Method, system and equipment for recording remote sensing data of inspection equipment and medium

Abstract

The invention provides an inspection equipment remote sensing data recording method, system, equipment and medium, and the recording method comprises the steps: obtaining inspection task data of inspection equipment, and generating a sampling frequency based on the inspection task data; based on route planning information in the inspection task data, controlling the inspection equipment to fly so as to acquire remote sensing data, and acquiring coordinate data of the inspection equipment in real time according to the sampling frequency; calculating a sampling distance between the inspection equipment at the current sampling moment and the current inspection target according to the coordinate data; and based on the sampling distances of all the sampling moments, calculating a deflection value of the current sampling moment, calculating a difference value between the deflection value of the current sampling moment and the deflection value of the previous sampling moment, and when the difference value is smaller than or equal to a preset deflection threshold value, recording remote sensing data of the current inspection target collected by the inspection equipment. According to the invention, a specific inspection target can be identified from an inspection flight task, and collected remote sensing data records can be independently stored.

Description

Technical Field

[0001] The present invention relates to the technical field of patrol inspection equipment, and in particular to a method, system, equipment and medium for recording remote sensing data of patrol inspection equipment. Background Art

[0002] With the continuous advancement of automation and intelligence in the industrial sector, drones, robots, and other automated equipment are increasingly being used in inspection tasks. This is particularly true in industries such as petroleum, electricity, transportation, agriculture, and construction. These inspections often require extensive data collection and analysis, covering a wide range of data types, from point-based, linear, to surface-based.

[0003] Current technologies often employ a unified approach to executing these inspection tasks, failing to fully consider the specific needs of different inspection targets to achieve task segmentation and customized management. In particular, within a single inspection flight, there's a lack of the ability to effectively break down the task into multiple, independent inspection recording units tailored to specific inspection targets. This approach not only makes it difficult for users to focus on a specific inspection target, reducing inspection efficiency, but also, in complex environments, can increase the risk of misjudgments or missed inspections due to this unified approach. Therefore, there is room for improvement. Summary of the Invention

[0004] In view of the shortcomings of the prior art described above, the purpose of the present invention is to provide a method, system, equipment and medium for recording remote sensing data of inspection equipment, which is used to solve the technical problem in the prior art that the inspection flight mission lacks the ability to effectively decompose into multiple independent inspection recording units for specific inspection targets.

[0005] To achieve the above-mentioned and other related purposes, the present invention provides a method for recording remote sensing data of inspection equipment, comprising:

[0006] Obtaining inspection task data of the inspection device, and generating a corresponding sampling frequency based on the inspection task data, wherein the sampling frequency represents the frequency of sampling the coordinate data of the inspection device during the process of the inspection device inspecting the current inspection target;

[0007] Based on the route planning information in the inspection task data, control the inspection equipment to fly to collect remote sensing data, and collect coordinate data of the inspection equipment in real time according to the sampling frequency;

[0008] Calculate the sampling distance between the inspection device and the current inspection target at the current sampling moment according to the coordinate data;

[0009] According to the sampling distance, the skew value at the current sampling moment is calculated, and the difference between the skew values ​​at the current sampling moment and the previous sampling moment is calculated. When the difference is less than or equal to the preset skew threshold, the remote sensing data of the current inspection target collected by the inspection equipment is recorded.

[0010] In one embodiment of the present invention, the steps of obtaining inspection task data of an inspection device and generating a corresponding sampling frequency based on the inspection task data, wherein the sampling frequency represents the frequency of sampling the coordinate data of the inspection device during the inspection of the current inspection target by the inspection device, include:

[0011] Obtain inspection task data of inspection equipment;

[0012] Obtaining a sampling dynamic factor of the current inspection target according to target type information of the current inspection target in the inspection task data;

[0013] The sampling frequency is calculated and generated based on the sampling dynamic factor, the operating speed of the inspection equipment in the inspection task data, the inspection size and area complexity of the current inspection target.

[0014] In one embodiment of the present invention, the sampling frequency N satisfies the following formula:

[0015]

[0016] Wherein, k represents the sampling dynamic factor, v represents the operating speed of the inspection device, A represents the inspection size of the current inspection target, and c represents the regional complexity of the current inspection target.

