CN114237224A - Automatic inspection method, system, terminal device and computer readable storage medium - Google Patents
Automatic inspection method, system, terminal device and computer readable storage medium Download PDFInfo
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Abstract
The invention discloses an automatic inspection method, a system, terminal equipment and a computer readable storage medium, wherein the automatic inspection method comprises the following steps: obtaining a plurality of preset tower coordinates, and obtaining a preset inspection range based on the plurality of tower coordinates; determining an inspection target in the inspection range according to a preset inspection route, and acquiring an image of the inspection target to obtain an inspection result; and returning the inspection result to realize automatic inspection. The invention can improve the efficiency of automatic inspection of the tower.
Description
Technical Field
The invention relates to the technical field of power industry, in particular to an automatic inspection method, an automatic inspection system, terminal equipment and a computer readable storage medium.
Background
The electric power industry is a fundamental cause of the national social construction, the rapid construction of the electric transmission line in China can be promoted by the high-speed development of the electric network cause, and the electric power industry plays an important role in the national economic development and the urbanization promotion.
Generally adopt unmanned aerial vehicle to patrol and examine transmission line among the prior art, however, because a large amount of transmission lines distribute in chongshan mountain, lead to unmanned aerial vehicle to appear the problem that the signal is not good or even lose the signal when patrolling and examining the operation to transmission line, increased the degree of difficulty of unmanned aerial vehicle operation to, when the mode that adopts manual operation unmanned aerial vehicle patrolled and examined transmission line under adverse circumstances, still appear easily and patrol and examine the problem such as photo data standard is unified, data quality is uneven.
To sum up, there are a great deal of problems in the mode that current adoption unmanned aerial vehicle patrolled and examined transmission line, lead to wholly patrolling and examining inefficiency.
Disclosure of Invention
The invention mainly aims to provide an automatic inspection method, an automatic inspection system, terminal equipment and a computer readable storage medium, and aims to improve the automatic inspection efficiency of a tower.
In order to achieve the above object, the present invention provides an automatic inspection method, including:
obtaining a plurality of preset tower coordinates, and obtaining a preset inspection range based on the plurality of tower coordinates;
determining an inspection target in the inspection range according to a preset inspection route, and acquiring an image of the inspection target to obtain an inspection result;
and returning the inspection result to realize automatic inspection.
Optionally, before the step of obtaining a plurality of preset tower coordinates and obtaining a preset inspection range based on the plurality of tower coordinates, the method further includes:
and receiving an automatic inspection task aiming at a preset tower, so as to obtain the coordinates of the tower corresponding to the tower based on the automatic inspection task.
Optionally, before the step of determining the inspection target within the inspection range according to the preset inspection route, the method further includes:
acquiring a tower corresponding to the tower coordinate, and judging the tower type of the tower to obtain a judgment result;
and acquiring the inspection route based on the judgment result.
Optionally, the determination result includes: the linear type shaft tower and strain insulator type shaft tower, based on the judged result obtains the step of patrolling and examining the airline includes:
if the tower is a linear tower, setting the inspection route as a linear tower route;
and if the tower is a tension-resistant tower, setting the inspection route as a tension-resistant tower route.
Optionally, the step of determining the inspection target in the inspection range according to a preset inspection route and acquiring an inspection result by acquiring an image of the inspection target includes:
performing visual positioning on the tower within the inspection range to determine the inspection target;
and shooting the inspection target, amplifying and focusing the inspection target, and acquiring an image of the amplified and focused inspection target to obtain an inspection result.
Optionally, the step of determining the inspection target by performing visual positioning on the tower within the inspection range includes:
and performing visual positioning to determine the inspection target by taking the pole tower as a reference in the inspection range based on a preset GPS signal or a preset Beidou signal, wherein the inspection target comprises an insulator, a ground wire hanging point, a hardware fitting and a channel.
Optionally, the automatic inspection method further includes:
and correcting the deviation according to the direction of the automatic inspection by the inspection route in the inspection range so as to realize automatic inspection.
In order to achieve the above object, the present invention further provides an automatic inspection system, wherein the automatic inspection system comprises:
the system comprises an acquisition module, a monitoring module and a monitoring module, wherein the acquisition module is used for acquiring a plurality of preset tower coordinates and obtaining a preset inspection range based on the plurality of tower coordinates;
the inspection module is used for determining an inspection target in the inspection range and acquiring an image aiming at the inspection target to obtain an inspection result;
and the transmission module is used for transmitting the inspection result back to realize automatic inspection.
The automatic inspection system comprises a plurality of functional modules, wherein each functional module of the automatic inspection system respectively realizes the steps of the automatic inspection method when in operation.
In order to achieve the above object, the present invention further provides a terminal device, including: a memory, a processor, and an automatic inspection program stored on the memory and executable on the processor, the automatic inspection program when executed by the processor implementing the steps of the automatic inspection method as described above.
In addition, to achieve the above object, the present invention further provides a computer readable storage medium having an automatic inspection program stored thereon, which when executed by a processor implements the steps of the automatic inspection method as described above.
Furthermore, to achieve the above object, the present invention also provides a computer program product comprising a computer program which, when executed by a processor, implements the steps of the automatic inspection method as described above.
The invention provides an automatic inspection method, an automatic inspection system, terminal equipment, a computer readable storage medium and a computer program product, wherein a plurality of preset tower coordinates are obtained, and a preset inspection range is obtained based on the plurality of tower coordinates; determining a routing inspection target in the routing inspection range according to a preset routing inspection route, and acquiring an image based on the routing inspection target to obtain a routing inspection result; and transmitting and returning the inspection result to realize automatic inspection.
According to the method, the terminal equipment acquires a plurality of preset tower coordinates to obtain the inspection range based on the plurality of tower coordinates, then performs inspection within the inspection range to acquire a preset inspection target, performs automatic image acquisition on the inspection target to obtain an inspection result, and after the inspection result is obtained, the inspection result needs to be transmitted back to realize automatic inspection.
The invention can improve the inspection efficiency aiming at the tower in an automatic inspection mode, and obtain a high-quality inspection result based on high-efficiency automatic inspection, thereby ensuring the normal work of the power transmission line.
Drawings
FIG. 1 is a schematic diagram of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of an embodiment of an automatic inspection method of the present invention;
FIG. 3 is a schematic diagram of an automatic inspection operation according to an embodiment of the automatic inspection method of the present invention;
FIG. 4 is a schematic diagram of a point cloud of a route inspected by an unmanned aerial vehicle according to an embodiment of the automatic inspection method;
fig. 5 is a functional module diagram of an embodiment of the automatic inspection system of the invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, fig. 1 is a schematic device structure diagram of a hardware operating environment according to an embodiment of the present invention.
It should be noted that, the terminal device in the embodiment of the present invention may be a terminal device for extracting data of each type of data source, and the terminal device may specifically be an unmanned aerial vehicle or the like.
As shown in fig. 1, the apparatus may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration of the apparatus shown in fig. 1 is not intended to be limiting of the apparatus and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a kind of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and an automatic tour inspection program. The operating system is a program that manages and controls the hardware and software resources of the device, supporting the execution of the automated polling program as well as other software or programs. In the device shown in fig. 1, the user interface 1003 is mainly used for data communication with a client; the network interface 1004 is mainly used for establishing communication connection with a server; and the processor 1001 may be configured to invoke the automatic tour inspection program stored in the memory 1005 and perform the following operations:
obtaining a plurality of preset tower coordinates, and obtaining a preset inspection range based on the plurality of tower coordinates;
determining an inspection target in the inspection range according to a preset inspection route, and acquiring an image of the inspection target to obtain an inspection result;
and returning the inspection result to realize automatic inspection.
Further, before the step of obtaining a plurality of preset tower coordinates and obtaining a preset inspection range based on the plurality of tower coordinates, the processor 1001 may be further configured to call an automatic inspection program stored in the memory 1005, and further perform the following operations:
and receiving an automatic inspection task aiming at a preset tower, so as to obtain the coordinates of the tower corresponding to the tower based on the automatic inspection task.
Further, before the steps of obtaining a preset inspection target in the inspection range according to a preset inspection route and performing image collection on the inspection target to obtain an inspection result, the processor 1001 may be further configured to invoke an automatic inspection program stored in the memory 1005, and further perform the following operations:
acquiring a tower corresponding to the tower coordinate, and judging the tower type of the tower to obtain a judgment result;
and acquiring the inspection route based on the judgment result.
Further, the judgment result includes: the linear tower and the strain tower, the processor 1001 may be further configured to call the automatic inspection program stored in the memory 1005, and perform the following operations:
if the tower is a linear tower, setting the inspection route as a linear tower route;
and if the tower is a tension-resistant tower, setting the inspection route as a tension-resistant tower route.
Further, the processor 1001 may be further configured to invoke an automatic polling program stored in the memory 1005, and further perform the following operations:
performing visual positioning on the tower within the inspection range to determine the inspection target;
and shooting the inspection target, amplifying and focusing the inspection target, and acquiring an image of the amplified and focused inspection target to obtain an inspection result.
Further, the processor 1001 may be further configured to invoke an automatic polling program stored in the memory 1005, and further perform the following operations:
and performing visual positioning to determine the inspection target by taking the pole tower as a reference in the inspection range based on a preset GPS signal or a preset Beidou signal, wherein the inspection target comprises an insulator, a ground wire hanging point, a hardware fitting and a channel.
Further, the processor 1001 may be further configured to call an automatic polling program stored in the memory 1005, and further perform the following operations:
and correcting the deviation according to the direction of the automatic inspection by the inspection route in the inspection range so as to realize automatic inspection.
Referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of the automatic inspection method of the present invention.
In the present embodiment, an embodiment of an automatic inspection method is provided, and it should be noted that although a logical order is shown in the flow chart, in some cases, the steps shown or described may be performed in an order different from that shown herein.
