CN116719348A - Off-line emergency method and system for air-sky inspection of power equipment and inspection unmanned aerial vehicle - Google Patents
Off-line emergency method and system for air-sky inspection of power equipment and inspection unmanned aerial vehicle Download PDFInfo
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Abstract
The application relates to the field of an air-sky inspection offline emergency treatment method of power equipment, in particular to an air-sky inspection offline emergency method and system of the power equipment and an inspection unmanned plane. Comprising the following steps: receiving an offline signal or an online signal of the inspection unmanned aerial vehicle; if the online signal is acquired for the first time after the offline signal is acquired, requesting to acquire an electric equipment inspection image shot by the inspection unmanned aerial vehicle when offline; acquiring offline shooting quantity of the power equipment shot by the inspection unmanned aerial vehicle when offline according to the power equipment inspection image; obtaining the theoretical shooting quantity of the power equipment of the inspection unmanned aerial vehicle when offline according to the offline signal, the online signal and the aerial inspection route; and discriminating according to the number. According to the scheme, the inspection mode of the unmanned aerial vehicle after offline can be judged, the shooting accuracy is judged, and the shooting accuracy of the unmanned aerial vehicle under various conditions is improved.
Description
Technical Field
The application relates to the field of an air-sky inspection offline emergency treatment method of power equipment, in particular to an air-sky inspection offline emergency method and system of the power equipment and an inspection unmanned plane.
Background
Unmanned aerial vehicle transmission line inspection is usually instrument such as unmanned aerial vehicle carries camera, laser radar, infrared equipment, to the transmission line inspection and data acquisition. The collected original data is transmitted to a workstation of the ground terminal through communication equipment. The data processing personnel in the office uses professional software to open the collected data, process the data, analyze and obtain hidden defects of the transmission line, and then the arrangement operation and maintenance personnel check and eliminate the defects according to the formulated operation and maintenance strategy. The unmanned aerial vehicle's inspection can monitor and analyze broken strands, bird nest, temperature abnormality, insulator chain drop, hardware corrosion, tree obstacle etc. of transmission line, through image data, point cloud data and text data etc..
When the communication of the inspection unmanned aerial vehicle is offline in the prior art, if the communication of the inspection unmanned aerial vehicle is offline, a preset inspection route can be used, and inspection operation can be completed with the help of a map system preassembled on equipment. The unmanned aerial vehicle automatically flies through a preset route and a patrol plan on the equipment, so that the patrol task is completed, and the unmanned aerial vehicle automatically returns to the original point after the patrol is completed. In addition, the unmanned aerial vehicle can also utilize some self-adaptive control and sensor technology to carry out autonomous obstacle avoidance and path planning, so that the smooth completion of tasks is ensured. If the unavoidable problem is actually encountered, the inspection unmanned opportunity automatically falls, and the alarm informs personnel to process. However, in the prior art, no related technical description exists for judging the continuous inspection content of the off-line unmanned aerial vehicle, so how to judge the continuous inspection content of the off-line unmanned aerial vehicle is a technical problem to be solved by the scheme.
Disclosure of Invention
In view of the above, the application provides an air-sky inspection offline emergency method and system for power equipment and an inspection unmanned aerial vehicle, which can judge the inspection mode of the unmanned aerial vehicle after offline, judge the shooting accuracy and improve the shooting accuracy of the inspection unmanned aerial vehicle under various conditions.
In a first aspect, the application provides an air-sky inspection offline emergency method for power equipment, which comprises the following steps: acquiring a pre-stored air inspection route and sending the pre-stored air inspection route to an inspection unmanned aerial vehicle; controlling the inspection unmanned aerial vehicle to carry out flight inspection along the aerial inspection route; receiving an offline signal or an online signal of the inspection unmanned aerial vehicle; if the online signal is acquired for the first time after the offline signal is acquired, requesting to acquire an electric equipment inspection image shot by the inspection unmanned aerial vehicle when offline; obtaining offline shooting quantity of the power equipment shot by the inspection unmanned aerial vehicle when offline according to the power equipment inspection image; obtaining the theoretical shooting quantity of the power equipment of the inspection unmanned aerial vehicle when offline according to the offline signal, the online signal and the aerial inspection route; and if the offline shooting quantity is not equal to the theoretical shooting quantity, controlling the inspection unmanned aerial vehicle to return to the offline position corresponding to the offline signal from the online position corresponding to the online signal according to the aerial inspection route so as to re-shoot and inspect.
