CN115297303B - Image data acquisition and processing method and device suitable for power grid power transmission and transformation equipment - Google Patents
Image data acquisition and processing method and device suitable for power grid power transmission and transformation equipment Download PDFInfo
- Publication number
- CN115297303B CN115297303B CN202211200266.1A CN202211200266A CN115297303B CN 115297303 B CN115297303 B CN 115297303B CN 202211200266 A CN202211200266 A CN 202211200266A CN 115297303 B CN115297303 B CN 115297303B
- Authority
- CN
- China
- Prior art keywords
- path
- information
- image acquisition
- power grid
- power transmission
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000009466 transformation Effects 0.000 title claims abstract description 176
- 230000005540 biological transmission Effects 0.000 title claims abstract description 174
- 238000003672 processing method Methods 0.000 title claims abstract description 13
- 238000003860 storage Methods 0.000 claims abstract description 11
- 230000002457 bidirectional effect Effects 0.000 claims description 41
- 238000011156 evaluation Methods 0.000 claims description 32
- 230000001174 ascending effect Effects 0.000 claims description 17
- 238000012163 sequencing technique Methods 0.000 claims description 15
- 238000000034 method Methods 0.000 claims description 14
- 238000004364 calculation method Methods 0.000 claims description 9
- 238000000605 extraction Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 5
- 238000007689 inspection Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000000844 transformation Methods 0.000 description 1
Images
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Signal Processing (AREA)
- General Health & Medical Sciences (AREA)
- Computer Networks & Wireless Communication (AREA)
- Medical Informatics (AREA)
- Health & Medical Sciences (AREA)
- Computing Systems (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Supply And Distribution Of Alternating Current (AREA)
Abstract
The invention discloses an image data acquisition and processing method and device suitable for power transmission and transformation equipment of a power grid, which comprises the following steps: planning a path according to the position point information to generate an image acquisition path, wherein each node in the image acquisition path corresponds to at least one power grid power transmission and transformation device; each type information is provided with an image acquisition strategy which is preset correspondingly, and the image acquisition strategy comprises an image acquisition type and/or an image acquisition mode; controlling the flight device to sequentially fly to each node according to the image acquisition path, determining a corresponding image acquisition device according to the image acquisition type, and determining the acquisition position of the flight device according to the image acquisition mode; and after judging that the flying device reaches the acquisition position, controlling the image acquisition device to acquire images to obtain at least one image acquisition information, adding a node tag and a time tag corresponding to the node to the image acquisition information, and uploading the image acquisition information to a server for storage.
Description
Technical Field
The invention relates to the technical field of data processing, in particular to an image data processing method and device suitable for power transmission and transformation equipment of a power grid.
Background
The inspection of the power transmission and transformation equipment in the power transmission and transformation line of the power grid is the core for ensuring the normal work of the power transmission and transformation line of the power grid, and the inspection of the power line is carried out through repeated inspection for many times, so that the problems are found in time, the hidden dangers are eliminated, and the guarantee is provided for the life and the production power utilization of people.
At present, along with the development of automation, the power grid power transmission and transformation line is patrolled and examined often and is adopted unmanned aerial vehicle to patrol and examine, and unmanned aerial vehicle patrols and examines the demand that the technique has catered to the electric wire netting to informationization and automation, uses unmanned aerial vehicle to patrol and examine, has become a trend.
However, unmanned aerial vehicle routing inspection in the prior art is often controlled by manual flight, the flight route is messy, the data acquisition efficiency is low, and meanwhile, the prior art cannot automatically make a corresponding image acquisition strategy by combining the characteristics of a power grid power transmission and transformation line.
Disclosure of Invention
The invention overcomes the defects of the prior art, provides an image data processing method and device suitable for power grid power transmission and transformation equipment, can formulate a corresponding image acquisition strategy by combining the attributes of a power grid power transmission and transformation line, plan a flight route and efficiently realize data acquisition.
In order to solve the technical problems, the technical scheme of the invention is as follows:
the embodiment of the invention provides an image data acquisition and processing method suitable for power grid power transmission and transformation equipment, which comprises the following steps:
the method comprises the steps of S1, obtaining position point information and type information of all power grid power transmission and transformation equipment of images to be collected, planning a path according to the position point information to generate an image collection path, wherein each node in the image collection path corresponds to at least one power grid power transmission and transformation equipment, and determining that the image collection path is a one-way type path or a two-way type path according to the position point information of the power grid power transmission and transformation equipment;
s2, determining an image acquisition strategy corresponding to each node according to type information corresponding to each node, wherein each type information has an image acquisition strategy which is preset correspondingly, and the image acquisition strategy comprises an image acquisition type and/or an image acquisition mode;
s3, controlling the flying device to sequentially reach each node according to the unidirectional type path or the bidirectional type path, determining a corresponding image acquisition device according to the image acquisition type, and determining the acquisition position of the flying device according to the image acquisition mode;
and S4, after judging that the flying device reaches the acquisition position, controlling the image acquisition device to acquire an image to obtain at least one image acquisition information, adding a node tag and a time tag corresponding to the node to the image acquisition information, and uploading the image acquisition information to a server for storage.
Further, the S1 includes:
acquiring first abscissa information and first ordinate information in position point information of each power grid power transmission and transformation device, and second abscissa information and second ordinate information of a regulation and control management center, wherein the regulation and control management center is used for placing a flight device;
calculating according to the first abscissa information, the first ordinate information, the second abscissa information and the second ordinate information to obtain an angle between a straight line formed by each power grid power transmission and transformation device and the regulation and control management center and the Y-axis negative direction;
if the angles between all the straight lines and the Y-axis negative direction are judged to be more than or equal to 0 degree and less than 180 degrees or more than or equal to 180 degrees and less than 360 degrees, generating a one-way type path;
and if the angles between all the straight lines and the Y-axis negative direction are judged to be greater than or equal to 0 degree and less than 180 degrees, and also greater than or equal to 180 degrees and less than 360 degrees, generating the bidirectional type path.
Further, the calculating according to the first abscissa information, the first ordinate information, the second abscissa information, and the second ordinate information to obtain an angle between a straight line formed by each of the power grid power transmission and transformation devices and the regulation and control management center and the negative direction of the Y axis includes:
if the first abscissa information is judged to be larger than or equal to the second abscissa information, judging that the angle between the straight line formed by the power grid power transmission and transformation equipment and the regulation and control management center and the Y-axis negative direction is larger than or equal to 0 degree and smaller than 180 degrees;
and if the first abscissa information is judged to be smaller than the second abscissa information, judging that the angle between the straight line formed by the power grid power transmission and transformation equipment and the regulation and control management center and the Y-axis negative direction is larger than or equal to 180 degrees and smaller than 360 degrees.
Further, if it is determined that all the angles between the straight lines and the negative direction of the Y axis are greater than or equal to 0 degree and less than 180 degrees, or are greater than or equal to 180 degrees and less than 360 degrees, a one-way type path is generated, which includes:
the position point information of the regulation and control management center is used as an initial node, the position point information of the power grid power transmission and transformation equipment closest to the regulation and control management center is selected as a first intermediate node, and the initial node is connected with the first intermediate node;
taking the position point information of the power grid power transmission and transformation equipment closest to the first intermediate node as a second intermediate node, connecting the first intermediate node with the second intermediate node, taking the first intermediate node as a connected node, and updating the second intermediate node into a first intermediate node;
and acquiring the position point information of the power grid power transmission and transformation equipment closest to the updated first intermediate node as a second intermediate node again, and generating a one-way type path until all the power grid power transmission and transformation equipment are acquired.
Further, if it is determined that there are 0 degree or more and less than 180 degrees, or 180 degrees or less and 360 degrees or more in angles between all the straight lines and the negative direction of the Y axis, generating a bidirectional type path, including:
classifying the power grid power transmission and transformation equipment of the straight line corresponding to the angle of more than or equal to 0 and less than 180 degrees, and classifying the angle of more than or equal to 180 degrees and less than 360 degrees to obtain a first classification set in different directions;
calculating first distances between all power grid power transmission and transformation equipment in the first classification set and a regulation and control management center, and performing ascending sequencing on all power grid power transmission and transformation equipment in the first classification set according to the first distances to obtain ascending sequencing results;
connecting the position point information corresponding to each power grid power transmission and transformation equipment station in the ascending sequence;
and connecting the initial node with the position point information corresponding to the first power grid power transmission and transformation equipment in the ascending sequencing result to obtain a first direction sub-path and a second direction sub-path corresponding to different first classification sets, and forming a bidirectional type path according to the first direction sub-path and the second direction sub-path.
