Railway track bolt loosening detection method, device, drone and medium

Abstract

The present application relates to the field of automatic detection technology, and in particular to a method, device, drone, and medium for detecting loose rail bolts. The method comprises: obtaining regional image information of each preset area of ​​the railroad track; identifying whether there are loose bolts in the railroad track based on the regional image information; if there are loose bolts, determining the location of the loose bolts based on the preset railroad area corresponding to the loose bolts and the regional image information of the preset railroad area; feeding back the location of the loose bolts to the maintenance personnel's terminal device; determining the spraying direction based on the regional image information corresponding to the loose bolts, and controlling the spraying device to spray paint on the loose bolts according to the spraying direction. The present application has the effect of reducing the waste of human resources.

Description

Technical Field

[0001] The present application relates to the field of automatic detection technology, and in particular to a method, device, drone and medium for detecting loose railway track bolts. Background Art

[0002] Railway tracks are typically long and are typically secured with bolts. Specifically, bolts are placed at predetermined intervals on both sides of the track to maintain their shape. However, as trains travel along the tracks, the bolts can become loose over time. Loosening can cause the tracks to deform, significantly increasing the risk of train derailment and potentially leading to a series of accidents.

[0003] Therefore, it is necessary to detect the looseness of the bolts provided on the railway track and to promptly repair the loose bolts to reduce the occurrence of train derailment accidents.

[0004] At present, the detection of loose bolts on railway tracks is usually carried out by staff during patrol inspections. When the staff knocks on the railway tracks, if the bolts on the railway tracks are loose, the sound produced by the knocking will be different, so that the staff can identify the loose bolts and check them in time.

[0005] However, the railway tracks are long, and the use of manual inspection to detect loose railway track bolts is inefficient and requires a lot of manpower, resulting in a waste of human resources. Summary of the Invention

[0006] In order to reduce the waste of human resources, the present application provides a railway track bolt loosening detection method, device, drone and medium.

[0007] In a first aspect, the present application provides a method for detecting loose railway track bolts, which adopts the following technical solution:

[0008] A method for detecting loose rail bolts is performed by an unmanned aerial vehicle (UAV), wherein the UAV is equipped with a spraying device for spraying paint under the control of the UAV, wherein the method comprises:

[0009] Acquire regional image information of each railway preset area of ​​the railway track;

[0010] identifying, based on the regional image information, whether there are any loose bolts in the railway track;

[0011] If there is a loose bolt, the position of the loose bolt is determined based on the preset railway area corresponding to the loose bolt and the regional image information of the preset railway area;

[0012] Feedback the position of the loosened bolt to the maintenance personnel terminal device;

[0013] The spraying direction is determined according to the image information of the area corresponding to the loose bolt, and the spraying device is controlled to spray paint toward the loose bolt according to the spraying direction.

[0014] By adopting the above technical solution, when a loose bolt is detected, the position of the loose bolt is fed back to the terminal device of the maintenance personnel, and the spraying device is controlled to spray paint to the position of the loose bolt, thereby realizing automatic detection of loose bolts on the railway track, reducing the waste of human resources, and at the same time, it also enables the maintenance personnel to directly locate the position of the loose bolt by the mark of the paint sprayed on the loose bolt when maintaining the railway track according to the detection results, so that the maintenance personnel do not need to manually find the position of the loose bolt, which is conducive to the maintenance personnel to directly locate the loose bolt, and further improves the convenience and efficiency of maintenance personnel when the bolt is loose.

[0015] In a possible implementation, determining a spraying direction based on the image information of the area corresponding to the loose bolt, and controlling the spraying device to spray paint toward the loose bolt according to the spraying direction includes:

[0016] When a loose bolt is detected in the railway track, and the number of the loose bolts is one, a target shooting position corresponding to the loose bolt is obtained, and the drone moves to the target shooting position, where the drone is located when capturing image information of the area corresponding to the loose bolt.

[0017] determining a spraying direction according to image information of the area corresponding to the loose bolt;

[0018] When it is detected that the UAV is located at the target shooting position, the spraying device is controlled to spray paint toward the loose bolts according to the spraying direction.

[0019] By adopting the above technical solution, when there is a loose bolt in the railway track and the number of the loose bolt is one, the spraying direction is determined according to the image information of the area corresponding to the loose bolt. Then, when the drone is detected to be located at the target shooting position corresponding to the loose bolt, the spraying device is controlled to spray paint on the loose bolt according to the spraying direction. Therefore, when the maintenance personnel go to the corresponding area for maintenance according to the location of the loose bolt, the location of the loose bolt can be directly determined based on the paint on the loose bolt, without the need for the maintenance personnel to determine the loose bolt by observation or re-searching, which is conducive to improving the work efficiency and convenience of the maintenance personnel.

[0020] In another possible implementation, determining a spraying direction based on the image information of the area corresponding to the loose bolt, and controlling the spraying device to spray paint toward the loose bolt according to the spraying direction includes:

[0021] When there are loose bolts, and the number of the loose bolts is at least two, determining a target railway preset area, where the target railway preset area is the railway preset area where the loose bolts exist;

[0022] Obtaining a target shooting position corresponding to each target railway preset area, and moving to the target shooting position corresponding to each target railway preset area;

[0023] Obtaining the number of loose bolts corresponding to each target railway preset area, where the number of loose bolts is the number of loose bolts existing in each target railway preset area;

[0024] Determining a spraying direction corresponding to each target railway preset area according to the regional image information corresponding to each target railway preset area and the corresponding number of loose bolts;

[0025] When it is detected that the drone is located at the target shooting position corresponding to each target railway preset area, the spraying device is controlled to spray paint on the loose bolts corresponding to each target railway preset area according to the spraying direction.

[0026] By adopting the above technical solution, when there are at least two loose bolts, for determining the spraying direction and controlling the spraying device to spray paint on the loose bolts, the corresponding spraying direction can be determined according to the number of loose bolts in the preset area of ​​the target railway and the area image information corresponding to each preset area of ​​the target railway, so as to spray the corresponding paint on each loose bolt.

[0027] In another possible implementation, determining the spraying direction corresponding to each target railway preset area according to the regional image information corresponding to each target railway preset area and the corresponding number of loose bolts includes:

[0028] When the number of loose bolts corresponding to each target railway preset area is at least two, determining the position of each loose bolt in each target railway preset area according to the area image information corresponding to each target railway preset area;

[0029] Determining a target spraying direction corresponding to the position of each loose bolt in each target railway preset area according to the position of each loose bolt in each target railway preset area;

[0030] The target spraying direction corresponding to the position of each loose bolt in each target railway preset area is determined as the spraying direction corresponding to each target railway preset area.

[0031] By adopting the above technical solution, for a target railway preset area with at least two loose bolts, when determining the corresponding spraying direction, the spraying direction corresponding to the target railway preset area is determined according to the target spraying direction corresponding to each loose bolt in the target railway preset area, so that each loose bolt in the target railway preset area can be sprayed with paint accordingly to indicate maintenance personnel.

[0032] In another possible implementation, when the number of loose bolts corresponding to each target railway preset area is at least two, when detecting that the drone is located at the target shooting position corresponding to each target railway preset area, controlling the spraying device to spray paint on the loose bolts corresponding to each target railway preset area according to the spraying direction, includes:

[0033] When it is detected that the drone is located at the target shooting position corresponding to each target railway preset area, determining the order of the loosened bolts according to the position of each loosened bolt in each target railway preset area;

[0034] According to the order of the loosened bolts, determine the order corresponding to each target spraying direction;

[0035] According to the order of each target spraying direction, determining the first target spraying direction as the current spraying direction;

[0036] Control the spraying device to spray paint to the loose bolts corresponding to the current spraying direction according to the current spraying direction, and determine the next spraying direction in the order of each target spraying direction, and judge whether the distance between the position of the loose bolts corresponding to the next spraying direction and the position of the loose bolts corresponding to the current spraying direction exceeds the preset distance threshold. If so, loop the steps of determining the next spraying direction as the current spraying direction, and controlling the spraying device to spray paint to the loose bolts corresponding to the current spraying direction according to the current spraying direction, and determine the next spraying direction in the order of each target spraying direction, and judge whether the distance between the position of the loose bolts corresponding to the next spraying direction and the position of the loose bolts corresponding to the current spraying direction exceeds the preset distance threshold, until the distance between the position of the loose bolts corresponding to the next spraying direction and the position of the loose bolts corresponding to the current spraying direction does not exceed the preset distance threshold, or the current spraying direction is the last target spraying direction.

