Inspection route planning method, device and storage medium

Abstract

The present application discloses a patrol route planning method, device and storage medium, wherein the patrol route planning method comprises: determining a first patrol route; obtaining patrol images collected by patrolling based on the first patrol route; optimizing the first patrol route according to the patrol images to obtain a second patrol route. Through the above method, the efficiency of drone patrol route planning can be improved and the use cost can be reduced.

Description

Technical Field

[0001] The present application relates to the field of patrol inspection technology, and in particular to a patrol inspection path planning method, device and storage medium. Background Art

[0002] With the development of drone technology, drones have begun to be gradually used in power systems, especially in line inspection. Compared with manual inspections, drone inspections have many advantages such as more accuracy and higher efficiency, which has brought significant improvements to the inspection efficiency of power systems.

[0003] In the research on automatic inspection by drones, due to the limited endurance of drones and the vast inspection area, it is necessary to rationally plan their inspection routes to make automatic inspection by drones more efficient and accurate.

[0004] At present, the line inspection route planning of power stations is often done manually. However, with the increase in the scale of power station construction, the lines are becoming more and more complex, the inspection area is getting larger and larger, and the number of inspection nodes is increasing. Manual planning is not only time-consuming and labor-intensive, but also prone to errors and repeated planning when there are many line nodes, resulting in the technical problem of low efficiency of existing drone inspection route planning. Summary of the invention

[0005] In order to overcome the shortcomings of the prior art, the purpose of the present invention is to provide a patrol route planning method, device and storage medium, which can significantly improve the efficiency of drone patrol route planning and reduce costs.

[0006] To achieve the above-mentioned purpose, a technical solution adopted in the present application is: to provide a method for planning an inspection path, the method comprising: determining a first inspection path; obtaining an inspection image collected based on the inspection of the first inspection path; optimizing the first inspection path according to the inspection image to obtain a second inspection path.

[0007] Wherein, determining the first inspection path includes: obtaining the inspection range of the inspection equipment; determining a first target point in the target area; determining the inspection area according to the first target point and the inspection range; and determining the first inspection path in the inspection area.

[0008] Among them, the inspection area is a rectangular area; determining a first inspection path in the inspection area, including: determining a second target point in the inspection area that is diagonally related to the first target point to determine the length and width parameters of the inspection area; determining the inspection starting point in the inspection area; obtaining the inspection spacing of the inspection equipment; determining the first inspection path based on the length and width parameters of the inspection area, the spacing of the inspection equipment and the inspection starting point.

[0009] Among them, the length and width parameters of the inspection area include a length parameter and a width parameter, and the spacing of the inspection equipment includes a horizontal spacing and a vertical spacing; according to the length and width parameters of the inspection area, the spacing of the inspection equipment and the inspection starting point, the first inspection path is determined, including: determining the number of columns according to the length parameter of the inspection area and the horizontal spacing of the inspection equipment; and determining the number of rows according to the width parameter of the inspection area and the vertical spacing of the inspection equipment; determining the first inspection path according to the inspection starting point, the number of columns and the number of rows.

[0010] The step of optimizing the first inspection path according to the inspection image to obtain the second inspection path includes: identifying the detected target in the inspection image; optimizing the first inspection path according to the presence or absence of the detected target in the inspection image to obtain the second inspection path.

[0011] Among them, according to the presence or absence of the detected target in the inspection image, the first inspection path is optimized to obtain the second inspection path, including: obtaining all inspection points in the first inspection path as the first inspection point set; wherein each inspection point corresponds to an inspection image; determining the inspection points with detected targets in the inspection image as the second inspection point set, and determining the inspection points without detected targets in the inspection image as the third inspection point set; according to the second inspection point set and the third inspection point set, the first inspection point set is corrected to optimize the first inspection path to obtain the second inspection path.

[0012] The step of optimizing the first inspection path according to the inspection image to obtain the second inspection path includes: detecting the overlap rate of any two inspection images in the inspection image; and optimizing the first inspection path according to the overlap rate to obtain the second inspection path.