Further, the S3 includes:
if the image acquisition paths are unidirectional paths and the number of the flight devices is multiple, dividing the image acquisition paths according to the number of the flight devices to obtain multiple unidirectional acquisition sub-paths;
if the image acquisition path is a bidirectional type path and the number of the flying devices is multiple, comparing the first direction sub-path with the second direction sub-path, and dividing a first number of flying devices for the first direction sub-path and a second number of flying devices for the second direction sub-path;
obtaining a first bidirectional acquisition sub-path according to the first direction sub-path and the first quantity, and obtaining a second bidirectional acquisition sub-path according to the second direction sub-path and the second quantity;
controlling each flying device to fly to each node according to the corresponding one-way acquisition sub-path, the first two-way acquisition sub-path and the second two-way acquisition sub-path;
after judging that the flight position of the flight device corresponds to the position point information of the corresponding node, determining the image acquisition type of the power grid power transmission and transformation equipment corresponding to the corresponding node, and starting the corresponding image acquisition device according to the image acquisition type;
and determining the acquisition position of the flight device according to the image acquisition mode.
Further, if the image capturing path is a bidirectional type path and the number of the flight devices is multiple, comparing the first direction sub-path with the second direction sub-path, and dividing the first number of flight devices for the first direction sub-path and the second number of flight devices for the second direction sub-path, the method includes:
acquiring first path length information of a first-direction sub-path and a first equipment number of a node corresponding to each type of power grid power transmission and transformation equipment of the first-direction sub-path, and calculating according to the weight corresponding to each power grid power transmission and transformation equipment, the first equipment number and the first path length information to obtain a first-direction sub-path evaluation coefficient;
acquiring second path length information of a second direction sub-path, and second equipment number of corresponding nodes of each type of power grid power transmission and transformation equipment of the second direction sub-path, and calculating according to the weight corresponding to each power grid power transmission and transformation equipment, the second equipment number and the second path length information to obtain a second direction sub-path evaluation coefficient;
and obtaining a first number of the first direction sub-paths and a second number of the second direction sub-paths according to the first direction sub-path evaluation coefficient, the second direction sub-path evaluation coefficient and the total number of the flight devices.
Further, the obtaining a first number of the first direction sub-paths and a second number of the second direction sub-paths according to the first direction sub-path evaluation coefficient, the second direction sub-path evaluation coefficient, and the total number of the flight devices includes:
the calculation is made by the following formula,
wherein,the coefficients are evaluated for the first direction sub-path,first path length information for the first direction sub-path,in order to be a length weight value,is the first direction within the sub-pathThe first equipment number of the corresponding nodes of the power transmission and transformation equipment of the power grid of each kind,is a firstThe weight values of the individual kinds of power grid transmission and transformation equipment,is the upper limit value of the number of the types of the power grid electric transmission and transformation equipment in the first direction sub-path,the coefficients are evaluated for the second direction sub-paths,second path length information for a second direction sub-path,is the first direction within the sub-pathThe number of the second devices of the corresponding nodes of the power transmission and transformation devices of the power grid of each kind,is a firstThe weight values of the individual kinds of power grid transmission and transformation equipment,is the upper limit value of the number of the types of the power grid electric transmission and transformation equipment in the second direction sub-path,in the form of a first number of bits,in order to be the second number of,is the total number.
Further, the determining the acquiring position of the flying device according to the image acquiring mode includes:
after judging that the flying device reaches a corresponding node, acquiring a positioning image for positioning, and extracting the outline of the power grid power transmission and transformation equipment in the positioning image to obtain all outline pixel points of the power grid power transmission and transformation equipment;
extracting a positive extreme value of a horizontal coordinate, a negative extreme value of the horizontal coordinate, a positive extreme value of a vertical coordinate and a negative extreme value of the vertical coordinate in all the contour pixel points;
determining a collection center pixel point according to the positive extreme value of the abscissa, the negative extreme value of the abscissa, the positive extreme value of the ordinate and the negative value of the ordinate;
and extracting the acquisition height in the image acquisition mode, controlling the flying device to move to an acquisition center pixel point according to the corresponding flying height, and taking the position at the moment as the acquisition position of the flying device.
Further, the determining the collection center pixel point according to the abscissa positive extreme value, the abscissa negative extreme value, the ordinate positive extreme value, and the ordinate negative extreme value includes:
obtaining a central abscissa according to the abscissa positive extreme value and the abscissa negative value, and obtaining a central ordinate according to the ordinate positive extreme value and the ordinate negative value;
and determining a central pixel point to be collected based on the central horizontal coordinate and the central vertical coordinate.
Further, extract collection height in the image acquisition mode, control flying device moves to gathering central pixel according to corresponding flying height, regard the position this moment as flying device's collection position, include:
taking a pixel point at the central position in the positioning image as a current central pixel point, and forming a flight calibration direction according to the current central pixel point and a connecting line of the collection central pixel point;
and controlling the flying device to fly according to the flying calibration direction, continuously acquiring a new positioning image, and judging that the flying device moves to the acquisition center pixel point according to the corresponding flying height after judging that the current center pixel point corresponds to the acquisition center pixel point.
Further, the S4 includes:
after judging that the flying device reaches the acquisition position, determining at least one corresponding image acquisition device according to the image acquisition type;
and controlling the image acquisition device to acquire images to obtain at least one image acquisition information, adding a node tag and a time tag corresponding to the node to the image acquisition information, and uploading the image acquisition information to a server for storage.
The embodiment of the present invention further provides an image data acquisition and processing device suitable for a power grid power transmission and transformation device, including:
the acquisition module is used for acquiring position point information and type information of all power grid power transmission and transformation equipment of images to be acquired, planning a path according to the position point information to generate an image acquisition path, wherein each node in the image acquisition path corresponds to at least one power grid power transmission and transformation equipment, and determining that the image acquisition path is a unidirectional type path or a bidirectional type path according to the position point information of the power grid power transmission and transformation equipment;
the determining module is used for determining an image acquisition strategy corresponding to each node according to type information corresponding to each node, each type information has an image acquisition strategy which is preset correspondingly, and the image acquisition strategy comprises an image acquisition type and/or an image acquisition mode;
the control module is used for controlling the flight device to sequentially fly to each node according to the unidirectional type path or the bidirectional type path, determining a corresponding image acquisition device according to the image acquisition type, and determining the acquisition position of the flight device according to the image acquisition mode;
and the acquisition module is used for controlling the image acquisition device to acquire images after the flight device judges that the flight device reaches the acquisition position, acquiring at least one image acquisition information, adding a node tag and a time tag corresponding to the node to the image acquisition information, and uploading the image acquisition information to a server for storage.
The invention has the beneficial effects that:
1. according to the scheme, better image acquisition paths are automatically generated according to different equipment positions on the power transmission and transformation line of the power grid and different positions of the regulation and control management center, the number of the flight devices on each image acquisition path is determined, the flight devices are controlled to carry out efficient data acquisition according to the established image acquisition paths, and the data acquisition efficiency is improved; meanwhile, the scheme can be combined with an image acquisition mode to determine the more appropriate data acquisition position of the flight device, so that more complete image data can be acquired. According to the scheme, the corresponding image acquisition strategy can be formulated by combining the attributes of the power grid power transmission and transformation line, the flight route is planned, and data acquisition is efficiently realized.
2. According to the scheme, in the process of generating the image acquisition path, the unidirectional type path and the bidirectional type path of the flight device can be determined according to the relative position between the power transformation equipment and the regulation and control management center, the flight device executes tasks along the unidirectional type path and the bidirectional type path, and data can be acquired quickly and efficiently; the optimal number of the flight devices on each flight path can be determined by combining the length of the path, the number of the devices and the total number of the flight devices, so that the corresponding tasks can be executed by utilizing the more proper number of the flight devices, excessive or insufficient flight devices cannot be caused, and the flight devices are controlled to efficiently acquire data.
3. According to the scheme, a better acquisition point can be determined by combining the outline of the power transmission equipment, a better acquisition position is provided for the flight device, the real-time position of the flight device is obtained by combining the positioning image of the flight device, a calibration route is formed, the position of the flight device is calibrated, the integrity of the image acquired by the flight device is improved, and the quality of image acquisition data is ensured.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive labor.
Fig. 1 is a schematic diagram of a power transmission and transformation line of a power grid according to the present invention;
fig. 2 is a schematic diagram of another power transmission and transformation line of the power grid provided by the invention;
fig. 3 is a schematic diagram of another power transmission and transformation line of the power grid provided by the invention;
fig. 4 is a schematic structural diagram of an image data acquisition and processing device suitable for power grid power transmission and transformation equipment provided by the invention.
Detailed Description
In order that the present invention may be more readily and clearly understood, a more particular description of the invention briefly described above will be rendered by reference to specific embodiments that are illustrated in the appended drawings.