When the inspection unmanned aerial vehicle is in use, an offline signal is generated when the inspection unmanned aerial vehicle is offline, or an online signal is continuously sent out in a packet sending mode when the inspection unmanned aerial vehicle is offline, and subsequent operation processing is performed by acquiring an offline inspection image of the power equipment and judging the offline shooting quantity of the power equipment shot by the inspection unmanned aerial vehicle when the inspection unmanned aerial vehicle is offline.
With reference to the first aspect, in one possible implementation manner, after the acquiring a pre-stored air inspection route and sending the pre-stored air inspection route to the inspection unmanned aerial vehicle, the method further includes: obtaining the position of the power equipment to be inspected according to the aerial inspection route; according to the cruising speed of the inspection unmanned aerial vehicle and the position of the power equipment, a first timing shooting instruction is obtained and sent to the inspection unmanned aerial vehicle; and the inspection unmanned aerial vehicle performs timing shooting according to the first timing shooting instruction.
With reference to the first aspect, in one possible implementation manner, after the obtaining, according to the offline signal, the online signal, and the air inspection route, a theoretical shooting number of an electrical device of the inspection unmanned aerial vehicle when offline, the method further includes: if the theoretical shooting quantity is larger than or equal to the preset shooting quantity, generating a second timing shooting instruction and sending the second timing shooting instruction to the inspection unmanned aerial vehicle; and in the returning process of returning from the online position to the offline position, the inspection unmanned aerial vehicle performs timing shooting inspection according to the second timing shooting instruction.
With reference to the first aspect, in one possible implementation manner, after the obtaining, according to the offline signal, the online signal, and the air inspection route, a theoretical shooting number of an electrical device of the inspection unmanned aerial vehicle when offline, the method further includes: if the theoretical shooting quantity is larger than or equal to the preset shooting quantity, generating a third timing shooting instruction and sending the third timing shooting instruction to the inspection unmanned aerial vehicle; wherein after the inspection unmanned aerial vehicle retreats from the online position corresponding to the online signal to the offline position corresponding to the offline signal, the method further comprises: and sending the third timing shooting instruction to the inspection unmanned aerial vehicle so as to carry out flight inspection and shooting of the power equipment again.
With reference to the first aspect, in one possible implementation manner, after the obtaining, according to the offline signal, the online signal, and the air inspection route, a theoretical shooting number of an electrical device of the inspection unmanned aerial vehicle when offline, the method further includes: if the theoretical shooting quantity is smaller than the preset shooting quantity, generating a machine vision shooting instruction and sending the machine vision shooting instruction to the inspection unmanned aerial vehicle; and in the returning process of returning the inspection unmanned aerial vehicle from the online position to the offline position, according to the machine vision shooting instruction, shooting is carried out once when the power equipment is detected.
With reference to the first aspect, in one possible implementation manner, if the offline signal is acquired, the method further includes: obtaining a first offline position of the inspection unmanned aerial vehicle according to the offline signal; after the controlling the inspection unmanned aerial vehicle to withdraw from the online position corresponding to the online signal to the offline position corresponding to the offline signal according to the aerial inspection route, the method further comprises: requesting to acquire a second offline position of the inspection unmanned aerial vehicle when the inspection unmanned aerial vehicle returns to the offline position; and if the second offline position is not consistent with the first offline position, controlling the inspection unmanned aerial vehicle to fly to the first offline position.