[0013] Among them, detecting the overlap rate of any two inspection images in the inspection image includes: detecting the overlap rate of two inspection images corresponding to any two inspection points in the first inspection path; optimizing the first inspection path according to the overlap rate to obtain the second inspection path, including: adjusting the row spacing or column spacing of the first inspection path according to the overlap rate to obtain the second inspection path.

[0014] Another technical solution adopted in the present application is to provide a patrol path planning device, wherein the patrol path planning device includes a processor and a memory, the memory stores program data, and the processor is used to execute the program data to implement the above method.

[0015] Another technical solution adopted by the present application is: providing a computer-readable storage medium, in which program data is stored, and when the program data is executed by a processor, it is used to implement the above method.

[0016] The present application provides a patrol route planning method, device and storage medium, including: determining a first patrol route; obtaining patrol images collected based on the first patrol route; optimizing the first patrol route according to the patrol images to obtain a second patrol route. Through the above method, a preliminary planned path is first determined, and the final patrol route is determined by optimizing the preliminary planned path through the collected image analysis. Therefore, when planning the route, there is no need to confirm the distribution of patrol targets in the area, nor is there any need to obtain the terrain and obstacles in the patrol area, making the patrol route planning more convenient and efficient, which is conducive to reducing patrol costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the drawings of the present application without creative work. Among them:

[0018] Figure 1 A flowchart of an embodiment of an inspection path planning method provided by the present application;

[0019] Figure 2 A schematic diagram of an inspection area provided in an embodiment of the present application;

[0020] Figure 3 A schematic diagram of an inspection area provided in another embodiment of the present application;

[0021] Figure 4 A partial orthophoto diagram of a power station after the inspection area is divided according to an embodiment of the present application;

[0022] Figure 5 A schematic diagram of inspection points in an inspection area provided in an embodiment of the present application;

[0023] Figure 6 A schematic diagram of inspection points after optimized filtering of the inspection area provided in one embodiment of the present application;

[0024] Figure 7 A schematic diagram of inspection points after optimization and adjustment of the inspection area provided in an embodiment of the present application;

[0025] Figure 8 A schematic diagram of the structure of an embodiment of an inspection path planning device provided by the present application;

[0026] Fig. 9 A schematic diagram of the structure of an embodiment of a computer-readable storage medium provided in this application. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It will be appreciated that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for ease of description, only some but not all structures related to the present application are shown in the drawings. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the art without making creative work are within the scope of protection of the present application.

[0028] The terms "A", "B", "C", etc. in this application are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0029] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0030] In order to explain in detail the technical content, technical steps, objectives and effects achieved by this application, the following is a detailed description in combination with the implementation methods and the accompanying drawings.

[0031] See also Figure 1 , Figure 1 This is a flow chart of an embodiment of a patrol route planning method provided by the present application, the method comprising:

[0032] Step 11: Determine the first inspection path.

[0033] The embodiments of the present application can be applied to inspect an area using inspection equipment, which can be a photovoltaic power station, a wind power station, etc. The inspection equipment can be an unmanned aerial vehicle equipped with a camera for taking pictures of the inspection area during flight.

[0034] Taking a photovoltaic power station as an example, there are photovoltaic panels arranged regularly or irregularly in the photovoltaic power station. Generally, the planning of the inspection path is based on the distribution of the photovoltaic panels. In this embodiment, the planning of the first inspection path does not need to consider the distribution of the photovoltaic panels. It only needs to roughly determine the inspection path based on the scope of the entire area.

[0035] Optionally, in one embodiment, step 11 may specifically include:

[0036] Step 111: Obtain the inspection range of the inspection device.

[0037] Among them, the inspection equipment has different inspection times and corresponding inspection ranges based on its own performance. Taking a rechargeable drone as an example, the drone has different flight times according to its own power storage capacity (battery size), and the corresponding inspection range can be determined according to the flight time.

[0038] Optionally, the continuous inspection range of the inspection device is determined to be a rectangular area W×H (the horizontal length of the inspection area is W, and the vertical length is H, unit: m×m) according to the endurance of the inspection device.

[0039] Step 112: Determine a first target point in the target area.