The embodiment of the invention provides an image data acquisition and processing method suitable for power grid power transmission and transformation equipment, which comprises the following steps of S1-S4:
the method comprises the steps of S1, obtaining position point information and type information of all power grid power transmission and transformation equipment of images to be collected, planning a path according to the position point information to generate an image collection path, wherein each node in the image collection path corresponds to at least one power grid power transmission and transformation equipment, and determining that the image collection path is a unidirectional type path or a bidirectional type path according to the position point information of the power grid power transmission and transformation equipment.
It will be appreciated that a plurality of grid power transmission and transformation devices, including for example transformers, transmission towers, etc., are typically provided on the grid power transmission and transformation line, each grid power transmission and transformation device having a corresponding location and type.
According to the scheme, the position point information and the type information of all the power grid power transmission and transformation equipment to be subjected to image acquisition are acquired, then path planning is carried out by utilizing the position point information to generate an image acquisition path, and each node in the image acquisition path corresponds to at least one power grid power transmission and transformation equipment. Wherein, the image acquisition path can be the route that unmanned aerial vehicle patrolled and examined the collection image.
In some embodiments, the S1 includes S11-S14:
s11, acquiring first abscissa information and first ordinate information in the position point information of each power grid power transmission and transformation device, and second abscissa information and second ordinate information of a regulation and control management center, wherein the regulation and control management center is used for placing a flying device.
It can be understood that the control management center is provided with the flying device, and the control management center can control the flying device so as to control the flying device to patrol and collect images along the image collection path.
It should be noted that each power grid power transmission and transformation device and the regulation and control center have corresponding position point information, and the position point information may be coordinate information.
And S12, calculating according to the first abscissa information, the first ordinate information, the second abscissa information and the second ordinate information to obtain an angle between a straight line formed by each power grid power transmission and transformation device and the regulation and control management center and the Y-axis negative direction.
According to the scheme, the obtained first abscissa information and first ordinate information of the power grid power transmission and transformation equipment, and the obtained second abscissa information and second ordinate information of the regulation and control management center are calculated, and the angle between the straight line formed by each power grid power transmission and transformation equipment and the regulation and control management center and the Y-axis negative direction is obtained.
In some embodiments, S12 (obtaining an angle between a straight line formed by each power grid electric transmission and transformation device and the regulation and control management center and the negative direction of the Y axis by performing calculation according to the first abscissa information, the first ordinate information, the second abscissa information, and the second ordinate information) includes S121 to S122:
and S121, if the first abscissa information is judged to be larger than or equal to the second abscissa information, judging that the angle between the straight line formed by the power grid power transmission and transformation equipment and the regulation and control management center and the Y-axis negative direction is larger than or equal to 0 degree and smaller than 180 degrees.
For example, referring to fig. 1, a coordinate axis is established with a regulation and control management center as a center, after the coordinate axis is established, the coordinate axis is marked as 0 degree with a position right below the coordinate axis (a negative half axis of a Y axis in fig. 1) as a starting point, and 90 degrees on the coordinate axis (a positive half axis of an X axis in fig. 1), 180 degrees on the coordinate axis (a positive half axis of a Y axis in fig. 1), 270 degrees on the coordinate axis (a negative half axis of an X axis in fig. 1), and 360 degrees on the coordinate axis (a negative half axis of a Y axis in fig. 1) are respectively determined in a counterclockwise manner, first abscissa information of a transformer C and a transformer D is greater than or equal to second abscissa information of the regulation and control management center, and the scheme determines that an angle between a straight line formed by a power grid power transmission and transformation device and the regulation and control management center and a negative direction of the Y axis is greater than or equal to 0 degree and less than 180 degrees. In fig. 1, a straight line between the transformer C and the regulation and control management center is located at 90 degrees, and a straight line between the transformer D and the regulation and control management center is located between 90 degrees and 180 degrees.
It can be understood that, according to the present embodiment, it can be determined that the transformer C and the transformer D are located on the same side (right side in fig. 1) of the regulation and control management center through the above manner.
And S122, if the first abscissa information is judged to be smaller than the second abscissa information, judging that the angle between the straight line formed by the power grid power transmission and transformation equipment and the regulation and control management center and the Y-axis negative direction is greater than or equal to 180 degrees and smaller than 360 degrees.
For example, referring to fig. 1, the first abscissa information of the transformer a and the transformer B is smaller than the second abscissa information of the regulation and control management center, and it is determined that the angle between the straight line formed by the power grid transmission and transformation equipment and the regulation and control management center is greater than or equal to 180 degrees and less than 360 degrees. In fig. 1, the angle between the straight line between the transformer a and the regulation and control center and the negative direction of the Y axis is 180-270 degrees, and the straight line between the transformer B and the regulation and control center is 270 degrees.
It can be understood that, according to the scheme, the transformer a and the transformer B can be judged to be located on the same side (the left side in fig. 1) of the regulation and control management center in the above manner.
And S13, if the angles between all the straight lines and the negative direction of the Y axis are judged to be more than or equal to 0 degree and less than 180 degrees or more than or equal to 180 degrees and less than 360 degrees, generating a one-way type path.
For example, referring to fig. 2, angles between straight lines of all the transformers (a transformer a and B) and the negative direction of the Y axis are all greater than or equal to 180 degrees and less than 360 degrees, which means that all the power transformation devices are located on the same side of the regulation and control management center.
For another example, referring to fig. 3, all angles between straight lines of all (the transformer C and the transformer D) and the negative direction of the Y axis are greater than or equal to 0 degree and less than 180 degrees, which indicates that all the power transformation devices are located on the same side of the regulation and control management center, in the scheme, a unidirectional type path is generated, and the unmanned aerial vehicle only needs to fly to one side along the unidirectional type path.
In some embodiments, S13 (if it is determined that all the straight lines have an angle greater than or equal to 0 degree and less than 180 degrees or greater than or equal to 180 degrees and less than 360 degrees with respect to the negative direction of the Y axis, a one-way type path is generated) includes S131-S133:
and S131, taking the position point information of the regulation and control management center as an initial node, selecting the position point information of the power grid power transmission and transformation equipment closest to the regulation and control management center as a first intermediate node, and connecting the initial node with the first intermediate node.
Referring to fig. 2, in the scheme, the position point information of the regulation and control management center is used as an initial node, the position point information of the power grid power transmission and transformation equipment (transformer B) closest to the regulation and control management center is selected as a first intermediate node, and the initial node is connected with the first intermediate node (transformer B).
And S132, using the position point information of the power grid power transmission and transformation equipment closest to the first intermediate node as a second intermediate node, connecting the first intermediate node with the second intermediate node, using the first intermediate node as a connected node, and updating the second intermediate node into the first intermediate node.
Referring to fig. 2, in this solution, the location point information of the grid power transmission and transformation equipment (transformer a) closest to the first intermediate node (transformer B) is used as the second intermediate node, and then after the first intermediate node (transformer a) is connected to the second intermediate node (transformer B), the first intermediate node is used as the connected node, and the second intermediate node (transformer B) is updated to the first intermediate node.
And S133, acquiring the position point information of the power grid power transmission and transformation equipment closest to the updated first intermediate node as a second intermediate node again, and generating a one-way type path until all the power grid power transmission and transformation equipment are acquired.
According to the scheme, the position point information of the power grid power transmission and transformation equipment closest to the updated first intermediate node is obtained again to serve as the second intermediate node, and a one-way type path is generated until all the power grid power transmission and transformation equipment are obtained. For example, the unidirectional type path may be regulation management center-transformer B-transformer a.
And S14, if the angles between all the straight lines and the negative direction of the Y axis are judged to be greater than or equal to 0 degree and less than 180 degrees, and also greater than or equal to 180 degrees and less than 360 degrees, generating a bidirectional type path.
Referring to fig. 1, angles between all straight lines and the negative direction of the Y axis are greater than or equal to 0 degree and less than 180 degrees (for example, a transformer C and a transformer D), and also greater than or equal to 180 degrees and less than 360 degrees (for example, a transformer a and a transformer B), which indicates that there are power transformation devices to acquire data on both sides of the regulation and control management center, and at this time, a bidirectional type path is generated by the scheme.
In some embodiments, S14 (generating a bidirectional type path if it is determined that there are greater than or equal to 0 degrees and less than 180 degrees, and also greater than or equal to 180 degrees and less than 360 degrees in angles between all the straight lines and the negative direction of the Y axis) includes S141 to S144:
and S141, classifying the power grid power transmission and transformation equipment of the straight line corresponding to the angle greater than or equal to 0 and less than 180 degrees, and classifying the angle greater than or equal to 180 degrees and less than 360 degrees to obtain a first classification set in different directions.