In a second aspect, the present application provides an air-sky inspection offline emergency system for a power device, including: a route acquisition module configured to: acquiring a pre-stored air inspection route and sending the pre-stored air inspection route to an inspection unmanned aerial vehicle; the unmanned aerial vehicle control module is in communication connection with the route acquisition module, and the unmanned aerial vehicle control module is configured to: controlling the inspection unmanned aerial vehicle to carry out flight inspection along the aerial inspection route; receiving an offline signal or an online signal of the inspection unmanned aerial vehicle; the emergency control module is in communication connection with the unmanned aerial vehicle control module, and the emergency control module is configured to: if the online signal is acquired for the first time after the offline signal is acquired, requesting to acquire an electric equipment inspection image shot by the inspection unmanned aerial vehicle when offline; obtaining offline shooting quantity of the power equipment shot by the inspection unmanned aerial vehicle when offline according to the power equipment inspection image; obtaining the theoretical shooting quantity of the power equipment of the inspection unmanned aerial vehicle when offline according to the offline signal, the online signal and the aerial inspection route; and if the offline shooting quantity is not equal to the theoretical shooting quantity, controlling the inspection unmanned aerial vehicle to return to the offline position corresponding to the offline signal from the online position corresponding to the online signal according to the aerial inspection route so as to re-shoot and inspect.
In a third aspect, the application provides an inspection unmanned aerial vehicle, which is in communication connection with the power equipment sky inspection offline emergency system according to claim 7.
In a fourth aspect, the present application provides an electronic device, including: a processor; and a memory for storing the processor-executable instructions; wherein the processor is configured to perform the power equipment sky inspection offline emergency method of any one of claims 1 to 6.
In a fourth aspect, the present application provides a computer-readable storage medium storing a computer program for executing the power equipment sky inspection offline emergency method according to any one of the preceding claims 1 to 6.
Compared with the prior art, the beneficial effect of this scheme lies in:
1) Realize offline inspection: when the communication of the unmanned aerial vehicle is off-line, the inspection task can be carried out through the prestored inspection route, and the unmanned aerial vehicle is not influenced by communication interruption. This ensures continuity and timeliness of the inspection task.
2) Acquiring an offline shooting image: after the offline signal is acquired, the system can identify the online signal acquired for the first time and request to acquire an electric equipment inspection image shot by the inspection unmanned aerial vehicle when offline. This can supplement data that cannot be acquired in real time during offline periods.
3) Comparing the offline shooting quantity with the theoretical shooting quantity: according to the power equipment inspection image, the system can calculate the offline shooting quantity of the power equipment shot by the inspection unmanned aerial vehicle when offline. The integrity and accuracy of the inspection task can be evaluated by comparing the inspection task with the theoretical shooting quantity.
4) And (5) shooting again for inspection: if the offline shooting quantity is not equal to the theoretical shooting quantity, the system can control the inspection unmanned aerial vehicle to return to the offline position from the online position according to the aerial inspection route, and re-shooting inspection is performed. Therefore, missing or incomplete parts can be supplemented, and the integrity and accuracy of the inspection data are improved.
In general, the offline emergency method can ensure the continuity and accuracy of the power equipment inspection task, improve the inspection efficiency and reduce the risk in the inspection process
Drawings
Fig. 1 is a schematic diagram illustrating steps of an air-sky inspection offline emergency method for an electrical device according to an embodiment of the present application.
Fig. 2 is a schematic diagram illustrating steps of an air-sky inspection offline emergency method for an electrical device according to another embodiment of the present application.
Fig. 3 is a schematic diagram illustrating steps of an air-sky inspection offline emergency method for an electric power device according to another embodiment of the present application.
Fig. 4 is a schematic diagram illustrating steps of an air-sky inspection offline emergency method for an electric power device according to another embodiment of the present application.
Fig. 5 is a schematic diagram illustrating steps of an air-sky inspection offline emergency method for an electric power device according to another embodiment of the present application.
