled to acquire the image, compared with the prior art, the collector does not need to be adjusted while stopping, and the inspection time is saved, the inspection efficiency is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of an electronic device according to an embodiment of the present application;
fig. 2 is a schematic flow chart of a polling control method according to an embodiment of the present application;
fig. 3 is a schematic flow chart of a polling control method according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of an inspection control device according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application. In the description of the present application, the terms "first," "second," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
As shown in fig. 1, the present embodiment provides an electronic apparatus 1 including: at least one processor 11 and a memory 12, one processor being exemplified in fig. 1. The processor 11 and the memory 12 are connected by a bus 10. The memory 12 stores instructions executable by the processor 11, and the instructions are executed by the processor 11, so that the electronic device 1 can execute all or part of the processes of the method in the embodiments described below, so as to realize that the mobile terminal adjusts the acquisition device while walking on the inspection road, and acquires the image information of the device to be inspected when arriving at the inspection point.
In an embodiment, the electronic device 1 may be an intelligent robot for inspection, or may be a terminal device such as a mobile phone, a tablet computer, a notebook computer, a desktop computer, or the like.
Please refer to fig. 2, which is a polling control method according to an embodiment of the present application, and the method may be executed by the electronic device 1 shown in fig. 1, and may be applied to a scene of intelligent polling of a substation, so as to implement that a polling robot can adjust a collector while walking, thereby improving polling efficiency. The electronic device 1 may be a mobile phone, a computer, or other device separated from the inspection robot, or may be the inspection robot itself, and in this embodiment, the electronic device 1 is taken as an example of the inspection robot, and the method includes the following steps:
step 201: and acquiring a polling task instruction distributed to the mobile terminal, wherein the polling task instruction carries target polling point information.
In this step, mobile terminal can be the robot of patrolling and examining of transformer substation, including many in the general transformer substation waiting to examine equipment, waiting to examine equipment can be large-scale equipment, also can be the branch part of certain large-scale equipment, for example to waiting to examine equipment that needs infrared temperature measurement can be: the equipment such as plug-in strip body vase, cable joint, conducting arm, contact, arrester body, current transformer, voltage transformer, circuit breaker, bushing insulator through measuring equipment surface temperature of waiting to examine, according to relevant computational formula, sets up the threshold value that corresponds and reports an emergency and asks for help or increased vigilance the grade, and then differentiates above-mentioned equipment and whether have abnormal temperature. Map information of equipment to be detected in the transformer substation can be configured in the inspection robot. The inspection robot can be an intelligent wheel type inspection robot. The inspection point can be a position where the inspection robot needs to acquire an image, and the position can be projected on the map information of the transformer substation in advance. When a certain or some inspection points in the transformer substation need to be inspected, an inspection task instruction is issued to the inspection robot, and the inspection task comprises target inspection point information needing to be inspected.
Step 202: and judging whether the target inspection point is a necessary stop point.
In this step, there are many large-scale substation equipment in the actual transformer substation, the road between some equipment may be narrower, or some part of equipment is outstanding to the road, all can lead to patrolling and examining the range of motion of robot and be limited, in order to avoid the robot to patrol and examine the transformer equipment of shooting in-process damage, can set up the highway section of above-mentioned inconvenient large-scale activity as must the stop point, therefore must stop the point can be that the transformer substation is inside not allow to rotate the cloud platform in advance, adjust the highway section of collector, must stop the point and require to patrol and examine the robot and must walk to the assigned position and just can rotate the cloud platform. Therefore, when the inspection task is received, whether the target inspection point is the necessary stop point or not needs to be distinguished, and then the inspection path is split, if the target inspection point is not the necessary stop point, the step 203 is carried out, and if not, the step 205 is carried out.
Step 203: and controlling the mobile terminal to move towards the target inspection point, and adjusting the collector of the mobile terminal according to the preset parameters of the target inspection point in the moving process of the mobile terminal.
In this step, if the target inspection point is not a necessary stop point, it is indicated that the target inspection point is safe, the inspection robot can adjust the collector while walking, and can finally obtain a clear image, so that a control instruction can be issued to a navigation module of the inspection robot to control the inspection robot to move to the target inspection point, and in the moving process of the inspection robot, the collector of the inspection robot is adjusted according to preset parameters corresponding to the target inspection point. The inspection robot can walk and adjust the collector, the whole inspection time of the inspection robot is saved, and the inspection efficiency is improved.
In one embodiment, one inspection point corresponds to preset adjustment parameters of a group of collectors, the preset adjustment parameters can be obtained based on actual scene survey, and the principle is that after the inspection point adjusts the collectors by adopting the corresponding preset adjustment parameters, the collectors can acquire clear and complete image information of the equipment to be inspected.
In an embodiment, can dispose hardware collectors such as infrared equipment, visible light camera on patrolling and examining the robot to in order to patrol and examine the stability of process, patrol and examine the robot ground chassis and can increase shock attenuation measure, the cloud platform increases the steady image function, guarantees from hardware, structurally that the robot can shoot relatively clear photo in the motion process.
In one embodiment, one inspection point corresponds to a set of pan/tilt/zoom angles and camera parameters.
Step 204: and when the mobile terminal reaches the preset acquisition range of the target inspection point, controlling the collector to collect the image information of the equipment to be inspected of the target inspection point.