For example, the grid power transmission and transformation equipment of the straight line corresponding to the angle greater than or equal to 0 degrees and less than 180 degrees is classified, the obtained first classification set 1 is { transformer C, transformer D }, the grid power transmission and transformation equipment of the straight line corresponding to the angle greater than or equal to 180 degrees and less than 360 degrees is classified, and the obtained first classification set 2 is { transformer a, transformer B }. Wherein the first set of classifications 1 and the first set of classifications 2 have different flight directions.
And S142, calculating first distances between all the power transmission and transformation equipment of the power grid in the first classification set and the regulation and control management center, and performing ascending sequencing on all the power transmission and transformation equipment of the power grid in the first classification set according to the first distances to obtain ascending sequencing results.
After the first classification set is obtained, the scheme calculates first distances between all power grid power transmission and transformation equipment (such as a transformer A and a transformer B) in the first classification set and a regulation and control management center, and then performs ascending sequencing on all the power grid power transmission and transformation equipment in the first classification set by using the first distances to obtain ascending sequencing results.
Illustratively, if the first distance between the transformer a and the regulation and control management center is 3 kilometers, and the first distance between the transformer B and the regulation and control management center is 1 kilometer, the set obtained by performing ascending sequencing on all power transmission and transformation equipment of the power grid in the first classification set by using the first distances is { transformer B, transformer a }. It can be understood that the power grid power transmission and transformation equipment which is ranked more front is closer to the regulation and control management center.
And S143, connecting the position point information corresponding to each power grid power transmission and transformation equipment substation in the ascending sequence.
After sequencing, the scheme connects the position point information corresponding to each power grid power transmission and transformation equipment station in the ascending sequencing. For example, transformer B is connected to transformer a.
And S144, taking the position point information of the regulation and control management center as an initial node, connecting the initial node with the position point information corresponding to the first power grid power transmission and transformation equipment station in the ascending sequencing result to obtain a first direction sub-path and a second direction sub-path corresponding to different first classification sets, and forming a bidirectional type path according to the first direction sub-path and the second direction sub-path.
According to the scheme, the position point information of the regulation and control management center is used as a starting node, the starting node is connected with the position point information corresponding to the first power grid power transmission and transformation equipment (transformer B or transformer C) in the ascending sequencing result, a first direction sub-path and a second direction sub-path corresponding to different first classification sets are obtained, and then a bidirectional type path is formed according to the first direction sub-path and the second direction sub-path.
Illustratively, the first directional sub-path is regulation management center-transformer B-transformer a, and the second directional sub-path is regulation management center-transformer C-transformer D, forming a bi-directional type path.
And S2, determining an image acquisition strategy corresponding to each node according to the type information corresponding to each node, wherein each type information has an image acquisition strategy which is preset correspondingly, and the image acquisition strategy comprises an image acquisition type and/or an image acquisition mode.
According to the scheme, the image acquisition strategy corresponding to each node is determined according to the type information corresponding to each node, each type information has the image acquisition strategy which is preset correspondingly, and the image acquisition strategy comprises the image acquisition type and/or the image acquisition mode.
The image acquisition type includes, for example, acquiring a white light image type, acquiring an infrared image type, and the like, and the image acquisition mode includes, for example, acquiring a 5S video, acquiring a picture, and the like.
And S3, controlling a flight device to sequentially fly to each node according to the unidirectional type path or the bidirectional type path, determining a corresponding image acquisition device according to the image acquisition type, and determining the acquisition position of the flight device according to the image acquisition mode.
The method can be used for controlling the flight device to sequentially reach each node according to the image acquisition path after the image acquisition path is obtained, determining the corresponding image acquisition device according to the image acquisition type, and determining the acquisition position of the flight device according to the image acquisition mode.
The S3 comprises S31-S36:
and S31, if the image acquisition paths are unidirectional paths and the number of the flight devices is multiple, dividing the image acquisition paths according to the number of the flight devices to obtain multiple unidirectional acquisition sub-paths.
Because image acquisition needs the flight device to carry out, consequently, this scheme can be for every image acquisition route distribution corresponding flight device carries out image acquisition.
If the image acquisition path is a unidirectional type path (for example, a regulation and control management center-transformer B-transformer A) and the number of the flight devices is multiple, the scheme divides the image acquisition path according to the number of the flight devices to obtain a plurality of unidirectional acquisition sub-paths.
Exemplarily, the flying device has 2, and then one of them unidirectional acquisition subpassages can be regulation and control management center-transformer B, and another unidirectional acquisition subpassage can be regulation and control management center-transformer a, and through the above-mentioned mode, this scheme can ensure the efficiency of image acquisition.
S32, if the image acquisition path is a bidirectional type path and the number of the flight devices is multiple, comparing the first direction sub-path with the second direction sub-path, and dividing a first number of flight devices for the first direction sub-path and a second number of flight devices for the second direction sub-path;
if the image acquisition path is a bidirectional type path (for example, a regulation and control center-transformer B-transformer A and a regulation and control center-transformer C-transformer D), and the number of the flying devices is multiple, the scheme compares the first direction sub-path with the second direction sub-path, and divides the first number of flying devices for the first direction sub-path and the second number of flying devices for the second direction sub-path.
It will be appreciated that different numbers of devices, different path lengths, different acquisition times, etc. on the first direction sub-path and the second direction sub-path will result in different numbers of required flying means.
In some embodiments, S32 (if the image capturing path is a bidirectional type path and the number of flight devices is multiple, the first direction sub-path and the second direction sub-path are compared, and the first number of flight devices is divided for the first direction sub-path and the second number of flight devices is divided for the second direction sub-path) includes S321 to S323:
s321, obtaining first path length information of the first-direction sub-path and a first device number of nodes corresponding to each type of power grid power transmission and transformation device of the first-direction sub-path, and calculating according to the weight corresponding to each power grid power transmission and transformation device, the first device number and the first path length information to obtain a first-direction sub-path evaluation coefficient.
According to the scheme, the first path length information of the first-direction sub-path is obtained, the first path length information is 5 kilometers for example, meanwhile, the first equipment number of the nodes corresponding to each type of power grid power transmission and transformation equipment of the first-direction sub-path is obtained, the first equipment number is 5 for example, and then the weight, the first equipment number and the first path length information corresponding to each power grid power transmission and transformation equipment are used for calculation to obtain the first-direction sub-path evaluation coefficient.
And S322, obtaining second path length information of the second direction sub-path and second equipment number of the corresponding node of each type of power grid power transmission and transformation equipment of the second direction sub-path, and calculating according to the weight corresponding to each power grid power transmission and transformation equipment, the second equipment number and the second path length information to obtain a second direction sub-path evaluation coefficient.
Similarly to step S321, the present solution may obtain second path length information of the second direction sub-path, where the second path length information is, for example, 10 kilometers, and meanwhile, the present solution may obtain a second device number of the node corresponding to each type of power grid power transmission and transformation device of the second direction sub-path, where the second device number is, for example, 10, and then perform calculation by using the weight corresponding to each power grid power transmission and transformation device, the second device number, and the second path length information, so as to obtain a second direction sub-path evaluation coefficient.
And S323, obtaining a first number of the first direction sub-paths and a second number of the second direction sub-paths according to the first direction sub-path evaluation coefficient, the second direction sub-path evaluation coefficient and the total number of the flight devices.
After the first direction sub-path evaluation coefficient and the second direction sub-path evaluation coefficient are obtained, the first number of the first direction sub-paths and the second number of the second direction sub-paths can be obtained through calculation by combining the total number of the flight devices.
In some embodiments, S323 (said deriving a first number of first direction sub-paths and a second number of second direction sub-paths according to the first direction sub-path evaluation coefficient, the second direction sub-path evaluation coefficient, and the total number of flying devices) includes:
the calculation is made by the following formula,
wherein,the coefficients are evaluated for the first direction sub-path,first path length information for the first direction sub-path,in order to be a length weight value,is the first direction within the sub-pathThe first equipment number of the corresponding node of the power grid power transmission and transformation equipment of each kind,is a firstThe weight values of the electric transmission and transformation equipment of each kind of electric network,is the upper limit value of the number of the types of the power grid electric transmission and transformation equipment in the first direction sub-path,the coefficients are evaluated for the second direction sub-paths,second path length information for a second direction sub-path,is the first direction within the sub-pathThe number of the second devices of the corresponding nodes of the electric transmission and transformation devices of the electric network of each kind,is a firstThe weight values of the electric transmission and transformation equipment of each kind of electric network,is the upper limit value of the number of the types of the power transmission and transformation equipment of the power grid in the second direction sub-path,in the form of a first number of bits,in order to be able to carry out the second number,is the total number.
