A method and device for detecting insulators using a multi-rotor drone

Abstract

The present application discloses a method and device for detecting insulators by a multi-rotor UAV, which relates to the field of insulator detection, and includes a basic parameter acquisition module, an environmental information monitoring module, a path preliminary analysis module, and a comprehensive detection path analysis module. By comprehensively analyzing the environmental information and the performance parameters of the target UAV, the actual flight distance of the target UAV corresponding to each transmission line and the total inspection path of each transmission line corresponding to each mounted device are obtained, and the comprehensive influence of the UAV's own factors and environmental factors is fully considered, which provides a strong data basis for the planning of subsequent detection paths and improves the detection efficiency and detection accuracy of insulators.

Description

Technical Field

[0001] The present application relates to the field of insulator detection, and more particularly to a method and device for detecting insulators using a multi-rotor drone. Background Art

[0002] Insulators are an important part of transmission lines, and their performance is directly related to the safe operation of the power grid. Through regular inspections, defects in insulators, such as cracks, breakage, and flashover, can be discovered in a timely manner, thereby preventing potential power grid accidents and ensuring stable power supply of the power system. However, the existing technology still has the following shortcomings:

[0003] The existing technology usually performs manual inspections on insulators by technicians, which reduces the efficiency and accuracy of insulator detection; the existing technology cannot effectively deal with the impact of various meteorological conditions on the insulator detection accuracy, reducing the accuracy of insulator detection under extreme meteorological conditions; the existing technology lacks reasonable planning of detection routes, further reducing the detection efficiency of insulators. At the same time, the disordered detection routes are prone to missed detection of insulators, indirectly increasing the risk of insulator failure. Summary of the invention

[0004] The object of the present invention is to provide a method and device for detecting insulators using a multi-rotor drone to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solution: a method for detecting insulators by a multi-rotor drone, comprising:

[0006] Basic parameter acquisition module: used to acquire the basic working performance of the UAV and obtain the corresponding performance parameters of the target UAV;

[0007] Environmental information monitoring module: used to detect the environmental conditions of the area to be detected and obtain the corresponding environmental information of the area to be detected;

[0008] Preliminary path analysis module: Analyze the performance parameters of the target UAV and the environmental information of the target area to obtain the actual flight distance of each transmission line and the total inspection path of each transmission line and each device on board.

[0009] Comprehensive detection path analysis module: used to analyze the actual flight distance of the target UAV corresponding to each transmission line and the total inspection path of each transmission line corresponding to each mounted device, and obtain the detection path corresponding to the area to be detected.

[0010] In the preferred embodiment of this solution, the specific implementation method of the basic parameter acquisition module is as follows:

[0011] Establishing a data extraction relationship between the basic parameter acquisition module and the database, extracting the performance parameters of the target UAV stored in the database, wherein the performance parameters include the standard flight mileage of the target UAV;

[0012] The standard flight range of the target UAV refers to the flight distance flown at a safe flight speed under standard conditions.

[0013] In the preferred embodiment of this scheme, the specific implementation method of the environmental information monitoring module is as follows:

[0014] By presetting an environmental monitoring device in the area to be detected to monitor the environment of the area to be detected, environmental information of the area to be detected is obtained, wherein the environmental information corresponding to the area to be detected includes wind speed information, air temperature and humidity information and rainfall corresponding to the area to be detected.

[0015] In a preferred embodiment of the present invention, the specific implementation method of the navigation path in the path preliminary analysis module is as follows:

[0016] Establish a data extraction relationship between the path preliminary analysis module and the database, extract the power planning map of the area to be detected stored in the database, extract information from the power planning map of the area to be detected, and obtain each transmission line in the area to be detected;

[0017] The wind speed information includes wind direction and wind speed;

[0018] Establish a rectangular coordinate system between each transmission line in the area to be detected and the wind direction in the area to be detected. The wind direction is Axis, perpendicular to the wind direction Axis, draw the graph to get the transmission lines and The angle between the axes is calculated, and the angle between the transmission lines in the area to be detected is obtained by counting , , is a positive integer, It is represented by the number of each transmission line in the area to be detected;

[0019] The smaller the angle, the higher the detection priority, and the preliminary detection priority of each transmission line in the area to be detected is obtained by screening;

[0020] Extracting the power transmission amount corresponding to each power transmission line in the area to be detected stored in the database;

[0021] The higher the transmission amount, the higher the detection priority of the corresponding transmission line, and the preliminary detection priority 2 of each transmission line in the area to be detected is obtained by screening;

[0022] A data set is established by using the preliminary detection priority 1 and the preliminary detection priority 2 of each transmission line in the area to be detected, and the data sets corresponding to each detection priority stored in the database are compared and screened to obtain the detection priority of each transmission line in the area to be detected, and obtain the detection order of each transmission line in the area to be detected;

