CN114387700B - Simulation inspection method, device, medium and equipment for power equipment - Google Patents
Simulation inspection method, device, medium and equipment for power equipment Download PDFInfo
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- CN114387700B CN114387700B CN202210089253.5A CN202210089253A CN114387700B CN 114387700 B CN114387700 B CN 114387700B CN 202210089253 A CN202210089253 A CN 202210089253A CN 114387700 B CN114387700 B CN 114387700B
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- 238000007689 inspection Methods 0.000 title claims abstract description 301
- 238000000034 method Methods 0.000 title claims abstract description 34
- 238000004088 simulation Methods 0.000 title abstract description 25
- 238000004590 computer program Methods 0.000 claims description 13
- 238000001514 detection method Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
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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
- G05D1/0251—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 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
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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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
Abstract
The invention discloses a simulation inspection method of power equipment, which comprises the following steps: establishing a corresponding relation between the power equipment and a patrol point, wherein the patrol point is a preset position of the power equipment, which is shot by a camera; acquiring equipment to be inspected in the power equipment, and initializing an equipment inspection route; generating an optimal stop point of the equipment to be inspected according to the projection of the inspection point corresponding to the equipment to be inspected on the equipment inspection route; and according to the equipment inspection route and the optimal stop point, inspecting the equipment to be inspected according to a preset inspection mode. The invention realizes the simulation inspection of the power equipment, and an inspector can perform the simulation inspection of the power equipment without going to the equipment site, thereby effectively solving the problems of low automation degree, low inspection efficiency and high cost in the inspection of the power equipment in the prior art.
Description
Technical Field
The present invention relates to the field of information technologies, and in particular, to a method, an apparatus, a medium, and a device for simulating and inspecting electric power equipment.
Background
The power company is responsible for the power supply of the whole area, and whether the power equipment can normally operate is important for the power supply. The transformer substation area is big, and equipment is numerous, and prior art mainly adopts artifical mode of patrolling and examining when patrolling and examining power equipment, through the form that holds the class of patrolling and examining to manual mode carries out manual the patrolling and examining of equipment, needs the personnel of patrolling and examining to the place of placing equipment in person and go to the condition of looking over equipment. If the equipment to be inspected is more and places are different, the inspection efficiency is low, the inspection times are limited, and the cost is high.
Therefore, the inspection mode of the power equipment in the prior art has the problems of low automation degree, low inspection efficiency and high cost.
Disclosure of Invention
The embodiment of the invention provides a simulation inspection method, a simulation inspection device, a simulation inspection medium and simulation inspection equipment for power equipment, which are used for solving the problems of low automation degree, low inspection efficiency and high cost in the inspection mode of the power equipment in the prior art.
A simulated inspection method of an electrical device, the method comprising:
establishing a corresponding relation between the power equipment and a patrol point, wherein the patrol point is a preset position of the power equipment, which is shot by a camera;
acquiring equipment to be inspected in the power equipment, and initializing an equipment inspection route;
generating an optimal stop point of the equipment to be inspected according to the projection of the inspection point corresponding to the equipment to be inspected on the equipment inspection route;
and according to the equipment inspection route and the optimal stop point, inspecting the equipment to be inspected according to a preset inspection mode.
Optionally, the acquiring the equipment to be inspected in the power equipment, and initializing the equipment inspection route includes:
acquiring equipment to be inspected in the power equipment and a corresponding road sign;
traversing the equipment to be inspected, connecting two road signs on the equipment to be inspected, and generating a corresponding route section;
and connecting the route sections by taking the principle that the covered equipment to be inspected is the largest and the length is the shortest, so as to generate an equipment inspection route.
Optionally, generating the optimal stop point of the equipment to be inspected according to the projection of the inspection point corresponding to the equipment to be inspected on the equipment inspection route includes:
traversing each equipment to be inspected, and determining at least one route section adjacent to the equipment inspection route;
obtaining an optimal projection route segment corresponding to equipment to be inspected according to projection of an inspection point corresponding to the equipment to be inspected on each route segment;
selecting a projection point of a patrol point corresponding to the minimum value of the projection distance on the optimal projection route segment as an optimal stop point, wherein the optimal stop point is a stop point of a camera on the equipment to be patrol;
and obtaining the optimal stop points corresponding to all the equipment to be inspected, and combining the optimal stop points according to the equipment inspection route.