In the above-mentioned formula,represents a path length evaluation coefficient, the longer the path length, the larger the corresponding path length evaluation coefficient,representing the evaluation coefficient of the first equipment number, and the evaluation coefficient of the corresponding first equipment number when the equipment number is moreThe larger;represents a path length evaluation coefficient, and the longer the path length is, the larger the corresponding path length evaluation coefficient is,representing a second equipment number evaluation coefficient, wherein the larger the equipment number is, the larger the corresponding second equipment number evaluation coefficient is; wherein the length weight valueWeighted value of power transmission and transformation equipment of power gridAnd weighted value of power transmission and transformation equipment of power gridThe weight value of the power transmission and transformation equipment of the power grid can be preset by the staffAnd weighted value of power transmission and transformation equipment of power gridIs less than the length weight valueAnd the ratio of path dimensions is improved.
The evaluation coefficient of the first direction sub-path is obtained through calculationAnd second direction sub-path evaluation coefficientThen, the scheme can be based onCalculating the ratio and then combining the total amountCalculating a first quantityAnd a second amount(ii) a Wherein, this scheme has adopted the mode of upwards rounding up to handle first quantity and second quantity for guaranteeing that the quantity of flight device is the integer.
And S33, obtaining a first bidirectional acquisition sub-path according to the first direction sub-path and the first quantity, and obtaining a second bidirectional acquisition sub-path according to the second direction sub-path and the second quantity.
It can be understood that, after the first number and the second number are obtained through calculation, the present solution may obtain a first bidirectional collecting sub-path by combining the first direction sub-path and the first number, and obtain a second bidirectional collecting sub-path by combining the second direction sub-path and the second number.
And S34, controlling each flying device to fly to each node according to the corresponding one-way acquisition sub-path, the first two-way acquisition sub-path and the second two-way acquisition sub-path.
After the unidirectional acquisition sub-path, the first bidirectional acquisition sub-path and the second bidirectional acquisition sub-path are obtained, each flying device is controlled to fly to each node according to the corresponding unidirectional acquisition sub-path, the corresponding first bidirectional acquisition sub-path and the corresponding second bidirectional acquisition sub-path, and image data is acquired.
And S35, after judging that the flight position of the flight device corresponds to the position point information of the corresponding node, determining the image acquisition type of the power grid power transmission and transformation equipment corresponding to the corresponding node, and starting the corresponding image acquisition device according to the image acquisition type.
According to the scheme, after the flight position of the flight device is judged to correspond to the position point information of the corresponding node, namely the flight device reaches the corresponding position of the power transmission and transformation equipment of the power grid, the image acquisition type (such as a mode of acquiring a white light image or an infrared image) of the power transmission and transformation equipment corresponding to the corresponding node can be determined, and the corresponding image acquisition device (such as a white light image acquisition device or an infrared image acquisition device) is started according to the image acquisition type.
And S36, determining the acquisition position of the flight device according to the image acquisition mode.
It should be noted that, the image acquisition modes are different, and the acquisition positions of the flight device are also different, and the acquisition positions of the flight device can be determined according to the image acquisition modes in the scheme.
In some embodiments, S36 (determining the acquisition position of the flying apparatus according to the image acquisition manner) includes S361-S364:
and S361, after judging that the flying device reaches the corresponding node, acquiring a positioning image for positioning, and extracting the outline of the power grid power transmission and transformation equipment in the positioning image to obtain all outline pixel points of the power grid power transmission and transformation equipment.
For example, after the flying device reaches the transformer B, an image for positioning is collected to obtain a positioning image, and then the outlines of the power grid power transmission and transformation equipment in the positioning image are extracted to obtain all outline pixel points of the power grid power transmission and transformation equipment. The contour pixel is, for example, a rectangle corresponding to the transformer B.
And S362, extracting the abscissa positive extreme value, the abscissa negative extreme value, the ordinate positive extreme value and the ordinate negative extreme value in all the contour pixel points.
After the contour pixel points are obtained, the abscissa positive extreme value, the abscissa negative extreme value, the ordinate positive extreme value and the ordinate negative extreme value of all the contour pixel points are extracted. The positive extreme value of the abscissa is the maximum value of the abscissa among all the contour pixel points, the negative extreme value of the abscissa is the minimum value of the abscissa among all the contour pixel points, the positive extreme value of the ordinate is the maximum value of the ordinate among all the contour pixel points, and the negative extreme value of the ordinate is the minimum value of the ordinate among all the contour pixel points.
And S363, determining a collection center pixel point according to the abscissa positive extreme value, the abscissa negative extreme value, the ordinate positive extreme value and the ordinate negative extreme value.
After the positive extreme value of the abscissa, the negative extreme value of the abscissa, the positive extreme value of the ordinate and the negative extreme value of the ordinate are obtained, the scheme can determine the collection center pixel point by utilizing the positive extreme value of the abscissa, the negative extreme value of the abscissa, the positive extreme value of the ordinate and the negative extreme value of the ordinate.
In some embodiments, S363 (said determining the collection center pixel point according to the abscissa positive extremum, the abscissa negative extremum, the ordinate positive extremum, and the ordinate negative extremum) includes S3631-S3632:
s3631, a central abscissa is obtained according to the abscissa positive extreme value and the abscissa negative value, and a central ordinate is obtained according to the ordinate positive extreme value and the ordinate negative value.
S3632, determining and collecting central pixel points based on the central horizontal coordinate and the central vertical coordinate.
It can be understood that the scheme can calculate the intermediate value of the positive extreme value of the abscissa and the negative extreme value of the abscissa to obtain the central abscissa, then calculate the intermediate value of the positive extreme value of the ordinate and the negative extreme value of the ordinate to obtain the central ordinate, and finally synthesize the central abscissa and the central ordinate to obtain the collection central pixel point.
It should be noted that in the scheme, a better acquisition point can be determined by combining the outline of the power transmission equipment, a better acquisition position is provided for the flight device, and the images acquired by the flight device are prevented from being incomplete.
And S364, extracting the acquisition height in the image acquisition mode, controlling the flight device to move to an acquisition center pixel point according to the corresponding flight height, and taking the position at the moment as the acquisition position of the flight device.
After obtaining gathering central pixel point, this scheme still can extract the collection height in the image acquisition mode, and control flight device moves to gathering central pixel point according to corresponding flying height, regards the position at this moment as flight device's collection position.
In some embodiments, S364 (the extracting of the acquisition height in the image acquisition mode, controlling the flying apparatus to move to the acquisition center pixel point according to the corresponding flying height, and taking the position at this time as the acquisition position of the flying apparatus) includes S3641 to S3642:
s3641, taking the pixel point at the central position in the positioning image as a current central pixel point, and forming a flight calibration direction according to the current central pixel point and a connecting line of the collection central pixel point.
It can be understood that the current image that the location image was shot for flight device is real-time, therefore current center pixel can embody the real-time position of flight device for power transmission and transformation equipment, owing to need remove the flight device to gather center pixel and carry out image acquisition, consequently, this scheme can form the flight calibration direction according to current center pixel, the connecting wire of gathering center pixel.
And S3642, controlling the flying device to fly according to the flying calibration direction, continuously acquiring a new positioning image, and judging that the flying device moves to the acquisition center pixel point according to the corresponding flying height after judging that the current center pixel point corresponds to the acquisition center pixel point.
After the flight calibration direction is obtained, the flying device can be controlled to fly according to the flight calibration direction according to the scheme, new positioning images are continuously collected, after the current central pixel point is judged to be corresponding to the collection central pixel point, the flying device is judged to move to the collection central pixel point according to the corresponding flying height, and at the moment, the flying device is located at the better image collection position.
And S4, after judging that the flying device reaches the acquisition position, controlling the image acquisition device to acquire an image to obtain at least one image acquisition information, adding a node tag and a time tag corresponding to the node to the image acquisition information, and uploading the image acquisition information to a server for storage.
In some embodiments, the S4 includes S41-S42:
s41, after the flying device judges that the flying device reaches the acquisition position, determining at least one corresponding image acquisition device according to the image acquisition type.
For example, when a white light image needs to be shot, the image acquisition device of the scheme can be a camera for acquiring the white light image; when needing to shoot the infrared image, the image acquisition device of this scheme can be the camera of gathering the infrared image.
And S42, controlling the image acquisition device to acquire images to obtain at least one image acquisition information, adding a node tag and a time tag corresponding to the node to the image acquisition information, and uploading the image acquisition information to a server for storage.
It can be understood that, after the flying device determines that the flying device reaches the collecting position, the flying device may control the image collecting device to collect an image to obtain at least one piece of image collecting information, and then add a node tag (for example, a device name) and a time tag (for example, shooting time) corresponding to the node to the image collecting information, and upload the image collecting information to the server for storage.