[0023] The air temperature and humidity information corresponding to the area to be detected includes the air temperature and air humidity corresponding to the area to be detected;

[0024] Extracting standard environment information corresponding to the standard environment stored in the database, wherein the standard environment information includes standard air temperature, standard air humidity, standard rainfall and standard wind speed corresponding to the target UAV;

[0025] The air temperature corresponding to the area to be detected , air humidity , rainfall Standard air temperature corresponding to the target drone , Standard air humidity and standard rainfall Substitute into the formula

[0026] , get the performance impact coefficient corresponding to the target UAV ,in Expressed as the preset performance impact factor, is a natural constant;

[0027] The wind speed corresponding to the area to be detected , performance impact coefficient corresponding to the target UAV , Standard wind speed corresponding to the target drone The angle between the transmission line and the area to be detected and the standard flight mileage of the target drone Substitute into the formula

[0028] , get the actual flight distance of the target UAV corresponding to each transmission line ,in Expressed as the preset wind speed influence factor, It is expressed as the actual flight distance impact factor of pre-sale.

[0029] In the preferred solution of this scheme, the specific implementation method of inspecting the total path in the path preliminary analysis module is as follows:

[0030] Extracting each carrying device corresponding to each transmission line stored in the database, and extracting the insulator layout diagram corresponding to each carrying device stored in the database;

[0031] Extract information from the insulator layout diagram of each transmission line corresponding to each carrying device, and obtain the number of insulators, the type of insulators, the spatial position coordinates of the insulators, and the standard inspection sequence of each insulator corresponding to each carrying device of each transmission line;

[0032] Extract the standard detection accuracy coefficients of various types of insulators stored in the database and standard test paths , , is a positive integer, Indicates the serial number of various types of insulators;

[0033] The standard test accuracy coefficient of various types of insulators , Standard test paths for various types of insulators The air humidity corresponding to the area to be detected , rainfall and wind speed Substitute into the formula

[0034] , get the actual detection path of various types of insulators ,in It is expressed as the preset detection accuracy influencing factor, It is expressed as the preset actual path impact factor;

[0035] According to the actual detection paths of various types of insulators, the total detection paths of each insulator corresponding to each device are calculated, and the total detection paths of each transmission line corresponding to each device are statistically obtained. , , is a positive integer, It is represented by the number of each device carried in the transmission line;

[0036] The standard connection path of each insulator corresponding to each mounting device is calculated based on the standard detection sequence of each insulator corresponding to each mounting device and the spatial position coordinates of each insulator, and the standard connection path of each transmission line corresponding to each mounting device is obtained by statistics. ;

[0037] Each transmission line corresponds to the standard connection path of each mounted device The total path of insulator detection for each device on each transmission line Add up to get the total inspection path of each transmission line corresponding to each device .

[0038] In the preferred embodiment of this scheme, the specific implementation method of the comprehensive detection path analysis module is as follows:

[0039] Extracting the distances between adjacent mounted devices in each power transmission line in the area to be inspected stored in the database;

[0040] The total inspection path of each transmission line corresponding to each device , the actual flight distance of the target UAV corresponding to each transmission line Comprehensively analyze the distances between adjacent devices in each transmission line to obtain the detection sub-routes corresponding to each transmission line;

[0041] The detection sequence of each power transmission line in the area to be detected and each detection sub-route corresponding to each power transmission line are connected in series to obtain a detection path corresponding to the area to be detected.

[0042] To achieve the above object, the present invention also provides the following technical solution: a device for detecting insulators by a multi-rotor drone, comprising the following steps:

[0043] Obtain the basic working performance of the UAV and obtain the corresponding performance parameters of the target UAV;

[0044] Detect the environmental conditions of the area to be detected and obtain the environmental information corresponding to the area to be detected;

[0045] According to the performance parameters corresponding to the target UAV and the environmental information corresponding to the target area, the actual flight distance of the target UAV corresponding to each transmission line and the total inspection path of each device on each transmission line are obtained;

[0046] The actual flight distance of the target UAV corresponding to each transmission line and the total inspection path of each transmission line corresponding to each mounted device are analyzed to obtain the inspection path corresponding to the area to be inspected.

[0047] Compared with the prior art, the present invention has the following beneficial effects:

[0048] The present invention conducts a comprehensive analysis of environmental information and performance parameters of the target UAV to obtain the actual flight distance of the target UAV corresponding to each transmission line and the total inspection path of each transmission line corresponding to each mounted device, fully considering the combined influence of the UAV's own factors and environmental factors, providing a strong data basis for the planning of subsequent detection paths, and improving the detection efficiency and detection accuracy of insulators. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The present invention is further described using the accompanying drawings, but the embodiments in the accompanying drawings do not constitute any limitation to the present invention. A person skilled in the art can obtain other drawings based on the following drawings without creative work.