[0017] In one embodiment of the present invention, the sampling distance d i Satisfies the following formula:

[0018]

[0019] Where r represents the radius of the earth, It represents the latitude difference between the location of the inspection equipment at the current sampling time and the current inspection target, Δλ represents the longitude difference between the location of the inspection equipment at the current sampling time and the current inspection target, Indicates the latitude of the inspection equipment at the current sampling time. Indicates the latitude of the current inspection target.

[0020] In one embodiment of the present invention, the step of calculating the skew value at the current sampling moment based on the sampling distance, and calculating the difference between the skew values ​​at the current sampling moment and the previous sampling moment, and recording the remote sensing data of the current inspection target collected by the inspection equipment when the difference is less than or equal to a preset skew threshold, includes:

[0021] Calculating a sampling mean of the sampling distance, and calculating a skew value corresponding to a current sampling moment based on the sampling mean and the maximum and minimum values ​​in the sampling distance;

[0022] The difference between the skew values ​​at the current sampling moment and the previous sampling moment is calculated. When the difference is less than or equal to the preset skew threshold, the remote sensing data of the current inspection target collected by the inspection equipment is recorded.

[0023] In one embodiment of the present invention, after the step of calculating the difference between the skew values ​​at the current sampling moment and the previous sampling moment, and starting to record the remote sensing data of the current inspection target collected by the inspection equipment when the difference is less than or equal to a preset skew threshold, the step includes:

[0024] Continue to collect coordinate data of the inspection equipment according to the sampling frequency, and calculate the sampling distance, deflection value and the difference of the corresponding deflection values ​​at subsequent sampling moments. When the difference is greater than the preset deflection threshold, stop recording the remote sensing data collected by the inspection equipment, and save the recorded remote sensing data as the inspection data of the current inspection target.

[0025] In one embodiment of the present invention, the skew value K satisfies the following formula:

[0026] K=(D max -D avg )-|D min -D avg |

[0027] Among them, D max Indicates the maximum value in the sampling distance, D min Indicates the minimum value in the sampling distance, D avg Indicates the sample mean of the sampling distance.

[0028] The present invention also provides a system for recording remote sensing data of inspection equipment, comprising:

[0029] A sampling frequency generation module is used to obtain inspection task data of the inspection device and generate a corresponding sampling frequency based on the inspection task data. The sampling frequency represents the frequency of sampling the coordinate data of the inspection device during the inspection of the current inspection target by the inspection device;

[0030] A coordinate data acquisition module, configured to control the inspection equipment to fly to collect remote sensing data based on the route planning information in the inspection task data, and to collect the coordinate data of the inspection equipment in real time according to the sampling frequency;

[0031] A sampling distance calculation module calculates the sampling distance between the inspection device at the current sampling moment and the current inspection target based on the coordinate data;

[0032] The remote sensing data recording module is used to calculate the skew value at the current sampling moment based on the sampling distance, and calculate the difference between the skew values ​​at the current sampling moment and the previous sampling moment. When the difference is less than or equal to the preset skew threshold, the remote sensing data of the current inspection target collected by the inspection equipment is recorded.

[0033] The present invention further provides an electronic device, characterized in that the electronic device comprises:

[0034] one or more processors;

[0035] A storage device is used to store one or more programs. When the one or more programs are executed by the one or more processors, the electronic device implements the method for recording remote sensing data of the inspection equipment as described in any one of the above items.

[0036] The present invention also provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor of a computer, the computer is caused to execute any of the above-mentioned methods for recording remote sensing data of inspection equipment.

[0037] As described above, the method, system, equipment and medium for recording remote sensing data of inspection equipment of the present invention have the following beneficial effects: the present invention can identify specific inspection targets from inspection flight missions, and record the remote sensing data collected by the inspection equipment as separately manageable inspection records, which can dynamically focus on the inspection target trajectories and related data of the user's concern, and help users obtain flight trajectories and remote sensing data related to specific targets in a timely manner during the execution of the task. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A flow chart of a method for recording remote sensing data of inspection equipment provided in an embodiment of the present invention;

[0039] Figure 2 Shown is a structural block diagram of a recording system for remote sensing data of inspection equipment provided by an embodiment of the present invention;

[0040] Figure 3 Shown is a structural schematic diagram of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0041] The following describes the embodiments of the present invention through specific examples. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments. The details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other unless they conflict.