Referring to fig. 4, a schematic structural diagram of an image data acquisition and processing device suitable for power grid power transmission and transformation equipment according to an embodiment of the present invention is shown, where the image data acquisition and processing device suitable for power grid power transmission and transformation equipment includes:
the acquisition module is used for acquiring the position point information and the type information of all the power grid power transmission and transformation equipment of the image to be acquired, planning the path according to the position point information and generating an image acquisition path, wherein each node in the image acquisition path corresponds to at least one power grid power transmission and transformation equipment;
the determining module is used for determining an image acquisition strategy corresponding to each node according to type information corresponding to each node, each type information has an image acquisition strategy which is preset correspondingly, and the image acquisition strategies comprise image acquisition types and/or image acquisition modes;
the control module is used for controlling the flying device to sequentially reach each node according to the image acquisition path, determining a corresponding image acquisition device according to the image acquisition type and determining the acquisition position of the flying device according to the image acquisition mode;
and the acquisition module is used for controlling the image acquisition device to acquire images after the flight device judges that the flight device reaches the acquisition position, acquiring at least one image acquisition information, adding a node tag and a time tag corresponding to the node to the image acquisition information, and uploading the image acquisition information to a server for storage.
In addition to the above embodiments, the present invention may have other embodiments; all technical solutions formed by adopting equivalent substitutions or equivalent transformations fall within the protection scope of the claims of the present invention.
Claims (11)
1. The image data acquisition and processing method suitable for the power grid power transmission and transformation equipment is characterized by comprising the following steps of:
the method comprises the steps of S1, obtaining position point information and type information of all power grid power transmission and transformation equipment of images to be collected, planning a path according to the position point information to generate an image collection path, wherein each node in the image collection path corresponds to at least one power grid power transmission and transformation equipment, and determining that the image collection path is a one-way type path or a two-way type path according to the position point information of the power grid power transmission and transformation equipment;
s2, determining an image acquisition strategy corresponding to each node according to type information corresponding to each node, wherein each type information has an image acquisition strategy which is preset correspondingly, and the image acquisition strategy comprises an image acquisition type and/or an image acquisition mode;
s3, controlling a flying device to sequentially fly to each node according to the unidirectional type path or the bidirectional type path, determining a corresponding image acquisition device according to the image acquisition type, and determining the acquisition position of the flying device according to the image acquisition mode;
s4, after judging that the flying device reaches the collecting position, controlling the image collecting device to collect images to obtain at least one image collecting information, adding a node label and a time label corresponding to the node to the image collecting information, and uploading the image collecting information to a server for storage;
the S1 comprises:
establishing a coordinate system by taking a regulation and control management center as a center, and acquiring first abscissa information and first ordinate information in position point information of each power grid power transmission and transformation device and second abscissa information and second ordinate information of the regulation and control management center, wherein the regulation and control management center is used for placing a flying device;
calculating according to the first abscissa information, the first ordinate information, the second abscissa information and the second ordinate information to obtain an angle between a straight line formed by each power grid power transmission and transformation device and the regulation and control management center and the Y-axis negative direction;
if the angles between all the straight lines and the Y-axis negative direction are judged to be more than or equal to 0 degree and less than 180 degrees or more than or equal to 180 degrees and less than 360 degrees, generating a one-way type path;
if the angles between all the straight lines and the Y-axis negative direction are judged to be greater than or equal to 0 degree and less than 180 degrees, and also greater than or equal to 180 degrees and less than 360 degrees, generating a bidirectional type path;
the determining the acquisition position of the flight device according to the image acquisition mode comprises the following steps:
after judging that the flying device reaches a corresponding node, acquiring a positioning image for positioning, and acquiring the positioning image for positioning to extract the outline of the power grid power transmission and transformation equipment in the positioning image to obtain all outline pixel points of the power grid power transmission and transformation equipment;
extracting positive extreme values of horizontal coordinates, negative extreme values of horizontal coordinates, positive extreme values of vertical coordinates and negative extreme values of vertical coordinates in all contour pixel points;
determining a collection center pixel point according to the positive extreme value of the abscissa, the negative extreme value of the abscissa, the positive extreme value of the ordinate and the negative value of the ordinate;
and extracting the acquisition height in the image acquisition mode, controlling the flying device to move to an acquisition center pixel point according to the corresponding flying height, and taking the position at the moment as the acquisition position of the flying device.
2. The image data acquisition and processing method suitable for the power grid power transmission and transformation equipment according to claim 1,
the calculating according to the first abscissa information, the first ordinate information, the second abscissa information and the second ordinate information to obtain the angle between the straight line formed by each power grid power transmission and transformation device and the regulation and control management center and the Y-axis negative direction includes:
if the first abscissa information is judged to be larger than or equal to the second abscissa information, judging that the angle between the straight line formed by the power grid power transmission and transformation equipment and the regulation and control management center and the Y-axis negative direction is larger than or equal to 0 degree and smaller than 180 degrees;
and if the first abscissa information is judged to be smaller than the second abscissa information, judging that the angle between the straight line formed by the power grid power transmission and transformation equipment and the regulation and control management center and the Y-axis negative direction is greater than or equal to 180 degrees and smaller than 360 degrees.
3. The image data acquisition and processing method suitable for the power grid power transmission and transformation equipment according to claim 2,
if the angles between all the straight lines and the negative direction of the Y axis are judged to be more than or equal to 0 degree and less than 180 degrees or more than or equal to 180 degrees and less than 360 degrees, a one-way type path is generated, and the method comprises the following steps:
the position point information of the regulation and control management center is used as an initial node, the position point information of the power grid power transmission and transformation equipment closest to the regulation and control management center is selected as a first intermediate node, and the initial node is connected with the first intermediate node;
using the position point information of the power grid power transmission and transformation equipment closest to the first intermediate node as a second intermediate node, connecting the first intermediate node with the second intermediate node, using the first intermediate node as a connected node, and updating the second intermediate node into a first intermediate node;
and acquiring the position point information of the power grid power transmission and transformation equipment closest to the updated first intermediate node as a second intermediate node again, and generating a one-way type path until all the power grid power transmission and transformation equipment are acquired.
4. The image data acquisition and processing method suitable for the power grid transmission and transformation equipment according to claim 3,
if it is determined that there are more than or equal to 0 degree and less than 180 degrees, and also more than or equal to 180 degrees and less than 360 degrees in all angles between the straight lines and the negative direction of the Y axis, generating a bidirectional type path, including:
classifying the power grid power transmission and transformation equipment of the straight line corresponding to the angle of more than or equal to 0 and less than 180 degrees, and classifying the angle of more than or equal to 180 degrees and less than 360 degrees to obtain a first classification set in different directions;
calculating first distances between all power grid power transmission and transformation equipment in the first classification set and a regulation and control management center, and performing ascending sequencing on all the power grid power transmission and transformation equipment in the first classification set according to the first distances to obtain ascending sequencing results;
connecting the position point information corresponding to each power grid power transmission and transformation equipment station in the ascending sequence;
and connecting the initial node with the position point information corresponding to the first power grid power transmission and transformation equipment in the ascending sequencing result to obtain a first direction sub-path and a second direction sub-path corresponding to different first classification sets, and forming a bidirectional type path according to the first direction sub-path and the second direction sub-path.
5. The method for collecting and processing the image data of the power transmission and transformation equipment of the power grid according to claim 4,
the S3 comprises the following steps:
if the image acquisition paths are unidirectional paths and the number of the flight devices is multiple, dividing the image acquisition paths according to the number of the flight devices to obtain multiple unidirectional acquisition sub-paths;
if the image acquisition path is a bidirectional type path and the number of the flying devices is multiple, comparing the first direction sub-path with the second direction sub-path, and dividing a first number of flying devices for the first direction sub-path and a second number of flying devices for the second direction sub-path;
obtaining a first bidirectional acquisition sub-path according to the first direction sub-path and the first quantity, and obtaining a second bidirectional acquisition sub-path according to the second direction sub-path and the second quantity;
controlling each flying device to fly to each node according to the corresponding one-way acquisition sub-path, the first two-way acquisition sub-path and the second two-way acquisition sub-path;
after judging that the flight position of the flight device corresponds to the position point information of the corresponding node, determining the image acquisition type of the power grid power transmission and transformation equipment corresponding to the corresponding node, and starting the corresponding image acquisition device according to the image acquisition type;
and determining the acquisition position of the flight device according to the image acquisition mode.
6. The image data acquisition and processing method suitable for the power grid power transmission and transformation equipment according to claim 5,
if the image acquisition path is a bidirectional type path and the number of the flight devices is multiple, comparing the first direction sub-path with the second direction sub-path, and dividing a first number of flight devices for the first direction sub-path and a second number of flight devices for the second direction sub-path, the method comprises the following steps:
acquiring first path length information of a first-direction sub-path and first equipment number of nodes corresponding to each type of power grid power transmission and transformation equipment of the first-direction sub-path, and calculating according to the weight corresponding to each power grid power transmission and transformation equipment, the first equipment number and the first path length information to obtain a first-direction sub-path evaluation coefficient;
acquiring second path length information of a second direction sub-path and second equipment number of nodes corresponding to each type of power grid power transmission and transformation equipment of the second direction sub-path, and calculating according to the weight corresponding to each power grid power transmission and transformation equipment, the second equipment number and the second path length information to obtain a second direction sub-path evaluation coefficient;
and obtaining a first number of the first direction sub-paths and a second number of the second direction sub-paths according to the first direction sub-path evaluation coefficient, the second direction sub-path evaluation coefficient and the total number of the flight devices.