Optionally, the obtaining, according to the projection of the inspection point corresponding to the equipment to be inspected on each route segment, the optimal projection route segment corresponding to the equipment to be inspected includes:
traversing each equipment to be inspected to obtain projection points of inspection points corresponding to the equipment to be inspected on each route segment;
calculating the projection distance between the inspection point and the projection point on the route segment, and obtaining the route segment corresponding to the minimum value of the projection distance as the optimal route segment corresponding to the inspection point;
and counting the times of taking each route section as an optimal route section, and selecting the route section with the largest times as the optimal projection route section corresponding to the equipment to be inspected.
Optionally, before obtaining the projection point of the inspection point corresponding to the equipment to be inspected on each route segment, the method further includes:
judging whether projection points of inspection points corresponding to the equipment to be inspected fall on the route segment or not;
and if the vector directions of the starting point and the projection point of the route segment are different from those of the starting point and the end point, or the vector directions of the starting point and the projection point of the route segment are the same as those of the starting point and the end point, and the absolute value of the distance from the projection point to the starting point is larger than that of the distance from the starting point and the end point of the route segment, the projection point of the inspection point is not considered to fall on the route segment.
Optionally, the inspection mode includes a three-dimensional traction mode and a fixed viewing angle mode.
Optionally, when the inspection mode is a three-dimensional traction mode, the inspecting the equipment to be inspected according to the equipment inspection route and the optimal stop point and the preset inspection mode includes:
starting the camera and turning the camera to equipment to be inspected according to an equipment inspection route;
positioning the optimal stop point of the current equipment to be inspected;
starting inspection on an inspection point of the current equipment to be inspected on the optimal stop point, and acquiring inspection information of the inspection point;
judging whether the inspection point on the current equipment to be inspected is inspected completely, and if not, continuing inspecting the next inspection point; if yes, turning the camera to the next equipment to be inspected according to the equipment inspection route.
A simulated inspection device for electrical equipment, the device comprising:
the system comprises a building module, a detection module and a control module, wherein the building module is used for building a corresponding relation between the power equipment and a patrol point, and the patrol point is a preset position of the power equipment, which is shot by a camera;
the route initialization module is used for acquiring equipment to be inspected in the power equipment and initializing an equipment inspection route;
the parking point generation module is used for generating an optimal parking point of the equipment to be inspected according to the projection of the inspection point corresponding to the equipment to be inspected on the equipment inspection route;
and the inspection module is used for inspecting the equipment to be inspected according to a preset inspection mode according to the equipment inspection route and the optimal stop point.
A computer readable storage medium storing a computer program which when executed by a processor implements a simulated inspection method of an electrical device as described above.
A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing a simulated inspection method of a power device as described above when the computer program is executed.
According to the embodiment of the invention, the corresponding relation between the power equipment and the inspection point is established, wherein the inspection point is a preset position of the power equipment shot by the camera; acquiring equipment to be inspected in the power equipment, and initializing an equipment inspection route; generating an optimal stop point of the equipment to be inspected according to the projection of the inspection point corresponding to the equipment to be inspected on the equipment inspection route; according to the equipment inspection route and the optimal stop point, inspecting the equipment to be inspected according to a preset inspection mode; therefore, simulation inspection of the power equipment is realized, inspection personnel can perform simulation inspection of the power equipment without going to the equipment site, and the problems of low automation degree, low inspection efficiency and high cost in the inspection of the power equipment in the prior art are effectively solved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments of the present invention will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a simulated inspection method for an electrical device according to an embodiment of the present invention;
fig. 2 is a flowchart of implementation of step S102 in a method for simulating and inspecting power equipment according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an apparatus and a route to be inspected according to an embodiment of the present invention;
fig. 4 is a flowchart illustrating implementation of step S103 in a method for simulating and inspecting power equipment according to an embodiment of the present invention;
fig. 5 is a flowchart illustrating implementation of step S1032 in a method for simulating and inspecting an electric power device according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a simulated inspection device for power equipment according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a computer device in accordance with an embodiment of the invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
According to the simulation inspection method of the power equipment, based on the inspection function of the three-dimensional video intelligent inspection platform, the inspection route of the equipment to be inspected and the optimal stop point simulation inspection personnel stand in front of the equipment are intelligently generated, and the inspection personnel can see the appearance condition of the equipment to be inspected and the instrument reading of the equipment to be inspected without walking on site according to the inspection points of the equipment to be inspected, so that the simulation inspection of the power equipment is realized, the automation degree of the inspection is improved, the inspection efficiency of the inspection personnel is effectively improved, and the personnel cost caused by the inspection is reduced.
