CN113900436B - Inspection control method, inspection control device, inspection control equipment and storage medium - Google Patents
Inspection control method, inspection control device, inspection control equipment and storage medium Download PDFInfo
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The application provides a method, a device, equipment and a storage medium for controlling patrol, wherein the method comprises the following steps: acquiring a patrol task instruction distributed to a mobile terminal, wherein the patrol task instruction carries target patrol point information; judging whether the target inspection point is a necessary stop point or not; if the target inspection point is not a stop point, controlling the mobile terminal to move towards 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 acquisition device to acquire the image information of the equipment to be inspected of the target inspection point. According to the application, the mobile terminal adjusts the acquisition equipment while walking on the inspection road, and acquires the image information of the equipment to be inspected when reaching the inspection point, so that the inspection time is saved, and the inspection efficiency is improved.
Description
Technical Field
The application relates to the technical field of intelligent control, in particular to a method, a device, equipment and a storage medium for controlling inspection.
Background
In the electric power intelligent inspection application, an intelligent inspection robot replaces manual inspection work of equipment states of outdoor transformer substation scenes. Such as infrared thermometry, visible light image recognition, equipment defect detection, personnel security risk, and foreign object detection are commonly used functions.
However, at present, the robot inspection is basically fixed-point observation and detection, namely, the robot runs to a fixed point for stopping, then the cradle head is adjusted, the focal length is adjusted, and then the image shooting, detection and identification are carried out. The position and pose adjusting time, the cradle head adjusting time and the focal length adjusting time after reaching the point all reduce the inspection efficiency of the robot. In order to fully utilize the manual substitution capability of the robot, the inspection application value of the robot is excavated, so that the inspection efficiency of the robot is necessarily improved, and therefore, how to improve the inspection efficiency of the robot is a problem to be solved urgently.
Disclosure of Invention
The embodiment of the application aims to provide a method, a device, equipment and a storage medium for controlling patrol, which realize that a mobile terminal adjusts acquisition equipment while walking on a patrol road and acquires image information of equipment to be inspected when reaching a patrol point, thereby saving patrol time and improving patrol efficiency.
The first aspect of the embodiment of the application provides a method for controlling patrol, which comprises the following steps: acquiring a patrol task instruction distributed to a mobile terminal, wherein the patrol task instruction carries target patrol point information; judging whether the target inspection point is a necessary stop point or not; if the target inspection point is not a stop point, controlling the mobile terminal to move towards 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 acquisition device to acquire 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 stop-and-go point includes: inquiring the inspection mark of the target inspection point in a preset database, and judging whether the target inspection point is a necessary stop point or not according to the inspection mark.
In one embodiment, the inspection mark comprises: the target inspection point needs to acquire the target image information quantity information; the step of judging whether the target inspection point is a necessary stop point according to the inspection mark comprises the following steps: judging whether the number of the target image information to be acquired by the target inspection point exceeds a preset number or not according to the inspection mark; if the number of the target image information exceeds the preset number, determining the target inspection point as a necessary stop point, otherwise, determining that the target inspection point is not the necessary stop point.
In one embodiment, the inspection mark comprises: security level information of the target inspection point; the step of judging whether the target inspection point is a necessary stop point according to the inspection mark comprises the following steps: judging whether the target inspection point is marked as a dangerous area according to the inspection mark; and if the target inspection point is marked as a dangerous area, determining the target inspection point as a necessary stop point, otherwise, determining that the target inspection point is not the necessary stop point.
In one embodiment, the method further comprises: and if the target inspection point is a necessary stop point, controlling the mobile terminal to move towards the target inspection point, controlling the mobile terminal to stop when the mobile terminal reaches the preset acquisition range of the target inspection point, adjusting an acquisition device of the mobile terminal according to the preset parameters of the target inspection point, and controlling the acquisition device to acquire the image information of the equipment to be inspected of the target inspection point.
In an embodiment, the controlling the mobile terminal to move toward the target inspection 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 towards 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; and if the target inspection point is not a stop point, controlling the mobile terminal to move towards the target inspection point, including: 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 the preset speed-reducing range of the target inspection point, wherein the first speed is greater than the second speed.
In one embodiment, the inspection task is: a defect inspection task of equipment to be inspected; and if the target inspection point is not a stop point, controlling the mobile terminal to move towards the target inspection point, including: and controlling the mobile terminal to move to the target inspection point at a constant speed according to a preset speed.