[0040] The target area is the entire area that needs to be inspected. Taking a photovoltaic power station as an example, the target area can be the coverage area of ​​the entire photovoltaic power station. A GPS coordinate point O is collected somewhere in the inspection area, a coordinate system O is established, and four areas are determined according to the quadrant of the coordinate system, where the coordinate point O is the first target point.

[0041] Optionally, GPS coordinates can be collected on-site by staff using professional equipment, which can specifically include longitude and latitude. The staff can obtain GPS coordinates through special GPS equipment, or through some auxiliary devices with GPS positioning functions, such as smart phones, smart watches, tablet computers, etc. In addition, in other implementations, it can also be obtained by obtaining it from a map or other methods.

[0042] Step 113: Determine the inspection area according to the first target point and the inspection range.

[0043] The inspection area is a rectangle with a horizontal length of W and a vertical length of H.

[0044] like Figure 2 As shown, Figure 2Schematic diagram of the inspection area provided by an embodiment of the present application. The first target point O is located at a corner of the power station, and a local coordinate system is established with point O, which is divided into four areas (area 1, area 2, area 3 and area 4), wherein the coverage area of ​​the inspection area is completely contained in area 1.

[0045] Optionally, in one embodiment, for example Figure 2 The small photovoltaic power station shown in the figure establishes the earth coordinate system Z based on the earth's longitude and latitude. A GPS coordinate point O is collected at a certain location in the power station to establish a local coordinate system O, which is divided into four areas. The area covered by the small photovoltaic power station is included in area one, so area one is determined as the inspection area.

[0046] like Figure 3 As shown, Figure 3 This is a schematic diagram of the inspection area provided by another embodiment of the present application. In which, the first target point O is located in the power station, and a local coordinate system is established with point O, which is divided into four areas (area 1, area 2, area 3 and area 4), wherein the coverage area of ​​the inspection area is completely contained in the four areas.

[0047] Alternatively, in another embodiment, for Figure 3 For the large photovoltaic power station shown in the figure, the earth coordinate system Z is established based on the earth's longitude and latitude. The GPS coordinate point O is collected at a certain place in the power station to establish the local coordinate system O, which can be divided into 4 areas. The coverage area of ​​the photovoltaic power station is completely contained in the four areas, so area 1, area 2, area 3, and area 4 are selected as inspection areas accordingly.

[0048] Step 114: Determine a first inspection path in the inspection area.

[0049] Among them, the method for obtaining the first inspection path in the embodiment of the present application is not unique. Specifically, the first inspection path can be obtained according to the length and width parameters, inspection direction, and inspection starting point in the inspection area. The length and width parameters, inspection direction, and inspection starting point in the inspection area are different, and the first inspection path obtained is also different.

[0050] Optionally, in one embodiment, the inspection area is a rectangular area, and step 114 may specifically include:

[0051] Step 1141: Determine a second target point in the inspection area that is diagonally related to the first target point to determine the length and width parameters of the inspection area.

[0052] like Figure 4 As shown, Figure 4 A partial orthographic schematic diagram of a power station after the inspection area is divided according to an embodiment of the present application, wherein the first target point O is located at the origin of the coordinate axis, and point O1 is the second target point diagonally related to the first target point in the rectangular inspection area.

[0053] Among them, the area detected by the inspection equipment is a rectangular area. The first target point O is located at a vertex of the rectangle. The GPS coordinates of the diagonal point O1 of point O are collected, and O1 is determined as the second target point. Let OO1 be an area range in the horizontal (longitude) direction × vertical (latitude) direction (W×H) (unit: m×m), where the length parameter of the inspection area is W and the width parameter is H.

[0054] Step 1142: Determine the inspection starting point in the inspection area.

[0055] Optionally, the inspection starting point in the inspection area is not unique. Further, the inspection starting point can be any point in the inspection area. Figure 4 For example, in one embodiment of the present application, point A closest to the coordinate axis origin O can be selected as the inspection starting point. In addition, point A close to the second target point O1 can also be selected as the inspection starting point.

[0056] Step 1143: Obtain the inspection interval of the inspection device.