In the step, the preset acquisition range is set based on the position range of the target inspection point and the condition of the equipment to be inspected corresponding to the target inspection point, the principle is that the inspection robot can acquire the image information of all the equipment to be inspected corresponding to the inspection point within the preset acquisition range of the inspection point, therefore, the preset acquisition range can be calibrated in advance based on the field environment condition, for example, for the inspection point which is not necessary to stop, the preset acquisition range can be an area with the inspection point as the center and the radius of 30cm, in the actual scene, in order to ensure that the robot successfully completes the preparatory actions of the navigation module, the acquisition module, the photographing instruction receiving module, the preparation for photographing and the like in the walking process, corresponding response time needs to be reserved, generally, the preparatory actions need to be completed within a travel distance of 30cm, and therefore, the preset acquisition range needs to be covered to the travel distance needed by the completion of the preparatory actions. The robot walking in-process patrols and examines, fixes a position of patrolling and examining the robot in real time, when patrolling and examining the robot and reacing this target and patrolling and examining the point, sends the collection instruction for collection equipment, is used for control the collector is gathered the target patrols and examines the point wait to examine the image information of equipment. The inspection robot can identify the image information by utilizing machine learning and computer vision technology so as to obtain inspection result information.
Step 205: control mobile terminal toward the target patrols and examines the point and removes, and mobile terminal reachs the target patrols and examines the point when presetting the collection scope, control mobile terminal stops, according to the target patrols and examines the preset parameter adjustment of point mobile terminal's collector controls the collector is gathered the target patrols and examines the point wait the image information of examining equipment.
In this step, if the target inspection point is must the stop point, and it is great that this target inspection point department wait the equipment probably, perhaps irregularly, leads to the equipment relatively outstanding, and the collision damage appears easily, and such inspection point no longer uses the scheme of walking the limit adjustment collector, consequently can give the navigation module who patrols and examines the robot and issue control command for control patrols and examines the robot past the target inspection point removes, and it reachs to patrol and examine the robot when the predetermined collection scope of point, control patrol and examine the robot and stop, according to the target inspection point predetermine the parameter adjustment patrol and examine the collector of robot, control the collector is gathered the image information of the equipment of waiting of target inspection point. For the inspection point which is the necessary stop point, the preset acquisition range of the necessary stop point can be smaller than the preset acquisition range which is not the necessary stop point because the preliminary action is not needed while walking, and the navigation precision of the robot in the normal mode is considered, for example, the preset acquisition range of the necessary stop point can be an area within the range of the radius of 3cm by taking the necessary stop point as the center. In an embodiment, the controlling the mobile terminal to move to the target patrol point in step 203 or step 205 may specifically include: and planning a shortest path from the mobile terminal to the target inspection point according to the current position of the mobile terminal and the position of the target inspection point, and controlling the mobile terminal to move to the target inspection point according to the shortest path.
In an actual scene, in order to further save the action time of the inspection robot, the shortest path from the inspection robot to the target inspection point can be planned on a prestored transformer substation map based on the current position of the inspection robot and the position of the next target inspection point, and the robot is driven to reach the target inspection point according to the shortest path, so that the inspection efficiency of the inspection robot can be further improved.
According to the inspection control method, whether the target inspection point is a necessary stop point or not is judged based on information of each target inspection point in the inspection task, if one target inspection point is not the necessary stop point, the mobile terminal does not need to stop at the position of the target inspection point, and images of equipment to be inspected at the target inspection point can be acquired through the collector, so that the mobile terminal can be controlled to move towards the position of the target inspection point, meanwhile, relevant parameters of the collector are adjusted according to preset parameters of the target inspection point in the driving process of the mobile terminal, the process of adjusting the collector while walking is realized, when the mobile terminal reaches the acquisition range of the target inspection point, the collector can be directly controlled to acquire the images, compared with the prior art, the collector does not need to be adjusted while stopping, inspection time is saved, and inspection efficiency is improved.
Please refer to fig. 3, which is a polling control method according to an embodiment of the present application, and the method may be executed by the electronic device 1 shown in fig. 1, and may be applied to a scene of intelligent polling of a substation, so as to implement that a polling robot can adjust a collector while walking, thereby improving polling efficiency. The electronic device 1 may be a mobile phone, a computer, or other device separated from the inspection robot, or may be the inspection robot itself, and in this embodiment, the electronic device 1 is taken as an example of the inspection robot, and the method includes the following steps:
step 301: and acquiring a polling task instruction distributed to the mobile terminal, wherein the polling task instruction carries target polling point information. See the description of step 201 in the above embodiments for details.
Step 302: and inquiring the routing inspection mark of the target routing inspection point in a preset database, and judging whether the target routing inspection point is a necessary stop point or not according to the routing inspection mark. If yes, go to step 305, otherwise go to step 303.
In this step, can include all patrol and examine some information and every patrol and examine the mark of patrolling and examining some in the transformer substation in the preset database, patrol and examine the mark and can characterize and whether need to patrol and examine the robot and stop when gathering this image information who patrols and examines some. The inspection mark of each inspection point can be obtained based on historical inspection record statistics, or the inspection mark and the inspection mark can be stored in a table of a preset database in a one-to-one correspondence manner through the pre-debugging of the robot based on the field environment of the equipment to be inspected of each inspection point in the transformer substation. Therefore, the routing inspection marks corresponding to each target routing inspection point in the routing inspection task can be inquired from the preset database respectively, and whether the target routing inspection points are necessary stop points or not is determined based on the routing inspection marks.