[0042] It should be noted that the illustrations provided in the following embodiments are merely schematic illustrations of the basic concept of the present invention. Therefore, the illustrations only show components related to the present invention and are not drawn according to the number, shape, and size of components in actual implementation. In actual implementation, the type, quantity, and proportion of each component may be changed arbitrarily, and the component layout may also be more complex.

[0043] In the following description, numerous details are discussed to provide a more thorough explanation of the embodiments of the present invention. However, it will be apparent to those skilled in the art that the embodiments of the present invention may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring the embodiments of the present invention.

[0044] First, it's important to note that inspection equipment can include drones, robots, and other automated devices. Inspection missions performed by these devices typically last a long time and cover multiple inspection targets. Because the entire inspection mission is considered a single entity, existing technologies are unable to effectively refine the mission to specific inspection target areas of interest to the user. This means they can't dynamically focus on the trajectory and related remote sensing data of the inspection targets of interest to the customer. Consequently, customers are unable to obtain timely flight trajectories and pod images related to specific targets during mission execution.

[0045] The present invention provides a method, system, device, and medium for recording remote sensing data from inspection equipment. The processing method provided by the present invention can identify specific inspection targets from inspection flight missions, record the remote sensing data collected by the inspection equipment as individually manageable inspection records, and ensure that inspection records can be started and ended accurately and promptly, helping users better identify, analyze, and solve problems. This is explained in detail below through specific embodiments.

[0046] See also Figure 1 The present invention provides a method for recording remote sensing data of inspection equipment, which may include the following steps:

[0047] Step S100: Obtain inspection task data of the inspection device, and generate a corresponding sampling frequency based on the inspection task data. The sampling frequency represents the frequency of sampling the coordinate data of the inspection device during the inspection of the current inspection target by the inspection device.

[0048] Step S200: Based on the route planning information in the inspection task data, control the inspection equipment to fly to collect remote sensing data, and collect the coordinate data of the inspection equipment in real time according to the sampling frequency;

[0049] Step S300: Calculate the sampling distance between the inspection device at the current sampling time and the current inspection target based on the coordinate data;

[0050] Step S400: Calculate the skew value at the current sampling moment based on the sampling distance, and calculate the difference between the skew values ​​at the current sampling moment and the previous sampling moment. When the difference is less than or equal to the preset skew threshold, record the remote sensing data of the current inspection target collected by the inspection equipment.

[0051] In one embodiment of the present invention, when step S100 is executed, the inspection task data of the inspection equipment is obtained, and based on the inspection task data, a corresponding sampling frequency is generated, and the sampling frequency represents the frequency of sampling the coordinate data of the inspection equipment during the inspection of the current inspection target by the inspection equipment. Specifically, when the inspection equipment performs a flight inspection task, it will pass through the inspection targets in sequence. The staff pre-configures corresponding inspection task data for each inspection target. The inspection task data contains the planned track of the inspection equipment. The present invention collects the location information of the inspection equipment in real time through dynamic sampling technology, and the sampling frequency is dynamically adjusted according to the type of task target, the motion state of the inspection equipment, the size of the target area, and the actual situation of the task execution. This step adapts the sampling frequency according to factors such as the regional complexity of the inspection target, the urgency of the task, and the actual movement speed of the equipment, and may include the following steps:

[0052] Step S110: Obtain inspection task data of the inspection equipment;

[0053] Step S120: Obtain the sampling dynamic factor of the current inspection target according to the target type information of the current inspection target in the inspection task data;

[0054] Step S130 : Calculate and generate a sampling frequency based on a sampling dynamic factor, the operating speed of the inspection equipment in the inspection task data, the inspection size of the current inspection target, and the regional complexity.

[0055] In one embodiment of the present invention, when step S110 is executed, the inspection task data of the inspection equipment is obtained. Specifically, the inspection task data of the inspection equipment is first obtained. The inspection task data includes the route planning information of the inspection equipment in the current inspection task, as well as the information of the inspection targets to be inspected. This information may include target type information, coordinate information, and regional complexity of the current inspection target. For example, the target type of the inspection target may include point targets, line targets, and surface targets. When the inspection target is a point target, its coordinate information is the coordinates of its center point. When the inspection target is a line target or a surface target, its coordinate information is the coordinates of the boundary of the area it covers. Regional complexity reflects the density and complexity of the inspection targets in a certain area.