[0057] Among them, the inspection interval is mainly determined by the size of the area corresponding to the collected image. It can be understood that, taking the "S" type inspection of the inspection equipment as an example, if the area corresponding to each image collection is larger, the distance between two adjacent routes of the inspection equipment can be larger, and the frequency of image collection can be smaller. On the contrary, if the area corresponding to each image collection is smaller, the distance between two adjacent routes of the inspection equipment will be smaller, and the image collection will be more frequent to ensure that the collected images cover the entire inspection area.

[0058] Among them, taking the inspection equipment as a drone as an example, point A is determined as the inspection starting point of the drone, and the drone's horizontal (longitude) flight distance WD (unit: m) and vertical (latitude) flight distance HD (unit: m) are set on the tablet, computer, mobile phone, etc.

[0059] Step 1144: Determine a first inspection path according to the length and width parameters, the inspection interval, and the inspection starting point.

[0060] Among them, the length and width parameters include the length parameter and width parameter of the inspection area, and the inspection spacing includes the horizontal spacing and vertical spacing of the inspection equipment;

[0061] Among them, the number of rows and columns corresponding to the horizontal (longitude) direction × vertical (latitude) direction (i.e. the total number of inspection points in the inspection area) can be calculated by the inspection area W×H and WD×HD according to the basic operation rules, which can be calculated by the following formula:

[0062] Col = H / HD;

[0063] Row = W / WD;

[0064] like Figure 5 As shown, Figure 5 A schematic diagram of inspection points in an inspection area provided in an embodiment of the present application, wherein point O is the origin of coordinates, O1 is the diagonal point of point O in the rectangular area, the arrow direction is the inspection flight direction of the drone, and point A is the inspection starting point of the drone inspection path.

[0065] Optionally, in one embodiment, the inspection direction can be freely set according to the shape of the rectangular inspection area. For example, point A can be the first inspection point of the drone inspection path, and the drone inspection flight direction can be selected to be horizontal or vertical.

[0066] Among them, Figure 5 For example, the first inspection path is determined according to the number of rows Row, the number of columns Col (ie, the total number of inspection points in the inspection area), and the inspection starting point calculated according to the above formula.

[0067] Step 12: Acquire inspection images collected by performing inspection based on the first inspection path.

[0068] The inspection equipment may be an unmanned aerial vehicle equipped with a camera for taking photos of the inspection area during flight.

[0069] Furthermore, the unmanned aerial vehicle can be equipped with an infrared camera and a visible camera to collect pictures of the inspection area. After the unmanned aerial vehicle flies to the planned inspection point, it starts to collect pictures of the inspection area.

[0070] Among them, the infrared photos and visible photos collected by the unmanned aerial vehicle include: the complete terrain of the power station, one infrared photo and one visible photo corresponding to one inspection point; the GPS, altitude and other information of the inspection point are written into the image attributes.

[0071] Step 13: Optimize the first inspection path according to the inspection image to obtain a second inspection path.

[0072] Among them, there is no unique method for optimizing the first inspection path. Optionally, it includes: optimizing the first inspection path according to the presence or absence of the detected target in the inspection image, optimizing the first inspection path according to the overlap rate of the inspection image, and any combination of the above two methods.

[0073] Optionally, in an embodiment of the present application, taking the presence or absence of the detected target in the inspection image as an example, the first inspection path is optimized to obtain the second inspection path. In an embodiment, step 13 may specifically include:

[0074] Step 1311: Identify the detected target in the inspection image.

[0075] The collected visible or infrared pictures can be analyzed and calculated by image algorithms to detect whether the pictures contain the detected target. The detection target in the present invention is a photovoltaic panel.

[0076] Optionally, in one embodiment, image target recognition (image algorithm or AI (Artificial Intelligence) target detection) may be used to detect whether the image contains a target detection object.

[0077] Optionally, in another embodiment, image segmentation technology (image algorithm or AI (Artificial Intelligence) semantic segmentation (semantic segmentation combines image classification, target detection and image segmentation, and divides the image into regional blocks with certain semantic meanings through certain methods, and identifies the semantic category of each regional block, realizing the semantic reasoning process from bottom to top, and finally obtaining a segmented image with pixel-by-pixel semantic annotation.)) can be used to detect whether the image contains the target detection object.