7. The image data acquisition and processing method suitable for the power grid power transmission and transformation equipment according to claim 6,
the obtaining a first number of the first direction sub-paths and a second number of the second direction sub-paths according to the first direction sub-path evaluation coefficient, the second direction sub-path evaluation coefficient and the total number of the flight devices includes:
the calculation is made by the following formula,
wherein,the coefficients are evaluated for the first direction sub-path,first path length information for the first direction sub-path,in order to be a length weight value,is as followsIn a direction sub-pathThe first equipment number of the corresponding node of the power grid power transmission and transformation equipment of each kind,is a firstThe weight values of the individual kinds of power grid transmission and transformation equipment,is the upper limit value of the number of the types of the power grid electric transmission and transformation equipment in the first direction sub-path,the coefficients are evaluated for the second direction sub-paths,second path length information for a second direction sub-path,is the first direction within the sub-pathThe number of the second devices of the corresponding nodes of the electric transmission and transformation devices of the electric network of each kind,is a firstThe weight values of the individual kinds of power grid transmission and transformation equipment,is the upper limit value of the number of the types of the power grid electric transmission and transformation equipment in the second direction sub-path,in order to be the first number of,in order to be able to carry out the second number,is the total number.
8. The method for collecting and processing the image data of the power transmission and transformation equipment of the power grid according to claim 1,
the method for determining and collecting the central pixel points according to the positive abscissa extreme value, the negative abscissa extreme value, the positive ordinate extreme value and the negative ordinate extreme value comprises the following steps:
obtaining a central abscissa according to the abscissa positive extreme value and the abscissa negative value, and obtaining a central ordinate according to the ordinate positive extreme value and the ordinate negative value;
and determining and collecting central pixel points based on the central abscissa and the central ordinate.
9. The method for processing and acquiring image data of power transmission and transformation equipment of power grid according to claim 8,
the extraction the collection height in the image acquisition mode, control flying device moves to gathering central pixel according to corresponding flying height, regard the position this moment as flying device's collection position, include:
taking a pixel point at the central position in the positioning image as a current central pixel point, and forming a flight calibration direction according to the current central pixel point and a connecting line of the collection central pixel point;
and controlling the flying device to fly according to the flying calibration direction, continuously acquiring a new positioning image, and judging that the flying device moves to the acquisition center pixel point according to the corresponding flying height after judging that the current center pixel point corresponds to the acquisition center pixel point.
10. The method for processing and acquiring image data of power transmission and transformation equipment of power grid according to claim 9,
the S4 comprises the following steps:
after judging that the flying device reaches the acquisition position, determining at least one corresponding image acquisition device according to the image acquisition type;
and controlling the image acquisition device to acquire images to obtain at least one image acquisition information, adding a node tag and a time tag corresponding to the node to the image acquisition information, and uploading the image acquisition information to a server for storage.
11. Image data acquisition processing apparatus suitable for electric wire netting power transmission and transformation equipment, its characterized in that includes:
the acquisition module is used for acquiring position point information and type information of all power grid power transmission and transformation equipment of images to be acquired, planning a path according to the position point information to generate an image acquisition path, wherein each node in the image acquisition path corresponds to at least one power grid power transmission and transformation equipment, and determining that the image acquisition path is a unidirectional type path or a bidirectional type path according to the position point information of the power grid power transmission and transformation equipment;
the determining module is used for determining an image acquisition strategy corresponding to each node according to type information corresponding to each node, each type information has an image acquisition strategy which is preset correspondingly, and the image acquisition strategy comprises an image acquisition type and/or an image acquisition mode;
the control module is used for controlling the flying device to fly to each node in sequence according to the unidirectional type path or the bidirectional type path, determining a corresponding image acquisition device according to the image acquisition type, and determining the acquisition position of the flying device according to the image acquisition mode;
the acquisition module is used for controlling the image acquisition device to acquire images after the flying device judges that the flying device reaches the acquisition position, so as to obtain at least one piece of image acquisition information, and uploading the image acquisition information to a server for storage after adding a node tag and a time tag corresponding to the node to the image acquisition information;
the acquisition module is configured to:
establishing a coordinate system by taking a regulation and control center as a center, and acquiring first abscissa information and first ordinate information in the position point information of each power grid power transmission and transformation device, and second abscissa information and second ordinate information of the regulation and control center, wherein the regulation and control center is used for placing a flying device;
calculating according to the first abscissa information, the first ordinate information, the second abscissa information and the second ordinate information to obtain an angle between a straight line formed by each power grid power transmission and transformation device and the regulation and control management center and the Y-axis negative direction;
if the angles between all the straight lines and the Y-axis negative direction are judged to be more than or equal to 0 degree and less than 180 degrees or more than or equal to 180 degrees and less than 360 degrees, generating a one-way type path;
if the angles between all the straight lines and the negative direction of the Y axis are judged to be more than or equal to 0 degree and less than 180 degrees, and the angles are also more than or equal to 180 degrees and less than 360 degrees, generating a bidirectional type path;
the determining the acquisition position of the flight device according to the image acquisition mode comprises the following steps:
after judging that the flying device reaches a corresponding node, acquiring a positioning image for positioning, and acquiring the positioning image for positioning to extract the outline of the power grid power transmission and transformation equipment in the positioning image to obtain all outline pixel points of the power grid power transmission and transformation equipment;
extracting positive extreme values of horizontal coordinates, negative extreme values of horizontal coordinates, positive extreme values of vertical coordinates and negative extreme values of vertical coordinates in all contour pixel points;
determining a collection central pixel point according to the abscissa positive extreme value, the abscissa negative extreme value, the ordinate positive extreme value and the ordinate negative value;
and extracting the acquisition height in the image acquisition mode, controlling the flying device to move to an acquisition center pixel point according to the corresponding flying height, and taking the position at the moment as the acquisition position of the flying device.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202211200266.1A CN115297303B (en) | 2022-09-29 | 2022-09-29 | Image data acquisition and processing method and device suitable for power grid power transmission and transformation equipment |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202211200266.1A CN115297303B (en) | 2022-09-29 | 2022-09-29 | Image data acquisition and processing method and device suitable for power grid power transmission and transformation equipment |
Publications (2)
Publication Number | Publication Date |
---|---|
CN115297303A CN115297303A (en) | 2022-11-04 |
CN115297303B true CN115297303B (en) | 2022-12-27 |
Family
ID=83833663
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202211200266.1A Active CN115297303B (en) | 2022-09-29 | 2022-09-29 | Image data acquisition and processing method and device suitable for power grid power transmission and transformation equipment |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN115297303B (en) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN116051497B (en) * | 2023-01-04 | 2023-07-21 | 杭州启泰信息科技有限公司 | Intelligent analysis method for power transmission and transformation images of power grid based on data processing |