In one embodiment, the routing inspection tag includes: and the target inspection point needs to acquire target image information quantity information. Step 302 may specifically include: and judging whether the quantity of the target image information required to be collected at the target inspection point exceeds a preset quantity or not according to the inspection mark. And if the number of the target image information exceeds the preset number, determining that the target inspection point is a necessary stop point, otherwise, determining that the target inspection point is not the necessary stop point.
In an actual scene, the inspection mark may be used to mark the number of image information that needs to be collected at one inspection point, for example, the number of images that need to be taken to mark the inspection point. The inspection mark can be a symbol mark or a direct digital mark, can mark the actual number of the images to be shot of the inspection point, and can also be a mark
The number level of images that need to be taken at the inspection point is marked. The preset number can be set based on actual scene requirements, and the principle is that under the condition that the rotating speed of the tripod head is fast enough and the adjustment can be completed in a short time, the robot is ensured to complete the secondary adjustment of the tripod head in a very short time in the motion process, and a clear and complete image of the inspection point to-be-inspected device is shot.
For example, the preset number may be 1, that is, the inspection robot may take images while walking under the condition that only one image is taken, and the image definition meets the requirement. Therefore, when one inspection point is marked to only need to acquire one image, the inspection point is not the stop-necessary point, and when one inspection point is marked to need to acquire a plurality of images, the inspection point is the stop-necessary point.
In an embodiment, when the predetermined number exceeds 1, step 302 may further include: and continuously judging whether the time required by the robot to execute the preparation actions (such as adjusting the angle of a holder, camera parameters and taking pictures) required for shooting the rest images can be finished within the preset acquisition range of the inspection point, if not, the inspection point is the necessary stop point, otherwise, the inspection point is not the necessary stop point.
In one embodiment, the routing inspection tag includes: and the security level information of the target patrol point. Step 302 may specifically include: and judging whether the target patrol inspection point is marked as a dangerous area or not according to the patrol inspection mark. And if the target inspection point is marked as a dangerous area, determining that the target inspection point is a stop-necessary point, otherwise, determining that the target inspection point is not the stop-necessary point.
In an actual scene, some equipment to be inspected may be bulky or irregular, resulting in that the equipment is more prominent, collision damage easily occurs, and a patrol inspection point with such characteristics can be marked as a patrol inspection point with a lower security level, that is, at a patrol inspection point with lower security, in order to avoid collision between an image collector of the patrol inspection robot and the equipment to be inspected, the patrol inspection robot is required to stop before acquiring image information of the equipment to be inspected. Therefore, when a target patrol point is marked as a dangerous area, the target patrol point can be determined as a stop-necessary point, otherwise, the target patrol point is determined not to be a stop-necessary point.
Step 303: and controlling the mobile terminal to move towards the target inspection point, and adjusting the collector of the mobile terminal according to the preset parameters of the target inspection point in the moving process of the mobile terminal. See the description of step 203 in the above embodiments for details.
In one embodiment, the inspection task is: and the infrared inspection task and/or the visible light inspection task. The step of controlling the mobile terminal to move to the target patrol point in step 303 may include: and controlling the mobile terminal to move towards the target inspection point according to a first speed, and controlling the mobile terminal to move towards the target inspection point according to a second speed when the mobile terminal reaches a preset speed reduction range of the target inspection point, wherein the first speed is greater than the second speed.
In the actual scene, the inspection task includes but is not limited to: the infrared inspection task and the visible light inspection task. The preset deceleration range is used for avoiding that the inspection robot cannot shoot clear images due to the fact that the inspection robot walks too fast in the process of approaching the target inspection point, and therefore the deceleration of the inspection robot is controlled within the preset deceleration range. For example, the preset deceleration range for a patrol point which is not a necessary stop point may be an area within a radius of 30cm with the patrol point as a center. If the target inspection point is not a necessary stop point, the inspection robot can be driven to run at a first speed (high speed) according to a planned inspection path (such as a shortest path), and meanwhile, an instruction is issued to the collector so as to adjust the angle of the holder and the parameter information of the camera according to preset adjustment parameters, so that the holder can be adjusted to a preset position. When the inspection robot moves to the preset speed reduction range of the target inspection point, in order to avoid the condition that the inspection robot moves too fast, the inspection robot starts to decelerate, the inspection robot is driven to run according to a second speed (low speed), and the second speed is lower than the first speed.
In one embodiment, the first speed v1 may be 0.8m/s, and the second speed v2 may be 0.4m/s, that is, for example, in an infrared inspection task, when the inspection robot moves to the target inspection point, the inspection robot may start to decelerate and drive the inspection robot to travel at the second speed v2 may be 0.4m/s according to the planned inspection path, when the inspection robot travels at the first speed v1 of 0.8m/s, and the pan-tilt angle is adjusted to the preset position, and the camera parameters are set, when the inspection robot moves to the preset deceleration range before the target inspection point.
In one embodiment, the inspection task is: and (5) inspecting the defects of the equipment to be inspected. The step of controlling the mobile terminal to move to the target patrol point in step 303 may specifically include: and controlling the mobile terminal to move towards the target inspection point at a constant speed according to a preset speed.