[0078] Step 1312: Acquire all inspection points in the first inspection path as a first inspection point set; wherein each inspection point corresponds to an inspection image.

[0079] The image (visible or infrared) is detected by image technology. Optionally, A is represented as a set of all inspection point images (visible or infrared) as the first inspection point.

[0080] Step 1313: determining inspection points with detected objects in the inspection image as a second inspection point set, and determining inspection points without detected objects in the inspection image as a third inspection point set;

[0081] Among them, the image (visible or infrared) is detected by image technology, and the images without the target detection object (photovoltaic panel) and the images with the target detection object are classified. Optionally, B represents the inspection images containing the target object (photovoltaic panel) as the second inspection point set, and C represents the inspection images without the target object (photovoltaic panel) as the third inspection point set.

[0082] Step 1314: According to the second inspection point set and the third inspection point set, the first inspection point set is modified to optimize the first inspection path to obtain the second inspection path.

[0083] Among them, the inspection points corresponding to the pictures that do not contain the target detection object are filtered, and the inspection path is replanned according to the remaining inspection points to obtain the second inspection path.

[0084] Specifically, the first inspection path is optimized according to the length and width parameters of the inspection area, the inspection interval of the inspection equipment, the second inspection point set and the inspection starting point to obtain the second inspection path.

[0085] like Figure 6 As shown, Figure 6 A schematic diagram of inspection points after optimization and filtering of the inspection area provided in an embodiment of the present application. The two rectangular areas in the inspection area represent detection areas without target objects, and the inspection points in the areas are filtered to optimize the first inspection path to obtain the second inspection path.

[0086] Optionally, in another embodiment of the present application, taking the optimization of the first inspection path according to the overlap rate of the inspection images as an example, the first inspection path is optimized to obtain the second inspection path, and step 13 in another embodiment may specifically include:

[0087] Step 1321: Detect the overlap rate of any two inspection images in the inspection image.

[0088] Specifically, the overlap rate of two inspection images corresponding to any two inspection points in the first inspection path is detected.

[0089] Optionally, in one embodiment of the present application, the overlap rate of any two inspection images in the inspection image can be detected by taking infrared area photos or visible area photos collected by the inspection device.

[0090] Step 1322: adjusting the row spacing or column spacing of the first inspection path according to the overlap rate to obtain a second inspection path.

[0091] Optionally, in one embodiment of the present application, the first inspection point of the inspection device can be determined as point A, and the horizontal (longitude) direction flight spacing WD (unit: m) and vertical (latitude) direction flight spacing HD (unit: m) of the inspection device can be reset on tablets, computers, mobile phones and other devices. The first inspection path can be optimized by adjusting the spacing of the unmanned aerial vehicles to reduce the overlap rate between images, thereby obtaining a second inspection path.

[0092] Specifically, an overlap rate threshold may be set, and when the overlap rate of images collected by two adjacent collection points reaches the threshold, the inspection path is adjusted accordingly.

[0093] For example, if the overlap rate of images corresponding to two adjacent acquisition points in the horizontal axis direction reaches the threshold, the image acquisition frequency can be correspondingly lowered. For example, if the original image acquisition frequency is 1 second, it can be adjusted to 1.2 seconds.

[0094] For example, if the overlap rate of images corresponding to two adjacent acquisition points in the ordinate direction reaches the threshold, the distance between the two adjacent routes can be adjusted accordingly. For example, the original distance between the two adjacent routes is 2m, which can be adjusted to 2.2m.

[0095] like Figure 7 As shown, Figure 7 A schematic diagram of inspection points after optimization and adjustment of an inspection area provided in an embodiment of the present application, wherein dots represent the distribution of inspection points in a certain area after optimization and adjustment.

[0096] Optionally, in the two first inspection path optimization methods provided above in the present application, it should be understood that the disclosed methods and devices can be implemented in other ways. For example, the above two methods can be combined in any way to achieve the same technical effect, wherein the detection and optimization methods are similar to the above embodiments and will not be repeated here.