The three-dimensional video intelligent inspection platform is written through the unit 3d and is used as a client for realizing an inspection function on the client.
The simulation inspection method of the power equipment provided by the embodiment is described in detail below.
As shown in fig. 1, the simulation inspection method of the power equipment comprises the following steps:
in step S101, a correspondence between the power device and a patrol point is established, where the patrol point is a preset position of the camera for shooting the power device.
Before simulated inspection, the embodiment of the invention marks the tag point positions representing the inspection points on the equipment to be inspected in advance. Here, each device to be inspected corresponds to at least one inspection point, and the device to be inspected and the at least one inspection point corresponding to the device to be inspected are bound. It should be understood that the inspection point is a preset position of the equipment, which is set by a camera in the background of the power system, and is used as an observation view angle of a certain part or a part of the power equipment.
In step S102, a device to be inspected in the power device is acquired, and a device inspection route is initialized.
When the simulated inspection is performed, the embodiment of the invention acquires an inspection task, determines equipment to be inspected in the power equipment, and initializes the equipment inspection route according to the equipment to be inspected. Alternatively, as a preferred example of the present invention, as shown in fig. 2, step S102 further includes:
in step S1021, the equipment to be inspected and the corresponding road signs in the power equipment are obtained.
Here, the embodiment of the present invention sets two corresponding road signs for each power device in advance, where the road signs are used to construct a route of the power device.
In step S1022, the equipment to be inspected is traversed, two road signs on the equipment to be inspected are connected, and a corresponding route segment is generated.
In route initialization, two road signs of the equipment to be inspected are connected to form a route section. The two road signs are respectively used as the starting point and the end point of the road segment.
In step S1023, the route segments are connected to generate an equipment inspection route on the basis of the principle that the equipment to be inspected is the most covered and the length is the shortest.
And then connecting corresponding route sections of the equipment to be inspected, wherein the connecting principle is used for generating an equipment inspection route by taking the maximum to-be-inspected equipment which can be covered and the shortest total length of the finally generated route as the standard. Here, the device inspection route serves as a guide for camera movement. After the equipment to be inspected is inspected every time, the camera can acquire the next equipment to be inspected through the equipment inspection route and move to the equipment to be inspected.
For easy understanding, fig. 3 is a schematic diagram of equipment to be patrolled and examined and a route according to an embodiment of the present invention. In fig. 3, the road signs of the equipment to be inspected a are H1 and H2, the road signs of the equipment to be inspected B are H2 and H3, the road signs of the equipment to be inspected C are H3 and H4, the road signs of the equipment to be inspected D are H4 and H5, the road segments R obtained by connecting H1 and H2 are used as the route segments of the equipment to be inspected a, the route segments S obtained by connecting H2 and H3 are used as the route segments of the equipment to be inspected B, the route segments T obtained by connecting H3 and H4 are used as the route segments of the equipment to be inspected C, the route segments U obtained by connecting H4 and H5 are used as the route segments of the equipment to be inspected D, and the end points of each route segment are connected with the end points of the adjacent nearest route segments on the basis of the maximum covered equipment to be inspected and the shortest length, i.e. the route segments R, the route segments S, the route segments T and the route segments U are connected together, so as to obtain the equipment inspection route.
In step S103, according to the projection of the inspection point corresponding to the equipment to be inspected on the equipment inspection route, generating an optimal stop point of the equipment to be inspected.