In an actual scene, the content of the defect inspection may include, but is not limited to: the surface of the component has oil, metal corrosion, suspended objects, dial damage, shell damage, insulator crack, insulator fracture, silica gel cylinder damage, surface dirt, abnormal oil level of oil seal of a respirator and the like. When the inspection task is a defect inspection task, if the target inspection point is not a necessary stop point, the inspection robot is required to drive the inspection robot to run at a constant speed in the whole process of going to the target inspection point, and the cradle head is controlled to scan the front of the inspection robot according to a certain rule in the walking process of the inspection robot, for example, similar personnel patrol the inspection robot, and the cradle head can be controlled to swing left and right so that the shooting range of the camera covers all equipment to be inspected within about 120 degrees.
Step 304: and when the mobile terminal reaches the preset acquisition range of the target inspection point, controlling the collector to collect the image information of the equipment to be inspected of the target inspection point.
In this step, when the inspection task is an infrared inspection task or a visible light inspection task, it is assumed that only one picture needs to be taken at the target inspection point, and when the inspection robot just reaches the preset acquisition range of the target inspection point, a single picture covering a plurality of inspection devices is taken. And after shooting of one inspection point is completed, repeating the steps 303 to 304 for the next target inspection point, controlling the inspection robot to carry out high speed-low speed-high speed-low speed …, and completing the inspection tasks of all the target inspection points without stopping.
In an embodiment, when the inspection task is a defect inspection task, if the target inspection point is not a necessary stop point, the inspection robot drives the inspection robot to run at a constant speed in the whole process of going to the target inspection point, and the cradle head is controlled to scan the front part according to a certain rule in the walking process of the inspection robot, for example, the cradle head can be controlled to swing left and right, so that the shooting range of the camera covers all the equipment to be inspected within about 120 degrees. In the walking process of the inspection robot, the camera can be controlled to collect image information in real time, the image is analyzed in real time, target tracking is carried out on abnormal information, a defect warning message is generated by combining the current position coordinate of the inspection robot and the surrounding environment information, and the warning message is sent out, so that the quantity of the abnormal information in the transformer substation can be counted and maintained conveniently.
Step 305: if the target inspection point is a necessary stop point, the mobile terminal is controlled to move towards the target inspection point, the mobile terminal arrives at the target inspection point and is controlled to stop when the preset acquisition range is reached, the collector of the mobile terminal is adjusted according to preset parameters of the target inspection point, and the collector is controlled to collect image information of equipment to be inspected at the target inspection point. See the description of step 205 in the above embodiments for details.
In an embodiment, when the inspection task is an infrared inspection task, the temperature measurement area needs to be corrected to achieve accurate temperature measurement, and therefore, after step 304 or step 305, the method may further include:
step 306: and carrying out characteristic matching on the image information of the equipment to be detected and a preset template image to generate a matching point set.
In this step, it is assumed that the image information is a shot inspection image, the template image is a preset standard image of each inspection point in the substation, and the template image includes a temperature measurement area marked in advance. After the inspection image of the device to be inspected is obtained in step 304 or step 305, the inspection image and the template image may be subjected to feature matching based on an image homography transformation technique to obtain a correct matching point set.
Step 307: and mapping the region to be detected of the equipment to be detected in the template image to the image information according to the matching point set, and correcting the region to be detected in the image information.
In this step, the region to be detected may be a temperature measurement region, a homography matrix between the inspection image and the template image is calculated according to the matching point set, and then the temperature measurement region of the device to be detected in the template image is mapped to the inspection image based on the homography matrix to correct the temperature measurement region of the inspection image.
Step 308: and outputting the inspection result information of each equipment to be inspected of the target inspection point according to the corrected image information.
In this step, the corrected patrol inspection image contains the temperature information of the equipment to be inspected, so that the temperature measurement result information of the equipment to be inspected of each target patrol inspection point can be obtained by analyzing the corrected patrol inspection image based on the infrared temperature measurement technology.
When result information is patrolled and examined in the output, can patrol and examine a plurality of temperature measurement regional information in the image and wait to examine equipment one by one with corresponding, for example, this target patrol and examine some have equipment 1, equipment 2, equipment 3 three to examine equipment, the temperature that corresponds respectively is patrolled and examined the result and is: the inspection result information can be bound at 23.5 ℃, 24.2 ℃ and 34.7 ℃ as follows: the temperature of the equipment 1- - >23.5 ℃, the temperature of the equipment 2- - >24.2 ℃ and the temperature of the equipment 3- - >34.7 ℃ further complete the temperature measurement task of the inspection point and output the inspection result information of the infrared temperature measurement.
In one embodiment, when the inspection task is a visible light inspection task, a series of images are required to be acquired in a small range near a target inspection point in real time, the series of images are subjected to image quality evaluation, image restoration and other processing through an image preprocessing means, and a clear image is selected as an inspection result material.
According to the inspection control method, the inspection robot is driven to travel according to the planned inspection path, the motion mode of the robot is distinguished according to the type of the inspection task, the camera is controlled to photograph through the preset inspection point and holder information, image recognition is carried out, inspection result information is obtained, the inspection robot photographs continuously at inspection points which are not necessary to stop, the inspection task is completed under dynamic operation, the inspection time of the robot is reduced, and the inspection efficiency of the robot is improved.