[0037] By adopting the above technical solution, the loose bolts in the preset area of ​​the target railway are sprayed with paint in sequence until all the loose bolts in the preset area of ​​the target railway are sprayed with paint, thereby providing a control method for controlling the spraying device to spray paint.

[0038] In another possible implementation, the determining whether the distance between the position of the loose bolt corresponding to the next spraying direction and the position of the loose bolt corresponding to the current spraying direction exceeds a preset distance threshold further includes:

[0039] If the distance between the position of the loose bolt corresponding to the next spraying direction and the position of the loose bolt corresponding to the current spraying direction does not exceed a preset distance threshold, the spraying device is controlled to continuously spray the paint between the current spraying direction and the next spraying direction according to the current spraying direction and the next spraying direction;

[0040] When it is detected that the spraying device has completed the action of spraying paint in the next spraying direction, the next spraying direction is determined as the current spraying direction in a loop, the next spraying direction is determined according to the order of each target spraying direction, and it is judged whether the distance between the position of the loose bolt corresponding to the next spraying direction and the position of the loose bolt corresponding to the current spraying direction exceeds the preset distance threshold, and if the distance between the position of the loose bolt corresponding to the next spraying direction and the position of the loose bolt corresponding to the current spraying direction does not exceed the preset distance threshold, the spraying device is controlled to spray paint to the area between the current spraying direction and the next spraying direction, until the distance between the position of the loose bolt corresponding to the next spraying direction and the position of the loose bolt corresponding to the current spraying direction exceeds the preset distance threshold, or the current spraying direction is the last target spraying direction.

[0041] By adopting the above technical solution, when the distance between two loose bolts does not exceed the preset distance threshold, that is, it indicates that the distance between the two loose bolts is close, and the bolts located between the two loose bolts may also be unsafe factors, the spraying device can be controlled to spray the area between the two loose bolts with paint, so that maintenance personnel can inspect the bolts between the two loose bolts that are close to each other when inspecting the loose bolts, which is beneficial to improving the safety of railway tracks.

[0042] In another possible implementation, the method further includes:

[0043] identifying, based on the regional image information, whether there is a photographed defective bolt in a preset railway area corresponding to the regional image information, wherein the photographed defective bolt is a bolt that is incomplete in the bolt image information;

[0044] If the photographed defective bolt exists, the position corresponding to the photographed defective bolt is determined based on the regional image information corresponding to the photographed defective bolt, and the position corresponding to the photographed defective bolt is fed back to the maintenance personnel terminal device.

[0045] By adopting the above technical solution, the defective bolts photographed are bolts that were not completely photographed due to reasons such as obstruction by external objects when the drone was shooting image information of the area. When there are defective bolts photographed, manual inspection of the defective bolts is required to avoid the possibility of not detecting the loose bolts due to incomplete photography, thereby reducing the possibility of loose bolts not being detected and causing larger faults.

[0046] In a second aspect, the present application provides a railway track bolt loosening detection device, which adopts the following technical solution:

[0047] A railway track bolt loosening detection device is implemented by an unmanned aerial vehicle (UAV), wherein the UAV is equipped with a spraying device for spraying paint under the control of the UAV, wherein the device comprises:

[0048] An image acquisition module is used to acquire regional image information of each railway preset area of ​​the railway track;

[0049] an image recognition module, configured to identify whether there are any loose bolts in the railway track based on the regional image information;

[0050] a position determination module for determining, if there is a loose bolt, the position of the loose bolt based on the preset railway area corresponding to the loose bolt and the regional image information of the preset railway area;

[0051] A position feedback module, used to feed back the position of the loose bolt to a maintenance personnel terminal device;

[0052] The spraying control module is used to determine a spraying direction according to the regional image information corresponding to the loose bolt, and control the spraying device to spray paint to the loose bolt according to the spraying direction.

[0053] By adopting the above technical solution, when a loose bolt is detected, the position of the loose bolt is fed back to the terminal device of the maintenance personnel, and the spraying device is controlled to spray paint to the position of the loose bolt, thereby realizing automatic detection of loose bolts on the railway track, reducing the waste of human resources, and at the same time, it also enables the maintenance personnel to directly locate the position of the loose bolt by the mark of the paint sprayed on the loose bolt when maintaining the railway track according to the detection results, so that the maintenance personnel do not need to manually find the position of the loose bolt, which is conducive to the maintenance personnel to directly locate the loose bolt, and further improves the convenience and efficiency of maintenance personnel when the bolt is loose.

[0054] In one possible implementation, the spraying control module determines a spraying direction based on the image information of the area corresponding to the loose bolt, and controls the spraying device to spray paint toward the loose bolt according to the spraying direction, specifically for:

[0055] When a loose bolt is detected in the railway track, and the number of the loose bolts is one, a target shooting position corresponding to the loose bolt is obtained, and the drone moves to the target shooting position, where the drone is located when capturing image information of the area corresponding to the loose bolt.

[0056] determining a spraying direction according to image information of the area corresponding to the loose bolt;

[0057] When it is detected that the UAV is located at the target shooting position, the spraying device is controlled to spray paint toward the loose bolts according to the spraying direction.

[0058] In another possible implementation, the spraying control module determines a spraying direction based on the image information of the area corresponding to the loose bolt, and controls the spraying device to spray paint toward the loose bolt according to the spraying direction, specifically for:

[0059] When there are loose bolts, and the number of the loose bolts is at least two, determining a target railway preset area, where the target railway preset area is the railway preset area where the loose bolts exist;

[0060] Obtaining a target shooting position corresponding to each target railway preset area, and moving to the target shooting position corresponding to each target railway preset area;

[0061] Obtaining the number of loose bolts corresponding to each target railway preset area, where the number of loose bolts is the number of loose bolts existing in each target railway preset area;

[0062] Determining a spraying direction corresponding to each target railway preset area according to the regional image information corresponding to each target railway preset area and the corresponding number of loose bolts;

[0063] When it is detected that the drone is located at the target shooting position corresponding to each target railway preset area, the spraying device is controlled to spray paint on the loose bolts corresponding to each target railway preset area according to the spraying direction.

[0064] In another possible implementation, the spraying control module is specifically configured to:

[0065] When the number of loose bolts corresponding to each target railway preset area is at least two, determining the position of each loose bolt in each target railway preset area according to the area image information corresponding to each target railway preset area;

[0066] Determining a target spraying direction corresponding to the position of each loose bolt in each target railway preset area according to the position of each loose bolt in each target railway preset area;

[0067] The target spraying direction corresponding to the position of each loose bolt in each target railway preset area is determined as the spraying direction corresponding to each target railway preset area.

[0068] In another possible implementation, when the number of loose bolts corresponding to each target railway preset area is at least two, the spraying control module, when detecting that the drone is located at the target shooting position corresponding to each target railway preset area, controls the spraying device to spray paint on the loose bolts corresponding to each target railway preset area according to the spraying direction, specifically for:

[0069] When it is detected that the drone is located at the target shooting position corresponding to each target railway preset area, determining the order of the loosened bolts according to the position of each loosened bolt in each target railway preset area;

[0070] According to the order of the loosened bolts, determine the order corresponding to each target spraying direction;

[0071] According to the order of each target spraying direction, determining the first target spraying direction as the current spraying direction;

[0072] Control the spraying device to spray paint to the loose bolts corresponding to the current spraying direction according to the current spraying direction, and determine the next spraying direction in the order of each target spraying direction, and judge whether the distance between the position of the loose bolts corresponding to the next spraying direction and the position of the loose bolts corresponding to the current spraying direction exceeds the preset distance threshold. If so, loop the steps of determining the next spraying direction as the current spraying direction, and controlling the spraying device to spray paint to the loose bolts corresponding to the current spraying direction according to the current spraying direction, and determine the next spraying direction in the order of each target spraying direction, and judge whether the distance between the position of the loose bolts corresponding to the next spraying direction and the position of the loose bolts corresponding to the current spraying direction exceeds the preset distance threshold, until the distance between the position of the loose bolts corresponding to the next spraying direction and the position of the loose bolts corresponding to the current spraying direction does not exceed the preset distance threshold, or the current spraying direction is the last target spraying direction.