For equipment to be inspected, the more inspection points are created, the higher the accuracy of simulated inspection is. Because each equipment to be inspected corresponds to at least one inspection point, the inspection points are marked on the equipment model to be inspected, and under the condition that only the coordinates of the inspection points are known, if a person to be simulated stands in front of the equipment to be inspected, the inspection points are directly used as stop points, and the effect of penetrating through the equipment model to be inspected is necessarily achieved. In view of this, the embodiment of the invention further selects the optimal stop point from at least one inspection point created by the equipment to be inspected, so as to truly simulate that the inspection personnel stand in front of the equipment to be inspected. Alternatively, as a preferred example of the present invention, as shown in fig. 4, step S103 further includes:
in step S1031, each device to be surveyed is traversed and at least one route segment thereof adjacent on the device' S route to be surveyed is determined.
Here, since the route segments are connected on the principle that the covered equipment to be inspected is at most, the equipment to be inspected may be adjacent to at least one route segment, and the adjacent route segments may be self-corresponding route segments or route segments corresponding to other equipment to be inspected. For ease of understanding, taking over the previous example, as shown in fig. 3, the route section adjacent to the equipment to be patrolled a includes a route section R, a route section S.
In step S1032, according to the projection of the inspection point corresponding to the equipment to be inspected on each route segment, the best projection route segment corresponding to the equipment to be inspected is obtained.
The embodiment of the invention traverses each route segment to obtain the projection of the inspection point corresponding to the equipment to be inspected to the route segment. And then determining the optimal projection route segment corresponding to the equipment to be patrolled and examined according to the projection result. The camera has the best view angle on the best projection route segment, namely, a certain inspection point of the equipment to be inspected is projected to a projection point on the best projection route segment. Optionally, the embodiment of the invention selects the optimal projection route segment corresponding to the equipment to be inspected according to the distance from the inspection point to the projection point. As shown in fig. 5, step S1032 further includes:
in step S501, each device to be inspected is traversed, and a projection point of an inspection point corresponding to the device to be inspected on each route segment is obtained.
If the equipment to be inspected is adjacent to only one route section, acquiring a projection point from each inspection point on the equipment to be inspected to the route section; and if the equipment to be inspected is adjacent to at least one route segment, acquiring projection points from each inspection point to each route segment, wherein each inspection point corresponds to at least one route segment projection point. Optionally, before obtaining the projection point of the inspection point corresponding to the equipment to be inspected on each route segment, the method further includes:
judging whether projection points of inspection points corresponding to the equipment to be inspected fall on the route segment or not;
and if the vector directions of the starting point and the projection point of the route segment are different from those of the starting point and the end point, or the vector directions of the starting point and the projection point of the route segment are the same as those of the starting point and the end point, and the absolute value of the distance from the projection point to the starting point is larger than that of the distance from the starting point and the end point of the route segment, the projection point of the inspection point is not considered to fall on the route segment.
Here, the projection point of one inspection point does not fall on the route segment, including two cases: the first case is that the direction of the projection point and the starting point is the same as the direction of the ending point and the starting point, but the distance between the projection point and the starting point is larger than the distance between the starting point and the ending point in the route section, and the projection point can be judged not to be on the route section; in the second case, the direction of the vector formed by the projection point and the start point is opposite to the direction of the vector formed by the end point and the start point, so that it can be judged that the projection point is not on the route section, and the other cases except the two cases can be judged that the projection point is on the route section.
For ease of understanding, taking the foregoing example, as shown in fig. 3, the route section adjacent to the equipment to be inspected a includes a route section R and a route section S, and the inspection point a, b, c, d, e on the route section R and the route section S can be projected onto the route section T and the route section U, because the projection points corresponding to the inspection points are in the negative directions of the route section T and the route section U. The projected points of the patrol point a, b, c, d, e to the route segment R and the route segment S are acquired, respectively.
In step S502, a projection distance between the inspection point and a projection point on the route segment is calculated, and a route segment corresponding to a minimum value of the projection distance is obtained as an optimal route segment corresponding to the inspection point.
For the sake of understanding, as shown in fig. 3, for the inspection point a, the projection point from the inspection point a to the route segment R is a1, the projection point from the inspection point a to the route segment S is a2, the distance S1 from the inspection point a to the projection point a1 is calculated, and the distance S2 from the inspection point a to the projection point a2 can obtain that the distance S1 is the minimum value, and then the route segment R corresponding to the projection point a1 is taken as the optimal route segment corresponding to the inspection point a. For other inspection points b, c, d, e, the optimal route section of the inspection point b is the route section R, the optimal route section of the inspection point c is the route section S, the optimal route section of the inspection point d is the route section R, and the optimal route section of the inspection point e is the route section R, which are sequentially obtained in the above manner.