Fig. 6 is a schematic diagram illustrating steps of an air-sky inspection offline emergency method for an electrical device according to another embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
An exemplary power equipment sky inspection offline emergency method is as follows:
the execution main body is a processor of an air-sky inspection offline emergency system of the power equipment, and the processor is communicated with the inspection unmanned aerial vehicle, for example, through 5G communication, 4G communication and the like.
As shown in fig. 1, the method includes:
step 110, acquiring a pre-stored air inspection route and sending the pre-stored air inspection route to an inspection unmanned aerial vehicle;
in this step, the inspector needs to acquire a pre-stored air inspection route from the ground station and send the pre-stored air inspection route to the inspection unmanned aerial vehicle, and the inspector needs to ensure that the unmanned aerial vehicle follows a pre-set route during the flight so as to comprehensively inspect the safety condition of the inspected area. Meanwhile, the inspector also needs to pay attention to the remote measurement and sensor data of the unmanned aerial vehicle, so that the unmanned aerial vehicle can accurately and efficiently finish the work task. When the patrol starts, the patrol unmanned aerial vehicle can automatically take off and fly along a preset patrol route.
The step is to obtain a pre-stored inspection route and send the pre-stored inspection route to the inspection unmanned aerial vehicle, so that the unmanned aerial vehicle can be ensured to fly and inspect according to the set route. Therefore, the accuracy and the efficiency of the inspection task can be improved, and the requirement of manual operation is reduced.
Step 120, controlling the inspection unmanned aerial vehicle to carry out flight inspection along the aerial inspection route;
in the step, the patrol unmanned aerial vehicle has the function of automatically cruising according to an aerial patrol route, and cruises can be carried out according to the route based on a GPS, a Beidou satellite, an offline map and the like. Every time the cruising unmanned aerial vehicle reaches a position of one electric power device, the electric power device is photographed, and two photographing modes are written in the specification: the first kind, patrol unmanned aerial vehicle can possess the image recognition function, namely store the image characteristic of the electrical equipment in advance, shoot when patrol unmanned aerial vehicle detects the electrical equipment; the second type can also control the inspection unmanned aerial vehicle in a passive mode to forcedly shoot at some time points.
The unmanned aerial vehicle is controlled to fly and patrol along the preset patrol path, so that the unmanned aerial vehicle can be ensured to cover the patrol area comprehensively, and the possibility of missing points is reduced. Thus, the comprehensiveness and reliability of the inspection work can be improved.
130, receiving an offline signal or an online signal of the inspection unmanned aerial vehicle
In this embodiment, for example, when communication failure or communication is disturbed, the unmanned aerial vehicle may take place off-line, and an off-line signal may be generated at the off-line moment; if not, continuously sending out an online signal in a packet sending mode;
the state and flight data of the unmanned aerial vehicle can be known by receiving the offline signal or the online signal of the unmanned aerial vehicle. Therefore, the flight state of the unmanned aerial vehicle can be monitored in real time, any abnormal situation can be found in time, and corresponding measures can be taken.
Step 140, if the online signal is acquired for the first time after the offline signal is acquired, requesting to acquire an electric equipment inspection image shot by the inspection unmanned aerial vehicle when offline;
in this embodiment, after the offline signal is acquired, the system waits for the online signal to be acquired for the first time. Once the online signal is acquired, the system can immediately send a request for the inspection unmanned aerial vehicle to transmit back the power equipment inspection image shot when offline. These images may include photographs or videos of individual power devices taken by the drone during offline. By acquiring these images, the system is able to acquire, analyze and evaluate any faults, damages or anomalies that occur during offline.
In the step, the additional inspection data can be obtained by acquiring the inspection image of the power equipment shot by the unmanned aerial vehicle when the unmanned aerial vehicle is offline. Therefore, more comprehensive and detailed power equipment inspection information can be provided, and monitoring personnel can be helped to conduct comprehensive analysis and judgment.