Citations (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2015131713A (en) * | 2014-01-15 | 2015-07-23 | パイオニア株式会社 | Management system, flight control method, flight control program, and recording medium |
CN106774314A (en) * | 2016-12-11 | 2017-05-31 | 北京联合大学 | A kind of home-services robot paths planning method based on run trace |
WO2017219780A1 (en) * | 2016-06-21 | 2017-12-28 | 中兴通讯股份有限公司 | Tour inspection method and device for unmanned aerial vehicle, unmanned aerial vehicle, and computer storage medium |
CN110898353A (en) * | 2019-12-09 | 2020-03-24 | 国网智能科技股份有限公司 | Panoramic monitoring and linkage control method and system for fire-fighting robot of transformer substation |
KR20200050218A (en) * | 2018-11-01 | 2020-05-11 | 주식회사 비엔비케이 | Management system for pond of golf course using pilotless aircraft |
CN111722642A (en) * | 2020-05-11 | 2020-09-29 | 深圳创动科技有限公司 | Inspection method and inspection device for photovoltaic power station and storage medium |
CN111739184A (en) * | 2020-06-28 | 2020-10-02 | 国网宁夏电力有限公司检修公司 | Power transmission line inspection system based on power transmission line tower pole |
CN111813124A (en) * | 2020-07-22 | 2020-10-23 | 浙江迈睿机器人有限公司 | Mobile robot hybrid scheduling method based on topological map |
CN112731960A (en) * | 2020-12-02 | 2021-04-30 | 国网辽宁省电力有限公司阜新供电公司 | Unmanned aerial vehicle remote power transmission line intelligent inspection system and method |
CN112997129A (en) * | 2018-10-03 | 2021-06-18 | 株式会社尼罗沃克 | Travel route generation device, travel route generation method, travel route generation program, and unmanned aerial vehicle |
CN113008237A (en) * | 2021-02-25 | 2021-06-22 | 苏州臻迪智能科技有限公司 | Path planning method and device and aircraft |
CN113238578A (en) * | 2021-05-11 | 2021-08-10 | 上海电力大学 | Routing planning method and system for power tower unmanned aerial vehicle inspection route |
CN113625748A (en) * | 2021-07-27 | 2021-11-09 | 国家电网有限公司 | Substation unmanned aerial vehicle inspection route planning method |
JP2021189663A (en) * | 2020-05-28 | 2021-12-13 | 中部電力株式会社 | Patrol and inspection system |
CN113848560A (en) * | 2021-09-27 | 2021-12-28 | 湖南德森九创科技有限公司 | Dam surface image unmanned aerial vehicle rapid and safe acquisition method and system |
CN114510077A (en) * | 2022-02-14 | 2022-05-17 | 广东省电信规划设计院有限公司 | Route planning method and device for unmanned aerial vehicle pole routing inspection and computer storage medium |
CN114740895A (en) * | 2022-05-18 | 2022-07-12 | 福建海电运维科技有限责任公司 | Unmanned aerial vehicle-based wind generating set blade inspection path planning method |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10416667B2 (en) * | 2016-02-03 | 2019-09-17 | Sony Corporation | System and method for utilization of multiple-camera network to capture static and/or motion scenes |
KR102403122B1 (en) * | 2017-10-25 | 2022-05-30 | 삼성전자주식회사 | Electronic device and control method thereof |
US11074811B2 (en) * | 2018-08-21 | 2021-07-27 | Here Global B.V. | Method and apparatus for using drones for road and traffic monitoring |
PL3751901T3 (en) * | 2019-06-14 | 2023-10-30 | Dimetor Gmbh | Apparatus and method for guiding unmanned aerial vehicles |
US11551560B2 (en) * | 2019-09-27 | 2023-01-10 | The Boeing Company | Enhanced flight navigation determination |
CN110750106B (en) * | 2019-10-16 | 2023-06-02 | 深圳市道通智能航空技术股份有限公司 | Unmanned aerial vehicle safety route generation method and device, control terminal and unmanned aerial vehicle |
-
2022
- 2022-09-29 CN CN202211200266.1A patent/CN115297303B/en active Active
Patent Citations (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2015131713A (en) * | 2014-01-15 | 2015-07-23 | パイオニア株式会社 | Management system, flight control method, flight control program, and recording medium |
WO2017219780A1 (en) * | 2016-06-21 | 2017-12-28 | 中兴通讯股份有限公司 | Tour inspection method and device for unmanned aerial vehicle, unmanned aerial vehicle, and computer storage medium |
CN106774314A (en) * | 2016-12-11 | 2017-05-31 | 北京联合大学 | A kind of home-services robot paths planning method based on run trace |
CN112997129A (en) * | 2018-10-03 | 2021-06-18 | 株式会社尼罗沃克 | Travel route generation device, travel route generation method, travel route generation program, and unmanned aerial vehicle |
KR20200050218A (en) * | 2018-11-01 | 2020-05-11 | 주식회사 비엔비케이 | Management system for pond of golf course using pilotless aircraft |
CN110898353A (en) * | 2019-12-09 | 2020-03-24 | 国网智能科技股份有限公司 | Panoramic monitoring and linkage control method and system for fire-fighting robot of transformer substation |
CN111722642A (en) * | 2020-05-11 | 2020-09-29 | 深圳创动科技有限公司 | Inspection method and inspection device for photovoltaic power station and storage medium |
JP2021189663A (en) * | 2020-05-28 | 2021-12-13 | 中部電力株式会社 | Patrol and inspection system |
CN111739184A (en) * | 2020-06-28 | 2020-10-02 | 国网宁夏电力有限公司检修公司 | Power transmission line inspection system based on power transmission line tower pole |
CN111813124A (en) * | 2020-07-22 | 2020-10-23 | 浙江迈睿机器人有限公司 | Mobile robot hybrid scheduling method based on topological map |
CN112731960A (en) * | 2020-12-02 | 2021-04-30 | 国网辽宁省电力有限公司阜新供电公司 | Unmanned aerial vehicle remote power transmission line intelligent inspection system and method |
CN113008237A (en) * | 2021-02-25 | 2021-06-22 | 苏州臻迪智能科技有限公司 | Path planning method and device and aircraft |
CN113238578A (en) * | 2021-05-11 | 2021-08-10 | 上海电力大学 | Routing planning method and system for power tower unmanned aerial vehicle inspection route |
CN113625748A (en) * | 2021-07-27 | 2021-11-09 | 国家电网有限公司 | Substation unmanned aerial vehicle inspection route planning method |
CN113848560A (en) * | 2021-09-27 | 2021-12-28 | 湖南德森九创科技有限公司 | Dam surface image unmanned aerial vehicle rapid and safe acquisition method and system |
CN114510077A (en) * | 2022-02-14 | 2022-05-17 | 广东省电信规划设计院有限公司 | Route planning method and device for unmanned aerial vehicle pole routing inspection and computer storage medium |
CN114740895A (en) * | 2022-05-18 | 2022-07-12 | 福建海电运维科技有限责任公司 | Unmanned aerial vehicle-based wind generating set blade inspection path planning method |
Non-Patent Citations (4)
Title |
---|
基于四旋翼无人机的杆塔巡检路径规划的研究与优化;程开文等;《电子技术与软件工程》;20160731(第13期);全文 * |
基于四旋翼无人机的输电线路巡检系统研究;王振华等;《中国电力》;20121031(第10期);全文 * |
基于无人机的输电线路典型设备图像信息采集方法研究;冯智慧等;《电瓷避雷器》;20160831(第04期);全文 * |
大规模无线传感网络数据收集的无人机路径规划;汪成亮等;《北京理工大学学报》;20151031(第10期);全文 * |
Also Published As
Publication number | Publication date |
---|---|
CN115297303A (en) | 2022-11-04 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN107729808B (en) | Intelligent image acquisition system and method for unmanned aerial vehicle inspection of power transmission line | |
CN112884931B (en) | Unmanned aerial vehicle inspection method and system for transformer substation | |
CN108109437B (en) | Unmanned aerial vehicle autonomous route extraction and generation method based on map features | |
CN111914813B (en) | Power transmission line inspection image naming method and system based on image classification | |
CN110703800A (en) | Unmanned aerial vehicle-based intelligent identification method and system for electric power facilities | |
CN110033453A (en) | Based on the power transmission and transformation line insulator Aerial Images fault detection method for improving YOLOv3 | |
CN115240093B (en) | Automatic power transmission channel inspection method based on visible light and laser radar point cloud fusion | |
CN113298035A (en) | Unmanned aerial vehicle electric power tower detection and autonomous cruise method based on image recognition | |
CN114020005B (en) | Flight path planning method and system for multi-unmanned aerial vehicle collaborative inspection distribution network line | |
CN115297303B (en) | Image data acquisition and processing method and device suitable for power grid power transmission and transformation equipment | |
CN113408510B (en) | Transmission line target deviation rectifying method and system based on deep learning and one-hot coding | |
CN113205116A (en) | Automatic extraction and flight path planning method for unmanned aerial vehicle inspection shooting target point of power transmission line | |
CN116736891B (en) | Autonomous track planning system and method for multi-machine collaborative inspection power grid line | |
CN115311592B (en) | Construction site material safety evaluation system based on computer vision technology | |
CN113867410B (en) | Unmanned aerial vehicle aerial photographing data acquisition mode identification method and system | |
CN111724130A (en) | Distribution network machine patrol operation management system and management method | |
CN116859993A (en) | Method and system for planning line inspection path of multiple unmanned aerial vehicles of power distribution network | |
CN114035606A (en) | Pole tower inspection system, pole tower inspection method, control device and storage medium | |
CN114708520A (en) | Method for recognizing and processing electric power fitting defect images on power transmission line | |
CN116310891A (en) | Cloud-edge cooperative transmission line defect intelligent detection system and method | |
CN112000124A (en) | Unmanned aerial vehicle inspection method applied to power grid | |
CN117557931B (en) | Planning method for meter optimal inspection point based on three-dimensional scene | |
CN114037895A (en) | Unmanned aerial vehicle pole tower inspection image identification method | |
CN114020039A (en) | Automatic focusing system and method for unmanned aerial vehicle inspection tower | |
CN117826854A (en) | Electric power inspection route fully-autonomous planning method based on three-dimensional space target point extraction |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant |