CN116913319A - Equipment management system and method based on image processing - Google Patents
Equipment management system and method based on image processing Download PDFInfo
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- CN116913319A CN116913319A CN202310880222.6A CN202310880222A CN116913319A CN 116913319 A CN116913319 A CN 116913319A CN 202310880222 A CN202310880222 A CN 202310880222A CN 116913319 A CN116913319 A CN 116913319A
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L25/00—Speech or voice analysis techniques not restricted to a single one of groups G10L15/00 - G10L21/00
- G10L25/48—Speech or voice analysis techniques not restricted to a single one of groups G10L15/00 - G10L21/00 specially adapted for particular use
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H17/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves, not provided for in the preceding groups
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
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- G10L25/27—Speech or voice analysis techniques not restricted to a single one of groups G10L15/00 - G10L21/00 characterised by the analysis technique
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Abstract
The invention relates to the technical field of image processing, and discloses an equipment management system based on image processing, which comprises the following components: the abnormal sound judging module, the sound source positioning module and the on-site inspection robot, wherein the processing module is used for determining equipment related information of suspicious equipment generating abnormal sound to surround the suspicious equipment to move when the on-site inspection robot obtains a predicted positioning point and acquiring corresponding abnormal sound wave parameters; firstly judging whether abnormal sounds exist in the equipment places through the abnormal sound judging module, then primarily locating the sources of the abnormal sounds through the sound source locating module to obtain estimated locating points, and then carrying out accurate locating and fault analysis on the abnormal sounds nearby the estimated locating points by the on-site inspection robot, so that manual direct participation is reduced, all-weather automatic equipment abnormal condition monitoring and management can be carried out, and abnormal sound reasons can be checked and analyzed timely.
Description
Technical Field
The invention relates to the technical field of image processing, in particular to an image processing-based equipment management system and method.
Background
The gas-insulated metal-enclosed switchgear (Gas Insulated Switchgear, GIS) has the advantages of compact structure, high reliability, strong safety, convenient operation and maintenance and the like, so that the gas-insulated metal-enclosed switchgear is widely applied to important load and hub substations, is widely applied electrical equipment in the current power transmission network, and is stable and reliable in operation and directly related to the safety of a power system.
The main method for detecting the mechanical faults of the GIS of the power transmission and transformation equipment is a vibration signal analysis method, early researches show that the detection of the mechanical faults such as contact anomalies and the like by measuring vibration on a shell of the GIS is feasible, and typical vibration signals can be used for detecting internal latent faults, but the vibration signals can be generally only measured at individual positions on or in the shell of the equipment, so that the mechanical conditions of the equipment are difficult to comprehensively reflect. Moreover, the equipment in the equipment place is complicated, and the noise of the whole equipment place can not be monitored in real time by the prior art, and the noise can not be detected by highly relying on the manual portable acoustic imaging instrument, so that the problem can not be found at the first time, and the equipment can be carried to the site for maintenance and diagnosis even after the result is likely to happen, and the equipment is not timely, and the target sound source can be recorded by certain manpower continuously on the site, so that the labor cost is high.
Disclosure of Invention
The invention aims to provide an image processing-based equipment management system and an image processing-based equipment management method, which solve the following technical problems:
how to provide a device management system capable of monitoring and analyzing device noise anomalies of a device site in all weather.
The aim of the invention can be achieved by the following technical scheme:
an image processing-based device management system, comprising:
the abnormal sound judging module is used for collecting sound information in the equipment place in real time and judging whether abnormal sound exists or not;
the sound source positioning module is connected with the abnormal sound judging module and used for acquiring estimated positioning points of abnormal sounds;
the on-site inspection robot is connected with the abnormal sound source positioning module and is used for performing inspection in the equipment site according to an inspection strategy; the patrol content comprises:
when the estimated positioning point is obtained, going to the vicinity of the estimated positioning point, and determining equipment related information of suspicious equipment generating abnormal sound;
the suspicious equipment is surrounded to move, and corresponding abnormal sound wave parameters are obtained;
the processing module is connected with the on-site inspection robot and used for acquiring abnormal point positions according to the equipment related information and the abnormal sound related parameters and estimating the generation reasons of the abnormal sounds.
According to the technical scheme, the abnormal sound judging module judges whether abnormal sounds exist in the equipment place, the sound source locating module is used for initially locating the sources of the abnormal sounds to obtain the estimated locating points, and the site inspection robot is used for accurately locating the abnormal sounds and analyzing faults when going to the vicinity of the estimated locating points, so that manual direct participation is reduced, all-weather automatic equipment abnormal condition monitoring and management can be carried out, and abnormal sound reasons can be checked and analyzed timely.
As a further scheme of the invention: the abnormal sound judging module comprises:
the sound collection unit is used for collecting the sound information in real time;
a waveform generation unit for converting the sound information into a corresponding sound waveform;
the window reorganization unit is used for reorganizing the sound waveform in the sliding window and similar historical abnormal sound waveform in the built-in abnormal sound wave library to obtain reorganized waveform;
an automatic judging unit for judging whether the waveform is an abnormal waveform or not according to the recombined waveform;
wherein the automatic judging unit is a trained neural network model.
As a further scheme of the invention: the window reorganization unit:
counting the number C of poles of the sound waveform in the sliding window;
all the historical abnormal acoustic waveforms meeting the requirements C E [ C-re1, C+re2] are used as similar historical abnormal acoustic waveforms;
when the sound waveform is recombined, overlapping the sound waveform with the similar historical abnormal sound waveform; for a pixel point, changing the RGB value of the pixel point in one direction once for each superposition, and deleting the waveform which is not superposed with the sound waveform in the similar historical abnormal sound waveform to obtain the recombined waveform;
wherein re1 is the lowest margin and re2 is the highest margin.
As a further scheme of the invention: the sound source localization module comprises:
a plurality of acoustic imaging units and azimuth analysis modules which are arranged in the equipment places in a scattered way, and a digital equipment map module;
the digital equipment map module is used for storing digital model information of the equipment places; the digital model comprises the topography, the building, the shape and the position information of the equipment corresponding to the equipment place;
for one of the acoustic imaging units, the acoustic imaging unit comprises a microphone array, an image acquisition unit and an acoustic imaging module;
the microphone array is used for receiving external sound waves;
the image acquisition unit is used for acquiring the image of the equipment place at a fixed visual angle;
the acoustic imaging module is used for judging the phase difference of signals of sound waves reaching each microphone, determining the position of a sound source according to the phased array principle, measuring the amplitude of the sound source, and displaying the distribution of the sound source in space in an image mode;
and the azimuth analysis module is used for determining the estimated positioning point according to the positions and shooting angles of all the acoustic imaging units in the digital model information and the position of the displayed sound source image in the picture.
As a further scheme of the invention: the on-site inspection robot comprises a moving vehicle body, a mechanical arm arranged on the moving vehicle body and an acoustic imaging unit driven by the mechanical arm;
the motion car body takes the estimated positioning point as an end point, and keeps a sound source image displayed by a sound wave imaging unit on the mechanical arm at the center position of a shooting picture in the process of going to the end point;
when the estimated positioning point cannot be obtained, the moving vehicle body takes the last estimated positioning point as a temporary end point and moves to the position at a speed lower than the average moving speed.
As a further scheme of the invention: when the moving vehicle body reaches the end point, acquiring equipment related information of suspicious equipment pointed by a sound source image of a sound wave imaging unit on the mechanical arm;
the equipment related information comprises equipment identification codes and corresponding three-dimensional structure diagrams on the suspicious equipment, and the three-dimensional structure diagrams are obtained by scanning the equipment identification codes through the on-site inspection machine;
the on-site inspection robot moves around the suspicious equipment for N weeks according to the three-dimensional structure diagram, and the distance between the acoustic imaging unit on the mechanical arm and the shell of the suspicious equipment is kept to be minimum;
acquiring the sound source image P corresponding to the maximum sound source amplitude in the ith week i ；
And carrying out RGB parameter classification on the points belonging to different amplitude levels in the sound source image, and keeping the RGB of the points of the same amplitude level consistent.