In step S503, the number of times of each route segment as an optimal route segment is counted, and the route segment with the largest number of times is selected as the optimal projection route segment corresponding to the equipment to be patrolled and examined.
After the optimal route segment corresponding to each inspection point is obtained in step S502, the number of times that each route segment is used as the optimal route segment is counted. With the foregoing example, for the device to be inspected a, the distance between the inspection point a, d, b, e and the projection point on the route segment R is the smallest, and the distance between the inspection point c and the projection point on the route segment S is the smallest, so the number of times of taking the route segment R as the best route segment is 4, the number of times of taking the route segment S as the best route segment is 1, that is, the number of inspection points projected onto the route segment R is large, and the route segment R is taken as the best projection route segment corresponding to the device to be inspected a, and the best stop point of the device to be inspected a is the projection point of the route segment R.
In step S1033, a projection point of the inspection point corresponding to the minimum value of the projection distance on the optimal projection route segment is selected as an optimal stop point, where the optimal stop point is a stop point of the camera on the equipment to be inspected.
For the same equipment to be inspected, the inspection points of the equipment to be inspected generally tend to be concentrated. Taking the above example as the optimal route segment corresponding to the equipment to be inspected A, and taking the projection point corresponding to the inspection point a as the optimal stop point if the projection distance from the inspection point a to the projection point is the minimum on the route segment R, stopping on the projection point of the inspection point a when the camera moves to the equipment to be inspected A, and inspecting the equipment A by simulating the person stopping in front of the equipment to be inspected A.
In step S1034, the optimal stop points corresponding to all the equipment to be inspected are obtained, and the optimal stop points are combined according to the equipment inspection route.
Here, the embodiment of the present invention traverses each device to be inspected, and repeats the steps S1031 to S1033 to obtain the optimal stop point corresponding to each device to be inspected. Illustratively, taking the foregoing example, the optimal stop point of the device to be inspected a is a projection point of the inspection point a on the route section R, the optimal stop point of the device to be inspected B is a projection point of the inspection point B on the route section S, and the optimal stop point of the device to be inspected C is a projection point of the inspection point d on the route section T, and the projection point of the inspection point a of the device to be inspected a on the route section R, the projection point of the inspection point B of the device to be inspected B on the route section S, and the projection point of the inspection point d of the device to be inspected C on the route section T are combined, so as to obtain the inspection sequence and the route.
In step S104, according to the equipment inspection route and the optimal stop point, the equipment to be inspected is inspected according to a preset inspection mode.
After the inspection sequence and the route are obtained, the camera is guided to move and inspect according to the inspection sequence and the route. Optionally, the inspection mode includes a three-dimensional traction mode and a fixed viewing angle mode. The three-dimensional traction mode carries out task inspection by simulating a walking route and the visual angle of a person, and states of inspection points are distinguished, including inspected, to-be-inspected and being inspected.
Optionally, as a preferred example of the present invention, when the inspection mode is a three-dimensional traction mode, the inspecting the equipment to be inspected according to the equipment inspection route and the optimal stop point in step S104 in a preset inspection mode includes:
in step S1041, the camera is started and turned to the equipment to be inspected according to the equipment inspection route.
In step S1042, the optimal stop point of the device currently to be patrolled is located.
In step S1043, the inspection is started on the optimal stop point for the inspection point of the current equipment to be inspected, and the inspection information of the inspection point is obtained.
In step S1044, it is determined whether the inspection of the inspection point on the current device to be inspected is completed, if not, continuing to inspect the next inspection point; if yes, turning the camera to the next equipment to be inspected according to the equipment inspection route.