Step S10, obtaining a plurality of preset tower coordinates, and obtaining a preset inspection range based on the plurality of tower coordinates;
the method comprises the steps that a plurality of preset tower coordinates are obtained by the terminal equipment, and after the tower coordinates are obtained, a patrol range is obtained based on the tower coordinates so as to patrol in the patrol range.
It should be noted that, in this embodiment, the automatic inspection method of the present invention is applied to an automatic inspection system, and the automatic inspection system includes: the system comprises an edge computing terminal, an unmanned aerial vehicle and a task load, wherein the edge computing terminal and the task load are integrated in the unmanned aerial vehicle. Moreover, the unmanned aerial vehicle can be selected from Xinjiang M300, and the flight time of the unmanned aerial vehicle reaches 55 minutes. And the edge computing terminal is internally provided with operation software based on a front-end AI unmanned aerial vehicle control technology, has excellent task processing capacity and high-efficiency response speed, and can realize flexible expansion. The task load can be selected from any series of cameras in Da Jiang. In this embodiment, the types and parameters of the edge computing terminal, the unmanned aerial vehicle, and the mission load are not specifically limited.
Specifically, for example, after the terminal device operates the unmanned aerial vehicle to be directly over the tower a, the base position coordinate a of the tower a is acquired, the unmanned aerial vehicle is operated to be directly over the tower B on the side surface of the tower a, the base position coordinate B of the tower B is acquired, the unmanned aerial vehicle is operated to be directly over the tower C on the side surface of the tower a, the base position coordinate C of the tower C is acquired, and then the inspection range of the unmanned aerial vehicle is obtained based on the base position coordinate a, the base position coordinate B and the base position coordinate C.
It should be noted that, in this embodiment, the terminal device may also directly import the GPS reference points of 3 towers through a preset tower point cloud database to determine the inspection range of the unmanned aerial vehicle. In addition, the terminal equipment does not need to acquire the coordinates of the base position of the tower to be patrolled and examined in advance when the unmanned aerial vehicle automatically patrols and examines each time. For example, if the automatic polling of the terminal device for the tower a, the tower B, and the tower C is the first automatic polling, then the base position coordinate a corresponding to the tower a, the base position coordinate B corresponding to the tower B, and the base position coordinate C corresponding to the tower C need to be obtained, and then the polling range of the unmanned aerial vehicle is determined through the base position coordinate a, the base position coordinate B, and the base position coordinate C.
Further, before the step S20, acquiring a plurality of preset tower coordinates and obtaining a preset inspection range based on the plurality of tower coordinates, the automatic inspection method of the present invention further includes:
step S40, receiving an automatic inspection task aiming at a preset tower, and acquiring the coordinates of the tower corresponding to the tower based on the automatic inspection task.
The terminal equipment receives the automatic inspection task sent by the remote server, analyzes the automatic inspection task, and further obtains a plurality of tower coordinates based on the automatic inspection task so as to determine the inspection range of the unmanned aerial vehicle based on the tower coordinates.
Specifically, for example, the terminal device receives an automatic inspection task sent by the remote server, wherein the automatic inspection task includes inspection for a tower a, a tower B and a tower C, after receiving the automatic inspection task for the tower a, the tower B and the tower C, the terminal device obtains the corresponding base position coordinates a, the base position coordinates B and the base position coordinates C of the tower a, the tower B and the tower C through the field control terminal, determines an inspection range of the automatic inspection, and then assigns the unmanned aerial vehicle to perform the automatic inspection task for the tower in the inspection range through the field control terminal, so that automatic inspection based on the unmanned aerial vehicle is realized.
It should be noted that, in this embodiment, the terminal device may implement bidirectional transmission of data with the remote server through the field control end. As shown in fig. 3, the automatic inspection operation schematic diagram can be realized by the field control end, which receives real-time tasks, assigns the unmanned aerial vehicle to automatically inspect the tower, monitors the unmanned aerial vehicle to execute the automatic inspection task, and commands the autonomous lifting of the unmanned aerial vehicle by one key, and the like, and the remote service end can realize issuing the automatic inspection task, inspecting data management, remote real-time monitoring, remote data transmission and the like. The remote server can issue the automatic inspection task to the field control end, the field control end assigns the automatic inspection task to the unmanned aerial vehicle, image acquisition is carried out on the tower through the edge computing terminal and the task load carried by the unmanned aerial vehicle, and the acquired tower image data is transmitted back to the remote server through the field control end so as to finish inspection on the tower.
Further, the automatic inspection method of the invention further comprises the following steps:
step S20, determining an inspection target in the inspection range according to a preset inspection route, and acquiring an image of the inspection target to obtain an inspection result;
terminal equipment is at the scope of patrolling and examining of presetting unmanned aerial vehicle to start unmanned aerial vehicle through the on-the-spot control end, in order to patrol and examine the back at this automation of patrolling and examining the within range through unmanned aerial vehicle, terminal equipment will obtain through the task load that unmanned aerial vehicle carried on and patrol and examine the target, and carry out analysis and collection through the marginal computing equipment that unmanned aerial vehicle carried on to the target of patrolling and examining that the task load obtained, and obtain and patrol and examine the result.
Specifically, for example, after determining an inspection range of automatic inspection based on the base position coordinates a, B, and C of the tower a, the tower B, and the tower C, the terminal device controls a task load through an edge computing terminal carried by the unmanned aerial vehicle, acquires an inspection result by performing image acquisition on the tower a, the tower B, and the tower C based on the task load, reads the inspection result to a field control terminal, and transmits the inspection result to a remote server through the field control terminal, thereby implementing an automatic inspection task based on the unmanned aerial vehicle, the edge computing device, the task load, and the field control terminal.
It should be noted that, in this embodiment, when the terminal device inspects the tower a, the tower B, or the tower C, the inspection objects may include: the whole pole tower, the ground wire connection part, the insulator, hardware fittings on two sides of the pole tower and the like.
Further, before the step S20, "determining the inspection target within the inspection range according to the preset inspection route", the method further includes:
step S50, obtaining a tower corresponding to the tower coordinates, and judging the tower type of the tower to obtain a judgment result;
after the terminal equipment acquires a plurality of tower coordinates based on the automatic inspection task for a plurality of preset towers sent by the remote server, the terminal equipment acquires each tower corresponding to the plurality of tower coordinates according to the tower coordinates, judges the type of each tower and automatically inspects the tower through the unmanned aerial vehicle based on the type of the tower.
It should be noted that, in this embodiment, the terminal device acquires tower coordinates of a plurality of towers to determine the inspection range of the unmanned aerial vehicle, and acquires tower types of each tower to confirm an inspection route when the unmanned aerial vehicle executes an automatic inspection task, and different inspection routes need to be adopted for different tower types, so as to realize flexible inspection for the towers, and further improve inspection efficiency and inspection quality.
Specifically, for example, before terminal equipment takes off unmanned aerial vehicle through site control end one key, the route of patrolling and examining of unmanned aerial vehicle needs to be planned in advance, make unmanned aerial vehicle can be according to this the route of patrolling and examining carries out the automatic task of patrolling and examining, wherein, patrol and examine the route when not only having included the shaft tower through unmanned aerial vehicle in the route, still included unmanned aerial vehicle and carried out the landing point after the automatic task of patrolling and examining, terminal equipment takes off at unmanned aerial vehicle and need set up unmanned aerial vehicle's the route of patrolling and examining and landing point in advance before carrying out, in order to realize patrolling and examining to the automation of shaft tower.
And step S60, acquiring the inspection route based on the judgment result.
The terminal equipment acquires each tower corresponding to the plurality of tower coordinates according to the tower coordinates, and acquires a preset inspection route according to the tower type of each tower after judging the tower type of each tower, so as to execute an automatic inspection task based on the inspection route.
It should be noted that, in this embodiment, after the terminal device obtains the patrol route corresponding to each tower based on the type of each tower, the terminal device displays the patrol route at the field control end in a point cloud manner, so that the patrol route of the unmanned aerial vehicle is visualized. As shown in fig. 4, the point cloud schematic diagram of the inspection route of the unmanned aerial vehicle may include: a straight line tower route, a strain tower route and a strain tower simple edition route. The types of towers are wide, and besides the linear tower and the tension tower, the towers can also comprise: the dry-type tower, the sheep-type tower, the wine glass-type tower, the cat-type tower and the like can be used for designing corresponding inspection routes aiming at different tower types in advance so as to ensure the quality of automatic inspection. Therefore, before automatic inspection is carried out through the unmanned aerial vehicle, the terminal equipment needs to judge the tower types of different towers in advance, and different inspection air routes are set according to the types of the different towers so as to realize comprehensive inspection on the towers.
Further, in the step S60, the "obtaining the patrol route based on the determination result" may include:
step S601, if the tower is a linear tower, setting the inspection route as a linear tower route; after the terminal equipment judges that the tower type of a tower is a linear tower, an unmanned aerial vehicle inspection route is set based on the linear tower, so that the unmanned aerial vehicle can automatically inspect the linear tower according to the inspection route in an inspection range.
It should be noted that, in this embodiment, the difference of the tower types also means the difference of the parameters such as the structure, the material, the height, and the like of the towers, and for example, the dividing of the towers by the material may include: wooden poles and towers, cement poles and metal poles and towers, etc., can cover 4.5 m-15 m in height according to the service environment of the poles and towers. The structures of the towers have differences, such as insulators, ground wire hanging points, hardware fittings, channels and the like. Therefore, before the terminal device assigns the unmanned aerial vehicle to perform automatic inspection tasks through the field control end, an inspection route matched with the type of the tower needs to be preset, so that inspection quality and efficiency of automatic inspection are improved.
Specifically, for example, if the terminal device determines that the tower is a linear tower, the inspection course of the unmanned aerial vehicle needs to be set as a linear tower course, so that the unmanned aerial vehicle can perform inspection based on the linear tower course. When terminal equipment carries out automatic inspection to linear tower through the task load that unmanned aerial vehicle carried on, will adopt the flying height of unmanned aerial vehicle with linear tower adaptation, unmanned aerial vehicle's shooting distance, the focus of task load, the shooting angle of task load etc. to carry out the pertinence ground inspection to linear tower's insulator, ground wire hanging point, gold utensil and passageway etc. to the realization is patrolled and examined comprehensively, prevents that transmission line from taking place the mistake when transmitting the signal.
And step S602, if the tower is a tension-resistant tower, setting the inspection route as a tension-resistant tower route.
The terminal equipment sets up unmanned aerial vehicle's the route of patrolling and examining based on this strain insulator type shaft tower after judging the shaft tower type of a shaft tower for unmanned aerial vehicle patrols and examines according to this route of patrolling and examining to strain insulator type shaft tower automatically in patrolling and examining the within range.
Specifically, for example, if terminal equipment judges that the shaft tower is strain tower, then need set up unmanned aerial vehicle's the route of patrolling and examining be strain tower route for unmanned aerial vehicle will patrol and examine based on this strain tower route. When terminal equipment carries out automatic patrol and examine to strain insulator type shaft tower through the task load that unmanned aerial vehicle carried on, will adopt with the unmanned aerial vehicle's of strain insulator type shaft tower adaptation fly height, unmanned aerial vehicle's shooting distance, the focus of task load, the shooting angle of task load etc. to carry out the pertinence ground to strain insulator type shaft tower's insulator, ground wire hanging point, gold utensil and passageway etc. and patrol and examine to the realization is patrolled and examined comprehensively to the shaft tower.
It should be noted that, in this embodiment, the strain tower needs to bear a greater tension along the power transmission line direction, such as a tension when supporting a broken line, a tension when fastening a line, and the like, in addition to a vertical load and a horizontal load. Therefore, the tension-resistant tower generally uses the insulator string to bear the line breaking tension generated in the line breaking process, so that the line breaking accident range is limited, and the insulator string plays a role in isolating accidents in the tension-resistant tower. Consequently, terminal equipment needs to carry out the key to the insulator string of strain insulator type shaft tower and patrols and examines when patrolling and examining the airline to strain insulator type shaft tower setting, and unmanned aerial vehicle will carry out many times multi-angle through the task load to the insulator string in the strain insulator type shaft tower when patrolling and examining according to the strain insulator type shaft tower airline promptly and shoot to ensure strain insulator type shaft tower's normal work.
Further, the automatic inspection method of the invention further comprises the following steps:
and step S30, returning the inspection result to realize automatic inspection.
After the terminal equipment acquires the inspection collected by the edge computing terminal carried by the unmanned aerial vehicle and the task load, the inspection result is transmitted to the remote server through the field control terminal, so that the remote server performs data management and analysis on the inspection result after receiving the inspection result.
It should be noted that, in this embodiment, when the terminal device performs image acquisition through the edge computing terminal and the task load carried by the unmanned aerial vehicle, the edge computing terminal sends the inspection result to the field control terminal in real time, and the field control terminal sends the inspection result to the remote server. Or, tower image data acquired through the edge computing terminal and the task load, namely, the inspection result, can be stored, after the unmanned aerial vehicle automatically lands, the inspection result stored in the edge computing terminal is read to the field control terminal, and then the inspection result is transmitted to the remote server through the field control terminal.
Specifically, for example, as the automatic operation schematic diagram of patrolling and examining that is shown in fig. 3, terminal equipment control unmanned aerial vehicle takes off from a point A, accomplish automatic the patrolling and examining after the task with the task load that unmanned aerial vehicle carried on and land to predetermined B point automatically, the administrator at the site control end of B point department will read the result of patrolling and examining that unmanned aerial vehicle gathered, and will read the result of patrolling and examining and send to remote server, and detect this unmanned aerial vehicle's performance parameter, in order to ensure that unmanned aerial vehicle can continue to carry out the automatic task of patrolling and examining of next time, wherein unmanned aerial vehicle's performance parameter includes: battery margin, storage space, flight path and other parameters. After the inspection result of the unmanned aerial vehicle is read and the performance parameters of the unmanned aerial vehicle are detected, the unmanned aerial vehicle is operated to take off through the field control end at the point B, so that the unmanned aerial vehicle executes the next automatic inspection task. This kind sets up unmanned aerial vehicle in advance and flies from A point and carry out first automatic task of patrolling and examining, and the automatic task of patrolling and examining is accomplished the back and is descended at B point, flies from B point again and carries out the automatic mode of patrolling and examining of the automatic task of patrolling and examining of second and can greatly promote and patrol and examine efficiency.
It should be noted that, in this embodiment, the landing point of the unmanned aerial vehicle after the unmanned aerial vehicle has performed the automatic inspection task each time is preset before the unmanned aerial vehicle takes off, that is, the unmanned aerial vehicle will automatically land to the preset landing point after the unmanned aerial vehicle has performed the automatic inspection task. And no matter there is the administrator who is responsible for the on-the-spot control end at A point or B point to real time monitoring unmanned aerial vehicle's automation is patrolled and examined, has guaranteed the quality with regard to patrolling and examining the result.
In this embodiment, the terminal device receives the automatic inspection task sent by the remote server, analyzes the automatic inspection task, and further obtains a plurality of tower coordinates based on the automatic inspection task, so as to determine the inspection range of the unmanned aerial vehicle based on the tower coordinates. After the terminal equipment acquires a plurality of tower coordinates based on the automatic inspection task for a plurality of preset towers sent by the remote server, the terminal equipment acquires each tower corresponding to the plurality of tower coordinates according to the tower coordinates, judges the type of each tower and performs the automatic inspection task through the unmanned aerial vehicle based on the type of each tower. The terminal equipment acquires each tower corresponding to the plurality of tower coordinates according to the tower coordinates, and acquires a preset inspection route according to the tower type of each tower after judging the tower type of each tower, so as to execute an automatic inspection task based on the inspection route. The method comprises the steps that a plurality of preset tower coordinates are obtained by the terminal equipment, and after the tower coordinates are obtained, a patrol range is obtained based on the tower coordinates so as to patrol in the patrol range. Terminal equipment is at the scope of patrolling and examining of presetting unmanned aerial vehicle to start unmanned aerial vehicle through the on-the-spot control end, in order to patrol and examine the back at this automation of patrolling and examining the within range through unmanned aerial vehicle, terminal equipment will acquire the target of patrolling and examining through the task load that unmanned aerial vehicle carried on, and carry out analysis and collection to the target of patrolling and examining that the task load obtained through the edge computing equipment that unmanned aerial vehicle carried on, and obtain the result of patrolling and examining. After the terminal equipment acquires the inspection collected by the edge computing terminal carried by the unmanned aerial vehicle and the task load, the inspection result is transmitted to the remote server through the field control terminal, so that the remote server performs data management and analysis on the inspection result after receiving the inspection result.
According to the invention, the inspection efficiency of the tower is improved in an automatic inspection mode, so that a high-quality inspection result is obtained based on efficient automatic inspection, and the normal work of the power transmission line is further ensured.
Further, based on the above first embodiment of the automatic inspection method of the present invention, a second embodiment of the automatic inspection method of the present invention is provided.
The main difference between this embodiment and the first embodiment is that, in the step S20, the "determining the inspection target in the inspection range according to the preset inspection route, and performing image acquisition on the inspection target to obtain the inspection result" may include:
step S201, performing visual positioning on the tower in the inspection range to determine the inspection target;
the terminal equipment confirms the inspection range of the unmanned aerial vehicle through the position coordinates of the tower foundations of a plurality of towers, confirms the inspection route of the unmanned aerial vehicle based on the type of the tower, automatically inspects the inspection range through the inspection route, and performs visual positioning on the towers to obtain an inspection target.
It should be noted that, in this embodiment, the terminal device needs to obtain the inspection target through the visual positioning technology based on the edge computing terminal carried by the unmanned aerial vehicle, so as to perform image acquisition on the inspection target.
Specifically, for example, the terminal device controls the task load carried by the unmanned aerial vehicle to shoot through the edge computing terminal carried by the unmanned aerial vehicle to perform visual positioning on the tower, and for example, the terminal device controls the task load through the edge computing terminal to perform visual positioning on the insulator of the tower a so as to acquire the insulator of the tower a through the task load. Before image acquisition is carried out on the insulator by the terminal equipment, the task load needs to be controlled by the edge computing terminal to be further processed on the insulator, so that the definition, the size, the position and the like of the insulator obtained by the task load, namely the camera are accurate, and the quality of the inspection result is ensured.
Further, in the step S201, the "determining the inspection target by performing visual positioning on the tower within the inspection range" may include:
and step S2011, performing visual positioning in the inspection range by taking the pole tower as a reference based on a preset GPS signal and/or a preset Beidou signal to determine the inspection target, wherein the inspection target comprises an insulator, a ground wire hanging point, a fitting and a channel.
Terminal equipment is patrolling and examining the airline and when patrolling and examining the automatic task of patrolling and examining of within range execution, need receive predetermined GPS signal or predetermined big dipper signal to based on this GPS signal or big dipper signal, patrol and examine through the mode of visual positioning, the content of patrolling and examining can include: insulators of towers, ground wire hanging points of towers, hardware fittings on towers, a transmission channel between two towers and the like.
It should be noted that, in this embodiment, when the terminal device performs routing inspection in the routing inspection range according to the routing inspection route by the unmanned aerial vehicle, Real Time Kinematic (RTK) Real-Time measurement in the field is not needed, and Real-Time detection can be performed on an insulator of a tower, a ground wire hanging point of the tower, a hardware on the tower, a power transmission channel between two towers and the like only based on a GPS signal or a beidou signal, so as to perform an automatic routing inspection task.
Further, in the step S20, the determining an inspection target in the inspection range according to a preset inspection route, and acquiring an image of the inspection target to obtain an inspection result may further include:
and S202, shooting the inspection target, amplifying and focusing the inspection target, and acquiring an image of the amplified and focused inspection target to obtain an inspection result.
After the terminal device shoots the inspection targets for the towers by controlling the task load through the edge computing terminal carried by the unmanned aerial vehicle, the terminal device needs to amplify and focus the inspection targets, and acquires images of the inspection targets after amplification and focusing, and obtains inspection results.
It should be noted that, in this embodiment, after the terminal device obtains the inspection targets for the multiple towers through the task load controlled by the edge computing terminal carried by the unmanned aerial vehicle, in order to ensure the quality of the inspection results, the task load controlled by the edge computing terminal needs to amplify and focus the obtained inspection targets, so as to obtain high-quality inspection results.
Specifically, for example, after the terminal device obtains a power transmission channel between two towers through an edge computing terminal control task load carried by an unmanned aerial vehicle, image acquisition is performed on the power transmission channel in a segmented manner, for example, the 4.0-meter-long power transmission channel is divided into 4 segments for image acquisition, and each 1/4 segments of the acquired power transmission channel are focused and amplified, so that a manager can judge whether the power transmission channel is damaged, and parameters such as the flight height of the unmanned aerial vehicle and the shooting angle of the task load are changed at the same time, so that all-around inspection is achieved for the power transmission channel.
Further, the automatic inspection method of the invention further comprises the following steps:
and step S70, correcting the direction of the automatic inspection according to the inspection route in the inspection range so as to realize the automatic inspection.
When the terminal equipment executes the automatic inspection task through the unmanned aerial vehicle within the inspection range according to the inspection route, the deviation correction operation is required to be carried out constantly in the process of executing the task by the unmanned aerial vehicle, so that the automatic inspection direction is corrected according to the deviation correction operation, and the quality of an inspection target is further ensured to be obtained by controlling the task load through the edge computing terminal.
It should be noted that, in this embodiment, the terminal device may be affected by environmental factors when executing an automatic inspection task through an unmanned aerial vehicle equipped with an edge computing terminal and a task load, and especially under the condition of an excessive wind speed, the quality of an inspection result cannot be ensured.
Specifically, for example, when carrying out the automatic task of patrolling and examining according to the route of patrolling and examining through unmanned aerial vehicle, probably because wind-force influence leads to unmanned aerial vehicle's the route of patrolling and examining to appear the deviation, leads to can't carrying out accurate image acquisition to the target of patrolling and examining, the condition of patrolling and examining the target appears unable discernment even, consequently need carry out the operation of rectifying a deviation to unmanned aerial vehicle continuously in the task that unmanned aerial vehicle carried out automatic patrolling and examining, make the edge computing terminal that unmanned aerial vehicle carried on obtain clear and accurate shaft tower picture through control task load.
In this embodiment, the terminal device confirms the inspection range of the unmanned aerial vehicle through the position coordinates of the tower bases of the towers, confirms the inspection route of the unmanned aerial vehicle based on the type of the tower, automatically inspects the inspection range through the inspection route, and performs visual positioning on the towers to obtain the inspection target. After the terminal device controls the task load through the edge computing terminal carried by the unmanned aerial vehicle to obtain the inspection targets for the towers, the terminal device needs to amplify and focus the inspection targets, and acquires images of the inspection targets after amplification and focusing, and obtains inspection results. When the terminal equipment executes the automatic inspection task through the unmanned aerial vehicle within the inspection range according to the inspection route, the deviation correction operation is required to be performed constantly in the process of executing the task by the unmanned aerial vehicle, so that the automatic inspection direction is corrected according to the deviation correction operation, and the quality of an inspection target is further ensured to be obtained by controlling the task load through the edge computing terminal.
In addition, an embodiment of the invention further provides an automatic inspection system, and referring to fig. 3, fig. 3 is a schematic diagram of functional modules of an embodiment of the automatic inspection system of the invention. As shown in fig. 3, the automatic inspection system of the present invention includes:
the system comprises an acquisition module, a monitoring module and a monitoring module, wherein the acquisition module is used for acquiring a plurality of preset tower coordinates and obtaining a preset inspection range based on the plurality of tower coordinates;
the image acquisition module is used for determining an inspection target in the inspection range and acquiring an inspection result by aiming at the inspection target;
and the transmission module is used for transmitting the inspection result back to realize automatic inspection.
Further, the automatic inspection system of the invention further comprises:
the receiving module is used for receiving automatic inspection tasks aiming at a plurality of preset towers so as to obtain a plurality of tower coordinates based on the automatic inspection tasks.
Further, the automatic inspection system of the invention further comprises:
the judging module is used for acquiring towers corresponding to the coordinates of the towers and judging the type of the tower of each tower to obtain a judging result;
and the second acquisition module is used for acquiring a preset inspection route based on the judgment result.
Further, the judgment result includes: linear type shaft tower and strain insulator type shaft tower, the module is acquireed to the second includes:
the first setting unit is used for setting the inspection route as a linear tower route if the tower is a linear tower;
and the second setting unit is used for setting the inspection route as a strain tower route if the tower is a strain tower.
Further, the image acquisition module comprises:
the visual positioning unit is used for carrying out visual positioning on the tower in the inspection range to determine the inspection target;
and the image acquisition unit is used for shooting the inspection target, amplifying and focusing the inspection target, and acquiring an image of the amplified and focused inspection target to obtain an inspection result.
Further, the visual positioning unit comprises:
and the acquisition subunit is used for carrying out visual positioning to determine the inspection target based on a preset GPS signal or a preset Beidou signal in the inspection range by taking the tower as a reference, wherein the inspection target comprises an insulator, a ground wire hanging point, a fitting and a channel.
Further, the automatic inspection system of the invention further comprises:
and the deviation correcting module is used for correcting the deviation according to the direction of the routing inspection line in the routing inspection range aiming at automatic routing inspection so as to realize automatic routing inspection.
The specific implementation of each functional module of the automatic inspection system of the invention is basically the same as that of each embodiment of the automatic inspection method, and is not described herein again.
In addition, an embodiment of the present invention further provides a computer-readable storage medium, where an automatic inspection program is stored on the computer-readable storage medium, and the automatic inspection program, when executed by a processor, implements the steps of the automatic inspection method described above.
The embodiments of the data extraction system and the computer-readable storage medium of the present invention can refer to the embodiments of the automatic inspection method of the present invention, and are not described herein again.
Furthermore, an embodiment of the present invention also provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps of the automatic inspection method according to any one of the above embodiments of the automatic inspection method.
The specific embodiment of the computer program product of the present invention is basically the same as the embodiments of the automatic inspection method, and is not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention or portions thereof contributing to the prior art may be embodied in the form of a software product, which is stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (e.g. a drone, etc.) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. An automatic inspection method is characterized by comprising the following steps:
obtaining a plurality of preset tower coordinates, and obtaining a preset inspection range based on the plurality of tower coordinates;
determining an inspection target in the inspection range according to a preset inspection route, and acquiring an image of the inspection target to obtain an inspection result;
and returning the inspection result to realize automatic inspection.
2. The automatic inspection method according to claim 1, wherein prior to the step of obtaining a plurality of predetermined tower coordinates and obtaining a predetermined inspection range based on the plurality of tower coordinates, the method further includes:
and receiving an automatic inspection task aiming at a preset tower, so as to obtain the coordinates of the tower corresponding to the tower based on the automatic inspection task.
3. The automatic inspection method according to claim 1 or 2, wherein before the step of determining the inspection target within the inspection range according to the preset inspection route, further comprising:
acquiring a tower corresponding to the tower coordinate, and judging the tower type of the tower to obtain a judgment result;
and acquiring the inspection route based on the judgment result.
4. The automatic inspection method according to claim 3, wherein the determination result includes: the linear type shaft tower and strain insulator type shaft tower, based on the judged result obtains the step of patrolling and examining the airline includes:
if the tower is a linear tower, setting the inspection route as a linear tower route;
and if the tower is a tension-resistant tower, setting the inspection route as a tension-resistant tower route.
5. The automatic inspection method according to claim 1, wherein the step of determining an inspection target within the inspection range according to a preset inspection route and acquiring an inspection result by aiming at the inspection target includes:
performing visual positioning on the tower within the inspection range to determine the inspection target;
and shooting the inspection target, amplifying and focusing the inspection target, and acquiring an image of the amplified and focused inspection target to obtain an inspection result.
6. The automatic inspection method according to claim 5, wherein the step of visually locating the inspection target for the tower within the inspection range includes:
and performing visual positioning to determine the inspection target by taking the pole tower as a reference in the inspection range based on a preset GPS signal or a preset Beidou signal, wherein the inspection target comprises an insulator, a ground wire hanging point, a hardware fitting and a channel.
7. The automatic inspection method according to claim 1 or 2, further comprising:
and correcting the deviation according to the direction of the automatic inspection by the inspection route in the inspection range so as to realize automatic inspection.
8. The utility model provides an automatic system of patrolling and examining which characterized in that, automatic system of patrolling and examining includes:
the system comprises an acquisition module, a monitoring module and a monitoring module, wherein the acquisition module is used for acquiring a plurality of preset tower coordinates and obtaining a preset inspection range based on the plurality of tower coordinates;
the image acquisition module is used for determining an inspection target in the inspection range according to a preset inspection route and acquiring an inspection result by aiming at the inspection target;
and the transmission module is used for transmitting the inspection result back to realize automatic inspection.
9. A terminal device, characterized in that the terminal device comprises a memory, a processor and an automatic inspection program stored on the memory and executable on the processor, the automatic inspection program, when executed by the processor, implementing the steps of the automatic inspection method according to any one of claims 1 to 7.
10. A computer-readable storage medium, having an automatic inspection program stored thereon, which when executed by a processor, performs the steps of the automatic inspection method according to any one of claims 1 to 7.
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