[0050] Figure 1 This is a schematic diagram of module connection of the present invention. DETAILED DESCRIPTION

[0051] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0052] See also Figure 1 ,The present invention provides a technical solution: a method for detecting insulators using a multi-rotor UAV, comprising a basic parameter acquisition module, an environmental information monitoring module, a path preliminary analysis module and a comprehensive detection path analysis module;

[0053] The parameter acquisition module is connected to the path preliminary analysis module, the environmental information monitoring module is connected to the path preliminary analysis module, and the path preliminary analysis module is connected to the comprehensive detection path analysis module.

[0054] The basic parameter acquisition module is used to acquire the basic working performance of the UAV and obtain the performance parameters corresponding to the target UAV;

[0055] Furthermore, the specific execution method of the basic parameter acquisition module is as follows:

[0056] Establishing a data extraction relationship between the basic parameter acquisition module and the database, extracting the performance parameters of the target UAV stored in the database, wherein the performance parameters include the standard flight mileage of the target UAV;

[0057] The standard flight range of the target UAV refers to the flight distance flown at a safe flight speed under standard conditions.

[0058] The environmental information monitoring module is used to detect the environmental conditions of the area to be detected and obtain the environmental information corresponding to the area to be detected;

[0059] Furthermore, the specific implementation of the environmental information monitoring module is as follows:

[0060] By presetting an environmental monitoring device in the area to be detected to monitor the environment of the area to be detected, environmental information of the area to be detected is obtained, wherein the environmental information corresponding to the area to be detected includes wind speed information, air temperature and humidity information and rainfall corresponding to the area to be detected.

[0061] The path preliminary analysis module analyzes the performance parameters of the target UAV and the environmental information of the target area to obtain the actual flight distance of each transmission line corresponding to the target UAV and the total inspection path of each device on each transmission line;

[0062] Furthermore, the specific execution method of the navigation path in the path preliminary analysis module is as follows:

[0063] Establish a data extraction relationship between the path preliminary analysis module and the database, extract the power planning map of the area to be detected stored in the database, extract information from the power planning map of the area to be detected, and obtain each transmission line in the area to be detected;

[0064] The wind speed information includes wind direction and wind speed;

[0065] Establish a rectangular coordinate system between each transmission line in the area to be detected and the wind direction in the area to be detected. The wind direction is Axis, perpendicular to the wind direction Axis, draw the graph to get the transmission lines and The angle between the axes is calculated, and the angle between the transmission lines in the area to be detected is obtained by counting , , is a positive integer, It is represented by the number of each transmission line in the area to be detected;

[0066] The smaller the angle, the higher the detection priority, and the preliminary detection priority of each transmission line in the area to be detected is obtained by screening;

[0067] Extracting the power transmission amount corresponding to each power transmission line in the area to be detected stored in the database;

[0068] The higher the transmission amount, the higher the detection priority of the corresponding transmission line, and the preliminary detection priority 2 of each transmission line in the area to be detected is obtained by screening;

[0069] A data set is established by using the preliminary detection priority 1 and the preliminary detection priority 2 of each transmission line in the area to be detected, and the data sets corresponding to each detection priority stored in the database are compared and screened to obtain the detection priority of each transmission line in the area to be detected, and obtain the detection order of each transmission line in the area to be detected;

[0070] The air temperature and humidity information corresponding to the area to be detected includes the air temperature and air humidity corresponding to the area to be detected;

[0071] Extracting standard environment information corresponding to the standard environment stored in the database, wherein the standard environment information includes standard air temperature, standard air humidity, standard rainfall and standard wind speed corresponding to the target UAV;

[0072] The air temperature corresponding to the area to be detected , air humidity , rainfall Standard air temperature corresponding to the target drone , Standard air humidity and standard rainfall Substitute into the formula

[0073] , get the performance impact coefficient corresponding to the target UAV ,in Expressed as the preset performance impact factor, is a natural constant;

[0074] The wind speed corresponding to the area to be detected , performance impact coefficient corresponding to the target UAV , Standard wind speed corresponding to the target drone The angle between the transmission line and the area to be detected and the standard flight mileage of the target drone Substitute into the formula

[0075] , get the actual flight distance of the target UAV corresponding to each transmission line ,in Expressed as the preset wind speed influence factor, It is expressed as the actual flight distance impact factor of pre-sale.

[0076] It should be noted that: if the target UAV is in the direction of the transmission line and the y-axis component of the wind speed is greater than the standard wind speed corresponding to the target UAV, the actual flight distance of the target UAV corresponding to each transmission line is Possibly greater than the target drone's standard flight range .