[0097] Different from the prior art, the inspection method of the photovoltaic power station provided in the embodiment of the present application includes: collecting a GPS coordinate point O at a certain place in the power station, establishing a coordinate system O, taking point O as the first target point, and determining four areas according to the quadrant of the coordinate system, wherein each area is a rectangle with a horizontal length W and a vertical length H, wherein, for an area with a smaller inspection area, only one area may be inspected, and for an area with a larger inspection area, it may be divided into multiple areas and inspected multiple times; controlling the inspection equipment to collect images in sequence according to the inspection points and inspection directions of the inspection path to obtain image data; analyzing the collected image data to detect whether the image contains the detected target (photovoltaic panel), classifying the image, and inspecting the area that does not contain the target. The waypoints corresponding to the images with the target detection objects are filtered, and the first inspection path is replanned according to the remaining inspection points to obtain the second inspection path or the collected image data is analyzed to detect the overlap rate of any two inspection images in the image, and the row spacing or column spacing of the inspection equipment is adjusted according to the overlap rate. According to the change of the inspection point position, the first inspection path is replanned to obtain the second inspection path; through the above method, by collecting a certain GPS coordinate point O, establishing a coordinate system O, and dividing the inspection area, on the one hand, the number of manually collected GPS coordinate points can be reduced, simplifying manual operations, and on the other hand, for inspection areas of different sizes, drones can be inspected in turn, avoiding the disadvantage of insufficient drone range. By filtering the waypoints corresponding to the images without the detection target or adjusting the row spacing or column spacing of the waypoints of the drone inspection route according to the overlap rate, a new route is obtained, which reduces the unnecessary inspection area of ​​the inspection equipment, and can clearly reflect the abnormal coordinates in combination with the collected infrared image, so that the staff can quickly repair it, improve the stability and life of the equipment, and reduce the maintenance cost.

[0098] See also Figure 8 , Figure 8 This is a structural diagram of an embodiment of an inspection path planning device provided in the present application. The inspection path planning device 80 includes a processor 81 and a memory 82 connected to the processor 81, and program data is stored in the memory 82.

[0099] The inspection route planning device 80 may be a computer, a mobile terminal such as a mobile phone or a tablet, or a wearable device, which is not limited here.

[0100] Optionally, in one embodiment, the processor 81 is used to execute program data to implement the following method: obtain coordinate information of multiple inspection points, wherein the coordinate information of the multiple inspection points is obtained by detecting at the inspection points corresponding to the photovoltaic power station; plan an inspection path according to the coordinate information of the multiple inspection points; perform inspections according to the inspection paths, and perform image acquisition at each acquisition point; establish an inspection point map of the inspection area using the coordinate information corresponding to the acquired images, and detect the conditions of the photovoltaic power station in combination with the acquired images.

[0101] Optionally, in another embodiment, the processor 81 is used to execute program data to implement the following method: obtaining a photovoltaic power station layout map and an inspection area map, wherein the inspection area map includes multiple inspection points, and the multiple inspection points are determined by multiple collected images and corresponding coordinate information; converting the multiple inspection points to the photovoltaic power station layout map; determining abnormal points based on the multiple images, and marking the photovoltaic components corresponding to the abnormal points on the photovoltaic power station layout map.

[0102] In addition, in one embodiment, the inspection path planning device 80 may also include a display screen for displaying images such as infrared images, coordinate images, photovoltaic power station layout diagrams, or displaying statistical results of faulty photovoltaic components. Further, the inspection path planning device 80 may also include an alarm component, such as a flashing light, a buzzer, a speaker, etc., for reminding when a fault is detected.

[0103] In addition, in one embodiment, the inspection path planning device 80 may also include a communication module, such as 4G, 5G, WIFI, etc., for establishing a wireless communication connection with the unmanned aerial vehicle to remotely control and exchange data with the unmanned aerial vehicle.