In an embodiment, after the capturing the image information of the device to be inspected at the target inspection point, the method further includes: performing feature matching on the image information of the equipment to be detected and a preset template image to generate a matching point set; according to the matching point set, mapping the to-be-detected area of the to-be-detected equipment in the template image into the image information, and correcting the to-be-detected area in the image information; and outputting inspection result information of each equipment to be inspected of the target inspection point according to the corrected image information.
A second aspect of an embodiment of the present application provides a patrol control apparatus, including: the receiving module is used for acquiring a patrol task instruction distributed to the mobile terminal, wherein the patrol task instruction carries target patrol point information; the judging module is used for judging whether the target inspection point is a necessary stop point or not; the first control module is used for controlling the mobile terminal to move towards the target inspection point if the target inspection point is not a stop 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 the acquisition module is used for controlling the acquisition device to acquire the image information of the equipment to be inspected of the target inspection point when the mobile terminal reaches the preset acquisition range of the target inspection point.
In one embodiment, the judging module is configured to: inquiring the inspection mark of the target inspection point in a preset database, and judging whether the target inspection point is a necessary stop point or not according to the inspection mark.
In one embodiment, the inspection mark comprises: the target inspection point needs to acquire the target image information quantity information; the step of judging whether the target inspection point is a necessary stop point according to the inspection mark comprises the following steps: judging whether the number of the target image information to be acquired by the target inspection point exceeds a preset number or not according to the inspection mark; if the number of the target image information exceeds the preset number, determining the target inspection point as a necessary stop point, otherwise, determining that the target inspection point is not the necessary stop point.
In one embodiment, the inspection mark comprises: security level information of the target inspection point; the step of judging whether the target inspection point is a necessary stop point according to the inspection mark comprises the following steps: judging whether the target inspection point is marked as a dangerous area according to the inspection mark; and if the target inspection point is marked as a dangerous area, determining the target inspection point as a necessary stop point, otherwise, determining that the target inspection point is not the necessary stop 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 when the mobile terminal reaches the preset acquisition range of the target inspection point, adjusting a collector of the mobile terminal according to the preset parameters of the target inspection point, and controlling the collector to collect the image information of the equipment to be inspected of the target inspection point.
In an embodiment, the controlling the mobile terminal to move toward the target inspection 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 towards 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 used for: 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 the preset speed-reducing range of the target inspection point, wherein the first speed is greater than the second speed.
In one embodiment, the inspection task is: a defect inspection task of equipment to be inspected; the first control module is further configured to: and controlling the mobile terminal to move to 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 and a preset template image after the image information of the equipment to be detected of the target inspection point is acquired, so as to generate a matching point set; the correction module is used for mapping the to-be-detected area of the to-be-detected equipment in the template image into the image information according to the matching point set, and correcting the to-be-detected area in the image information; and the output module is used for outputting inspection result information of each equipment to be inspected of the target inspection point according to the corrected image information.
A third aspect of an embodiment of the present application provides an electronic device, including: a memory for storing a computer program; a processor for executing the computer program to implement the method of the first aspect of the embodiment of the present application and any of the embodiments thereof.
A fourth aspect of an embodiment of the present application provides a non-transitory electronic device readable storage medium, comprising: a program which, when run by an electronic device, causes the electronic device to perform the method of the first aspect of the embodiments of the application and any of its embodiments.
According to the inspection control method, the inspection control device, the equipment and the storage medium, whether the target inspection point is the necessary point is judged based on the information of each target inspection point in the inspection task, if one target inspection point is not the necessary point, the position of the mobile terminal at the target inspection point is not required to be stopped, the image of the equipment to be inspected at the target inspection point can be acquired through the acquisition device, the mobile terminal can be controlled to move towards the position of the target inspection point, meanwhile, in the form of the mobile terminal, the process of adjusting the related parameters of the acquisition device according to the preset parameters of the target inspection point is realized, when the mobile terminal reaches the acquisition range of the target inspection point, the acquisition device can be directly controlled to acquire the image, compared with the prior art, the acquisition device does not need to be stopped to be adjusted, the inspection time is saved, and 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 needed 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 should not be considered as limiting the scope, and other related drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of an electronic device according to an embodiment of the application;
FIG. 2 is a flow chart of a method for controlling inspection according to an embodiment of the application;
FIG. 3 is a flow chart of a method for controlling inspection according to an embodiment of the 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 accompanying drawings in the embodiments of the present application. In the description of the present application, the terms "first," "second," and the like are used merely to distinguish between descriptions 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 flow of the method in the following embodiments, so as to realize that the mobile terminal walks on the inspection road while adjusting the acquisition device, and acquire the image information of the device to be inspected when reaching 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, or a desktop computer.
Please refer to fig. 2, which is a patrol control method according to an embodiment of the present application, the method may be executed by the electronic device 1 shown in fig. 1, and may be applied to a scene of intelligent patrol of a transformer substation, so as to realize that a patrol robot may walk while adjusting a collector, thereby improving patrol efficiency. The electronic device 1 may be a device such as a mobile phone or a computer, which is separated from the inspection robot, or may be the inspection robot itself, and the embodiment uses the electronic device 1 as the inspection robot for illustration, and the method includes the following steps:
step 201: and acquiring a patrol task instruction distributed to the mobile terminal, wherein the patrol task instruction carries target patrol point information.
In this step, the mobile terminal may be a patrol robot of the substation, and in a general substation, a plurality of devices to be detected are included, where the devices to be detected may be large-sized devices, or may be branch components of a certain large-sized device, for example, the devices to be detected that need infrared temperature measurement may be: knife switch body vase, cable joint, conducting arm, contact, equipment such as arrester body, current transformer, voltage transformer, circuit breaker, sleeve pipe insulator through measuring equipment surface temperature of waiting to examine, according to relevant calculation formula, sets up corresponding threshold value warning level, and then judges whether above-mentioned equipment exists abnormal temperature. Map information of equipment to be inspected in the transformer substation can be configured in the inspection robot. The inspection robot may be an intelligent wheeled inspection robot. The inspection point may be a position where the inspection robot needs to collect an image, and the position may be projected on map information of the substation in advance. When a certain or some inspection points in the transformer substation are required to be inspected, an inspection task instruction is issued to the inspection robot, and the inspection task includes information of the target inspection points required 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 transformer equipments in the actual transformer substation, the road between some equipments may be narrower, or some part of the equipment protrudes to the road, all can lead to the limited range of motion of inspection robot, in order to avoid robot damage transformer equipment in inspection shooting process, can set the road section that above-mentioned inconvenience moved on a large scale as must stop the point, therefore must stop the point and can be the part in the transformer substation and not allow to rotate the cloud platform in advance, adjust the road section of collector, must stop the point and require inspection robot to walk to appointed position in order to rotate the cloud platform. Therefore, when the inspection task is received, it is required to distinguish whether the target inspection point is a stop-point or not, and then split the inspection path, if the target inspection point is not a stop-point, step 203 is entered, otherwise step 205 is entered.
Step 203: and controlling the mobile terminal to move towards the target inspection point, and adjusting a 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 stop point, it is indicated that the target inspection point is safe, and the inspection robot can walk and adjust the collector, 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 toward the target inspection point, and in the moving process of the inspection robot, the collector of the inspection robot is adjusted according to a preset parameter corresponding to the target inspection point. The inspection robot can walk and adjust the collector, so that the whole inspection time of the inspection robot is saved, and the inspection efficiency is improved.
In an embodiment, a patrol point corresponds to a preset adjustment parameter of a group of collectors, the preset adjustment parameter can be obtained based on actual scene investigation, and the principle is that after the patrol point adopts the corresponding preset adjustment parameter to adjust the collectors, the collectors can collect clear and complete image information of the equipment to be inspected.
In an embodiment, the inspection robot may be configured with a hardware collector such as an infrared device and a visible light camera, and for stability of the inspection process, a chassis of the inspection robot may be added with a shock absorbing measure, and a cradle head is added with an image stabilizing function, so that it is ensured that the robot can take relatively clear pictures in the motion process from the hardware and structure.
In one embodiment, one inspection point corresponds to a set of pan-tilt angles and camera parameters.
Step 204: and when the mobile terminal reaches the preset acquisition range of the target inspection point, controlling the acquisition device to acquire the image information of the equipment to be inspected of the target inspection point.
In this step, the preset collection 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, and the principle is that in the preset collection range of the inspection point, the inspection robot can collect the image information of all the equipment to be inspected corresponding to the inspection point, so that the preset collection range can be calibrated in advance based on the condition of the field environment, for example, for the inspection point which is not necessarily stopped, the preset collection range can be an area in the range with the inspection point as the center and the radius of 30cm, in the actual scene, in order to ensure that the robot smoothly completes the preparation actions such as informing the collection module, the collection module of receiving the photographing instruction, preparing photographing and the like in the walking process, corresponding response time needs to be reserved, and generally, the preparation actions need to be just completed within the travelling distance of 30cm, and the preset collection range needs to be covered to the travelling distance needed for completing the preparation actions. And in the walking process of the inspection robot, the position of the inspection robot is positioned in real time, and when the inspection robot reaches the target inspection point, an acquisition instruction is issued to acquisition equipment so as to control the acquisition equipment to acquire the image information of the equipment to be inspected of the target inspection point. 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: and controlling the mobile terminal to move towards the target inspection point, controlling the mobile terminal to stop when the mobile terminal reaches the preset acquisition range of the target inspection point, adjusting an acquisition device of the mobile terminal according to the preset parameters of the target inspection point, and controlling the acquisition device to acquire the image information of the equipment to be inspected of the target inspection point.
In this step, if the target inspection point is a necessary stop point, it is indicated that the equipment to be inspected at the target inspection point may be larger or irregular, which results in more prominent equipment and easy occurrence of collision damage, and such inspection point does not use a scheme of adjusting the collector while walking, so that a control instruction can be issued to a navigation module of the inspection robot to control the inspection robot to move toward the target inspection point, and when the inspection robot reaches a preset collection range of the target inspection point, the inspection robot is controlled to stop, the collector of the inspection robot is adjusted according to a preset parameter of the target inspection point, and the collector is controlled to collect image information of the equipment to be inspected of the target inspection point. For the inspection point of the necessary stop point, the preset acquisition range of the necessary stop point can be smaller than the preset acquisition range of the unnecessary stop point because the necessary stop point does not need to walk and prepare, 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 with the necessary stop point as the center and the radius within 3 cm. In an embodiment, the controlling the mobile terminal to move to the target inspection 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 towards 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 pre-stored transformer substation map based on the current position of the inspection robot and the position of the next target inspection point, and the inspection 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 the necessary stop point is judged based on the information of each target inspection point in the inspection task, if one target inspection point is not the necessary stop point, it is stated that the position of the mobile terminal at the target inspection point does not need to be stopped, the image of the equipment to be inspected at the target inspection point can be acquired through the collector, the mobile terminal can be controlled to move towards the position of the target inspection point, meanwhile, in the running process of the mobile terminal, the process of adjusting the collector while walking is realized according to the preset parameters of the target inspection point, when the mobile terminal reaches the acquisition range of the target inspection point, the image acquisition of the collector can be directly controlled, compared with the prior art, the collector does not need to be adjusted during stopping, the inspection time is saved, and the inspection efficiency is improved.
Please refer to fig. 3, which is a patrol control method according to an embodiment of the present application, the method may be executed by the electronic device 1 shown in fig. 1, and may be applied to a scene of intelligent patrol of a transformer substation, so as to realize that a patrol robot may walk while adjusting a collector, thereby improving patrol efficiency. The electronic device 1 may be a device such as a mobile phone or a computer, which is separated from the inspection robot, or may be the inspection robot itself, and the embodiment uses the electronic device 1 as the inspection robot for illustration, and the method includes the following steps:
step 301: and acquiring a patrol task instruction distributed to the mobile terminal, wherein the patrol task instruction carries target patrol point information. See the description of step 201 in the above embodiments for details.
Step 302: inquiring the inspection mark of the target inspection point in a preset database, and judging whether the target inspection point is a necessary stop point or not according to the inspection mark. If yes, go to step 305, otherwise go to step 303.
In this step, the preset database may include all the inspection point information in the substation and the inspection mark of each inspection point, where the inspection mark may represent whether the inspection robot is required to stop when the image information of the inspection point is acquired. The inspection mark of each inspection point can be obtained based on historical inspection record statistics, or based on the field environment of equipment to be inspected of each inspection point in the transformer substation, the inspection mark is obtained through the pre-debugging of a robot, and the mark of the inspection point and the inspection mark can be stored in a table of a preset database in a one-to-one correspondence mode. Therefore, the inspection mark corresponding to each target inspection point in the inspection task can be respectively inquired from the preset database, and whether the target inspection point is a necessary stop point or not is determined based on the inspection mark.
In one embodiment, the inspection mark comprises: and the target inspection point needs to acquire the information of the number of the target image information. Step 302 may specifically include: and judging whether the number of the target image information to be acquired by the target inspection point exceeds a preset number or not according to the inspection mark. If the number of the target image information exceeds the preset number, determining the target inspection point as a necessary stop point, otherwise, determining that the target inspection point is not the necessary stop point.
In an actual scenario, the inspection mark may be the number of image information that needs to be acquired to mark one inspection point, for example, the number of images that need to be captured to mark the inspection point. The inspection mark can be a symbol mark or a direct digital mark, can mark the actual number of images required to be shot by the inspection point or can be
Marking the number level of images that the inspection point needs to capture. 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 cradle head is guaranteed to be fast and the cradle head can be adjusted in a short time, the cradle head is guaranteed to be adjusted secondarily in a very short time in the moving process of the robot, and clear and complete images of equipment to be inspected at the inspection point are shot.
For example, the preset number may be 1, that is, the inspection robot may take a picture while walking in the case of taking only one picture, and the definition of the picture is satisfactory. Therefore, when one inspection point is marked as only needing to acquire one image, the inspection point is not a stop-off point, and when one inspection point is marked as needing to acquire a plurality of images, the inspection point is a stop-off point.
In one embodiment, when the preset 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 cradle head, camera parameters and taking pictures) required by the residual images can be completed within the preset acquisition range of the inspection point, if not, stopping the inspection point, otherwise, stopping the inspection point.
In one embodiment, the inspection mark comprises: and the security level information of the target inspection point. Step 302 may specifically include: and judging whether the target inspection point is marked as a dangerous area according to the inspection mark. And if the target inspection point is marked as a dangerous area, determining the target inspection point as a necessary stop point, otherwise, determining that the target inspection point is not the necessary stop point.
In an actual scene, some to-be-inspected devices may be huge or irregular, so that the devices are more prominent, collision damage is easy to occur, and inspection points with the characteristics can be marked as inspection points with lower security level, that is, at the inspection points with lower security, in order to avoid collision between an image collector of the inspection robot and the to-be-inspected device, the inspection robot is required to stop to collect image information of the to-be-inspected device. Thus, when a target patrol point is marked as a dangerous area, the target patrol point can be determined to be a necessary stop point, otherwise, the target patrol point is determined not to be a necessary stop point.
Step 303: and controlling the mobile terminal to move towards the target inspection point, and adjusting a collector of the mobile terminal according to the preset parameters of the target inspection point in the moving process of the mobile terminal. See for details the description of step 203 in the above embodiments.
In one embodiment, the inspection task is: an infrared inspection task and/or a visible light inspection task. The step of controlling the movement of the mobile terminal to the target inspection 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 the preset speed-reducing range of the target inspection point, wherein the first speed is greater than the second speed.
In a practical scenario, the patrol task includes, but is not limited to: an infrared inspection task and a visible light inspection task. The preset deceleration range is used for avoiding that the inspection robot walks too fast in the process of approaching the target inspection point to cause that a clear image cannot be shot, so that the inspection robot is controlled to decelerate in the preset deceleration range. For example, the preset deceleration range for a patrol point that is not a stop-point may be an area within a radius of 30cm centered on the patrol point. If the target inspection point is not the necessary stop point, the machine can drive the inspection robot to run according to a planned inspection path (such as a shortest path) at a first speed (high speed), and simultaneously send a command to the collector so as to adjust the angle of the cradle head and the parameter information of the camera according to preset adjustment parameters, so that the cradle head is adjusted to a preset position. When the inspection robot walks to a preset deceleration range of the target inspection point, the inspection robot starts to decelerate in order to avoid too fast walking, and is driven to travel at a second speed (low speed), wherein the second speed is smaller than the first speed.
In an embodiment, the first speed may be v1=0.8 m/s, the second speed may be v2=0.4 m/s, that is, taking an infrared inspection task as an example, in the process that the inspection robot moves towards the target inspection point, the inspection robot may be driven to travel at the first speed v1=0.8 m/s according to the planned inspection path, the angle of the cradle head is adjusted to a preset position, the camera parameters are set, and when the inspection robot walks to a preset deceleration range before the target inspection point, deceleration starts to drive the inspection robot to travel at the second speed v2=0.4 m/s.
In one embodiment, the inspection task is: and a defect inspection task of the equipment to be inspected. The step of controlling the mobile terminal to move towards the target inspection point in step 303 may specifically include: and controlling the mobile terminal to move to the target inspection point at a constant speed according to a preset speed.
In an actual scenario, the content of the defect inspection may include, but is not limited to: the surface of the component is provided with oil, metal rust, suspended matters hanging, dial damage, shell damage, insulator crack, silica gel cylinder damage, surface pollution, abnormal oil level of the oil seal of the respirator, and the like. When the inspection task is a defect inspection task, if the target inspection point is not a stop point, the inspection robot is required to drive the inspection robot to travel at a constant speed in the whole process of going to the target inspection point, and the cradle head is controlled to scan ahead in a certain rule in the traveling 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 equipment to be inspected within the range of about 120 degrees.
Step 304: and when the mobile terminal reaches the preset acquisition range of the target inspection point, controlling the acquisition device to acquire 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 the target inspection point only needs to take a picture, and when the inspection robot just reaches a preset collection range of the target inspection point, a single photo covering a plurality of inspection devices is taken. After shooting of one inspection point is completed, repeating the steps 303 to 304 for the next target inspection point, and controlling the inspection robot to complete 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 stop point, the inspection robot drives the inspection robot to travel at a constant speed in the whole process of going to the target inspection point at a preset speed, and the cradle head is controlled to sweep forward according to a certain rule in the traveling 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 equipment to be inspected within a range of about 120 degrees. In the walking process of the inspection robot, the camera can be controlled to collect image information in real time, analyze the image in real time, track the abnormal information, generate a defect alarm message by combining the current position coordinates of the inspection robot and surrounding environment information, send out the alarm message, and facilitate statistics and maintenance of the quantity of the abnormal information in the transformer substation.
Step 305: and if the target inspection point is a necessary stop point, controlling the mobile terminal to move towards the target inspection point, controlling the mobile terminal to stop when the mobile terminal reaches the preset acquisition range of the target inspection point, adjusting an acquisition device of the mobile terminal according to the preset parameters of the target inspection point, and controlling the acquisition device to acquire the image information of the equipment to be inspected of 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, so after step 304 or step 305, the method may further include:
step 306: and performing feature 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 photographed inspection image, the template image is a standard image of each inspection point in the preset transformer substation, and the template image includes a pre-marked temperature measurement area, and since the temperature measurement area of the preliminarily obtained inspection image may be irregular, for example, in a walking-while-photographing mode, the robot may have a difference from the actual position of the photographed target inspection point at a moment in photographing, and parallax exists in the captured image, so in order to improve the accuracy of infrared temperature measurement, image correction is required. After the inspection image of the device to be inspected is obtained in step 304 or 305, feature matching may be performed on the inspection image and the template image based on the image homography conversion technology, so as to obtain a correct matching point set.
Step 307: and mapping the to-be-detected area of the to-be-detected equipment in the template image into the image information according to the matching point set, and correcting the to-be-detected area in the image information.
In this step, the area to be detected may be a temperature measurement area, and the homography matrix between the inspection image and the template image is calculated according to the matching point set, so that the temperature measurement area of the equipment to be detected in the template image is mapped into the inspection image based on the homography matrix, so as to correct the temperature measurement area of the inspection image.
Step 308: and outputting inspection result information of each equipment to be inspected of the target inspection point according to the corrected image information.
In the step, the corrected inspection image contains temperature information of the equipment to be inspected, so that temperature measurement result information of the equipment to be inspected of each target inspection point can be obtained by analysis from the corrected inspection image based on an infrared temperature measurement technology.
When outputting inspection result information, the temperature measurement area information in one inspection image can be bound with corresponding equipment to be inspected one by one, for example, the target inspection point comprises three equipment to be inspected 1, 2 and 3, and the temperature inspection results respectively correspond to: 23.5 ℃, 24.2 ℃ and 34.7 ℃, the inspection result information can be bound as follows: the equipment 1- >23.5 ℃, the equipment 2- >24.2 ℃ and the equipment 3- >34.7 ℃ are adopted to complete the inspection point temperature measurement task and output inspection result information of infrared temperature measurement.
In an embodiment, when the inspection task is a visible light inspection task, a series of images are required to be acquired in real time within a small range around the target inspection point, and the series of images are subjected to image quality evaluation, image restoration and other processes by 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 movement modes of the robot are distinguished according to the inspection task types, the camera is controlled to take pictures through preset inspection point and cloud deck information, image recognition is carried out, inspection result information is further obtained, the inspection robot does not stop shooting for inspection points which are not necessarily stopped, inspection tasks are completed under dynamic operation, inspection time of the robot is shortened, and inspection efficiency of the robot is improved.
Please refer to fig. 4, which is a patrol controlling device according to an embodiment of the present application, the device may be applied to the electronic apparatus 1 shown in fig. 1, and may be applied to a scene of intelligent patrol of a transformer substation, so as to realize that a patrol robot may walk while adjusting a collector, thereby improving patrol efficiency. The electronic device 1 may be a device such as a mobile phone or a computer, which is separated from the inspection robot, or may be the inspection robot itself, and the embodiment describes the electronic device 1 as an example of the inspection robot, and the apparatus 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:
The receiving module is used for acquiring a patrol task instruction distributed to the mobile terminal, wherein the patrol task instruction carries target patrol 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 towards the target inspection point if the target inspection point is not the necessary 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 acquisition device to acquire the image information of the equipment to be inspected of the target inspection point when the mobile terminal reaches the preset acquisition range of the target inspection point.
In one embodiment, the judging module is configured to: inquiring the inspection mark of the target inspection point in a preset database, and judging whether the target inspection point is a necessary stop point or not according to the inspection mark.
In one embodiment, the inspection mark comprises: and the target inspection point needs to acquire the information of the number of the target image information. The step of judging whether the target inspection point is a necessary stop point according to the inspection mark comprises the following steps: and judging whether the number of the target image information to be acquired by the target inspection point exceeds a preset number or not according to the inspection mark. If the number of the target image information exceeds the preset number, determining the target inspection point as a necessary stop point, otherwise, determining that the target inspection point is not the necessary stop point.
In one embodiment, the inspection mark comprises: and the security level information of the target inspection point. The step of 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 inspection point is marked as a dangerous area according to the inspection mark. And if the target inspection point is marked as a dangerous area, determining the target inspection point as a necessary stop point, otherwise, determining that the target inspection point is not the necessary stop 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 when the mobile terminal reaches the preset acquisition range of the target inspection point, adjusting a collector of the mobile terminal according to the preset parameters of the target inspection point, and controlling the collector to collect the image information of the equipment to be inspected of the target inspection point.
In an embodiment, the controlling the mobile terminal to move toward the target inspection 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 towards 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 used for: 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 the preset speed-reducing range of the target inspection point, wherein the first speed is greater than the second speed.
In one embodiment, the inspection task is: and a defect inspection task of the equipment to be inspected. The first control module is further configured to: and controlling the mobile terminal to move to 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 a preset template image after the image information of the equipment to be detected of the target inspection point is acquired, so as to generate a matching point set. And the correction module is used for mapping the to-be-detected area of the to-be-detected equipment in the template image into the image information according to the matching point set, and correcting the to-be-detected area in the image information. And the output module is used for outputting 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 embodiment.
The embodiment of the invention also provides a non-transitory electronic device readable storage medium, which comprises: a program which, when run on an electronic device, causes the electronic device to perform all or part of the flow of the method 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 (Random Access Memory, RAM), a Flash Memory (Flash Memory), a Hard Disk (HDD), or a Solid State Drive (SSD), etc. The storage medium may also comprise a combination of memories of the kind described above.
Although embodiments of the present invention have been described in connection with the accompanying drawings, various modifications and variations may be made by those skilled in the art without departing from the spirit and scope of the invention, and such modifications and variations are within the scope of the invention as defined by the appended claims.
Claims (14)
1. A method of inspection control, comprising:
acquiring a patrol task instruction distributed to a mobile terminal, wherein the patrol task instruction carries target patrol point information;
Judging whether the target inspection point is a necessary stop point or not;
if the target inspection point is not a stop point, controlling the mobile terminal to move towards 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;
when the mobile terminal reaches the preset acquisition range of the target inspection point, controlling the acquisition device to acquire the image information of the equipment to be inspected of the target inspection point;
the judging whether the target inspection point is a necessary stop point comprises the following steps:
inquiring a patrol mark of the target patrol point in a preset database, and judging whether the target patrol point is a necessary stop point or not according to the patrol mark;
the inspection mark comprises: security level information of the target inspection point; the step of judging whether the target inspection point is a necessary stop point according to the inspection mark comprises the following steps:
judging whether the target inspection point is marked as a dangerous area according to the inspection mark;
and if the target inspection point is marked as a dangerous area, determining the target inspection point as a necessary stop point, otherwise, determining that the target inspection point is not the necessary stop point.
2. The method as recited in claim 1, further comprising:
and if the target inspection point is a necessary stop point, controlling the mobile terminal to move towards the target inspection point, controlling the mobile terminal to stop when the mobile terminal reaches the preset acquisition range of the target inspection point, adjusting an acquisition device of the mobile terminal according to the preset parameters of the target inspection point, and controlling the acquisition device to acquire the image information of the equipment to be inspected of the target inspection point.
3. The method according to claim 1 or 2, wherein said controlling the movement of the mobile terminal towards the target inspection 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 towards the target inspection point according to the shortest path.
4. The method of claim 1, wherein the inspection task is: an infrared inspection task and/or a visible light inspection task; and if the target inspection point is not a stop point, controlling the mobile terminal to move towards the target inspection point, including:
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 the preset speed-reducing range of the target inspection point, wherein the first speed is greater than the second speed.
5. The method of claim 1, wherein the inspection task is: a defect inspection task of equipment to be inspected; and if the target inspection point is not a stop point, controlling the mobile terminal to move towards the target inspection point, including:
and controlling the mobile terminal to move to the target inspection point at a constant speed according to a preset speed.
6. The method according to claim 1 or 2, further comprising, after the acquiring the image information of the equipment to be inspected at the target inspection point:
performing feature matching on the image information of the equipment to be detected and a preset template image to generate a matching point set;
according to the matching point set, mapping the to-be-detected area of the to-be-detected equipment in the template image into the image information, and correcting the to-be-detected area in the image information;
and outputting inspection result information of each equipment to be inspected of the target inspection point according to the corrected image information.
7. A patrol control device, comprising:
the receiving module is used for acquiring a patrol task instruction distributed to the mobile terminal, wherein the patrol task instruction carries target patrol point information;
the judging module is used for judging whether the target inspection point is a necessary stop point or not;
the first control module is used for controlling the mobile terminal to move towards the target inspection point if the target inspection point is not a stop 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;
the acquisition module is used for controlling the acquisition device to acquire the image information of the equipment to be inspected of the target inspection point when the mobile terminal reaches the preset acquisition range of the target inspection point;
the judging module is used for:
inquiring a patrol mark of the target patrol point in a preset database, and judging whether the target patrol point is a necessary stop point or not according to the patrol mark;
the inspection mark comprises: security level information of the target inspection point; the step of judging whether the target inspection point is a necessary stop point according to the inspection mark comprises the following steps:
judging whether the target inspection point is marked as a dangerous area according to the inspection mark;
And if the target inspection point is marked as a dangerous area, determining the target inspection point as a necessary stop point, otherwise, determining that the target inspection point is not the necessary stop point.
8. The apparatus as recited in claim 7, 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 when the mobile terminal reaches the preset acquisition range of the target inspection point, adjusting a collector of the mobile terminal according to the preset parameters of the target inspection point, and controlling the collector to collect the image information of the equipment to be inspected of the target inspection point.
9. The apparatus of claim 7 or 8, wherein said controlling movement of said mobile terminal to said target inspection 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 towards the target inspection point according to the shortest path.
10. The apparatus of claim 7, wherein the inspection task is: an infrared inspection task and/or a visible light inspection task; the first control module is used for:
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 the preset speed-reducing range of the target inspection point, wherein the first speed is greater than the second speed.
11. The apparatus of claim 7, wherein the inspection task is: a defect inspection task of equipment to be inspected; the first control module is further configured to:
and controlling the mobile terminal to move to the target inspection point at a constant speed according to a preset speed.
12. The apparatus according to claim 7 or 8, further comprising:
the matching module is used for carrying out feature matching on the image information of the equipment to be detected and a preset template image after the image information of the equipment to be detected of the target inspection point is acquired, so as to generate a matching point set;
the correction module is used for mapping the to-be-detected area of the to-be-detected equipment in the template image into the image information according to the matching point set, and correcting the to-be-detected area in the image information;
and the output module is used for outputting inspection result information of each equipment to be inspected of the target inspection point according to the corrected image information.
13. An electronic device, comprising:
a memory for storing a computer program;
a processor for executing the computer program to implement the method of any one of claims 1 to 6.
14. 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 6.
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