[0073] In another possible implementation, the apparatus further includes:

[0074] a paint spraying module, configured to control the spraying device to continuously spray paint between the current spraying direction and the next spraying direction, if the distance between the position of the loose bolt corresponding to the next spraying direction and the position of the loose bolt corresponding to the current spraying direction does not exceed a preset distance threshold;

[0075] A loop module is used to, when it is detected that the spraying device has completed the action of spraying paint in the next spraying direction, cyclically execute the step of determining the next spraying direction as the current spraying direction, determining the next spraying direction according to the order of each target spraying direction, judging whether the distance between the position of the loose bolt corresponding to the next spraying direction and the position of the loose bolt corresponding to the current spraying direction exceeds a preset distance threshold, and if the distance between the position of the loose bolt corresponding to the next spraying direction and the position of the loose bolt corresponding to the current spraying direction does not exceed the preset distance threshold, controlling the spraying device to spray paint to the area between the current spraying direction and the next spraying direction, until the distance between the position of the loose bolt corresponding to the next spraying direction and the position of the loose bolt corresponding to the current spraying direction exceeds the preset distance threshold, or the current spraying direction is the last target spraying direction.

[0076] In another possible implementation, the apparatus further includes:

[0077] a photographed defective bolt determining module, configured to identify, based on the regional image information, whether there is a photographed defective bolt in a preset railway area corresponding to the regional image information, wherein the photographed defective bolt is a bolt that is incomplete in the bolt image information;

[0078] The defect feedback module is used to determine the position corresponding to the photographed defective bolt based on the regional image information corresponding to the photographed defective bolt if there is the photographed defective bolt, and feed back the position corresponding to the photographed defective bolt to the maintenance personnel terminal device.

[0079] In a third aspect, the present application provides a drone that adopts the following technical solution:

[0080] A drone, comprising:

[0081] at least one processor;

[0082] Memory;

[0083] At least one application, wherein the at least one application is stored in the memory and configured to be executed by at least one processor, and the at least one application is configured to: execute the above-mentioned railway track bolt loosening detection device method.

[0084] In a fourth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solution:

[0085] A computer-readable storage medium includes: a computer program stored therein that can be loaded by a processor and executed by the above-mentioned railway track bolt loosening detection device and method.

[0086] In summary, this application has the following beneficial technical effects:

[0087] When a loose bolt is detected, the position of the loose bolt is fed back to the maintenance personnel's terminal device, and the spraying device is controlled to spray paint to the position of the loose bolt, thereby automatically detecting the loose bolts on the railway track, reducing the waste of human resources, and at the same time allowing the maintenance personnel to directly locate the position of the loose bolt by the mark of the paint sprayed on the loose bolt when maintaining the railway track according to the detected results, thereby eliminating the need for the maintenance personnel to manually search for the position of the loose bolt, which is beneficial for the maintenance personnel to directly locate the loose bolt, further improving the convenience and efficiency of the maintenance personnel when the bolt is loose. BRIEF DESCRIPTION OF THE DRAWINGS

[0088] Figure 1 1 is a flow chart of a method for detecting loose railway track bolts according to an embodiment of the present application;

[0089] Figure 2 1 is a schematic block diagram of a railway track bolt loosening detection device according to an embodiment of the present application;

[0090] Figure 3 Schematic diagram of the drone according to the embodiment of the present application. DETAILED DESCRIPTION

[0091] The following is combined with Figure 1-3 This application is described in further detail.

[0092] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0093] The present application provides a method for detecting loose rail bolts, which is performed by an unmanned aerial vehicle (UAV) equipped with a spraying device for spraying paint under the control of the UAV. The method includes:

[0094] Step S101: Acquire regional image information of each railway preset area.

[0095] Specifically, bolts are provided at predetermined intervals along the railway track to secure the railway track. The area covered by the railway track is divided into at least one predetermined railway area according to the arrangement of the bolts. The area formed by combining the at least one predetermined railway area includes the entire railway track.

[0096] The image captured by the drone at the preset position corresponding to each preset railway area is the regional image information of each preset railway area, and the regional image information includes the image of each bolt in the preset railway area.

[0097] Step S102: Identify whether there are loose bolts in each preset railway area based on the area image information.

[0098] Specifically, according to each area image information, the bolts in the preset railway area corresponding to each area image information are identified, and it is determined according to the area image information whether each bolt is loose.

[0099] When there are loose bolts, they need to be processed in time to reduce the probability of deformation of the railway track caused by the loose bolts.

[0100] Among them, the method of identifying whether there are loose bolts in each preset railway area based on any area image information may specifically include: determining the bolt image information corresponding to each bolt in the any area image information based on the any area image information, and the bolt image information is the partial image information corresponding to the bolt in the any area image information; inputting each bolt image information into a pre-trained neural network model to obtain an output result of whether the bolt corresponding to each bolt image information is loose; when the bolt corresponding to each bolt image information is loose, the bolt is a loose bolt.

[0101] The pre-trained neural network model is trained by inputting a large amount of pre-labeled sample data into the neural network model. The pre-labeled sample data is bolt image information labeled with whether the bolt is loose. When unlabeled bolt image information is input into the pre-trained neural network model, an output result is output indicating whether the bolt in the unlabeled bolt image information is loose. If the bolt is loose, the output result indicates that the bolt is loose; if the bolt is not loose, the output result indicates that the bolt is not loose.

[0102] Step S103: If there is a loose bolt, the position of the loose bolt is determined according to the preset railway area corresponding to the loose bolt and the regional image information of the preset railway area.

[0103] Specifically, when there are loose bolts, the number of the loose bolts may be one or more, and the railway preset area corresponding to each loose bolt is determined. Then, based on the railway preset area, the regional image information corresponding to the railway preset area is determined, and then the position of the loose bolt is determined based on the corresponding regional image information.

[0104] Specifically, when there are at least two loose bolts, the railway preset areas corresponding to the respective loose bolts and the corresponding area image information are determined respectively, and the positions of the loose bolts are determined according to the corresponding area image information.

[0105] Step S104: Feedback the position of the loosened bolt to the maintenance personnel's terminal device.

[0106] Specifically, when there is a location of a loose bolt, the location of the loose bolt is fed back to the terminal device of the maintenance personnel, thereby facilitating the maintenance personnel to go to the location of the loose bolt to detect and repair the loose bolt.

[0107] Step S105: Determine a spraying direction based on the image information of the area corresponding to the loose bolt, and control the spraying device to spray paint toward the loose bolt according to the spraying direction.

[0108] Specifically, when maintenance personnel go to the location of a loose bolt to inspect it, since the bolts are arranged closely together and the railway track is long, maintenance personnel need to find the loose bolt from among the numerous bolts when they arrive near the loose bolt, which reduces the convenience of maintenance personnel during maintenance. To this end, when a loose bolt is detected, the spraying direction is determined based on the image information of the area corresponding to the loose bolt, so that the drone can control the spraying device to spray paint on the loose bolt in the spraying direction, thereby distinguishing the loose bolt from the intact bolt. When the staff arrives in the area near the loose bolt, they can directly determine the location of the loose bolt by the paint on the loose bolt, thereby facilitating the maintenance of the loose bolt.

[0109] It is worth noting that step S104 and step S105 can be executed simultaneously, step S105 can be executed before step S104, and step S105 can also be executed after step S104, which is not limited in the embodiments of the present application.

[0110] An embodiment of the present application provides a method for detecting loose bolts on railway tracks. When a loose bolt is detected, the position of the loose bolt is fed back to the terminal device of the maintenance personnel, and the spraying device is controlled to spray paint to the position of the loose bolt, thereby automatically detecting the loose bolts on the railway track, reducing the waste of human resources, and at the same time allowing the maintenance personnel to directly locate the position of the loose bolt by the mark of the paint sprayed on the loose bolt when maintaining the railway track according to the detected results, thereby eliminating the need for the maintenance personnel to manually search for the position of the loose bolt, which is beneficial for the maintenance personnel to directly locate the loose bolt, and further improving the convenience and efficiency of the maintenance personnel when the bolt is loose.