Please refer to fig. 4, which is an inspection control device according to an embodiment of the present application, and the inspection control device may be applied to the electronic device 1 shown in fig. 1, and may be applied to a scene of intelligent inspection of a transformer substation, so as to realize that an inspection robot may adjust a collector while walking, and improve inspection efficiency. Electronic equipment 1 can be with equipment such as cell-phone, the computer that patrols and examines the robot separation, also can patrol and examine the robot itself, and this embodiment uses electronic equipment 1 to explain for patrolling and examining the robot example, and the device includes: the device comprises a receiving module, a judging module, a first control module and an acquisition module, wherein the principle relation of each module is as follows:
and the receiving module is used for acquiring the inspection task instruction distributed to the mobile terminal, and the inspection task instruction carries the target inspection point information.
And the judging module is used for judging whether the target inspection point is a necessary stop point.
And the first control module is used for controlling the mobile terminal to move to the target inspection point if the target inspection point is not a necessary stop point, and adjusting the collector of the mobile terminal according to the preset parameters of the target inspection point in the moving process of the mobile terminal.
And the acquisition module is used for controlling the collector to collect the image information of the equipment to be detected of the target inspection point when the mobile terminal arrives in the preset acquisition range of the target inspection point.
In one embodiment, the determining module is configured to: and inquiring the routing inspection mark of the target routing inspection point in a preset database, and judging whether the target routing inspection point is a necessary stop point or not according to the routing inspection mark.
In one embodiment, the routing inspection tag includes: and the target inspection point needs to acquire target image information quantity information. The judging whether the target inspection point is a necessary stop point according to the inspection mark comprises the following steps: and judging whether the quantity of the target image information required to be collected at the target inspection point exceeds a preset quantity or not according to the inspection mark. And if the number of the target image information exceeds the preset number, determining that the target inspection point is a necessary stop point, otherwise, determining that the target inspection point is not the necessary stop point.
In one embodiment, the routing inspection tag includes: and the security level information of the target patrol point. The judging whether the target inspection point is a necessary stop point according to the inspection mark comprises the following steps: and judging whether the target patrol inspection point is marked as a dangerous area or not according to the patrol inspection mark. And if the target inspection point is marked as a dangerous area, determining that the target inspection point is a stop-necessary point, otherwise, determining that the target inspection point is not the stop-necessary point.
In one embodiment, the method further comprises: and the second control module is used for controlling the mobile terminal to move towards the target inspection point if the target inspection point is a necessary stop point, controlling the mobile terminal to stop according to the preset parameters of the target inspection point, adjusting the collector of the mobile terminal and controlling the collector to collect the image information of the equipment to be detected of the target inspection point.
In an embodiment, the controlling the mobile terminal to move to the target patrol point includes: and planning a shortest path from the mobile terminal to the target inspection point according to the current position of the mobile terminal and the position of the target inspection point, and controlling the mobile terminal to move to the target inspection point according to the shortest path.
In one embodiment, the inspection task is: and the infrared inspection task and/or the visible light inspection task. The first control module is configured to: and controlling the mobile terminal to move towards the target inspection point according to a first speed, and controlling the mobile terminal to move towards the target inspection point according to a second speed when the mobile terminal reaches a preset speed reduction range of the target inspection point, wherein the first speed is greater than the second speed.
In one embodiment, the inspection task is: and (5) inspecting the defects of the equipment to be inspected. The first control module is further configured to: and controlling the mobile terminal to move towards the target inspection point at a constant speed according to a preset speed.
In one embodiment, the method further comprises: and the matching module is used for carrying out feature matching on the image information of the equipment to be detected and the preset template image after acquiring the image information of the equipment to be detected of the target inspection point to generate a matching point set. And the correction module is used for mapping the region to be detected of the equipment to be detected in the template image to the image information according to the matching point set, and correcting the region to be detected in the image information. And the output module is used for outputting the inspection result information of each equipment to be inspected of the target inspection point according to the corrected image information.
For a detailed description of the inspection control device, please refer to the description of the related method steps in the above embodiments.
An embodiment of the present invention further provides a non-transitory electronic device readable storage medium, including: a program that, when run on an electronic device, causes the electronic device to perform all or part of the procedures of the methods in the above-described embodiments. The storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a Flash Memory (Flash Memory), a Hard Disk (Hard Disk Drive, abbreviated as HDD), a Solid State Drive (SSD), or the like. The storage medium may also comprise a combination of memories of the kind described above.
Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.
Claims (20)
1. A routing inspection control method is characterized by comprising the following steps:
acquiring a polling task instruction which is distributed to a mobile terminal, wherein the polling task instruction carries target polling point information;
judging whether the target inspection point is a necessary stop point or not;
if the target inspection point is not a necessary stop point, controlling the mobile terminal to move to the target inspection point, and adjusting a collector of the mobile terminal according to preset parameters of the target inspection point in the moving process of the mobile terminal;
and when the mobile terminal reaches the preset acquisition range of the target inspection point, controlling the collector to collect the image information of the equipment to be inspected of the target inspection point.
2. The method of claim 1, wherein the determining whether the target patrol point is a necessary-to-stop point comprises:
and inquiring the routing inspection mark of the target routing inspection point in a preset database, and judging whether the target routing inspection point is a necessary stop point or not according to the routing inspection mark.