[0056] In one embodiment of the present invention, when step S120 is executed, the sampling dynamic factor of the current inspection target is obtained based on the target type information of the current inspection target in the inspection task data. Specifically, the sampling dynamic factor is a preset parameter associated with the target type of the inspection target. It can be understood that the inspection range of point targets is relatively small, while the inspection range of line targets and surface targets is larger and more complex, so a higher sampling frequency is required to ensure sufficient inspection data, that is, in the order of point targets, line targets to surface targets, the corresponding sampling dynamic factor gradually increases. In this embodiment, according to the target type, the preset parameter comparison table is queried to obtain the value of the sampling dynamic factor corresponding to the current inspection target. Furthermore, the value of the sampling dynamic factor can be adjusted according to the task urgency of the current inspection target, that is, the sampling frequency is adapted according to the task urgency, so as to realize dynamic sampling of the location information of the inspection equipment during the inspection process.

[0057] In one embodiment of the present invention, when executing step S130, a sampling frequency is calculated based on the sampling dynamic factor, the operating speed of the inspection equipment in the inspection task data, the inspection size of the current inspection target, and the regional complexity. Specifically, the sampling frequency N is positively correlated with the sampling dynamic factor k, the regional complexity c, and the flight speed v of the inspection equipment, and negatively correlated with the radius r of the inspection target. It is understood that the flight speed of the inspection equipment represents the execution rate of the inspection task. As the flight speed increases, the sampling frequency must also increase linearly to ensure the real-time and accuracy of inspection records. Regional complexity reflects the density and complexity of inspection targets within a given area, and its values ​​are ranked from smallest to largest: point targets, line targets, and area targets. Therefore, as the number of line targets or area targets increases, the regional complexity increases linearly, requiring a higher sampling frequency to ensure the accuracy and completeness of the inspection data. For example, when multiple line targets or area targets exist within an area, the sampling frequency is increased accordingly to avoid misidentification or missed detections. The value of the inspection size A also varies for different types of inspection targets. For example, the inspection radius for point targets is smaller, while the radius for line and area targets is typically larger. Different inspection tasks adjust the value of the inspection size A based on the inspection equipment's minimum turning radius. For example, when the inspection equipment's maximum speed is 30 m / s, the minimum turning radius for point targets is typically 150 meters. This means that the inspection equipment's minimum radius when circling a point target is 150 meters. This value depends on the aircraft's route mapping radius. A larger radius reduces the sampling frequency, while a smaller radius increases it.

[0058] Taking all the above parameters into consideration, the sampling frequency N can satisfy the following formula:

[0059]

[0060] Here, k represents the sampling dynamic factor determined in step S120. v represents the preset flight speed of the inspection device, A represents the inspection target size, and c represents the area complexity. This step allows for flexible and dynamic adjustment of the sampling frequency based on the characteristics, flight speed, and density of different inspection targets, optimizing the inspection process and ensuring efficient and accurate execution of inspection tasks.

[0061] In one embodiment of the present invention, when step S200 is executed, that is, based on the route planning information in the inspection task data, the inspection equipment is controlled to fly to collect remote sensing data, and the coordinate data of the inspection equipment is collected in real time according to the sampling frequency. Specifically, first, based on the route planning information in the inspection task data, the inspection equipment is controlled to fly according to the corresponding route, and the pod carried by the inspection equipment is turned on to collect remote sensing data. At the same time, the coordinate data of the inspection equipment is collected in real time according to the sampling frequency corresponding to the current inspection target generated in step S100. The coordinate data is the longitude and latitude coordinates of the inspection equipment at each sampling moment during the flight process. The interval time between adjacent coordinate data is determined by the sampling frequency corresponding to the current inspection target. The higher the sampling frequency, the smaller the sampling time interval, and vice versa.

[0062] In one embodiment of the present invention, when step S300 is executed, that is, based on the coordinate data, the sampling distance between the inspection device at the current sampling moment and the current inspection target is calculated. Specifically, the sampling distance between the inspection device and the current inspection target at each sampling moment is calculated using the Haversine formula. The Haversine formula can be used to calculate the shortest path distance between two points on the surface of the earth, and can be used for more accurate distance calculations, and is applicable to geographic coordinate systems (such as longitude and latitude). The sampling distance is a measure of the distance between the inspection device and the inspection target at a certain sampling moment, indicating the spatial deviation between the current position of the inspection device and the target. For point targets, the sampling distance refers to the distance from the inspection device to the center point of the current inspection target; for line targets and surface targets, the sampling distance is the shortest distance from the inspection device to the regional boundary of the current inspection target.