[0111] A possible implementation of the embodiment of the present application is that in step S105, the spraying direction is determined based on the regional image information corresponding to the loose bolts, and the spraying device is controlled to spray paint on the loose bolts according to the spraying direction, including: when a loose bolt is detected in the railway track and the number of loose bolts is one, the target shooting position corresponding to the loose bolt is obtained, and the target shooting position is moved to the target shooting position. The target shooting position is the position where the drone is located when shooting the regional image information corresponding to the loose bolts. The spraying direction is determined based on the regional image information corresponding to the loose bolts. When the drone is detected to be at the target shooting position, the spraying device is controlled to spray paint on the loose bolts according to the spraying direction.

[0112] Specifically, when a single loose bolt is detected in a railway track, the image information for the area corresponding to the loose bolt is captured by the drone at the corresponding target capture position. Therefore, the target capture position corresponding to the loose bolt is the location of the drone when the image information for the area corresponding to the loose bolt is captured. For example, if there is a loose bolt a in the railway track, the loose bolt a corresponds to area image information A, and the corresponding target capture position is the location when area image information A was captured.

[0113] It is worth noting that the target shooting position is a preset position. When the drone captures regional image information of the preset railway area, it is located at the corresponding target shooting position. It is worth noting that the target shooting position includes horizontal position coordinates and altitude position. The horizontal position coordinates represent the position coordinates such as longitude and latitude, and the altitude position represents the height of the drone from the ground.

[0114] Specifically, based on the image information of the area corresponding to the loosened bolt, the location of the loosened bolt can be determined. Based on the location of the loosened bolt and the target shooting position, the relative position of the loosened bolt and the drone at the target shooting position can be determined. Based on this relative position, the spraying direction corresponding to the loosened bolt can be determined. More specifically, based on the target shooting position, the projection of the target shooting position on the ground is determined, and the position corresponding to the projection is used as the projection position. Then, based on the target shooting position, the projection position, and the location of the loosened bolt, the relative position of the loosened bolt to the target shooting position can be determined. Based on this relative position, the spraying direction can be determined.

[0115] More specifically, based on the projected position and the location of the loosened bolt, the horizontal relative distance and horizontal relative direction between the target shooting position and the loosened bolt can be determined. The horizontal relative direction is the direction pointing toward the loosened bolt, with the projected position of the target shooting position on the ground as the origin. For example, if the loosened bolt is located 30° east-southeast of the projected position, the horizontal distance is 3 meters. Subsequently, based on the height corresponding to the target shooting position and the horizontal distance, the vertical relative direction of the loosened bolt relative to the target shooting position can be determined. This relative direction is used as the vertical relative direction. For example, if the height of the target shooting position is 5 meters, then if the target shooting position is used as the origin, the vertical deviation angle of the loosened bolt is 37°. In other words, the vertical relative direction is the direction that deviates 37° from the vertical direction with respect to the line connecting the target shooting position and the projected position as the reference. The spraying direction can then be determined based on the horizontal relative direction and the vertical relative direction.

[0116] Specifically, when the drone is located at the target shooting position, the spraying device is controlled to spray paint on the loose bolts according to the spraying direction to indicate the specific position of the loose bolts to the maintenance personnel. Therefore, when the maintenance personnel go to the corresponding area for maintenance according to the position of the loose bolts, they can directly identify the position of the loose bolts based on the paint on the loose bolts, without the need for the maintenance personnel to identify the loose bolts by observation or re-searching, which is conducive to improving the work efficiency and convenience of the maintenance personnel.

[0117] A possible implementation method of the embodiment of the present application is that in the above embodiment, when the drone is detected to be at the target shooting position, the spraying device is controlled to spray paint on the loose bolts according to the spraying direction, and the above also includes: when the maintenance start signal sent by the maintenance personnel terminal device is received, a movement instruction is generated to move the drone to the target shooting position. Among them, the maintenance start signal is a signal sent by the maintenance personnel terminal device when the maintenance personnel receives the location of the loose bolts and is ready to start repairing the loose bolts. When the maintenance start signal sent by the maintenance personnel terminal device is received, it indicates that the maintenance personnel is ready to start maintenance. At this time, the drone is controlled to move to the target shooting position, and when the drone moves to the target shooting position, paint is sprayed on the loose bolts.

[0118] One possible implementation of the embodiment of the present application includes, in step S105, determining a spraying direction based on image information of the area corresponding to the loose bolts, and controlling a spraying device to spray paint on the loose bolts according to the spraying direction. The method includes: when there are at least two loose bolts, determining a target railway preset area. The target railway preset area is the railway preset area where the loose bolts are present. Obtaining a target shooting position corresponding to each target railway preset area and moving to the target shooting position corresponding to each target railway preset area. Obtaining the number of loose bolts corresponding to each target railway preset area. The number of loose bolts is the number of loose bolts present in each target railway preset area. Determining a spraying direction corresponding to each target railway preset area based on the image information corresponding to the area and the corresponding number of loose bolts. When detecting that the drone is located at the target shooting position corresponding to each target railway preset area, controlling the spraying device to spray paint on the loose bolts corresponding to each target railway preset area according to the spraying direction.

[0119] Specifically, when the number of loose bolts is at least two, a preset railway area corresponding to each loose bolt is determined. Then, based on the preset railway area corresponding to each loose bolt, the preset railway area where the loose bolts exist is determined as the target railway area. For example, the preset railway areas include preset railway areas M1 to M10, and the loose bolts include m1-1, m2-2, m2-4, m5-3, m5-6, and m5-7. Among them, bolt m1-1 is located in the preset railway area M1, bolts m2-2 and m2-4 are located in the preset railway area M2, and bolt m5-3 is located in the preset railway area M5. Then, the target railway area includes the preset railway area M1, the preset railway area M2, and the preset railway area M5.

[0120] Specifically, each target railway preset area corresponds to a target shooting position. For example, in the above embodiment, the railway preset area M1 corresponds to the target shooting position M1, the railway preset area M2 corresponds to the target shooting position M2, and the railway preset area M5 corresponds to the target shooting position M5.

[0121] Specifically, for each target railway preset area, the number of loose bolts in each target railway preset area is greater than or equal to one, that is, the number of loose bolts is greater than or equal to one. For example, the number of loose bolts corresponding to the above-mentioned railway preset area M1 is 1, the number of loose bolts corresponding to the railway preset area M2 is 2, and the number of loose bolts corresponding to the railway preset area M3 is 3.

[0122] Specifically, for each target railway preset area, the number of loose bolts is greater than or equal to one, that is, the number of bolts that need to be sprayed with paint is greater than or equal to one. When determining the spraying direction corresponding to each target railway preset area, each loose bolt in each target railway preset area corresponds to a spraying direction. That is, when determining the spraying direction corresponding to each target railway preset area, it is necessary to determine the spraying direction based on the regional image information corresponding to each target railway preset area and the corresponding number of loose bolts. For each target railway preset area, the number of determined spraying directions is the same as the number of loose bolts in each target railway preset area.

[0123] Specifically, when the number of loose bolts corresponding to each target railway preset area is one, the spraying direction corresponding to each target railway preset area is determined based on the regional image information corresponding to each target railway preset area. Specifically, when the number of loose bolts in each target railway preset area is one, the method for determining the spraying direction for each target railway preset area can refer to the above-mentioned embodiment corresponding to the portion of determining the spraying direction based on the regional image information corresponding to the loose bolts, and is not further described here.

[0124] Specifically, after determining the spray direction corresponding to each target railway preset area, when the drone is detected at the target shooting position corresponding to each target railway preset area, the spray device is controlled to begin spraying paint toward the corresponding loose bolts according to the spray direction corresponding to each target railway preset area. For example, after determining the target spray direction corresponding to bolt m2-2 and the target spray direction corresponding to bolt m2-4, when the drone is detected at the target shooting position corresponding to railway preset area M2, the spray device is controlled to begin spraying paint along the target spray direction corresponding to bolt m2-2 and along the target spray direction corresponding to bolt m2-4.