Under the three-dimensional traction mode, each round of inspection, the camera can move to an optimal stop point and turn to the corresponding binding equipment to be inspected, so that the effect of simulating the human inspection equipment is achieved. And then starting to patrol all patrol points of the patrol task of the single device, wherein the patrol points bind 3D visual angles and video preset positions, and the 3D visual angles and the preset positions of the corresponding cameras are positioned at first during patrol so as to achieve the effect of 3D live-action synchronization. After the video is played, the inspector can determine meter readings and equipment conditions based on the video. If the work order is normal, clicking the work order normally, and if the work order is abnormal, performing problem feedback and dispatching the work order. And no matter normal or abnormal, the camera can capture pictures of the equipment to be inspected as inspection results. If the inspection personnel clicks normally, the next inspection point is inspected, when all the inspection points of the equipment to be inspected are inspected, the camera can advance to the next optimal stop point to inspect the next equipment to be inspected until the inspection of all the equipment to be inspected is completed, and the whole inspection flow is completed.
In summary, according to the embodiment of the invention, the corresponding relation between the power equipment and the inspection point is established, and the inspection point is a preset position of the camera to the power equipment; acquiring equipment to be inspected in the power equipment, and initializing an equipment inspection route; generating an optimal stop point of the equipment to be inspected according to the projection of the inspection point corresponding to the equipment to be inspected on the equipment inspection route; according to the equipment inspection route and the optimal stop point, inspecting the equipment to be inspected according to a preset inspection mode; therefore, simulation inspection of the power equipment is realized, inspection personnel can perform simulation inspection of the power equipment without going to the equipment site, and the problems of low automation degree, low inspection efficiency and high cost in the inspection of the power equipment in the prior art are effectively solved.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present invention.
In an embodiment, the invention further provides a simulation inspection device of the power equipment, and the simulation inspection device of the power equipment corresponds to the simulation inspection method of the power equipment in a one-to-one mode. As shown in fig. 6, the simulation inspection device of the power equipment comprises a building module 61, a route initialization module 62, a stop point generation module 63 and an inspection module 64. The functional modules are described in detail as follows:
the establishing module 61 is configured to establish a correspondence between the power device and a patrol point, where the patrol point is a preset position of the camera for shooting the power device;
the route initialization module 62 is configured to acquire equipment to be inspected in the power equipment, and initialize an equipment inspection route;
a stop point generating module 63, configured to generate an optimal stop point of the equipment to be inspected according to a projection of an inspection point corresponding to the equipment to be inspected on the equipment inspection route;
and the inspection module 64 is used for inspecting the equipment to be inspected according to a preset inspection mode according to the equipment inspection route and the optimal stop point.
Optionally, the route initialization module 62 includes:
the road sign acquisition unit is used for acquiring equipment to be inspected in the power equipment and corresponding road signs;
the route section generating unit is used for traversing the equipment to be inspected, connecting two road signs on the equipment to be inspected and generating a corresponding route section;
and the route generation unit is used for connecting the route sections to generate an equipment inspection route on the basis of the principle that the covered equipment to be inspected is the largest and the length is the shortest.
Optionally, the dock generating module 63 includes:
the route segment determining unit is used for traversing each equipment to be inspected and determining at least one route segment adjacent to the equipment inspection route;
the optimal projection route segment acquisition unit is used for acquiring the optimal projection route segment corresponding to the equipment to be inspected according to the projection of the inspection point corresponding to the equipment to be inspected on each route segment;
the optimal stop point acquisition unit is used for selecting a projection point of the inspection point corresponding to the minimum value of the projection distance on the optimal projection route segment as an optimal stop point, wherein the optimal stop point is a stop point of the camera on the equipment to be inspected;
the combination unit is used for acquiring the optimal stop points corresponding to all the equipment to be inspected, and combining the optimal stop points according to the equipment inspection route.
Optionally, the optimal projected route segment obtaining unit is configured to:
traversing each equipment to be inspected to obtain projection points of inspection points corresponding to the equipment to be inspected on each route segment;
calculating the projection distance between the inspection point and the projection point on the route segment, and obtaining the route segment corresponding to the minimum value of the projection distance as the optimal route segment corresponding to the inspection point;
and counting the times of taking each route section as an optimal route section, and selecting the route section with the largest times as the optimal projection route section corresponding to the equipment to be inspected.