As a further scheme of the invention: the processing module comprises:
a processing unit for processing according to N P i Position in corresponding picture, corresponding pictureThe space coordinates and the directions of the acoustic imaging units determine the abnormal point positions;
a recognition unit for recognizing N P i Estimating the cause of the abnormal sound;
the recognition unit is a trained neural network model.
As a further scheme of the invention: the patrol strategy is as follows:
generating a planning area and a planning path according to the digital model information of the equipment place;
and adjusting the patrol time length of each planning area in the planning path according to the situation of the planning area where the abnormal point exists.
The invention has the beneficial effects that:
(1) According to the invention, whether abnormal sounds exist in the equipment place is judged by the abnormal sound judging module, the source of the abnormal sounds is initially positioned by the sound source positioning module to obtain an estimated positioning point, and then the site inspection robot goes to the vicinity of the estimated positioning point to accurately position the abnormal sounds and analyze faults, so that the direct participation of manpower is reduced, all-weather automatic equipment abnormal condition monitoring and management can be performed, and abnormal sound reasons can be checked and analyzed in time;
(2) The sampling coordinates and angles of the image acquisition unit and the microphone array are calibrated in advance, and the digital equipment map module is determined in advance, so that the sound source position can be determined by utilizing the phased array principle, and the estimated positioning point can be determined by at least three acoustic imaging units;
(3) Because the abnormal sound does not always exist, if the on-site inspection robot is far away, the abnormal sound can be just disappeared when arriving at the site and cannot be further sampled and analyzed, so that the inspection time of the on-site inspection robot in a planning area can be increased according to the frequency of the abnormal sound in the planning area, the abnormal sound can be collected more timely, and the follow-up manual analysis is convenient.
Drawings
The invention is further described below with reference to the accompanying drawings.
FIG. 1 is a schematic diagram of a module connection of a device management system according to the present invention;
fig. 2 is a view showing an example of sound source images of suspicious devices according to the present invention.
Detailed Description
The following description of the embodiments of the present invention 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 invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, the present invention is an image processing-based device management system, comprising:
the abnormal sound judging module is used for collecting sound information in the equipment place in real time and judging whether abnormal sound exists or not;
the sound source positioning module is connected with the abnormal sound judging module and used for acquiring estimated positioning points of abnormal sounds;
the on-site inspection robot is connected with the abnormal sound source positioning module and is used for performing inspection in the equipment site according to an inspection strategy; the patrol content comprises:
when the estimated positioning point is obtained, going to the vicinity of the estimated positioning point, and determining equipment related information of suspicious equipment generating abnormal sound;
the suspicious equipment is surrounded to move, and corresponding abnormal sound wave parameters are obtained;
the processing module is connected with the on-site inspection robot and used for acquiring abnormal point positions according to the equipment related information and the abnormal sound related parameters and estimating the generation reasons of the abnormal sounds.
In the embodiment of the invention, the abnormal sound judging module can judge whether abnormal sounds exist in the equipment place, and the sound source positioning module is used for initially positioning the source of the abnormal sounds to obtain the estimated positioning point when the abnormal sounds are confirmed, so that the interference of external unexpected sounds can be avoided, and then the site inspection robot goes to the vicinity of the estimated positioning point to accurately position the abnormal sounds and analyze faults, so that the direct manual participation is reduced, all-weather automatic equipment abnormal condition monitoring and management can be carried out, and abnormal sound reasons can be checked and analyzed timely.
As a further scheme of the invention: the abnormal sound judging module comprises:
the sound collection unit is used for collecting the sound information in real time;
a waveform generation unit for converting the sound information into a corresponding sound waveform;
the window reorganization unit is used for reorganizing the sound waveform in the sliding window and similar historical abnormal sound waveform in the built-in abnormal sound wave library to obtain reorganized waveform;
an automatic judging unit for judging whether the waveform is an abnormal waveform or not according to the recombined waveform;
wherein the automatic judging unit is a trained neural network model.
According to the technical scheme, the length of the sliding window represents the sampling time, the neural network model can be a CNN convolutional neural network, the acquisition mode of the recombined waveform of the neural network model is the same as that of the training sample, and the training sample is only provided with one more step of manual annotation, so that abnormal sounds can be quickly and accurately locked from a large number of sound samples, and a sound source positioning module can be started timely to initially position the sources of the abnormal sounds.
Specifically, the window reorganization unit:
counting the number C of poles of the sound waveform in the sliding window;
all the historical abnormal acoustic waveforms meeting the requirements C E [ C-re1, C+re2] are used as similar historical abnormal acoustic waveforms;
when the sound waveform is recombined, overlapping the sound waveform with the similar historical abnormal sound waveform; for a pixel point, changing the RGB value of the pixel point in one direction once for each superposition, and deleting the waveform which is not superposed with the sound waveform in the similar historical abnormal sound waveform to obtain the recombined waveform;
wherein re1 is the lowest margin and re2 is the highest margin.
In the process of acquiring the recombined waveform, the similar historical abnormal acoustic waveform similar to the sampled acoustic wave needs to be determined in the built-in abnormal acoustic wave library, and the comparison range can be rapidly narrowed by judging the number C of poles, and then the recombined acoustic wave is performed; when the RGB values of the original pixel points like abnormal waveforms are (0, 150,0), if the pixel points are overlapped once, the RGB values of the pixel points can be adjusted to be (0, 160,0) when the pixel points are overlapped twice, the RGB values can be adjusted to be (0, 170,0), then, after deleting the waveforms which are not overlapped with the sound waveforms in the similar historical abnormal sound waveforms, the obtained recombined waveforms have special characteristics in characteristics, so that the corresponding similar historical abnormal sound waveforms can be obtained, more recombined waveforms can be obtained, the corresponding number of results can be obtained, 5 recombined waveforms and 5 responding judging results can be obtained if 5 similar historical abnormal sound waveforms are obtained, if 3 of the pixel points are abnormal, the sound waveforms are judged to be abnormal, if the sound waveforms are 2, the probability of the sound waveforms is lower than 50%, and the sound waveforms are judged to be normal; if 6 similar historical abnormal acoustic waveforms are obtained, wherein 3 judging results are abnormal, the acoustic waveforms can be considered to be abnormal.
As a further scheme of the invention: the sound source localization module comprises:
a plurality of acoustic imaging units and azimuth analysis modules which are arranged in the equipment places in a scattered way, and a digital equipment map module;
the digital equipment map module is used for storing digital model information of the equipment places; the digital model comprises the topography, the building, the shape and the position information of the equipment corresponding to the equipment place;
for one of the acoustic imaging units, the acoustic imaging unit comprises a microphone array, an image acquisition unit and an acoustic imaging module;
the microphone array is used for receiving external sound waves;
the image acquisition unit is used for acquiring the image of the equipment place at a fixed visual angle;
the acoustic imaging module is used for judging the phase difference of signals of sound waves reaching each microphone, determining the position of a sound source according to the phased array principle, measuring the amplitude of the sound source, and displaying the distribution of the sound source in space in an image mode;
the azimuth analysis module is shown in fig. 2, and is configured to determine the estimated positioning point according to the positions and shooting angles of all the acoustic imaging units in the digital model information and the position of the display sound source image in the frame.
According to the technical scheme, the sampling coordinates and angles of the image acquisition unit and the microphone array and the digital equipment map module which are determined in advance can be calibrated in advance, the sound source position can be determined by utilizing the phased array principle, and the estimated positioning point can be determined by at least three acoustic imaging units.
As a further scheme of the invention: the on-site inspection robot comprises a moving vehicle body, a mechanical arm arranged on the moving vehicle body and an acoustic imaging unit driven by the mechanical arm;
the motion car body takes the estimated positioning point as an end point, and keeps a sound source image displayed by a sound wave imaging unit on the mechanical arm at the center position of a shooting picture in the process of going to the end point;
when the estimated positioning point cannot be obtained, the moving vehicle body takes the last estimated positioning point as a temporary end point and moves to the position at a speed lower than the average moving speed.
As a further scheme of the invention: when the moving vehicle body reaches the end point, acquiring equipment related information of suspicious equipment pointed by a sound source image of a sound wave imaging unit on the mechanical arm;
the equipment related information comprises equipment identification codes and corresponding three-dimensional structure diagrams on the suspicious equipment, and the three-dimensional structure diagrams are obtained by scanning the equipment identification codes through the on-site inspection machine;
the on-site inspection robot moves around the suspicious equipment for N weeks according to the three-dimensional structure diagram, and the distance between the acoustic imaging unit on the mechanical arm and the shell of the suspicious equipment is kept to be minimum;
acquiring the sound source image P corresponding to the maximum sound source amplitude in the ith week i ；
And carrying out RGB parameter classification on the points belonging to different amplitude levels in the sound source image, and keeping the RGB of the points of the same amplitude level consistent.
Through the technical scheme, the pre-stored three-dimensional structure diagram of the suspicious equipment can be obtained after the equipment identification code of the suspicious equipment is identified, the on-site inspection machine can be kept close to the equipment shell by utilizing the positioning function of the on-site inspection machine and the corresponding positioned mechanical arm, N can be selected to be odd for 3 weeks, and each circle can obtain a sound source image P i The sound source image P i The maximum amplitude indicates the lowest possibility of medium interference in the middle and has higher credibility.
As a further scheme of the invention: the processing module comprises:
a processing unit for processing according to N P i Determining the abnormal point position in the position of the corresponding picture, the space coordinates and the direction of the acoustic wave imaging unit of the corresponding picture;
a recognition unit for recognizing N P i Estimating the cause of the abnormal sound;
the recognition unit is a trained neural network model.
By the technical scheme, the position of the on-site inspection machine is known, the direction and the coordinate position of the mechanical arm are known, and the on-site inspection machine passes through 3 sound source images P i The position of the amplitude center point in the picture can determine the position of the abnormal point; and then, the reason of abnormal sound can be judged through an identification unit based on CNN convolutional neural network training.
As a further scheme of the invention: the patrol strategy is as follows:
generating a planning area and a planning path according to the digital model information of the equipment place;
and adjusting the patrol time length of each planning area in the planning path according to the situation of the planning area where the abnormal point exists.
According to the technical scheme, because abnormal sounds do not always exist, if the on-site inspection robot is far away, the abnormal sounds possibly arrive at the site and just disappear, and further sampling analysis cannot be performed, so that the inspection time of the on-site inspection robot in a planning area can be increased according to the frequency of the abnormal sounds in the planning area, the abnormal sounds are collected more timely, and subsequent manual analysis is facilitated.
The foregoing describes one embodiment of the present invention in detail, but the description is only a preferred embodiment of the present invention and should not be construed as limiting the scope of the invention. All equivalent changes and modifications within the scope of the present invention are intended to be covered by the present invention.
Claims (8)
1. An image processing-based device management system, comprising:
the abnormal sound judging module is used for collecting sound information in the equipment place in real time and judging whether abnormal sound exists or not;
the sound source positioning module is connected with the abnormal sound judging module and used for acquiring estimated positioning points of abnormal sounds;
the on-site inspection robot is connected with the abnormal sound source positioning module and is used for performing inspection in the equipment site according to an inspection strategy; the patrol content comprises:
when the estimated positioning point is obtained, going to the vicinity of the estimated positioning point, and determining equipment related information of suspicious equipment generating abnormal sound;
the suspicious equipment is surrounded to move, and corresponding abnormal sound wave parameters are obtained;
the processing module is connected with the on-site inspection robot and used for acquiring abnormal point positions according to the equipment related information and the abnormal sound related parameters and estimating the generation reasons of the abnormal sounds.
2. The image processing-based device management system according to claim 1, wherein the abnormal sound determination module includes:
the sound collection unit is used for collecting the sound information in real time;
a waveform generation unit for converting the sound information into a corresponding sound waveform;
the window reorganization unit is used for reorganizing the sound waveform in the sliding window and similar historical abnormal sound waveform in the built-in abnormal sound wave library to obtain reorganized waveform;
an automatic judging unit for judging whether the waveform is an abnormal waveform or not according to the recombined waveform;
wherein the automatic judging unit is a trained neural network model.
3. The image processing-based device management system according to claim 2, wherein the window reorganization unit:
counting the number C of poles of the sound waveform in the sliding window;
all the historical abnormal acoustic waveforms meeting the requirements C E [ C-re1, C+re2] are used as similar historical abnormal acoustic waveforms;
when the sound waveform is recombined, overlapping the sound waveform with the similar historical abnormal sound waveform; for a pixel point, changing the RGB value of the pixel point in one direction once for each superposition, and deleting the waveform which is not superposed with the sound waveform in the similar historical abnormal sound waveform to obtain the recombined waveform;
wherein re1 is the lowest margin and re2 is the highest margin.
4. The image processing-based device management system of claim 3, wherein the sound source localization module comprises:
a plurality of acoustic imaging units and azimuth analysis modules which are arranged in the equipment places in a scattered way, and a digital equipment map module;
the digital equipment map module is used for storing digital model information of the equipment places; the digital model comprises the topography, the building, the shape and the position information of the equipment corresponding to the equipment place;
for one of the acoustic imaging units, the acoustic imaging unit comprises a microphone array, an image acquisition unit and an acoustic imaging module;
the microphone array is used for receiving external sound waves;
the image acquisition unit is used for acquiring the image of the equipment place at a fixed visual angle;
the acoustic imaging module is used for judging the phase difference of signals of sound waves reaching each microphone, determining the position of a sound source according to the phased array principle, measuring the amplitude of the sound source, and displaying the distribution of the sound source in space in an image mode;
and the azimuth analysis module is used for determining the estimated positioning point according to the positions and shooting angles of all the acoustic imaging units in the digital model information and the position of the displayed sound source image in the picture.
5. The image processing-based equipment management system according to claim 4, wherein the on-site inspection robot comprises a moving vehicle body and a mechanical arm provided on the moving vehicle body and an acoustic imaging unit driven by the mechanical arm;
the motion car body takes the estimated positioning point as an end point, and keeps a sound source image displayed by a sound wave imaging unit on the mechanical arm at the center position of a shooting picture in the process of going to the end point;
when the estimated positioning point cannot be obtained, the moving vehicle body takes the last estimated positioning point as a temporary end point and moves to the position at a speed lower than the average moving speed.
6. The image processing-based device management system according to claim 5, wherein when the moving vehicle body reaches the destination, device-related information of a suspicious device to which the sound source image of the acoustic imaging unit on the robot arm is directed is acquired;
the equipment related information comprises equipment identification codes and corresponding three-dimensional structure diagrams on the suspicious equipment, and the three-dimensional structure diagrams are obtained by scanning the equipment identification codes through the on-site inspection machine;
the on-site inspection robot moves around the suspicious equipment for N weeks according to the three-dimensional structure diagram, and the distance between the acoustic imaging unit on the mechanical arm and the shell of the suspicious equipment is kept to be minimum;
acquiring the sound source image Pi corresponding to the maximum sound source amplitude in the ith week;
and carrying out RGB parameter classification on the points belonging to different amplitude levels in the sound source image, and keeping the RGB of the points of the same amplitude level consistent.
7. The image processing-based device management system and method according to claim 6, wherein the processing module includes:
a processing unit for processing according to N P i Determining the abnormal point position in the position of the corresponding picture, the space coordinates and the direction of the acoustic wave imaging unit of the corresponding picture;
a recognition unit for recognizing N P i Estimating the cause of the abnormal sound;
the recognition unit is a trained neural network model.
8. The image processing-based device management system and method according to claim 1, wherein the patrol policy is:
generating a planning area and a planning path according to the digital model information of the equipment place;
and adjusting the patrol time length of each planning area in the planning path according to the situation of the planning area where the abnormal point exists.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310880222.6A CN116913319A (en) | 2023-07-18 | 2023-07-18 | Equipment management system and method based on image processing |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310880222.6A CN116913319A (en) | 2023-07-18 | 2023-07-18 | Equipment management system and method based on image processing |
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| CN116913319A true CN116913319A (en) | 2023-10-20 |
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| CN202310880222.6A Pending CN116913319A (en) | 2023-07-18 | 2023-07-18 | Equipment management system and method based on image processing |
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