Step 150, obtaining the offline shooting quantity of the power equipment shot by the inspection unmanned aerial vehicle when offline according to the power equipment inspection image;
in this embodiment, according to the power equipment inspection image, the system uses an image processing and analyzing technology to identify and count the power equipment in the image, so as to obtain the offline shooting quantity of the power equipment shot by the inspection unmanned aerial vehicle when offline. Through feature extraction, target detection and counting algorithms in the images, the system can automatically identify power equipment such as transformers, transmission lines, insulators and the like and count the number of the power equipment in the offline images.
According to the method, the quantity of the power equipment shot by the unmanned aerial vehicle in offline can be obtained by analyzing the power equipment inspection image. Therefore, the completion degree of the inspection work can be evaluated, and whether any inspection point is missed or re-inspection is needed is judged.
Step 160, according to the offline signal, the online signal and the aerial inspection route;
in this step, the on-line signal refers to the on-line signal acquired for the first time after the off-line signal is acquired in the above step. The step includes three elements: off-line signal, on-line signal, air route inspection. Knowing the position of each power device in the air inspection route, and knowing the offline position corresponding to the offline signal and the online position corresponding to the online signal, the number of the power devices in the section of the route between the offline position and the online position, namely the theoretical shooting number, can be obtained.
The step can compare and analyze the position and the inspection task by comprehensively considering the off-line signal, the on-line signal and the air inspection route. Therefore, whether the unmanned aerial vehicle flies according to the preset path or not and whether the condition of missing the inspection point exists can be judged.
And 170, if the offline shooting quantity is not equal to the theoretical shooting quantity, controlling the inspection unmanned aerial vehicle to return to the offline position corresponding to the offline signal from the online position corresponding to the online signal according to the aerial inspection route so as to re-shoot and inspect.
In this step, the inspection route is retake for return along the air inspection route.
The step can judge whether the inspection task is complete and accurate by comparing the offline shooting quantity with the theoretical shooting quantity. If the numbers are not equal, a re-shooting inspection is required. Therefore, the inspection point can be repaired and missed, and the accuracy and reliability of the inspection task are improved.
Through the operation of the steps, the accurate inspection and re-inspection capability of the unmanned aerial vehicle can be realized, and the comprehensiveness and reliability of the inspection task are improved.
In one embodiment, as shown in fig. 2, in step 110, after the pre-stored air inspection route is obtained and sent to the inspection unmanned aerial vehicle, the method further includes:
step 111, obtaining the position of the power equipment to be inspected according to the aerial inspection route;
step 112, obtaining a first timing shooting instruction according to the cruising speed of the inspection unmanned aerial vehicle and the position of the power equipment, and sending the first timing shooting instruction to the inspection unmanned aerial vehicle; and the inspection unmanned aerial vehicle performs timing shooting according to the first timing shooting instruction.
In the step, the first timing shooting instruction is related to time, the arrival time of the inspection unmanned aerial vehicle at each power equipment position can be calculated and obtained through the cruising speed and the aerial inspection route, after the arrival time corresponding to each power equipment position is calculated and obtained, all the arrival times are integrated to obtain the first timing shooting instruction, and the inspection unmanned aerial vehicle only needs to perform timing shooting in a passive mode according to the first timing shooting instruction.
In an embodiment, as shown in fig. 3, in step 160, after obtaining the theoretical shooting number of the power equipment of the inspection unmanned aerial vehicle when offline according to the offline signal, the online signal, and the air inspection route, the method further includes: if the theoretical shooting quantity is larger than or equal to the preset shooting quantity, generating a second timing shooting instruction and sending the second timing shooting instruction to the inspection unmanned aerial vehicle; and in the returning process of returning from the online position to the offline position, the inspection unmanned aerial vehicle performs timing shooting inspection according to the second timing shooting instruction.
In this step, the theoretical shooting quantity is too large, and the theoretical shooting quantity needs to be treated with emphasis, and can not only rely on feature recognition machine vision shooting, and timing shooting is needed to ensure that shooting is complete. Also, this embodiment is a timed offline shot during the retract process.
In an embodiment, as shown in fig. 4, in step 160, after obtaining the theoretical shooting number of the power equipment of the inspection unmanned aerial vehicle when offline according to the offline signal, the online signal, and the air inspection route, the method further includes: if the theoretical shooting quantity is larger than or equal to the preset shooting quantity, generating a third timing shooting instruction and sending the third timing shooting instruction to the inspection unmanned aerial vehicle; wherein after the inspection unmanned aerial vehicle retreats from the online position corresponding to the online signal to the offline position corresponding to the offline signal, the method further comprises: and sending the third timing shooting instruction to the inspection unmanned aerial vehicle so as to carry out flight inspection and shooting of the power equipment again.
In this step, the theoretical shooting quantity is too large, and the theoretical shooting quantity needs to be treated with emphasis, and can not only rely on feature recognition machine vision shooting, and timing shooting is needed to ensure that shooting is complete. In addition, after the device returns, the device flies from the offline position to the online position again according to the air inspection route, and in the process, the device performs timing offline shooting according to a third timing shooting instruction.
In an embodiment, as shown in fig. 5, in step 160, after obtaining the theoretical shooting number of the power equipment of the inspection unmanned aerial vehicle when offline according to the offline signal, the online signal, and the air inspection route, the method further includes: if the theoretical shooting quantity is smaller than the preset shooting quantity, generating a machine vision shooting instruction and sending the machine vision shooting instruction to the inspection unmanned aerial vehicle; and in the returning process of returning the inspection unmanned aerial vehicle from the online position to the offline position, according to the machine vision shooting instruction, shooting is carried out once when the power equipment is detected.
In this embodiment, the theoretical shooting number is small, and the machine vision shooting can be identified by means of features. The inspection unmanned aerial vehicle performs machine vision recognition based on image feature recognition, whether power equipment is detected or not, and if so, the power equipment is shot.
In an embodiment, as shown in fig. 6, if the offline signal is acquired, the method further includes:
obtaining a first offline position of the inspection unmanned aerial vehicle according to the offline signal;
in the step, the inspection unmanned aerial vehicle has a positioning function, and when an offline signal is generated, the position immediately before offline is integrated in the offline signal and sent together;
after the controlling the inspection unmanned aerial vehicle to withdraw from the online position corresponding to the online signal to the offline position corresponding to the offline signal according to the aerial inspection route, the method further comprises: requesting to acquire a second offline position of the inspection unmanned aerial vehicle when the inspection unmanned aerial vehicle returns to the offline position;
in this step, in the process of returning the inspection unmanned aerial vehicle, a request communication signal is always sent to attempt to acquire the position of the inspection unmanned aerial vehicle, when the inspection unmanned aerial vehicle returns to the offline position, the communication interference disappears, and at this time, the second offline position can be requested to be acquired.
And if the second offline position is not consistent with the first offline position, controlling the inspection unmanned aerial vehicle to fly to the first offline position.
The method is mainly used for correcting the route and avoiding position errors after retraction.
Next, an electronic device according to an embodiment of the present application is described. The electronic device includes one or more processors and memory.
The processor may be a Central Processing Unit (CPU) or other form of processing unit having data processing and/or instruction execution capabilities, and may control other components in the electronic device to perform the desired functions.
The memory may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, random Access Memory (RAM) and/or cache memory (cache), and the like. The non-volatile memory may include, for example, read Only Memory (ROM), hard disk, flash memory, and the like. On which one or more computer program instructions may be stored that the processor 1301 may execute to implement the power device sky inspection offline emergency method or other desired functions of the various embodiments of the present application described above. Various content such as power equipment sky inspection offline emergency error parameters may also be stored in the computer readable storage medium.
In one example, the electronic device may further include: input devices and output devices, which are interconnected by a bus system and/or other forms of connection mechanisms.
The input device may include, for example, a keyboard, mouse, joystick, touch screen, and the like.
The output device may output various information including the determined movement data and the like to the outside. The output means may comprise, for example, a display, a communication network and its connected remote output device or the like.
In addition to the methods and apparatus described above, embodiments of the application may also be a computer program product comprising computer program instructions which, when executed by a processor, cause the processor to perform the steps in an air-to-ground inspection offline emergency method for an electrical device according to various embodiments of the application described in this specification.
The computer program product may write program code for performing operations of embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server.
Furthermore, embodiments of the present application may also be a computer-readable storage medium, having stored thereon computer program instructions, which when executed by a processor, cause the processor to perform the steps in the power equipment sky inspection offline emergency method according to various embodiments of the present application of the present specification.
The computer readable storage medium may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The basic principles of the present application have been described above in connection with specific embodiments, however, it should be noted that the advantages, benefits, effects, etc. mentioned in the present application are merely examples and not intended to be limiting, and these advantages, benefits, effects, etc. are not to be considered as essential to the various embodiments of the present application. Furthermore, the specific details disclosed herein are for purposes of illustration and understanding only, and are not intended to be limiting, as the application is not necessarily limited to practice with the above described specific details.
The block diagrams of the devices, apparatuses, devices, systems referred to in the present application are only illustrative examples and are not intended to require or imply that the connections, arrangements, configurations must be made in the manner shown in the block diagrams. As will be appreciated by one of skill in the art, the devices, apparatuses, devices, systems may be connected, arranged, configured in any manner. Words such as "including," "comprising," "having," and the like are words of openness and mean "including but not limited to," and are used interchangeably therewith. The terms "or" and "as used herein refer to and are used interchangeably with the term" and/or "unless the context clearly indicates otherwise. The term "such as" as used herein refers to, and is used interchangeably with, the phrase "such as, but not limited to.
It is also noted that in the apparatus, devices and methods of the present application, the components or steps may be disassembled and/or assembled. Such decomposition and/or recombination should be considered as equivalent aspects of the present application.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features herein.
The foregoing description of the preferred embodiments of the application is not intended to be limiting, but rather is to be construed as including any modifications, equivalents, and alternatives falling within the spirit and principles of the application.
Claims (10)
1. An off-line emergency method for air-sky inspection of power equipment is characterized by comprising the following steps:
acquiring a pre-stored air inspection route and sending the pre-stored air inspection route to an inspection unmanned aerial vehicle;
controlling the inspection unmanned aerial vehicle to carry out flight inspection along the aerial inspection route;
receiving an offline signal or an online signal of the inspection unmanned aerial vehicle;
if the online signal is acquired for the first time after the offline signal is acquired, requesting to acquire an electric equipment inspection image shot by the inspection unmanned aerial vehicle when offline;
obtaining offline shooting quantity of the power equipment shot by the inspection unmanned aerial vehicle when offline according to the power equipment inspection image;
obtaining the theoretical shooting quantity of the power equipment of the inspection unmanned aerial vehicle when offline according to the offline signal, the online signal and the aerial inspection route; and
and if the offline shooting quantity is not equal to the theoretical shooting quantity, controlling the inspection unmanned aerial vehicle to return to the offline position corresponding to the offline signal from the online position corresponding to the online signal according to the aerial inspection route so as to re-shoot and inspect.
2. The power equipment sky inspection offline emergency method according to claim 1, wherein after the acquiring the pre-stored sky inspection route and transmitting the same to the inspection unmanned aerial vehicle, the method further comprises:
obtaining the position of the power equipment to be inspected according to the aerial inspection route;
according to the cruising speed of the inspection unmanned aerial vehicle and the position of the power equipment, a first timing shooting instruction is obtained and sent to the inspection unmanned aerial vehicle; and the inspection unmanned aerial vehicle performs timing shooting according to the first timing shooting instruction.
3. The power equipment space-time inspection offline emergency method according to claim 1, wherein after the theoretical shooting quantity of the power equipment of the inspection unmanned aerial vehicle when offline is obtained according to the offline signal, the online signal and the space inspection route, the method further comprises:
if the theoretical shooting quantity is larger than or equal to the preset shooting quantity, generating a second timing shooting instruction and sending the second timing shooting instruction to the inspection unmanned aerial vehicle;
and in the returning process of returning from the online position to the offline position, the inspection unmanned aerial vehicle performs timing shooting inspection according to the second timing shooting instruction.
4. The power equipment space-time inspection offline emergency method according to claim 1, wherein after the theoretical shooting quantity of the power equipment of the inspection unmanned aerial vehicle when offline is obtained according to the offline signal, the online signal and the space inspection route, the method further comprises:
if the theoretical shooting quantity is larger than or equal to the preset shooting quantity, generating a third timing shooting instruction and sending the third timing shooting instruction to the inspection unmanned aerial vehicle;
wherein after the inspection unmanned aerial vehicle retreats from the online position corresponding to the online signal to the offline position corresponding to the offline signal, the method further comprises:
and sending the third timing shooting instruction to the inspection unmanned aerial vehicle so as to carry out flight inspection and shooting of the power equipment again.
5. The power equipment space-time inspection offline emergency method according to claim 1, wherein after the theoretical shooting quantity of the power equipment of the inspection unmanned aerial vehicle when offline is obtained according to the offline signal, the online signal and the space inspection route, the method further comprises:
if the theoretical shooting quantity is smaller than the preset shooting quantity, generating a machine vision shooting instruction and sending the machine vision shooting instruction to the inspection unmanned aerial vehicle;
and in the returning process of returning the inspection unmanned aerial vehicle from the online position to the offline position, according to the machine vision shooting instruction, shooting is carried out once when the power equipment is detected.
6. The method for off-line emergency on-air inspection of electrical equipment according to claim 1, wherein,
if the offline signal is acquired, the method further includes:
obtaining a first offline position of the inspection unmanned aerial vehicle according to the offline signal;
after the controlling the inspection unmanned aerial vehicle to withdraw from the online position corresponding to the online signal to the offline position corresponding to the offline signal according to the aerial inspection route, the method further comprises:
requesting to acquire a second offline position of the inspection unmanned aerial vehicle when the inspection unmanned aerial vehicle returns to the offline position; and
and if the second offline position is not consistent with the first offline position, controlling the inspection unmanned aerial vehicle to fly to the first offline position.
7. An off-line emergency system for sky inspection of power equipment, comprising:
a route acquisition module configured to: acquiring a pre-stored air inspection route and sending the pre-stored air inspection route to an inspection unmanned aerial vehicle;
the unmanned aerial vehicle control module is in communication connection with the route acquisition module, and the unmanned aerial vehicle control module is configured to: controlling the inspection unmanned aerial vehicle to carry out flight inspection along the aerial inspection route; receiving an offline signal or an online signal of the inspection unmanned aerial vehicle;
the emergency control module is in communication connection with the unmanned aerial vehicle control module, and the emergency control module is configured to: if the online signal is acquired for the first time after the offline signal is acquired, requesting to acquire an electric equipment inspection image shot by the inspection unmanned aerial vehicle when offline; obtaining offline shooting quantity of the power equipment shot by the inspection unmanned aerial vehicle when offline according to the power equipment inspection image; obtaining the theoretical shooting quantity of the power equipment of the inspection unmanned aerial vehicle when offline according to the offline signal, the online signal and the aerial inspection route; and if the offline shooting quantity is not equal to the theoretical shooting quantity, controlling the inspection unmanned aerial vehicle to return to the offline position corresponding to the offline signal from the online position corresponding to the online signal according to the aerial inspection route so as to re-shoot and inspect.
8. The unmanned aerial vehicle is characterized in that the unmanned aerial vehicle is in communication connection with the power equipment sky inspection offline emergency system according to claim 7.
9. An electronic device, the electronic device comprising:
a processor; and
a memory for storing the processor-executable instructions;
wherein the processor is configured to perform the power equipment sky inspection offline emergency method of any one of claims 1 to 6.
10. A computer readable storage medium, characterized in that the storage medium stores a computer program for executing the power equipment sky inspection offline emergency method according to any one of the preceding claims 1 to 6.
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