3. The method of claim 2, wherein the routing inspection tag comprises: the target inspection point needs to acquire target image information quantity information; the judging whether the target inspection point is a necessary stop point according to the inspection mark comprises the following steps:
judging whether the quantity of target image information required to be collected at the target inspection point exceeds a preset quantity or not according to the inspection mark;
and if the number of the target image information exceeds the preset number, determining that the target inspection point is a necessary stop point, otherwise, determining that the target inspection point is not the necessary stop point.
4. The method of claim 2, wherein the routing inspection tag comprises: security level information of the target patrol point; the judging whether the target inspection point is a necessary stop point according to the inspection mark comprises the following steps:
judging whether the target patrol inspection point is marked as a dangerous area or not according to the patrol inspection mark;
and if the target inspection point is marked as a dangerous area, determining that the target inspection point is a stop-necessary point, otherwise, determining that the target inspection point is not the stop-necessary point.
5. The method of claim 1, further comprising:
if the target inspection point is a necessary stop point, the mobile terminal is controlled to move towards the target inspection point, the mobile terminal arrives at the target inspection point and is controlled to stop when the preset acquisition range is reached, the collector of the mobile terminal is adjusted according to preset parameters of the target inspection point, and the collector is controlled to collect image information of equipment to be inspected at the target inspection point.
6. The method according to claim 1 or 5, wherein the controlling the mobile terminal to move to the target patrol point comprises:
and planning a shortest path from the mobile terminal to the target inspection point according to the current position of the mobile terminal and the position of the target inspection point, and controlling the mobile terminal to move to the target inspection point according to the shortest path.
7. The method of claim 1, wherein the inspection task is: an infrared inspection task and/or a visible light inspection task; if the target inspection point is not the necessary stop point, controlling the mobile terminal to move to the target inspection point, comprising:
and controlling the mobile terminal to move towards the target inspection point according to a first speed, and controlling the mobile terminal to move towards the target inspection point according to a second speed when the mobile terminal reaches a preset speed reduction range of the target inspection point, wherein the first speed is greater than the second speed.
8. The method of claim 1, wherein the inspection task is: inspecting the defects of the equipment to be inspected; if the target inspection point is not the necessary stop point, controlling the mobile terminal to move to the target inspection point, comprising:
and controlling the mobile terminal to move towards the target inspection point at a constant speed according to a preset speed.
9. The method according to claim 1 or 5, characterized by, after the acquiring the image information of the equipment to be inspected of the target inspection tour point, further comprising:
carrying out feature matching on the image information of the equipment to be detected and a preset template image to generate a matching point set;
mapping the region to be detected of the equipment to be detected in the template image to the image information according to the matching point set, and correcting the region to be detected in the image information;
and outputting the inspection result information of each equipment to be inspected of the target inspection point according to the corrected image information.
10. The utility model provides a control device patrols and examines which characterized in that includes:
the system comprises a receiving module, a processing module and a processing module, wherein the receiving module is used for acquiring a polling task instruction which is distributed to a mobile terminal, and the polling task instruction carries target polling point information;
the judging module is used for judging whether the target inspection point is a necessary stop point;
the first control module is used for controlling the mobile terminal to move to the target inspection point if the target inspection point is not a necessary stop point, and adjusting the collector of the mobile terminal according to the preset parameters of the target inspection point in the moving process of the mobile terminal;
and the acquisition module is used for controlling the collector to collect the image information of the equipment to be detected of the target inspection point when the mobile terminal arrives in the preset acquisition range of the target inspection point.
11. The apparatus of claim 10, wherein the determining module is configured to:
and inquiring the routing inspection mark of the target routing inspection point in a preset database, and judging whether the target routing inspection point is a necessary stop point or not according to the routing inspection mark.
12. The apparatus of claim 11, wherein the routing inspection tag comprises: the target inspection point needs to acquire target image information quantity information; the judging whether the target inspection point is a necessary stop point according to the inspection mark comprises the following steps:
judging whether the quantity of target image information required to be collected at the target inspection point exceeds a preset quantity or not according to the inspection mark;
and if the number of the target image information exceeds the preset number, determining that the target inspection point is a necessary stop point, otherwise, determining that the target inspection point is not the necessary stop point.
13. The apparatus of claim 11, wherein the routing inspection tag comprises: security level information of the target patrol point; the judging whether the target inspection point is a necessary stop point according to the inspection mark comprises the following steps:
judging whether the target patrol inspection point is marked as a dangerous area or not according to the patrol inspection mark;
and if the target inspection point is marked as a dangerous area, determining that the target inspection point is a stop-necessary point, otherwise, determining that the target inspection point is not the stop-necessary point.
14. The apparatus of claim 10, further comprising:
and the second control module is used for controlling the mobile terminal to move towards the target inspection point if the target inspection point is a necessary stop point, controlling the mobile terminal to stop according to the preset parameters of the target inspection point, adjusting the collector of the mobile terminal and controlling the collector to collect the image information of the equipment to be detected of the target inspection point.
15. The apparatus according to claim 10 or 14, wherein the controlling the mobile terminal to move to the target patrol point comprises:
and planning a shortest path from the mobile terminal to the target inspection point according to the current position of the mobile terminal and the position of the target inspection point, and controlling the mobile terminal to move to the target inspection point according to the shortest path.
16. The apparatus of claim 10, wherein the inspection task is: an infrared inspection task and/or a visible light inspection task; the first control module is configured to:
and controlling the mobile terminal to move towards the target inspection point according to a first speed, and controlling the mobile terminal to move towards the target inspection point according to a second speed when the mobile terminal reaches a preset speed reduction range of the target inspection point, wherein the first speed is greater than the second speed.
17. The apparatus of claim 10, wherein the inspection task is: inspecting the defects of the equipment to be inspected; the first control module is further configured to:
and controlling the mobile terminal to move towards the target inspection point at a constant speed according to a preset speed.
18. The apparatus of claim 10 or 14, further comprising:
the matching module is used for carrying out feature matching on the image information of the equipment to be detected of the target inspection point and a preset template image after the image information of the equipment to be detected of the target inspection point is collected, so as to generate a matching point set;
the correction module is used for mapping the region to be detected of the equipment to be detected in the template image to the image information according to the matching point set and correcting the region to be detected in the image information;
and the output module is used for outputting the inspection result information of each equipment to be inspected of the target inspection point according to the corrected image information.
19. An electronic device, comprising:
a memory to store a computer program;
a processor to execute the computer program to implement the method of any one of claims 1 to 9.
20. A non-transitory electronic device readable storage medium, comprising: program which, when run by an electronic device, causes the electronic device to perform the method of any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111047244.1A CN113900436B (en) | 2021-09-07 | 2021-09-07 | Inspection control method, inspection control device, inspection control equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111047244.1A CN113900436B (en) | 2021-09-07 | 2021-09-07 | Inspection control method, inspection control device, inspection control equipment and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113900436A true CN113900436A (en) | 2022-01-07 |
| CN113900436B CN113900436B (en) | 2023-11-07 |
Family
ID=79188762
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111047244.1A Active CN113900436B (en) | 2021-09-07 | 2021-09-07 | Inspection control method, inspection control device, inspection control equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113900436B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114943408A (en) * | 2022-04-06 | 2022-08-26 | 深圳市弗赛特科技股份有限公司 | Intelligent monitoring method and system for potential safety hazards of hydrogenation station |
| CN117784697A (en) * | 2024-01-31 | 2024-03-29 | 成都秦川物联网科技股份有限公司 | Intelligent control method for intelligent gas pipe network data acquisition terminal and Internet of things system |
| US11964396B2 (en) * | 2019-06-27 | 2024-04-23 | Fanuc Corporation | Device and method for acquiring deviation amount of working position of tool |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000149021A (en) * | 1998-11-06 | 2000-05-30 | Mitsubishi Rayon Co Ltd | Fault-checking device |
| CN104216411A (en) * | 2014-09-27 | 2014-12-17 | 江阴润玛电子材料股份有限公司 | Line patrolling method used for electronic circuit |
| CN105528814A (en) * | 2016-01-13 | 2016-04-27 | 浙江茂宇脉动网络科技有限公司 | Intelligent patrol check and maintenance method for safety facility |
| CN105700532A (en) * | 2016-04-19 | 2016-06-22 | 长沙理工大学 | Vision-based navigation and positioning control method for transformer substation inspection robot |
| US20160315766A1 (en) * | 2014-11-13 | 2016-10-27 | Panasonic Intellectual Property Corporation Of America | Key management method used in encryption processing for safely transmitting and receiving messages |
| CN106156888A (en) * | 2016-06-30 | 2016-11-23 | 广东电网有限责任公司电力科学研究院 | A kind of polling path method and device for planning of crusing robot |
| CN106296858A (en) * | 2016-08-02 | 2017-01-04 | 章美彦 | Cruising inspection system and method |
| CN108416866A (en) * | 2017-02-09 | 2018-08-17 | 中国移动通信有限公司研究院 | A kind of patrol task processing method and equipment |
| CN109461227A (en) * | 2018-11-08 | 2019-03-12 | 国网北京市电力公司 | The method and device of inspection device |
| CN110154051A (en) * | 2019-05-30 | 2019-08-23 | 北京海益同展信息科技有限公司 | Computer room inspection control method, device, equipment and storage medium |
| CN110850872A (en) * | 2019-10-31 | 2020-02-28 | 深圳市优必选科技股份有限公司 | Robot inspection method and device, computer readable storage medium and robot |
| CN213069912U (en) * | 2020-06-22 | 2021-04-27 | 中建三局绿色产业投资有限公司 | Inspection system for urban drainage tunnel |
| CN113034719A (en) * | 2021-03-16 | 2021-06-25 | 中国工商银行股份有限公司 | Method, device and system for determining sequence of inspection points of inspection robot |
| CN113050628A (en) * | 2021-03-05 | 2021-06-29 | 国网四川省电力公司技能培训中心 | Automatic tracking system and method for cable inspection |
| CN113110446A (en) * | 2021-04-13 | 2021-07-13 | 深圳市千乘机器人有限公司 | Dynamic inspection method for autonomous mobile robot |
-
2021
- 2021-09-07 CN CN202111047244.1A patent/CN113900436B/en active Active