[0104] See also Fig. 9 , Fig. 9 This is a schematic diagram of the structure of an embodiment of a computer-readable storage medium provided in the present application. The computer-readable storage medium 90 stores program data 91 .

[0105] Optionally, in one embodiment, when the program data 91 is executed by the processor, it is used to implement the following method: obtaining coordinate information of multiple inspection points, wherein the coordinate information of the multiple inspection points is obtained by detecting at the inspection points corresponding to the photovoltaic power station; planning an inspection path according to the coordinate information of the multiple inspection points, and performing inspections according to the inspection paths, and performing image acquisition at each inspection point; establishing a flight area inspection point map using the coordinate information corresponding to the acquired images, and detecting the conditions of the photovoltaic power station in combination with the acquired images.

[0106] Optionally, in another embodiment, when the program data 91 is executed by the processor, it is used to implement the following method: obtaining a photovoltaic power station layout map and an inspection area map, wherein the inspection area map includes multiple inspection points, and the multiple inspection points are determined by multiple collected images and corresponding coordinate information; converting the multiple inspection points to the photovoltaic power station layout map; determining abnormal points based on multiple images, and marking the photovoltaic components corresponding to the abnormal points on the photovoltaic power station layout map.

[0107] The above description is only an implementation method of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made according to the description and drawings of the present application, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A patrol route planning method, characterized in that: The method comprises: Determine a first inspection path; Acquire inspection images collected by performing inspection based on the first inspection path; Optimizing the first inspection path according to the inspection image to obtain a second inspection path includes: Detecting the overlap rate of any two of the inspection images; When the overlap rate of images collected at two adjacent collection points reaches a preset overlap rate threshold, the first inspection path is optimized according to the overlap rate to obtain a second inspection path; Wherein, when the overlap rate of the images collected at two adjacent collection points reaches a preset overlap rate threshold, optimizing the first inspection path according to the overlap rate to obtain a second inspection path includes: When the overlap rate of images corresponding to two adjacent acquisition points in the horizontal coordinate direction reaches the threshold, the image acquisition frequency is lowered; or, when the overlap rate of images corresponding to two adjacent acquisition points in the vertical coordinate direction reaches the threshold, the distance between two adjacent flight routes is widened.

2. The method according to claim 1, characterized in that The determining of the first inspection path includes: Get the inspection range of the inspection equipment; determining a first target point in the target area; Determine an inspection area according to the first target point and the inspection range; A first inspection path is determined in the inspection area.

3. The method according to claim 2, characterized in that The inspection area is a rectangular area; Determining a first inspection path in the inspection area includes: Determine a second target point in the inspection area that is diagonally related to the first target point to determine the length and width parameters of the inspection area; Determine an inspection starting point in the inspection area; Obtaining the inspection interval of the inspection device; The first inspection path is determined according to the length and width parameters, the inspection interval and the inspection starting point.

4. The method according to claim 3, characterized in that The length and width parameters include a length parameter and a width parameter, and the inspection interval includes a horizontal interval and a vertical interval; The determining the first inspection path according to the length and width parameters, the inspection interval and the inspection starting point includes: Determining the number of columns according to the length parameter and the lateral spacing; and Determine the number of rows according to the width parameter and the vertical spacing; The first inspection path is determined according to the inspection starting point, the number of columns and the number of rows.

5. The method according to claim 1, characterized in that The detecting the overlap rate of any two of the inspection images includes: Detecting the overlap rate of two inspection images corresponding to any two inspection points in the first inspection path; When the overlap rate of the images collected at two adjacent collection points reaches a preset overlap rate threshold, optimizing the first inspection path according to the overlap rate to obtain a second inspection path includes: When the overlap rate of images collected at two adjacent collection points reaches a preset overlap rate threshold, the row spacing or column spacing of the first inspection path is adjusted according to the overlap rate to obtain a second inspection path.

6. A patrol route planning device, characterized in that: The inspection path planning device includes a processor and a memory, wherein program data is stored in the memory, and the processor is used to execute the program data to implement the method according to any one of claims 1 to 5.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores program data, and when the program data is executed by a processor, it is used to implement the method according to any one of claims 1 to 5.

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