[0063] In this embodiment, the sampling distance may satisfy the following formula:

[0064]

[0065] Where r represents the radius of the earth, It represents the latitude difference between the location of the inspection equipment at the current sampling time and the current inspection target, Δλ represents the longitude difference between the location of the inspection equipment at the current sampling time and the current inspection target, Indicates the latitude of the inspection equipment at the current sampling time. Indicates the latitude of the current inspection target.

[0066] In one embodiment of the present invention, when executing step S400, i.e., calculating the skew value at the current sampling moment based on the sampling distance, and calculating the difference between the skew values ​​at the current sampling moment and the previous sampling moment, when the difference is less than or equal to a preset skew threshold, recording the remote sensing data of the current inspection target collected by the inspection equipment. Specifically, the following steps may be included:

[0067] Step S410: Calculate the sampling mean of the sampling distance, and calculate the skew value corresponding to the current sampling moment based on the sampling mean and the maximum and minimum values ​​of the sampling distance;

[0068] Step S420: Calculate the difference between the skew values ​​at the current sampling moment and the previous sampling moment. When the difference is less than or equal to a preset skew threshold, start recording the collective remote sensing data of the current inspection target collected by the inspection equipment.

[0069] In one embodiment of the present invention, when executing step S410, i.e. calculating the sampling mean of the sampling distance, and calculating the skew value corresponding to the current sampling moment based on the sampling mean and the maximum and minimum values ​​of the sampling distance, first, the sampling distances corresponding to the current sampling moment and all the sampling moments before it are accumulated and summed, and then the sum is divided by the total number of sampling times to obtain the sampling mean D. avg Finally, based on the sampling mean, as well as the maximum and minimum values ​​in all sampling distances, the skew value corresponding to the current sampling moment is calculated. In this embodiment, the skew value K satisfies the following formula:

[0070] K=(D max -D avg )-|D min -D avg |

[0071] Among them, D max Indicates the maximum value of all sampling distances, D min Indicates the minimum value among all sampling distances, D avg Indicates the sampling mean of all sampling distances.

[0072] In one embodiment of the present invention, when step S420 is executed, i.e., calculating the difference between the skew values ​​at the current sampling moment and the previous sampling moment, if the difference is less than or equal to a preset skew threshold, the inspection equipment begins recording the collected remote sensing data for the current inspection target. Specifically, the difference between the skew values ​​at the two most recent sampling moments is calculated, i.e., the difference between the skew value at the current sampling moment and the skew value at the previous sampling moment, and this difference is compared with a preset skew threshold. If this difference is less than or equal to the skew threshold, it is determined that the inspection equipment has entered the data collection range for the current inspection target. At this point, the remote sensing data collected by the pod is valid data for the current inspection target, and therefore, the remote sensing data collected by the inspection equipment for the current inspection target can be recorded. In this embodiment, remote sensing data refers to information obtained by the inspection equipment through aerial observation and measurement of the ground or a specific target using the onboard sensor equipment. This data can be acquired using a variety of sensor types, including but not limited to optical cameras, infrared cameras, multispectral and hyperspectral imagers, and laser radar (LiDAR).

[0073] Furthermore, after starting to record the remote sensing data of the current inspection target collected by the inspection equipment, continue to collect the coordinate data of the inspection equipment according to the sampling frequency, and calculate the sampling distance, deflection value and the difference of the corresponding deflection value at the subsequent sampling time. When the difference is greater than the preset deflection threshold, it can be determined that the inspection equipment has left the data collection range of the inspection target, and the remote sensing data collected by the pod thereafter is invalid data for the inspection of the current inspection target. Therefore, the recording of the remote sensing data collected by the inspection equipment can be stopped, and the recorded remote sensing data can be saved as the inspection record data of the current inspection target for subsequent data analysis.

[0074] Furthermore, after the inspection equipment completes the remote sensing data recording of an inspection target according to the above method, it will update the sampling frequency according to the target type information, inspection size and area complexity of the new inspection target in the next inspection task data, and record the remote sensing data of the new inspection target until the task is completed.