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000149021A (en) * | 1998-11-06 | 2000-05-30 | Mitsubishi Rayon Co Ltd | Fault-checking device |
| CN104216411A (en) * | 2014-09-27 | 2014-12-17 | 江阴润玛电子材料股份有限公司 | Line patrolling method used for electronic circuit |
| US20160315766A1 (en) * | 2014-11-13 | 2016-10-27 | Panasonic Intellectual Property Corporation Of America | Key management method used in encryption processing for safely transmitting and receiving messages |
| CN105528814A (en) * | 2016-01-13 | 2016-04-27 | 浙江茂宇脉动网络科技有限公司 | Intelligent patrol check and maintenance method for safety facility |
| CN105700532A (en) * | 2016-04-19 | 2016-06-22 | 长沙理工大学 | Vision-based navigation and positioning control method for transformer substation inspection robot |
| CN106156888A (en) * | 2016-06-30 | 2016-11-23 | 广东电网有限责任公司电力科学研究院 | A kind of polling path method and device for planning of crusing robot |
| CN106296858A (en) * | 2016-08-02 | 2017-01-04 | 章美彦 | Cruising inspection system and method |
| CN108416866A (en) * | 2017-02-09 | 2018-08-17 | 中国移动通信有限公司研究院 | A kind of patrol task processing method and equipment |
| CN109461227A (en) * | 2018-11-08 | 2019-03-12 | 国网北京市电力公司 | The method and device of inspection device |
| CN110154051A (en) * | 2019-05-30 | 2019-08-23 | 北京海益同展信息科技有限公司 | Computer room inspection control method, device, equipment and storage medium |
| CN110850872A (en) * | 2019-10-31 | 2020-02-28 | 深圳市优必选科技股份有限公司 | Robot inspection method and device, computer readable storage medium and robot |
| CN213069912U (en) * | 2020-06-22 | 2021-04-27 | 中建三局绿色产业投资有限公司 | Inspection system for urban drainage tunnel |
| CN113050628A (en) * | 2021-03-05 | 2021-06-29 | 国网四川省电力公司技能培训中心 | Automatic tracking system and method for cable inspection |
| CN113034719A (en) * | 2021-03-16 | 2021-06-25 | 中国工商银行股份有限公司 | Method, device and system for determining sequence of inspection points of inspection robot |
| CN113110446A (en) * | 2021-04-13 | 2021-07-13 | 深圳市千乘机器人有限公司 | Dynamic inspection method for autonomous mobile robot |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11964396B2 (en) * | 2019-06-27 | 2024-04-23 | Fanuc Corporation | Device and method for acquiring deviation amount of working position of tool |
| CN114943408A (en) * | 2022-04-06 | 2022-08-26 | 深圳市弗赛特科技股份有限公司 | Intelligent monitoring method and system for potential safety hazards of hydrogenation station |
| CN117784697A (en) * | 2024-01-31 | 2024-03-29 | 成都秦川物联网科技股份有限公司 | Intelligent control method for intelligent gas pipe network data acquisition terminal and Internet of things system |
| CN117784697B (en) * | 2024-01-31 | 2024-05-24 | 成都秦川物联网科技股份有限公司 | Intelligent control method for intelligent gas pipe network data acquisition terminal and Internet of things system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113900436B (en) | 2023-11-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113900436A (en) | Inspection control method, device, equipment and storage medium | |
| CN110850723B (en) | Fault diagnosis and positioning method based on transformer substation inspection robot system | |
| CN109664301B (en) | Inspection method, inspection device, inspection equipment and computer readable storage medium | |
| CN111311597B (en) | Unmanned aerial vehicle inspection method and system for defective insulator | |
| CN113345019B (en) | Method, equipment and medium for measuring potential hazards of transmission line channel target | |
| CN110142785A (en) | A kind of crusing robot visual servo method based on target detection | |
| CN113726606B (en) | Abnormality detection method and apparatus, electronic device, and storage medium | |
| CN112327906A (en) | Intelligent automatic inspection system based on unmanned aerial vehicle | |
| CN104851144A (en) | Inspection robot image processing system and method with self-adaptive polarizer adjusting function | |
| CN113569914A (en) | Power transmission line inspection method and system fusing point cloud data | |
| CN114812403B (en) | Large-span steel structure hoisting deformation monitoring method based on unmanned plane and machine vision | |
| CN113031462A (en) | Port machine inspection route planning system and method for unmanned aerial vehicle | |
| CN113759961A (en) | Power transmission line panoramic inspection method and system based on unmanned aerial vehicle AI inspection control | |
| CN212635748U (en) | Power distribution network inspection robot | |
| CN117197412B (en) | AR-based intelligent highway disease inspection system and method | |
| CN110702016A (en) | Power transmission line icing measurement system and method | |
| CN112730422B (en) | Nuclear power station containment defect detection method and system | |
| CN111504257B (en) | Visual ranging system and method for assisting unmanned aerial vehicle in accurate line patrol | |
| CN112529840A (en) | SF6 inflation equipment pressure drop defect image recognition device | |
| CN112184903A (en) | Method, device, equipment and medium for detecting high-voltage line tree obstacle risk points | |
| CN116297472A (en) | Unmanned aerial vehicle bridge crack detection method and system based on deep learning | |
| CN213987269U (en) | System for unmanned aerial vehicle patrols and examines fan blade | |
| CN115549303A (en) | Power equipment inspection monitoring system | |
| CN111539919B (en) | Method and device for judging position and routing inspection of tower part | |
| CN113727022A (en) | Inspection image acquisition method and device, electronic equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |