Cable monitoring system optimizing a path based on image data

Abstract

The embodiment of the application discloses a kind of cable monitoring systems based on image data optimization path, the system includes: image acquisition module is configured to obtain the cable area image that each scattered monitoring point is photographed and returns;Priority determination module is configured to determine the inspection priority of corresponding cable area according to the cable area image;Initial path generation module is configured to obtain initial path based on the initial path planning of the inspection priority, control unmanned aerial vehicle to be inspected according to the initial path and inspect;Correction path generation module is configured to return inspection image in real time during the inspection of the unmanned aerial vehicle, and the initial path is corrected according to the inspection image to obtain the real-time control path after correction;Inspection control module is configured to control unmanned aerial vehicle to be inspected according to the real-time control path and inspect.The scheme improves the equipment inspection efficiency, and finds fault hidden danger in the shortest time.

Description

TECHNICAL FIELD

[0001] The embodiment of the present application relates to the technical field of cable, in particular to a cable monitoring system based on image data optimization path. BACKGROUND

[0002] With the wide use of cables, more and more cable devices are applied in various fields. As one of important power transmission devices, how to efficiently monitor the cable has become a main research topic.

[0003] In the related art, an unmanned vehicle or unmanned aerial vehicle is arranged to automatically perform cable inspection, but the path planning in the inspection process is not reasonable, and usually a simple route is set, and the device is controlled to perform inspection according to the set route, so that the inspection efficiency is not high. SUMMARY

[0004] The embodiment of the present application provides a cable monitoring system based on image data optimization path, solves the characteristics of low cable inspection efficiency, poor flexibility and poor pertinence in the prior art, improves the device inspection efficiency, and can efficiently perform cable inspection and find fault hidden dangers in the shortest time.

[0005] In the first aspect, the embodiment of the present application provides a cable monitoring system based on image data optimization path, and the intelligent cable comprises:

[0006] An image acquisition module is configured to acquire cable area images photographed and returned by each scattered monitoring point, and different monitoring points correspond to different cable lines of different areas.

[0007] A priority determination module is configured to determine an inspection priority of a corresponding cable area according to the cable area image.

[0008] An initial path generation module is configured to perform initial path planning based on the inspection priority to obtain an initial path, and control an inspection unmanned aerial vehicle to perform inspection according to the initial path.

[0009] A corrected path generation module is configured to return an inspection image in real time during the inspection of the inspection unmanned aerial vehicle, and correct the initial path according to the inspection image to obtain a corrected real-time control path.

[0010] An inspection control module is configured to control the inspection unmanned aerial vehicle to perform inspection according to the real-time control path.

[0011] Optionally, the cable area image is a large-range low-precision image, the returned inspection image is a small-range high-precision image, and the priority determination module is configured to:

[0012] The cable form parameters identified from the cable region image are used to determine a patrol priority, wherein different cable form parameters correspond to different patrol priorities, and the cable form parameters include a cable deformation variable and a number of foreign objects associated with the cable.

[0013] Optionally, the initial path generation module is configured to:

[0014] The continuous paths with high patrol priorities are arranged in the front according to the patrol priorities.

[0015] According to the shortest path principle, the continuous paths are sequentially connected according to the patrol priorities to form the initial path.

[0016] Optionally, the modified path generation module is configured to:

[0017] During the patrol of the patrol unmanned aerial vehicle, the patrol images are transmitted back in real time, and the change of the patrol priority is determined according to the received transmitted-back patrol images, and the change includes the change of the cable form parameters.

[0018] The initial path is modified according to the change to obtain a modified real-time control path, including: determining a sub-path that needs to be added or deleted in the initial path according to the change, and modifying the initial path by using the sub-path that needs to be added or deleted to obtain the modified real-time control path.

[0019] In a second aspect, the embodiments of the present application further provide a cable monitoring method for optimizing a path based on image data, and the method includes:

[0020] Obtaining cable region images transmitted back by each scattered monitoring point, wherein different monitoring points correspond to different cable lines in different regions.

[0021] Determining a patrol priority of a corresponding cable region according to the cable region images.

[0022] Planning an initial path based on the patrol priority to obtain the initial path, and controlling a patrol unmanned aerial vehicle to patrol according to the initial path.

[0023] During the patrol of the patrol unmanned aerial vehicle, the patrol images are transmitted back in real time, and the initial path is modified according to the patrol images to obtain a modified real-time control path.

[0024] Controlling the patrol unmanned aerial vehicle to patrol according to the real-time control path.

[0025] Optionally, the cable region images are large-range low-precision images, and the transmitted-back patrol images are small-range high-precision images, and the determination of the patrol priority of the corresponding cable region according to the cable region images includes:

[0026] determining a patrol priority according to the cable shape parameters identified from the cable region image, wherein different cable shape parameters correspond to different patrol priorities, and the cable shape parameters include a cable deformation variable and a number of foreign objects associated with the cable.

[0027] Optionally, the initial path is obtained by performing initial path planning based on the patrol priority, and the initial path planning includes:

[0028] sequentially connecting the continuous paths according to the patrol priority to form an initial path.

[0029] According to the shortest path principle, the continuous paths are sequentially connected according to the patrol priority to form an initial path.

[0030] Optionally, during the patrol of the patrol unmanned aerial vehicle, the patrol image is transmitted back in real time, and the initial path is corrected according to the patrol image to obtain a corrected real-time control path, and the correction includes:

[0031] During the patrol of the patrol unmanned aerial vehicle, the patrol image is transmitted back in real time, and the change of the patrol priority is determined according to the received patrol image, and the change includes the change of the cable shape parameters.

[0032] According to the change, the initial path is corrected to obtain a corrected real-time control path, and the correction includes: determining a sub-path that needs to be added or deleted in the initial path according to the change, and the sub-path that needs to be added or deleted corrects the initial path to obtain the corrected real-time control path.

[0033] In a third aspect, an embodiment of the present application further provides a cable monitoring system device for optimizing a path based on image data, and the device includes:

[0034] one or more processors;

[0035] a storage device configured to store one or more programs,

[0036] When the one or more programs are executed by the one or more processors, the one or more processors implement the cable monitoring method for optimizing a path based on image data according to the embodiment of the present application.

[0037] In a fourth aspect, an embodiment of the present application further provides a storage medium storing computer executable instructions, and the computer executable instructions are used to execute the cable monitoring method for optimizing a path based on image data when executed by a computer processor.

[0038] In this embodiment of the invention, the image acquisition module is configured to acquire cable area images captured and transmitted from various dispersed monitoring points, with different monitoring points corresponding to cable lines in different areas; the priority determination module is configured to determine the inspection priority of the corresponding cable area based on the cable area images; the initial path generation module is configured to plan an initial path based on the inspection priority to obtain an initial path, and control the inspection drone to perform inspections according to the initial path; the correction path generation module is configured to transmit inspection images in real time during the inspection process of the inspection drone, and correct the initial path based on the inspection images to obtain a corrected real-time control path; the inspection control module is configured to control the inspection drone to perform inspections according to the real-time control path. This invention solves the problems of low efficiency, poor flexibility, and lack of specificity in cable inspection in the prior art, improves equipment inspection efficiency, enables efficient cable inspection, and allows for the detection of potential faults in the shortest possible time. Attached Figure Description

[0039] Figure 1 A flowchart illustrating a cable monitoring method based on image data path optimization, provided as an embodiment of the present invention;

[0040] Figure 1a This is a schematic diagram illustrating the determination of an initial path according to an embodiment of the present invention;

[0041] Figure 1b A method for providing an embodiment of the present invention to Figure 1a A schematic diagram of the path after the initial path has been corrected.

[0042] Figure 2 A flowchart of another cable monitoring method based on image data path optimization provided in an embodiment of the present invention;

[0043] Figure 3 A module structure block diagram of a cable monitoring system based on image data path optimization provided in an embodiment of the present invention;

[0044] Figure 4 This is a schematic diagram of a cable monitoring system device based on image data path optimization, provided as an embodiment of the present invention. Detailed Implementation

[0045] The embodiments of the present invention will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and not intended to limit the scope of the invention. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the embodiments of the present invention, and not all structures.

[0046] Figure 1A flowchart of a cable monitoring method based on image data optimization path provided by the embodiment of the present application can be executed by an intelligent cable monitoring platform, and specifically includes the following steps:

[0047] In step S101, cable area images photographed and returned by each scattered monitoring point are acquired, and different monitoring points correspond to different cable line sections.

[0048] In the cable path of the intelligent cable, a plurality of scattered monitoring points are arranged, such as a camera device arranged at an overhead cable connection. The camera device of each scattered monitoring point photographs the image of the corresponding area to obtain a cable area image and returns it, such as to the system platform of the server. Different monitoring points correspond to one line section or the entire line section of different cable line sections. The cable area image is a large-range low-precision image.

[0049] In step S102, the inspection priority of the corresponding cable area is determined according to the cable area image, the initial path is planned based on the inspection priority to obtain an initial path, and the inspection unmanned aerial vehicle is controlled to perform inspection according to the initial path.

[0050] In one embodiment, the inspection priority of the corresponding cable area is obtained by manually or mechanically analyzing the returned cable area image. For example, by identifying the cable area image, it is determined that the cable failure may or may likely occur, and the cable area inspection priority is divided.

[0051] Optionally, the inspection priority of the corresponding cable area is determined according to the cable area image, including determining the inspection priority according to the cable shape parameters identified in the cable area image, wherein different cable shape parameters correspond to different inspection priorities, and the cable shape parameters include a cable deformation variable and a number of external objects associated with the cable. The cable deformation variable refers to the size of the deformation relative to the standard cable shape; the external object refers to an unexpected object of the cable, such as snow, rock, etc. Specifically, the larger the deformation variable and the more the number of external objects, the higher the inspection priority, and vice versa. For example, different deformation variables and the number of external objects can be set to correspond to the inspection priority level, and the inspection priority of the cable area can be obtained by comprehensively considering each inspection priority level. For example, the inspection priority level and the inspection priority can be divided into three levels, i.e., high, medium and low. When the inspection priority is determined according to the inspection priority level, the higher level of the inspection priority level can be determined as the final inspection priority. For example, for a cable area, the inspection priority level corresponding to the cable deformation variable is medium, and the inspection priority level corresponding to the number of external objects is low, and the final inspection priority is medium.

[0052] In one embodiment, the initial path is determined by determining the inspection priority and performing initial path planning. Optionally, the method comprises: arranging the continuous paths with high inspection priority in front according to the inspection priority; and connecting the continuous paths according to the principle of shortest path to form the initial path. As shown in Figure 1a Figure 1a An example of determining the initial path is shown in the figure, where the inspection priority of paths 1-4 is high, and one initial path is determined as the path formed by connecting paths 1, 2, 3 and 4 in sequence. Paths 5, 6 and 7 form another initial path.

[0053] In one embodiment, the inspection unmanned aerial vehicle is controlled to perform inspection according to the initial path, and the inspection period of the initial path formed by the continuous paths with high inspection priority is shorter than that of the initial path formed by the continuous paths with medium inspection priority, and the inspection period of the initial path formed by the continuous paths with medium inspection priority is shorter than that of the initial path formed by the continuous paths with low inspection priority. For example, the initial path formed by the continuous paths with high inspection priority is inspected three times, the initial path formed by the continuous paths with medium inspection priority is inspected twice, and the initial path formed by the continuous paths with low inspection priority is inspected once in the same time interval.

[0054] In one embodiment, after the initial path is generated, the inspection unmanned aerial vehicle is controlled to perform inspection according to the initial path. For the inspection paths with different inspection priorities, different acquisition parameters are used when the unmanned aerial vehicle is controlled to fly. Specifically, the acquisition parameters include the image shooting accuracy, flight height and flight speed. For the paths with high inspection priority, the flight height is lower, the flight speed is slower, and the image shooting accuracy is higher.

[0055] In step S103, during the inspection of the inspection unmanned aerial vehicle, the inspection image is transmitted back in real time, the initial path is corrected according to the inspection image to obtain a corrected real-time control path, and the inspection unmanned aerial vehicle is controlled to perform inspection according to the real-time control path.

[0056] ​During the inspection by the inspection drone, real-time inspection images are transmitted back. This serves two purposes: firstly, to detect potential cable faults; and secondly, to correct the initial path based on the inspection images, resulting in a revised real-time control path. These real-time transmitted inspection images are high-precision images, with a higher accuracy than cable area images transmitted from individual monitoring points. Specifically, the process includes real-time transmission of inspection images during the inspection by the inspection drone; determining changes in inspection priority based on the received images, including changes in cable morphological parameters; identifying sub-paths to be added or deleted from the initial path based on these changes; and then correcting the initial path using these added or deleted sub-paths to obtain the revised real-time control path. Figure 1b As shown, Figure 1b A method for providing an embodiment of the present invention to Figure 1a The diagram illustrates the path after correction from the initial path shown. For example, during a drone inspection, if the transmitted images determine that path 6 has a high inspection priority (meaning that a high-priority path could not be identified in the cable area images captured by the monitoring point), the original initial path of path 6 is further adjusted to a higher-priority path. Simultaneously, if the transmitted images reveal the disappearance of an object on path 3, its inspection priority drops from high to medium or low, and path 3 is deleted from the original initial path. The newly generated higher-priority corrected paths are then path 1, path 2, path 6, and path 4. The drone is then controlled to perform corresponding inspections based on the adjusted paths during subsequent inspections. In other words, the inspection path is dynamically adjusted in real-time.

[0057] As described above, by acquiring cable area images captured and transmitted from various dispersed monitoring points, different monitoring points correspond to different cable lines in different areas; the inspection priority of the corresponding cable area is determined based on the cable area images; an initial path is obtained by initial path planning based on the inspection priority, and the inspection drone is controlled to perform inspections according to the initial path; during the inspection process of the inspection drone, inspection images are transmitted back in real time, and the initial path is corrected based on the inspection images to obtain a corrected real-time control path; the inspection drone is controlled to perform inspections according to the real-time control path, which solves the problems of low efficiency, poor flexibility, and weak targeting in the existing technology, improves equipment inspection efficiency, enables efficient cable inspection, and detects potential faults in the shortest possible time.

[0058] Figure 2 A flowchart of another cable monitoring method based on image data path optimization provided in an embodiment of the present invention is shown below. Figure 2 As shown, a specific and complete example is given. Specifically, it includes:

[0059] Step S201: Obtain cable area images captured and transmitted from each dispersed monitoring point. Different monitoring points correspond to cable lines in different areas. Determine the inspection priority based on the cable morphology parameters identified in the cable area images. Different cable morphology parameters correspond to different inspection priorities. The cable morphology parameters include cable deformation and the number of external objects associated with the cable.

[0060] Step S202: Based on the inspection priority, sort the continuous paths with higher inspection priority to the top. According to the shortest path principle, connect the continuous paths in order of priority to form an initial path, and control the inspection drone to perform inspections according to the initial path.

[0061] Step S203: During the inspection process of the inspection drone, inspection images are transmitted back in real time. Based on the received transmitted inspection images, the changes in inspection priority are determined. The changes include changes in cable morphology parameters. Based on the changes, sub-paths that need to be added or deleted are determined in the initial path. The initial path is corrected by adding or deleting sub-paths to obtain a corrected real-time control path. The inspection drone is then controlled to perform inspections according to the real-time control path.

[0062] As described above, by acquiring cable area images captured and transmitted from various dispersed monitoring points, different monitoring points correspond to different cable lines in different areas; the inspection priority of the corresponding cable area is determined based on the cable area images; an initial path is obtained by initial path planning based on the inspection priority, and the inspection drone is controlled to perform inspections according to the initial path; during the inspection process of the inspection drone, inspection images are transmitted back in real time, and the initial path is corrected based on the inspection images to obtain a corrected real-time control path; the inspection drone is controlled to perform inspections according to the real-time control path, which solves the problems of low efficiency, poor flexibility, and weak targeting in the existing technology, improves equipment inspection efficiency, enables efficient cable inspection, and detects potential faults in the shortest possible time.

[0063] Figure 3 This is a block diagram of a cable monitoring system based on image data path optimization, provided as an embodiment of the present invention. It is used to execute the cable monitoring method based on image data path optimization provided in the above embodiments, and possesses the corresponding functional modules and beneficial effects of the method. Figure 3 As shown, the device specifically includes: an image acquisition module 101, a priority determination module 102, an initial path generation module 103, a corrected path generation module 104, and an inspection control module 105, wherein,

[0064] The image acquisition module 101 is configured to acquire cable area images returned by each scattered monitoring point, and different monitoring points correspond to different cable lines in different areas.

[0065] The priority determination module 102 is configured to determine a patrol priority of a corresponding cable area according to the cable area images.

[0066] The initial path generation module 103 is configured to plan an initial path based on the patrol priority to obtain an initial path, and control a patrol unmanned aerial vehicle to patrol according to the initial path.

[0067] The corrected path generation module 104 is configured to return a patrol image in real time during the patrol of the patrol unmanned aerial vehicle, and correct the initial path according to the patrol image to obtain a corrected real-time control path.

[0068] The patrol control module 105 is configured to control the patrol unmanned aerial vehicle to patrol according to the real-time control path.

[0069] According to the above scheme, the image acquisition module is configured to acquire cable area images returned by each scattered monitoring point, and different monitoring points correspond to different cable lines in different areas. The priority determination module is configured to determine a patrol priority of a corresponding cable area according to the cable area images. The initial path generation module is configured to plan an initial path based on the patrol priority to obtain an initial path, and control a patrol unmanned aerial vehicle to patrol according to the initial path. The corrected path generation module is configured to return a patrol image in real time during the patrol of the patrol unmanned aerial vehicle, and correct the initial path according to the patrol image to obtain a corrected real-time control path. The patrol control module is configured to control the patrol unmanned aerial vehicle to patrol according to the real-time control path. The scheme solves the problems of low efficiency, poor flexibility and poor pertinence in the prior art, improves the equipment patrol efficiency, and can efficiently perform cable patrol and find fault hazards in the shortest time.

[0070] In one possible embodiment, the cable area images are large-range low-precision images, and the returned patrol images are small-range high-precision images. The priority determination module is configured to:

[0071] determine the patrol priority according to cable shape parameters identified from the cable area images, wherein different cable shape parameters correspond to different patrol priorities, and the cable shape parameters include a cable deformation variable and a number of external objects associated with the cable.

[0072] In one possible embodiment, the initial path generation module is configured to:

[0073] sort continuous paths with high patrol priorities in the front according to the patrol priorities.

[0074] According to the shortest path principle, the initial path is formed by connecting the continuous paths according to the priority in turn.

[0075] In one possible embodiment, the modified path generation module is configured to:

[0076] During the inspection process of the inspection UAV, the inspection image is transmitted back in real time, and the change of the inspection priority is determined according to the received transmitted back inspection image, and the change includes the change of the cable shape parameter;

[0077] According to the change, the initial path is modified to obtain a modified real-time control path, including: determining a sub-path that needs to be added or deleted in the initial path according to the change, and modifying the initial path by the sub-path that needs to be added or deleted to obtain the modified real-time control path.

[0078] Figure 4 A structural schematic diagram of a cable monitoring system device based on image data optimization path provided by the embodiment of the application is shown in FIG. 1. Figure 4 As shown in the figure, the device includes a processor 201, a memory 202, an input device 203 and an output device 204; the number of processors 201 in the device can be one or more, Figure 4 and the processor 201 is taken as an example; the processor 201, the memory 202, the input device 203 and the output device 204 in the device can be connected through a bus or other means, Figure 4 and the connection through the bus is taken as an example. The memory 202 as a kind of computer readable storage medium can be used to store software program, computer executable program and module, such as the program instruction / module corresponding to the cable monitoring method based on image data optimization path in the embodiment of the application. The processor 201 executes the software program, instruction and module stored in the memory 202, thereby executing the various functional applications and data processing of the device, that is, realizing the above-mentioned cable monitoring method based on image data optimization path. The input device 203 can be used to receive input digital or character information, and generate key signal input related to the user setting and function control of the device. The output device 204 can include display device such as display screen.

[0079] The embodiment of the application further provides a storage medium containing computer executable instructions, the computer executable instructions are used to execute a cable monitoring method based on image data optimization path when executed by computer processor, and the method includes:

[0080] obtaining the cable area image photographed and transmitted back by each dispersed monitoring point, and different monitoring points correspond to different area cable lines;

[0081] determining a patrol priority of the corresponding cable area according to the cable area image;

[0082] performing initial path planning based on the patrol priority to obtain an initial path, and controlling the patrol UAV to patrol according to the initial path;

[0083] during the patrol of the patrol UAV, transmitting a patrol image in real time, and correcting the initial path according to the patrol image to obtain a corrected real-time control path;

[0084] controlling the patrol UAV to patrol according to the real-time control path.

[0085] Optionally, the cable area image is a large-range low-precision image, and the transmitted patrol image is a small-range high-precision image, and the determination of the patrol priority of the corresponding cable area according to the cable area image comprises:

[0086] determining the patrol priority according to a cable shape parameter identified from the cable area image, wherein different cable shape parameters correspond to different patrol priorities, and the cable shape parameter comprises a cable deformation variable and a number of external objects associated with the cable.

[0087] Optionally, the initial path planning based on the patrol priority comprises:

[0088] sequencing a continuous path with a high patrol priority in a front position according to the patrol priority;

[0089] connecting each continuous path according to the priority in sequence to form the initial path according to the shortest path principle.

[0090] Optionally, the transmission of the patrol image in real time during the patrol of the patrol UAV and the correction of the initial path according to the patrol image to obtain the corrected real-time control path comprise:

[0091] during the patrol of the patrol UAV, transmitting a patrol image in real time, determining a change of the patrol priority according to the received transmitted patrol image, and the change comprises a change of a cable shape parameter;

[0092] correcting the initial path according to the change to obtain the corrected real-time control path, wherein the correction comprises determining a sub-path that needs to be added or deleted in the initial path according to the change, and the sub-path that needs to be added or deleted corrects the initial path to obtain the corrected real-time control path.

[0093] It is worth noting that in the above embodiment of the cable monitoring system device based on image data optimization path, each unit and module included is only divided according to functional logic, but is not limited to the above division, as long as the corresponding function can be realized; in addition, the specific name of each functional unit is only for easy mutual differentiation, and is not used to limit the protection scope of the embodiments of the present application.

[0094] It is noted that the above are only preferred embodiments of the embodiments of the present application and the technical principles applied. Those skilled in the art will understand that the embodiments of the present application are not limited to the specific embodiments described herein, and those skilled in the art can make various obvious changes, readjustments and substitutions without departing from the protection scope of the embodiments of the present application. Therefore, although the embodiments of the present application have been described in more detail through the above embodiments, the embodiments of the present application are not limited to the above embodiments, and can include more other equivalent embodiments without departing from the concept of the embodiments of the present application, and the scope of the embodiments of the present application is determined by the scope of the appended claims.

Claims

1. Cable monitoring system for optimizing a path based on image data, characterized in that The method comprises the steps of: An image acquisition module is configured to acquire cable area images photographed and returned by each scattered monitoring point, different monitoring points corresponding to different cable lines in different areas; wherein the cable area images are large-range low-precision images; A priority determination module is configured to determine the inspection priority of the corresponding cable area according to the cable area images; The priority determination module is configured to determine the inspection priority according to cable form parameters identified from the cable area images, wherein different cable form parameters correspond to different inspection priorities, and the cable form parameters include cable deformation variables and the number of external objects associated with the cable; An initial path generation module is configured to plan an initial path based on the inspection priority to control the inspection unmanned aerial vehicle to perform inspection according to the initial path; The initial path generation module is configured to: arrange continuous paths with high inspection priorities in the front according to the inspection priority; and connect each continuous path according to the priority level in sequence to form an initial path according to the shortest path principle; A corrected path generation module is configured to return inspection images in real time during the inspection of the inspection unmanned aerial vehicle, and correct the initial path according to the inspection images to obtain a corrected real-time control path; wherein the returned inspection images are small-range high-precision images; The corrected path generation module is configured to: return inspection images in real time during the inspection of the inspection unmanned aerial vehicle, determine the change of the inspection priority according to the received returned inspection images, the change including the change of the cable form parameters; determine the sub-path that needs to be added or deleted in the initial path according to the change, and correct the initial path by the sub-path that needs to be added or deleted to obtain a corrected real-time control path; An inspection control module is configured to control the inspection unmanned aerial vehicle to perform inspection according to the real-time control path.

2. A method of cable monitoring based on image data, characterized in that The method comprises the steps of: Acquiring cable area images photographed and returned by each scattered monitoring point, different monitoring points corresponding to different cable lines in different areas; wherein the cable area images are large-range low-precision images; Determining the inspection priority of the corresponding cable area according to the cable area images; The step of determining the inspection priority of the corresponding cable area according to the cable area images comprises the step of determining the inspection priority according to cable form parameters identified from the cable area images, wherein different cable form parameters correspond to different inspection priorities, and the cable form parameters include cable deformation variables and the number of external objects associated with the cable; Planning an initial path based on the inspection priority to control the inspection unmanned aerial vehicle to perform inspection according to the initial path; The step of planning an initial path based on the inspection priority to obtain an initial path comprises the steps of: arranging continuous paths with high inspection priorities in the front according to the inspection priority; and connecting each continuous path according to the priority level in sequence to form an initial path according to the shortest path principle; In the process of the inspection of the inspection unmanned aerial vehicle, the inspection image is transmitted back in real time, and the initial path is corrected according to the inspection image to obtain a corrected real-time control path; wherein the transmitted back inspection image is a small-range high-precision image; The method for optimizing the path of the cable monitoring based on the image data, in the process of the inspection of the inspection unmanned aerial vehicle, the inspection image is transmitted back in real time, and the initial path is corrected according to the inspection image to obtain a corrected real-time control path, comprises: in the process of the inspection of the inspection unmanned aerial vehicle, the inspection image is transmitted back in real time, and the change of the inspection priority is determined according to the received transmitted back inspection image, and the change comprises the change of the cable shape parameter; The initial path is corrected according to the change to obtain a corrected real-time control path, comprising: according to the change, the sub-path that needs to be added or deleted is determined in the initial path, and the sub-path that needs to be added or deleted corrects the initial path to obtain a corrected real-time control path; The inspection unmanned aerial vehicle is controlled to perform the inspection according to the real-time control path.

3. A cable monitoring device that optimizes a path based on image data, the device comprising: One or more processors; A storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, so that the one or more processors implement the method for optimizing the path of the cable monitoring based on the image data according to claim 2.

4. A storage medium storing computer executable instructions for performing the method for optimizing the path of the cable monitoring based on the image data according to claim 2 when executed by a computer processor.

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