[0075] See also Figure 3 The present invention also provides a system for recording remote sensing data from patrol equipment, which corresponds one-to-one to the recording method in the above embodiment. The recording system can include a sampling frequency generation module 11, a coordinate data acquisition module 12, a sampling distance calculation module 13, and a remote sensing data recording module 14. Each functional module is described in detail as follows:

[0076] The sampling frequency generation module 11 can be used to obtain the inspection task data of the inspection device and generate a corresponding sampling frequency based on the inspection task data. The sampling frequency represents the frequency at which the coordinate data of the inspection device is sampled during the inspection of the current inspection target. Furthermore, the inspection task data of the inspection device is obtained; based on the target type information of the current inspection target in the inspection task data, a preset parameter comparison table is read to obtain the sampling dynamic factor of the current inspection target; and the sampling frequency is calculated and generated based on the sampling dynamic factor, the operating speed of the inspection device in the inspection task data, the inspection size of the current inspection target, and the area complexity.

[0077] The coordinate data acquisition module 12 can be used to control the inspection equipment's flight to collect remote sensing data based on the route planning information in the inspection task data. The coordinate data acquisition module 12 also collects the inspection equipment's coordinate data in real time according to the sampling frequency. Furthermore, the coordinate data acquisition module 12 can be specifically used to control the inspection equipment's flight along the corresponding route based on the route planning information in the inspection task data, and to activate the pod carried by the inspection equipment to collect remote sensing data. Simultaneously, the coordinate data of the inspection equipment is collected in real time according to the sampling frequency corresponding to the current inspection target generated in step S100. The coordinate data is the latitude and longitude coordinates of the inspection equipment at each sampling moment during its flight.

[0078] The sampling distance calculation module 13 can be used to calculate the sampling distance between the inspection device at the current sampling moment and the current inspection target based on the coordinate data. Furthermore, the sampling distance calculation module 13 can be specifically used to calculate the sampling distance between the inspection device and the current inspection target at each sampling moment using a haversine function. The haversine function (Haversine formula) can be used to calculate the shortest path distance between two points on the surface of the earth, and can be used for more accurate distance calculations, and is suitable for geographic coordinate systems (such as longitude and latitude). The sampling distance is a measure of the distance between the inspection device and the inspection target at a certain sampling moment, indicating the spatial deviation between the current position of the inspection device and the target. For point targets, the sampling distance refers to the distance from the inspection device to the center point of the current inspection target; for line targets and surface targets, the sampling distance is the shortest distance from the inspection device to the regional boundary of the current inspection target.

[0079] The remote sensing data recording module 14 can be used to calculate the skew value at the current sampling moment based on the sampling distance, and calculate the difference between the skew values ​​at the current sampling moment and the previous sampling moment. When the difference is less than or equal to a preset skew threshold, the remote sensing data of the current inspection target collected by the inspection equipment can be recorded. Furthermore, the remote sensing data recording module 14 can be specifically used to calculate the sampling mean of the sampling distance, and based on the sampling mean and the maximum and minimum values ​​of the sampling distance, calculate the skew value corresponding to the current sampling moment; calculate the difference between the skew values ​​at the current sampling moment and the previous sampling moment, and when the difference is less than or equal to the preset skew threshold, begin recording the centralized remote sensing data of the current inspection target collected by the inspection equipment.

[0080] Furthermore, the remote sensing data recording module 14 can also be used to continue to collect the coordinate data of the inspection equipment according to the sampling frequency, and calculate the sampling distance, deflection value and the difference of the corresponding deflection values ​​at subsequent sampling moments. When the difference is greater than the preset deflection threshold, the recording of the remote sensing data collected by the inspection equipment is stopped, and the recorded remote sensing data is saved as the inspection record data of the current inspection target.

[0081] The specific limitations of the recording system for remote sensing data from inspection equipment can be found in the limitations of the recording method above and will not be further elaborated here. Each module in the aforementioned recording system may be implemented in whole or in part through software, hardware, or a combination thereof. Each of the aforementioned modules may be embedded in or independent of a processor in a computer device in hardware form, or may be stored in a computer device memory in software form, so that the processor can call and execute the corresponding operations of each module.

[0082] An embodiment of the present invention also provides an electronic device, comprising: one or more processors; a storage device for storing one or more programs, wherein when the one or more programs are executed by one or more processors, the electronic device implements the method for recording remote sensing data of the inspection equipment provided in the above-mentioned embodiments.