Optionally, before acquiring the projection point of the inspection point corresponding to the equipment to be inspected on each route segment, the optimal projection route segment acquiring unit is further configured to:
judging whether projection points of inspection points corresponding to the equipment to be inspected fall on the route segment or not;
and if the vector directions of the starting point and the projection point of the route segment are different from those of the starting point and the end point, or the vector directions of the starting point and the projection point of the route segment are the same as those of the starting point and the end point, and the absolute value of the distance from the projection point to the starting point is larger than that of the distance from the starting point and the end point of the route segment, the projection point of the inspection point is not considered to fall on the route segment.
Optionally, the inspection mode includes a three-dimensional traction mode and a fixed viewing angle mode.
Optionally, when the inspection mode is a three-dimensional traction mode, the inspection module 64 includes:
the steering unit is used for starting the camera and steering the camera to equipment to be inspected according to the equipment inspection route;
the positioning unit is used for positioning the optimal stop point of the current equipment to be inspected;
the inspection unit is used for starting inspection of an inspection point of the current equipment to be inspected on the optimal stop point and acquiring inspection information of the inspection point;
the judging unit is used for judging whether the inspection point on the current equipment to be inspected is inspected or not, and if not, continuing inspecting the next inspection point; if yes, turning the camera to the next equipment to be inspected according to the equipment inspection route.
The specific limitation of the simulation inspection device for the power equipment can be referred to the limitation of the simulation inspection method for the power equipment, and the description is omitted here. All or part of each module in the simulation inspection device of the power equipment can be realized by software, hardware and a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 7. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program, when executed by the processor, implements a simulated inspection method for the electrical equipment.
In one embodiment, a computer device is provided comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the steps of when executing the computer program:
establishing a corresponding relation between the power equipment and a patrol point, wherein the patrol point is a preset position of the power equipment, which is shot by a camera;
acquiring equipment to be inspected in the power equipment, and initializing an equipment inspection route;
generating an optimal stop point of the equipment to be inspected according to the projection of the inspection point corresponding to the equipment to be inspected on the equipment inspection route;
and according to the equipment inspection route and the optimal stop point, inspecting the equipment to be inspected according to a preset inspection mode.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions.
The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention.
Claims (8)
1. A simulated inspection method for electrical equipment, the method comprising:
establishing a corresponding relation between the power equipment and a patrol point, wherein the patrol point is a preset position of the power equipment, which is shot by a camera;
acquiring equipment to be inspected in the power equipment, initializing equipment inspection routes, wherein each equipment to be inspected corresponds to at least one inspection point, and binding the equipment to be inspected and at least one inspection point corresponding to the equipment to be inspected;
generating an optimal stop point of the equipment to be inspected according to the projection of the inspection point corresponding to the equipment to be inspected on the equipment inspection route;
according to the equipment inspection route and the optimal stop point, inspecting the equipment to be inspected according to a preset inspection mode;
the generating the optimal stop point of the equipment to be inspected according to the projection of the inspection point corresponding to the equipment to be inspected on the equipment inspection route comprises the following steps:
traversing each equipment to be inspected, and determining at least one route section adjacent to the equipment inspection route;
obtaining an optimal projection route segment corresponding to equipment to be inspected according to projection of an inspection point corresponding to the equipment to be inspected on each route segment;
selecting a projection point of a patrol point corresponding to the minimum value of the projection distance on the optimal projection route segment as an optimal stop point, wherein the optimal stop point is a stop point of a camera on the equipment to be patrol;
obtaining optimal stop points corresponding to all equipment to be inspected, and combining the optimal stop points according to an equipment inspection route;
the obtaining the optimal projection route section corresponding to the equipment to be inspected according to the projection of the inspection point corresponding to the equipment to be inspected on each route section comprises the following steps:
traversing each equipment to be inspected to obtain projection points of inspection points corresponding to the equipment to be inspected on each route segment;
calculating the projection distance between the inspection point and the projection point on the route segment, and obtaining the route segment corresponding to the minimum value of the projection distance as the optimal route segment corresponding to the inspection point;
and counting the times of taking each route section as an optimal route section, and selecting the route section with the largest times as the optimal projection route section corresponding to the equipment to be inspected.