[0125] Furthermore, when the number of target railway preset areas is at least two, the method may further include: when receiving a maintenance start signal sent by a maintenance personnel terminal device, obtaining the location information of the maintenance personnel terminal device, and determining the current target railway preset area from the target railway preset areas based on the location information, the current target railway preset area being the target railway preset area closest to the maintenance personnel terminal device, and moving the drone to the target shooting position corresponding to the current target railway preset area, and then when it is detected that the drone moves to the current target railway preset area, controlling the spraying device to spray paint on the loose bolts corresponding to the current target railway preset area according to the spraying direction corresponding to the current target railway preset area; and then when it is detected that the maintenance personnel When the maintenance personnel is located in the current target railway preset area, the next target railway preset area is determined from the target railway preset area, and the next target railway preset area is determined as the current target railway preset area, and the above steps of moving the drone to the target shooting position corresponding to the current target railway preset area are executed cyclically, and then when the drone is detected to move to the current target railway preset area, the spraying device is controlled to spray paint on the loose bolts corresponding to the current target railway preset area according to the spraying direction corresponding to the current target railway preset area, and the above steps of determining the next target railway preset area from the target railway preset area when the maintenance personnel is detected to be located in the current target railway preset area are performed until it is detected that the paint spraying is completed in each target railway preset area.

[0126] One possible implementation of the embodiment of the present application is that when the number of loose bolts corresponding to each target railway preset area is at least two, such as the target railway preset areas M2 and M5 in the above example, determining the spraying direction corresponding to each target railway preset area based on the regional image information corresponding to each target railway preset area and the corresponding number of loose bolts, specifically may include: when the number of loose bolts corresponding to each target railway preset area is at least two, determining the position of each loose bolt in each target railway preset area based on the regional image information corresponding to each target railway preset area. Determining the target spraying direction corresponding to the position of each loose bolt in each target railway preset area based on the position of each loose bolt in each target railway preset area. Determining the target spraying direction corresponding to the position of each loose bolt in each target railway preset area as the spraying direction corresponding to each target railway preset area.

[0127] Specifically, when the number of loose bolts corresponding to each target railway preset area is at least two, the position of each loose bolt in each target railway preset area is determined according to the regional image information corresponding to each target railway preset area. For example, in the above example, the loose bolts corresponding to the target railway preset area M2 include bolt m2-2 and bolt m2-4. According to the regional image information corresponding to the target railway preset area M2, the positions corresponding to the bolt m2-2 and the bolt m2-4 can be determined.

[0128] Specifically, each loose bolt needs to be sprayed with a corresponding coating to indicate the location to maintenance personnel. If there are at least two loose bolts in a target railway preset area, the spray direction corresponding to each loose bolt in that area needs to be determined based on the location of each loose bolt. This is also known as the target spray direction. The drone needs to control its spraying device to spray coating along each target spray direction. Therefore, each target spray direction is determined as the spray direction corresponding to each target railway preset area.

[0129] Among them, for each loose bolt, the specific implementation method of determining the target spraying direction corresponding to the loose bolt can refer to the embodiment of determining the spraying direction according to the regional image information corresponding to the loose bolt, which is not repeated here.

[0130] Furthermore, when the number of loose bolts corresponding to the preset area of ​​the target railway is at least two, if the distance between the two loose bolts is close, the bolts located between the two loose bolts may also be unsafe, such as being in a critical state of being about to loosen, or are very likely to loosen after the next rail train passes. Therefore, for such cases, when spraying paint to instruct maintenance personnel to inspect, the bolts between the two loose bolts can also be sprayed with corresponding paint to enable maintenance personnel to inspect together.

[0131] To this end, a possible implementation method of the embodiment of the present application is that when the number of loose bolts corresponding to each target railway preset area is at least two, in the above embodiment, when it is detected that the drone is located at the target shooting position corresponding to each target railway preset area, the spraying device is controlled to spray paint to the loose bolts corresponding to each target railway preset area according to the spraying direction. Specifically, it may include: when it is detected that the drone is located at the target shooting position corresponding to each target railway preset area, according to the position of each loose bolt in each target railway preset area, the order of the loose bolts is determined. According to the order of the loose bolts, the order corresponding to each target spraying direction is determined. According to the order of each target spraying direction, the first target spraying direction is determined as the current spraying direction. Control the spraying device to spray paint to the loose bolts corresponding to the current spraying direction according to the current spraying direction, and determine the next spraying direction in the order of each target spraying direction, and judge whether the distance between the position of the loose bolts corresponding to the next spraying direction and the position of the loose bolts corresponding to the current spraying direction exceeds the preset distance threshold. If so, loop the steps of determining the next spraying direction as the current spraying direction, and controlling the spraying device to spray paint to the loose bolts corresponding to the current spraying direction according to the current spraying direction, and determine the next spraying direction in the order of each target spraying direction, and judge whether the distance between the position of the loose bolts corresponding to the next spraying direction and the position of the loose bolts corresponding to the current spraying direction exceeds the preset distance threshold, until the distance between the position of the loose bolts corresponding to the next spraying direction and the position of the loose bolts corresponding to the current spraying direction does not exceed the preset distance threshold, or the current spraying direction is the last target spraying direction.

[0132] Specifically, when the drone is detected at the target shooting position corresponding to each target railway preset area, since there are at least two loose bolts in the target railway preset area, paint needs to be sprayed on each loose bolt, and the spraying order of each loose bolt needs to be considered so that the drone can go to the corresponding target shooting position in turn for spraying.

[0133] The order of the loosened bolts may be arranged in a predetermined direction based on the location of the loosened bolts. The predetermined direction may be the direction of travel of a train when the train is traveling on the railway track. For example, if the predetermined direction is from station C to station D, in the predetermined area M5 of the target railway, bolt m5-3, bolt m5-6, and bolt m5-7 are arranged in that direction from station C to station D. Therefore, the order of the loosened bolts may be bolt m5-3, bolt m5-6, and bolt m5-7, arranged in descending order.

[0134] Specifically, the order of the loosened bolts, that is, the order of the target spraying directions corresponding to the loosened bolts, for example, the loosened bolts are arranged in sequence as bolt m5-3, bolt m5-6, and bolt m5-7. Then, the order of the target spraying directions in the preset area M2 of the target railway is: the target spraying direction corresponding to the bolt m5-3, the target spraying direction corresponding to the bolt m5-6, and the target spraying direction corresponding to the bolt m5-7 are arranged in that order.

[0135] Specifically, according to the order of each target spraying direction, the first target spraying direction is determined as the current spraying direction, that is, the target spraying direction corresponding to the bolt m5-3 is determined as the current spraying direction.

[0136] Continuing to use the target railway preset area M5 in the above embodiment as an example for explanation, the current spraying direction is the target spraying direction (target spraying direction m5-3) corresponding to the loose bolt m5-3. At this time, the drone is already at the target shooting position corresponding to the target railway preset area M5. The spraying device is controlled to spray paint according to the target spraying direction m5-3, so that the loose bolt m5-3 is sprayed with paint. While the spraying device is controlled to spray, or when the spraying device is controlled to spray, the next target spraying direction is determined according to the sequence of the target spraying directions. The next target spraying direction is the target spraying direction m5-6 (the target spraying direction corresponding to the loose bolt m5-6). The distance between the loose bolt m5-3 and the loose bolt m5-6 is calculated. If the distance is 3m and the preset distance threshold is 1.5m, it is determined that the distance is greater than the preset distance threshold. The target spraying direction m5-6 is used as the current spraying direction, and the spraying device is controlled to spray paint in the target spraying direction m5-6, so that the loose bolt m5-6 is sprayed with paint. When the spraying device is controlled to spray paint along the target spraying direction m5-6, the paint is applied to the loose bolt m5-6. When the material is being sprayed, or when the spraying device is controlled to complete the spraying work on the loose bolt m5-6, according to the order of the target spraying directions, the next target spraying direction is the target spraying direction m5-7. At this time, the distance between the loose bolt m5-6 and the loose bolt m5-7 is calculated. If the calculated distance is 1m and the preset distance threshold is 1.5m, it means that the distance between the loose bolt m5-6 and the loose bolt m5-7 does not exceed the preset distance threshold, and the cycle ends at this time; if the calculated distance is 1m and the preset distance threshold is 0.5m, it means that the distance between the loose bolt m5-6 and the loose bolt m5-7 does not exceed the preset distance threshold, and the cycle ends at this time; If the distance between the loose bolt m5-6 and the loose bolt m5-7 exceeds the preset distance threshold, the cycle continues, the spraying direction corresponding to the loose bolt m5-7 is determined as the current spraying direction, and the spraying device is controlled to spray paint according to the target spraying direction m5-7, so that the loose bolt m5-7 is sprayed with paint. At this time, the target spraying direction m5-7 corresponding to the loose bolt m5-7 is the last target spraying direction in the preset area of ​​the target railway. The cycle ends at this time, and the paint spraying operation of the preset area M5 of the target railway is completed.

[0137] A possible implementation method of an embodiment of the present application is that in the above embodiment, it is determined whether the distance between the position of the loose bolt corresponding to the next spraying direction and the position of the loose bolt corresponding to the current spraying direction exceeds a preset distance threshold, and then it also includes: if the distance between the position of the loose bolt corresponding to the next spraying direction and the position of the loose bolt corresponding to the current spraying direction does not exceed the preset distance threshold, then according to the current spraying direction and the next spraying direction, the spraying device is controlled to continuously spray paint between the current spraying direction and the next spraying direction. When it is detected that the spraying device has completed the action of spraying paint in the next spraying direction, the next spraying direction is determined as the current spraying direction in a loop, and the next spraying direction is determined in the order of each target spraying direction, and it is judged whether the distance between the position of the loose bolt corresponding to the next spraying direction and the position of the loose bolt corresponding to the current spraying direction exceeds the preset distance threshold. If the distance between the position of the loose bolt corresponding to the next spraying direction and the position of the loose bolt corresponding to the current spraying direction does not exceed the preset distance threshold, the spraying device is controlled to spray paint to the area between the current spraying direction and the next spraying direction until the distance between the position of the loose bolt corresponding to the next spraying direction and the position of the loose bolt corresponding to the current spraying direction exceeds the preset distance threshold, or the current spraying direction is the last target spraying direction.

[0138] Specifically, when the distance between the loose bolt corresponding to the next spraying direction and the loose bolt corresponding to the current spraying direction is small, paint can be sprayed on all areas between the two loose bolts to instruct maintenance personnel to carry out unified inspections, so that when there are other bolts between the two loose bolts, the other bolts can be inspected together. When there are no other bolts, it is easier for the drone to spray paint.

[0139] Specifically, continuing to take the target railway preset area M5 in the above embodiment as an example, when the spraying direction is the target spraying direction ma-6 and the next spraying direction is the target spraying direction ma-7, the calculated distance between the loose bolt m5-6 and the loose bolt m5-7 is 1m. If the preset distance threshold is 1.5m, it is judged that the distance between the position of the loose bolt corresponding to the next spraying direction and the position of the loose bolt corresponding to the current spraying direction does not exceed the preset distance threshold. At this time, the spraying device will be controlled to spray paint on the area between the bolt ma-6 and the bolt ma-7. Specifically, the spraying device can be controlled to continuously spray paint between the target spraying direction ma-6 and the target spraying direction ma-7.

[0140] Specifically, when it is detected that the spraying device has completed the action of spraying paint in the next spraying direction, the next spraying direction is determined as the current spraying direction, and it is determined whether the current spraying direction is the last target spraying direction. If not, the next spraying direction is determined in the order of each target spraying direction, and it is determined whether the distance between the position of the loose bolt corresponding to the next spraying direction and the position of the loose bolt corresponding to the current spraying direction exceeds the preset distance threshold.

[0141] When the distance between the position of the loose bolt corresponding to the next spraying direction and the position of the loose bolt corresponding to the current spraying direction does not exceed the preset distance threshold, the above steps of controlling the spraying device to continuously spray paint between the current spraying direction and the next spraying direction according to the current spraying direction and the next spraying direction if the distance between the position of the loose bolt corresponding to the next spraying direction and the position of the loose bolt corresponding to the current spraying direction does not exceed the preset distance threshold are executed in a loop.

[0142] When the distance between the position of the loose bolt corresponding to the next spraying direction and the position of the loose bolt corresponding to the current spraying direction exceeds the preset distance threshold, the above-mentioned steps of determining the next spraying direction as the current spraying direction, controlling the spraying device to spray paint to the loose bolt corresponding to the current spraying direction according to the current spraying direction, determining the next spraying direction in the order of each target spraying direction, and judging whether the distance between the position of the loose bolt corresponding to the next spraying direction and the position of the loose bolt corresponding to the current spraying direction exceeds the preset distance threshold are executed in a loop.

[0143] The cycle ends when the current spraying direction becomes the last target spraying direction.

[0144] For example, continuing with the target railway preset area M5 in the above embodiment, when the spraying device is controlled to continuously spray paint between the target spraying direction ma-6 and the target spraying direction ma-7, the target spraying direction ma-7 is determined as the current spraying direction. If bolt ma-7 is the last loose bolt in the target railway preset area M5, that is, the current spraying direction is the last target spraying direction, the loop ends, indicating that all loose bolts in the target railway preset area M5 have been sprayed with paint.

[0145] Furthermore, if the target railway preset area M5 also includes a loose bolt m5-10, and the loose bolt m5-10 is the next loose bolt after the loose bolt m5-7, then after the spraying device completes spraying in the target spraying direction m5-7, the target spraying direction m5-7 is determined as the current spraying direction, and in the order of the target spraying directions, the target spraying direction m5-10 (the target spraying direction corresponding to the loose bolt m5-10) is determined as the next spraying direction, and the distance between the loose bolt m5-7 and the loose bolt m5-10 is calculated.

[0146] If the distance between the loose bolt m5-7 and the loose bolt m5-10 is 1m (1m<1.5m), the spraying device is controlled to continuously spray paint between the target spraying direction m5-7 and the target spraying direction m5-10, and after detecting that the spraying device has completed spraying in the target spraying direction m5-10, the target spraying direction m5-10 is determined as the current spraying direction, and the target spraying direction m5-10 is the last target spraying direction, and the cycle ends at this time.

[0147] If the distance between the loose bolt m5-7 and the loose bolt m5-10 is 3m (3m>1.5m), it indicates that the distance between the position of the loose bolt corresponding to the next spraying direction and the position of the loose bolt corresponding to the current spraying direction exceeds the preset distance threshold, and the target spraying direction m5-10 is determined as the current spraying direction, and the spraying device is controlled to spray paint to the loose bolt (target bolt m5-10) corresponding to the current spraying direction according to the current spraying direction (target spraying direction m5-10), and it is determined that the current spraying direction is the last target spraying direction corresponding to the target railway preset area M5, then the loop ends at this time, and each loose bolt in the target railway preset area M5 is sprayed with corresponding paint.

[0148] In one possible implementation of the present embodiment, the method further includes: identifying, based on the regional image information, whether a defective bolt exists within a predetermined railway region corresponding to the regional image information. A defective bolt is one that appears incomplete in the bolt image information. If a defective bolt exists, determining a corresponding position of the defective bolt based on the regional image information corresponding to the defective bolt, and transmitting the position of the defective bolt to a maintenance personnel terminal device.

[0149] Specifically, a defective bolt is one that was not fully captured by the drone due to obstruction by external objects when capturing regional image information. When a defective bolt is captured, it is necessary to manually inspect and repair the defective bolt. This avoids the possibility of the defective bolt not being detected due to incomplete capture when it is loose, thereby reducing the chance of a loose bolt not being detected and causing a larger fault. Therefore, when there are defective bolts, the number of defective bolts captured may be one or more. Based on the regional image information corresponding to each defective bolt, the corresponding position of each defective bolt is determined, and the corresponding position of each defective bolt is fed back to the maintenance personnel's terminal device, so that the maintenance personnel can perform maintenance based on the corresponding position of the defective bolt.

[0150] Furthermore, when a defective bolt is photographed, the paint spraying direction corresponding to the photographed defective bolt can be determined based on the regional image information corresponding to the photographed defective bolt, and the paint spraying direction can be fed back to other drones, so that the other drones can control the spraying devices installed on the other drones to spray paint on the photographed defective bolt according to the spraying direction of the paint corresponding to the photographed defective bolt. The paint corresponding to the photographed defective bolt and the paint corresponding to the loose bolt can be different colors to facilitate maintenance personnel to distinguish between the photographed defective bolt and the loose bolt; the method of controlling other drones to spray paint on the loose bolt according to the spraying direction of the paint corresponding to the photographed defective bolt can refer to the method of spraying the corresponding paint on the loose bolt by the drone in the embodiment of this application.

[0151] The above embodiment introduces a railway track bolt loosening detection method from the perspective of method flow, and the following embodiment introduces a railway track bolt loosening detection device from the perspective of a virtual module or virtual unit. Please refer to the following embodiment for details.

[0152] Reference Figure 2 A railway track bolt loosening detection device 200 is implemented by a drone. The drone is equipped with a spraying device for spraying paint under the control of the drone. The device 200 includes:

[0153] An image acquisition module 201 is used to acquire regional image information of each railway preset area of ​​the railway track;

[0154] An image recognition module 202 is used to identify whether there are loose bolts in the railway track based on the regional image information;

[0155] A position determination module 203 is configured to determine the position of a loose bolt based on a preset railway area corresponding to the loose bolt and regional image information of the preset railway area if there is one;

[0156] Position feedback module 204, used to feed back the position of the loose bolt to the maintenance personnel terminal device;

[0157] The spraying control module 205 is used to determine the spraying direction according to the regional image information corresponding to the loose bolts, and control the spraying device to spray paint to the loose bolts according to the spraying direction.

[0158] Specifically, when a loose bolt is detected, the position of the loose bolt is fed back to the maintenance personnel's terminal device, and the spraying device is controlled to spray paint to the position of the loose bolt, thereby automatically detecting the loose bolts on the railway track, reducing the waste of human resources, and at the same time enabling the maintenance personnel to directly locate the position of the loose bolt by marking the paint sprayed on the loose bolt when maintaining the railway track according to the detected results, thereby eliminating the need for the maintenance personnel to manually search for the position of the loose bolt, which is beneficial for the maintenance personnel to directly locate the loose bolt, and further improving the convenience and efficiency of the maintenance personnel when the bolt is loose.

[0159] In one possible implementation of the embodiment of the present application, the spraying control module 205 determines the spraying direction based on the image information of the area corresponding to the loose bolt, and controls the spraying device to spray paint on the loose bolt according to the spraying direction, specifically for:

[0160] When a loose bolt is detected in the railway track, and the number of loose bolts is one, the target shooting position corresponding to the loose bolt is obtained and the drone moves to the target shooting position. The target shooting position is the position where the drone is located when capturing the image information of the area corresponding to the loose bolt.

[0161] Determine the spraying direction based on the image information of the area corresponding to the loose bolts;

[0162] When the drone is detected at the target shooting position, the spraying device is controlled to spray paint on the loose bolts according to the spraying direction.

[0163] In one possible implementation of the embodiment of the present application, the spraying control module 205 determines the spraying direction based on the image information of the area corresponding to the loose bolt, and controls the spraying device to spray paint on the loose bolt according to the spraying direction, specifically for:

[0164] When there are loose bolts, and the number of the loose bolts is at least two, determining a target railway preset area, where the target railway preset area is the railway preset area where the loose bolts exist;

[0165] Obtain the target shooting position corresponding to each target railway preset area, and move to the target shooting position corresponding to each target railway preset area;

[0166] Obtain the number of loose bolts corresponding to each target railway preset area, where the number of loose bolts is the number of loose bolts existing in each target railway preset area;

[0167] Determine the spraying direction corresponding to each target railway preset area according to the regional image information corresponding to each target railway preset area and the corresponding number of loose bolts;

[0168] When it is detected that the drone is located at the target shooting position corresponding to each target railway preset area, the spraying device is controlled to spray paint on the loose bolts corresponding to each target railway preset area according to the spraying direction.

[0169] In one possible implementation of the embodiment of the present application, the spraying control module 205 is specifically configured to:

[0170] When the number of loose bolts corresponding to each target railway preset area is at least two, determining the position of each loose bolt in each target railway preset area according to the area image information corresponding to each target railway preset area;

[0171] Determining a target spraying direction corresponding to the position of each loose bolt in each target railway preset area according to the position of each loose bolt in each target railway preset area;

[0172] The target spraying direction corresponding to the position of each loose bolt in each target railway preset area is determined as the spraying direction corresponding to each target railway preset area.

[0173] In one possible implementation of the embodiment of the present application, when the number of loose bolts corresponding to each target railway preset area is at least two, the spraying control module 205 controls the spraying device to spray paint on the loose bolts corresponding to each target railway preset area according to the spraying direction when detecting that the drone is located at the target shooting position corresponding to each target railway preset area, specifically for:

[0174] When the drone is detected to be located at a target shooting position corresponding to each target railway preset area, the order of the loosened bolts is determined according to the position of each loosened bolt in each target railway preset area;

[0175] According to the order of the loosened bolts, determine the order corresponding to each target spraying direction;

[0176] According to the order of each target spraying direction, the first target spraying direction is determined as the current spraying direction;

[0177] Control the spraying device to spray paint to the loose bolts corresponding to the current spraying direction according to the current spraying direction, and determine the next spraying direction in the order of each target spraying direction, and judge whether the distance between the position of the loose bolts corresponding to the next spraying direction and the position of the loose bolts corresponding to the current spraying direction exceeds the preset distance threshold. If so, loop the steps of determining the next spraying direction as the current spraying direction, and controlling the spraying device to spray paint to the loose bolts corresponding to the current spraying direction according to the current spraying direction, and determine the next spraying direction in the order of each target spraying direction, and judge whether the distance between the position of the loose bolts corresponding to the next spraying direction and the position of the loose bolts corresponding to the current spraying direction exceeds the preset distance threshold, until the distance between the position of the loose bolts corresponding to the next spraying direction and the position of the loose bolts corresponding to the current spraying direction does not exceed the preset distance threshold, or the current spraying direction is the last target spraying direction.

[0178] In a possible implementation of the embodiment of the present application, the apparatus 200 further includes:

[0179] a paint spraying module, configured to control the spraying device to continuously spray paint between the current spraying direction and the next spraying direction if the distance between the position of the loose bolt corresponding to the next spraying direction and the position of the loose bolt corresponding to the current spraying direction does not exceed a preset distance threshold;

[0180] A loop module is used to, when it is detected that the spraying device has completed the action of spraying paint in the next spraying direction, cyclically execute the steps of determining the next spraying direction as the current spraying direction, determining the next spraying direction in the order of each target spraying direction, judging whether the distance between the position of the loose bolt corresponding to the next spraying direction and the position of the loose bolt corresponding to the current spraying direction exceeds a preset distance threshold, and if the distance between the position of the loose bolt corresponding to the next spraying direction and the position of the loose bolt corresponding to the current spraying direction does not exceed the preset distance threshold, controlling the spraying device to spray paint to the area between the current spraying direction and the next spraying direction, until the distance between the position of the loose bolt corresponding to the next spraying direction and the position of the loose bolt corresponding to the current spraying direction exceeds the preset distance threshold, or the current spraying direction is the last target spraying direction.

[0181] In a possible implementation of the embodiment of the present application, the apparatus further includes:

[0182] A photographed defective bolt determination module is used to identify, based on the regional image information, whether there is a photographed defective bolt in a preset railway area corresponding to the regional image information, where the photographed defective bolt is a bolt that is incomplete in the bolt image information;

[0183] The defect feedback module is used to determine the position of the defective bolt according to the image information of the area corresponding to the defective bolt if there is a defective bolt, and feed back the position of the defective bolt to the maintenance personnel's terminal device.

[0184] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0185] The embodiment of the present application also introduces a drone from the perspective of a physical device, such as Figure 3 As shown, Figure 3 The illustrated drone 300 includes a processor 301 and a memory 303. The processor 301 and the memory 303 are connected, for example, via a bus 302. Optionally, the drone 300 may also include a transceiver 304. It should be noted that in practice, the number of transceivers 304 is not limited to one, and the structure of the drone 300 does not constitute a limitation on the embodiments of this application.

[0186] Processor 301 can be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic device, transistor logic device, hardware component, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. Processor 301 can also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0187] Bus 302 may include a path for transmitting information between the above components. Bus 302 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. Bus 302 may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, Figure 3 Only one thick line is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0188] The memory 303 may be a ROM (Read Only Memory) or other type of static storage device that can store static information and instructions, a RAM (Random Access Memory) or other type of dynamic storage device that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disk storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0189] The memory 303 is used to store application code for executing the solution of the present application, and the execution is controlled by the processor 301. The processor 301 is used to execute the application code stored in the memory 303 to implement the content shown in the above method embodiment.

[0190] The embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed on a computer, enables the computer to execute the corresponding contents of the aforementioned method embodiment. In the embodiment of the present application, when a loose bolt is detected, the position of the loose bolt is fed back to the maintenance personnel terminal device, and the spraying device is controlled to spray paint at the position of the loose bolt, thereby automatically detecting the loose bolts on the railway track, reducing the waste of human resources, and also enabling the maintenance personnel to directly locate the position of the loose bolt by the mark of the paint sprayed on the loose bolt when maintaining the railway track according to the detected results, thereby eliminating the need for the maintenance personnel to manually find the position of the loose bolt, which is beneficial for the maintenance personnel to directly locate the loose bolt, further improving the convenience and efficiency of the maintenance personnel when the bolt is loose.

[0191] It should be understood that although the steps in the flowcharts of the accompanying drawings are shown in sequence as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some of the steps in the flowcharts of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0192] The above are only some of the implementation methods of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for detecting loose railway track bolts, characterized in that: The method is performed by a drone, wherein the drone is equipped with a spraying device, and the spraying device is used to spray the paint under the control of the drone, wherein the method includes: Acquire regional image information of each railway preset area of ​​the railway track; identifying, based on the regional image information, whether there are any loose bolts in the railway track; If there is a loose bolt, the position of the loose bolt is determined based on the preset railway area corresponding to the loose bolt and the regional image information of the preset railway area; Feedback the position of the loosened bolt to the maintenance personnel terminal device; Determining a spraying direction according to image information of a region corresponding to the loose bolt, and controlling the spraying device to spray paint toward the loose bolt according to the spraying direction, including: When there are loose bolts, and the number of the loose bolts is at least two, determining a target railway preset area, where the target railway preset area is the railway preset area where the loose bolts exist; Obtaining a target shooting position corresponding to each target railway preset area, and moving to the target shooting position corresponding to each target railway preset area; When it is detected that the drone is located at the target shooting position corresponding to each target railway preset area, determining the order of the loosened bolts according to the position of each loosened bolt in each target railway preset area; According to the order of the loosened bolts, determine the order corresponding to each target spraying direction; According to the order of each target spraying direction, determining the first target spraying direction as the current spraying direction; Control the spraying device to spray paint to the loose bolts corresponding to the current spraying direction according to the current spraying direction, and determine the next spraying direction according to the order of each target spraying direction, and judge whether the distance between the position of the loose bolts corresponding to the next spraying direction and the position of the loose bolts corresponding to the current spraying direction exceeds a preset distance threshold. If so, determine the next spraying direction as the current spraying direction, and loop the above process until the distance between the position of the loose bolts corresponding to the next spraying direction and the position of the loose bolts corresponding to the current spraying direction does not exceed the preset distance threshold, or the current spraying direction is the last target spraying direction.

2. The method according to claim 1, characterized in that The step of determining a spraying direction based on the image information of the area corresponding to the loose bolt, and controlling the spraying device to spray paint toward the loose bolt according to the spraying direction, comprises: When a loose bolt is detected in the railway track, and the number of the loose bolts is one, a target shooting position corresponding to the loose bolt is obtained, and the drone moves to the target shooting position, where the drone is located when capturing image information of the area corresponding to the loose bolt. determining a spraying direction according to image information of the area corresponding to the loose bolt; When it is detected that the UAV is located at the target shooting position, the spraying device is controlled to spray paint toward the loose bolts according to the spraying direction.

3. The method according to claim 1, characterized in that The step of determining a spraying direction based on the image information of the area corresponding to the loose bolt, and controlling the spraying device to spray paint toward the loose bolt according to the spraying direction, comprises: Obtaining the number of loose bolts corresponding to each target railway preset area, where the number of loose bolts is the number of loose bolts existing in each target railway preset area; The spraying direction corresponding to each target railway preset area is determined according to the area image information corresponding to each target railway preset area and the corresponding number of loose bolts.

4. The method according to claim 3, characterized in that The step of determining the spraying direction corresponding to each target railway preset area according to the regional image information corresponding to each target railway preset area and the corresponding number of loose bolts includes: When the number of loose bolts corresponding to each target railway preset area is at least two, determining the position of each loose bolt in each target railway preset area according to the area image information corresponding to each target railway preset area; Determining a target spraying direction corresponding to the position of each loose bolt in each target railway preset area according to the position of each loose bolt in each target railway preset area; The target spraying direction corresponding to the position of each loose bolt in each target railway preset area is determined as the spraying direction corresponding to each target railway preset area.

5. The method according to claim 1, characterized in that The step of determining whether the distance between the position of the loose bolt corresponding to the next spraying direction and the position of the loose bolt corresponding to the current spraying direction exceeds a preset distance threshold further includes: If the distance between the position of the loose bolt corresponding to the next spraying direction and the position of the loose bolt corresponding to the current spraying direction does not exceed a preset distance threshold, the spraying device is controlled to continuously spray the paint between the current spraying direction and the next spraying direction according to the current spraying direction and the next spraying direction; When it is detected that the spraying device has completed the action of spraying paint in the next spraying direction, the next spraying direction is determined as the current spraying direction in a loop, the next spraying direction is determined according to the order of each target spraying direction, and it is judged whether the distance between the position of the loose bolt corresponding to the next spraying direction and the position of the loose bolt corresponding to the current spraying direction exceeds the preset distance threshold, and if the distance between the position of the loose bolt corresponding to the next spraying direction and the position of the loose bolt corresponding to the current spraying direction does not exceed the preset distance threshold, the spraying device is controlled to spray paint to the area between the current spraying direction and the next spraying direction, until the distance between the position of the loose bolt corresponding to the next spraying direction and the position of the loose bolt corresponding to the current spraying direction exceeds the preset distance threshold, or the current spraying direction is the last target spraying direction.

6. The method according to claim 1, characterized in that The method further comprises: identifying, based on the regional image information, whether there is a photographed defective bolt in a preset railway area corresponding to the regional image information, wherein the photographed defective bolt is a bolt that is incomplete in the bolt image information; If the photographed defective bolt exists, the position corresponding to the photographed defective bolt is determined based on the regional image information corresponding to the photographed defective bolt, and the position corresponding to the photographed defective bolt is fed back to the maintenance personnel terminal device.

7. A railway track bolt loosening detection device, characterized in that: The process is performed by a drone, wherein the drone is equipped with a spraying device for spraying paint under the control of the drone, wherein the device comprises: An image acquisition module is used to acquire regional image information of each railway preset area of ​​the railway track; an image recognition module, configured to identify whether there are any loose bolts in the railway track based on the regional image information; a position determination module for determining, if there is a loose bolt, the position of the loose bolt based on the preset railway area corresponding to the loose bolt and the regional image information of the preset railway area; A position feedback module, used to feed back the position of the loose bolt to a maintenance personnel terminal device; a spraying control module, configured to determine a spraying direction based on image information of an area corresponding to the loose bolt, and control the spraying device to spray paint toward the loose bolt according to the spraying direction; The spraying control module determines the spraying direction according to the regional image information corresponding to the loose bolt, and controls the spraying device to spray paint toward the loose bolt according to the spraying direction, specifically for: When there are loose bolts, and the number of the loose bolts is at least two, determining a target railway preset area, where the target railway preset area is the railway preset area where the loose bolts exist; Obtaining a target shooting position corresponding to each target railway preset area, and moving to the target shooting position corresponding to each target railway preset area; When it is detected that the drone is located at the target shooting position corresponding to each target railway preset area, determining the order of the loosened bolts according to the position of each loosened bolt in each target railway preset area; According to the order of the loosened bolts, determine the order corresponding to each target spraying direction; According to the order of each target spraying direction, determining the first target spraying direction as the current spraying direction; Control the spraying device to spray paint to the loose bolts corresponding to the current spraying direction according to the current spraying direction, and determine the next spraying direction according to the order of each target spraying direction, and judge whether the distance between the position of the loose bolts corresponding to the next spraying direction and the position of the loose bolts corresponding to the current spraying direction exceeds a preset distance threshold. If so, determine the next spraying direction as the current spraying direction, and loop the above process until the distance between the position of the loose bolts corresponding to the next spraying direction and the position of the loose bolts corresponding to the current spraying direction does not exceed the preset distance threshold, or the current spraying direction is the last target spraying direction.

8. A drone, characterized in that: The drone includes: at least one processor; Memory; At least one application, wherein the at least one application is stored in a memory and configured to be executed by at least one processor, and the at least one application is configured to: execute the railway track bolt loosening detection method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed in a computer, the computer is caused to execute the railway track bolt loosening detection method according to any one of claims 1 to 6.

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