[0083] See also Figure 3 The electronic device 2 may include a memory 21, a processor 22 and a bus, and may also include a computer program stored in the memory 21 and executable on the processor 22, such as a program for recording remote sensing data of an inspection device.

[0084] Among them, the memory 21 includes at least one type of readable storage medium, and the readable storage medium includes a flash memory, a mobile hard disk, a multimedia card, a card-type memory (for example, SD or DX memory, etc.), a magnetic memory, a disk, an optical disk, etc. In some embodiments, the memory 21 can be an internal storage unit of the electronic device 2, such as a mobile hard disk of the electronic device 2. In other embodiments, the memory 21 can also be an external storage device of the electronic device 2, such as a plug-in mobile hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the electronic device 2. Furthermore, the memory 21 can also include both an internal storage unit of the electronic device 2 and an external storage device. The memory 21 can not only be used to store application software and various types of data installed in the electronic device 2, such as the code of the recording method of remote sensing data of the inspection equipment, but can also be used to temporarily store data that has been output or is to be output.

[0085] In some embodiments, the processor 22 may be composed of an integrated circuit, such as a single packaged integrated circuit or a plurality of packaged integrated circuits with the same or different functions, including one or more central processing units (CPUs), microprocessors, digital processing chips, graphics processors, and a combination of various control chips. The processor 22 is the control core (Control Unit) of the electronic device 2. It utilizes various interfaces and circuits to connect the various components of the entire electronic device 2. It executes or runs programs or modules stored in the memory 21 (such as a fatigue prediction model training program) and calls data stored in the memory 21 to perform various functions of the electronic device 2 and process data.

[0086] The processor 22 executes the operating system and various installed applications of the electronic device 2. The processor 22 executes the applications to implement the steps in the above-mentioned method for recording remote sensing data of inspection equipment.

[0087] Exemplarily, the computer program may be divided into one or more modules, which are stored in the memory 21 and executed by the processor 22 to complete the present application. The one or more modules may be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the computer program in the electronic device 2. For example, the computer program may be divided into a sampling frequency generation module 11, a coordinate data acquisition module 12, a sampling distance calculation module 13, and a remote sensing data recording module 14.

[0088] The above-mentioned integrated unit implemented in the form of a software functional module can be stored in a computer-readable storage medium, which can be non-volatile or volatile. The above-mentioned software functional module is stored in a storage medium and includes a number of instructions for causing a computer device (which can be a personal computer, computer device, or network device, etc.) or a processor to perform part of the functions of the method for recording remote sensing data of inspection equipment described in various embodiments of this application.

[0089] In summary, the present invention provides a method, system, device, and medium for recording remote sensing data from inspection equipment. These methods can identify specific inspection targets within a single inspection flight mission and record the remote sensing data collected by the inspection equipment as individually manageable inspection records. This allows for dynamic focus on the trajectory and related data of the inspection targets of interest to the user, helping users promptly obtain flight trajectories and remote sensing data related to specific targets during mission execution. This method ensures that inspection records can be started and ended accurately and promptly, helping users better identify, analyze, and resolve problems. Therefore, the present invention effectively overcomes the various shortcomings of the prior art and possesses high industrial value.

[0090] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Anyone skilled in the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by one of ordinary skill in the art without departing from the spirit and technical principles disclosed herein are intended to be covered by the claims of the present invention.

Claims

1. A method for recording remote sensing data of inspection equipment, characterized in that: include: Obtaining inspection task data of the inspection device, and generating a corresponding sampling frequency based on the inspection task data, wherein the sampling frequency represents the frequency of sampling the coordinate data of the inspection device during the process of the inspection device inspecting the current inspection target; Based on the route planning information in the inspection task data, control the inspection equipment to fly to collect remote sensing data, and collect coordinate data of the inspection equipment in real time according to the sampling frequency; Calculate the sampling distance between the inspection device and the current inspection target at the current sampling moment according to the coordinate data; According to the sampling distance, the skew value at the current sampling moment is calculated, and the difference between the skew values ​​at the current sampling moment and the previous sampling moment is calculated. When the difference is less than or equal to the preset skew threshold, the remote sensing data of the current inspection target collected by the inspection equipment is recorded.