2. The method for simulated inspection of electrical equipment according to claim 1, wherein the step of obtaining equipment to be inspected in the electrical equipment and initializing an equipment inspection route comprises:
acquiring equipment to be inspected in the power equipment and a corresponding road sign;
traversing the equipment to be inspected, connecting two road signs on the equipment to be inspected, and generating a corresponding route section;
and connecting the route sections by taking the principle that the covered equipment to be inspected is the largest and the length is the shortest, so as to generate an equipment inspection route.
3. The simulated inspection method of a power device of claim 1, wherein prior to obtaining the projected points of the inspection points corresponding to the device to be inspected on each of the route segments, the method further comprises:
judging whether projection points of inspection points corresponding to the equipment to be inspected fall on the route segment or not;
and if the vector directions of the starting point and the projection point of the route segment are different from those of the starting point and the end point, or the vector directions of the starting point and the projection point of the route segment are the same as those of the starting point and the end point, and the absolute value of the distance from the projection point to the starting point is larger than that of the distance from the starting point and the end point of the route segment, the projection point of the inspection point is not considered to fall on the route segment.
4. The simulated inspection method of electrical equipment as claimed in claim 1, wherein said inspection mode comprises a three-dimensional traction mode and a fixed viewing angle mode.
5. The simulated inspection method of the electrical equipment according to claim 4, wherein when the inspection mode is a three-dimensional traction mode, the inspecting the equipment to be inspected according to a preset inspection mode according to the equipment inspection route and an optimal stop point comprises:
starting the camera and turning the camera to equipment to be inspected according to an equipment inspection route;
positioning the optimal stop point of the current equipment to be inspected;
starting inspection on an inspection point of the current equipment to be inspected on the optimal stop point, and acquiring inspection information of the inspection point;
judging whether the inspection point on the current equipment to be inspected is inspected completely, and if not, continuing inspecting the next inspection point; if yes, turning the camera to the next equipment to be inspected according to the equipment inspection route.
6. A simulated inspection device for electrical equipment, the device comprising:
the system comprises a building module, a detection module and a control module, wherein the building module is used for building a corresponding relation between the power equipment and a patrol point, and the patrol point is a preset position of the power equipment, which is shot by a camera;
the route initialization module is used for acquiring equipment to be inspected in the power equipment, initializing equipment inspection routes, wherein each equipment to be inspected corresponds to at least one inspection point, and binding the equipment to be inspected and at least one inspection point corresponding to the equipment to be inspected;
the parking point generation module is used for generating an optimal parking point of the equipment to be inspected according to the projection of the inspection point corresponding to the equipment to be inspected on the equipment inspection route;
the inspection module is used for inspecting the equipment to be inspected according to a preset inspection mode according to the equipment inspection route and the optimal stop point;
wherein, according to the projection of the inspection point corresponding to the equipment to be inspected on the equipment inspection route, generating the optimal stop point of the equipment to be inspected comprises:
traversing each equipment to be inspected, and determining at least one route section adjacent to the equipment inspection route;
obtaining an optimal projection route segment corresponding to equipment to be inspected according to projection of an inspection point corresponding to the equipment to be inspected on each route segment;
selecting a projection point of a patrol point corresponding to the minimum value of the projection distance on the optimal projection route segment as an optimal stop point, wherein the optimal stop point is a stop point of a camera on the equipment to be patrol;
obtaining optimal stop points corresponding to all equipment to be inspected, and combining the optimal stop points according to an equipment inspection route;
the obtaining the optimal projection route section corresponding to the equipment to be inspected according to the projection of the inspection point corresponding to the equipment to be inspected on each route section comprises the following steps:
traversing each equipment to be inspected to obtain projection points of inspection points corresponding to the equipment to be inspected on each route segment;
calculating the projection distance between the inspection point and the projection point on the route segment, and obtaining the route segment corresponding to the minimum value of the projection distance as the optimal route segment corresponding to the inspection point;
and counting the times of taking each route section as an optimal route section, and selecting the route section with the largest times as the optimal projection route section corresponding to the equipment to be inspected.
7. A computer readable storage medium storing a computer program, wherein the computer program when executed by a processor implements the simulated inspection method of the electrical device of any one of claims 1 to 5.
8. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements a simulated inspection method of a power device according to any of claims 1 to 5 when the computer program is executed.
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