2. The method for recording remote sensing data of inspection equipment according to claim 1, characterized in that: The steps of obtaining inspection task data of the inspection device and generating a corresponding sampling frequency based on the inspection task data, wherein the sampling frequency represents the frequency of sampling the coordinate data of the inspection device during the inspection of the current inspection target by the inspection device include: Obtain inspection task data of inspection equipment; Obtaining a sampling dynamic factor of the current inspection target according to target type information of the current inspection target in the inspection task data; The sampling frequency is calculated and generated based on the sampling dynamic factor, the operating speed of the inspection equipment in the inspection task data, the inspection size and area complexity of the current inspection target.

3. The method for recording remote sensing data of inspection equipment according to claim 2, characterized in that: The sampling frequency N satisfies the following formula: Wherein, k represents the sampling dynamic factor, v represents the operating speed of the inspection device, A represents the inspection size of the current inspection target, and c represents the regional complexity of the current inspection target.

4. The method for recording remote sensing data of inspection equipment according to claim 1, characterized in that: The sampling distance d i Satisfies the following formula: Where r represents the radius of the earth, It represents the latitude difference between the location of the inspection equipment at the current sampling time and the current inspection target, Δλ represents the longitude difference between the location of the inspection equipment at the current sampling time and the current inspection target, Indicates the latitude of the inspection equipment at the current sampling time. Indicates the latitude of the current inspection target.

5. The method for recording remote sensing data of inspection equipment according to claim 1, characterized in that: The step of calculating the skew value at the current sampling moment according to the sampling distance, and calculating the difference between the skew values ​​at the current sampling moment and the previous sampling moment, and recording the remote sensing data of the current inspection target collected by the inspection equipment when the difference is less than or equal to a preset skew threshold, includes: Calculating a sampling mean of the sampling distance, and calculating a skew value corresponding to a current sampling moment based on the sampling mean and the maximum and minimum values ​​in the sampling distance; The difference between the skew values ​​at the current sampling moment and the previous sampling moment is calculated. When the difference is less than or equal to the preset skew threshold, the remote sensing data of the current inspection target collected by the inspection equipment is recorded.

6. The method for recording remote sensing data of inspection equipment according to claim 5, characterized in that: The step of calculating the difference between the skew values ​​at the current sampling moment and the previous sampling moment, and starting to record the remote sensing data of the current inspection target collected by the inspection equipment when the difference is less than or equal to the preset skew threshold, includes: Continue to collect coordinate data of the inspection equipment according to the sampling frequency, and calculate the sampling distance, deflection value and the difference of the corresponding deflection values ​​at subsequent sampling moments. When the difference is greater than the preset deflection threshold, stop recording the remote sensing data collected by the inspection equipment, and save the recorded remote sensing data as the inspection data of the current inspection target.

7. The method for recording remote sensing data of inspection equipment according to claim 5, characterized in that: The skew value K satisfies the following formula: k=(D max -D avg )-|D min -D avg | Among them, D max Indicates the maximum value in the sampling distance, D min Indicates the minimum value in the sampling distance, D avg Indicates the sample mean of the sampling distance.

8. A recording system for remote sensing data of inspection equipment, characterized in that: include: A sampling frequency generation module is used to obtain inspection task data of the inspection device and generate a corresponding sampling frequency based on the inspection task data. The sampling frequency represents the frequency of sampling the coordinate data of the inspection device during the inspection of the current inspection target by the inspection device; A coordinate data acquisition module, configured to control the inspection equipment to fly to collect remote sensing data based on the route planning information in the inspection task data, and to collect the coordinate data of the inspection equipment in real time according to the sampling frequency; A sampling distance calculation module calculates the sampling distance between the inspection device at the current sampling moment and the current inspection target based on the coordinate data; The remote sensing data recording module is used to calculate the skew value at the current sampling moment based on the sampling distance, and calculate the difference between the skew values ​​at the current sampling moment and the previous sampling moment. When the difference is less than or equal to the preset skew threshold, the remote sensing data of the current inspection target collected by the inspection equipment is recorded.

9. An electronic device, characterized in that: The electronic device comprises: one or more processors; A storage device for storing one or more programs, which, when executed by the one or more processors, enables the electronic device to implement the method for recording remote sensing data of the inspection equipment as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that A computer program is stored thereon, and when the computer program is executed by a processor of a computer, the computer is caused to execute the method for recording remote sensing data of inspection equipment according to any one of claims 1 to 7.

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