[0077] Furthermore, the specific implementation method of the inspection of the total path in the path preliminary analysis module is as follows:

[0078] Extracting each carrying device corresponding to each transmission line stored in the database, and extracting the insulator layout diagram corresponding to each carrying device stored in the database;

[0079] Extract information from the insulator layout diagram of each transmission line corresponding to each carrying device, and obtain the number of insulators, the type of insulators, the spatial position coordinates of the insulators, and the standard inspection sequence of each insulator corresponding to each carrying device of each transmission line;

[0080] Extract the standard detection accuracy coefficients of various types of insulators stored in the database and standard test paths , , is a positive integer, Indicates the serial number of various types of insulators;

[0081] The standard test accuracy coefficient of various types of insulators , Standard test paths for various types of insulators The air humidity corresponding to the area to be detected , rainfall and wind speed Substitute into the formula

[0082] , get the actual detection path of various types of insulators ,in It is expressed as the preset detection accuracy influencing factor, It is expressed as the preset actual path impact factor;

[0083] According to the actual detection paths of various types of insulators, the total detection paths of each insulator corresponding to each device are calculated, and the total detection paths of each transmission line corresponding to each device are statistically obtained. , , is a positive integer, It is represented by the number of each device carried in the transmission line;

[0084] The standard connection path of each insulator corresponding to each mounting device is calculated based on the standard detection sequence of each insulator corresponding to each mounting device and the spatial position coordinates of each insulator, and the standard connection path of each transmission line corresponding to each mounting device is obtained by statistics. ;

[0085] Each transmission line corresponds to the standard connection path of each mounted device The total path of insulator detection for each device on each transmission line Add up to get the total inspection path of each transmission line corresponding to each device .

[0086] The comprehensive detection path analysis module is used to analyze the actual flight distance of the target UAV corresponding to each transmission line and the total inspection path of each transmission line corresponding to each mounted device, and obtain the detection path corresponding to the area to be detected.

[0087] Furthermore, the specific implementation of the comprehensive detection path analysis module is as follows:

[0088] Extracting the distances between adjacent mounted devices in each power transmission line in the area to be inspected stored in the database;

[0089] The total inspection path of each transmission line corresponding to each device , the actual flight distance of the target UAV corresponding to each transmission line Comprehensively analyze the distances between adjacent devices in each transmission line to obtain the detection sub-routes corresponding to each transmission line;

[0090] The detection sequence of each power transmission line in the area to be detected and each detection sub-route corresponding to each power transmission line are connected in series to obtain a detection path corresponding to the area to be detected.

[0091] The detection sequence of each power transmission line in the area to be detected and each detection sub-route corresponding to each power transmission line are connected in series to obtain a detection path corresponding to the area to be detected.

[0092] To achieve the above object, the present invention also provides the following technical solution: a device for detecting insulators by a multi-rotor drone, comprising the following steps:

[0093] Obtain the basic working performance of the UAV and obtain the corresponding performance parameters of the target UAV;

[0094] Detect the environmental conditions of the area to be detected and obtain the environmental information corresponding to the area to be detected;

[0095] According to the performance parameters corresponding to the target UAV and the environmental information corresponding to the target area, the actual flight distance of the target UAV corresponding to each transmission line and the total inspection path of each device on each transmission line are obtained;

[0096] The actual flight distance of the target UAV corresponding to each transmission line and the total inspection path of each transmission line corresponding to each mounted device are analyzed to obtain the inspection path corresponding to the area to be inspected.

[0097] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A method for detecting insulators using a multi-rotor drone, characterized in that: include: Basic parameter acquisition module: used to acquire the basic working performance of the UAV and obtain the corresponding performance parameters of the target UAV; Environmental information monitoring module: used to detect the environmental conditions of the area to be detected and obtain the corresponding environmental information of the area to be detected; Preliminary path analysis module: extract the carrying devices corresponding to each transmission line stored in the database, extract the insulator layout diagram corresponding to each carrying device stored in the database, and analyze the performance parameters corresponding to the target UAV, the environmental information corresponding to the area to be detected, the carrying devices corresponding to each transmission line, and the insulator layout diagram corresponding to each carrying device to obtain the actual flight distance of the target UAV corresponding to each transmission line and the total inspection path of each carrying device corresponding to each transmission line; Comprehensive detection path analysis module: used to analyze the actual flight distance of the target UAV corresponding to each transmission line and the total inspection path of each transmission line corresponding to each mounted device, and obtain the detection path corresponding to the area to be detected.

2. The method for detecting insulators by a multi-rotor drone according to claim 1, characterized in that: The specific execution method of the basic parameter acquisition module is as follows: Establishing a data extraction relationship between the basic parameter acquisition module and the database, extracting the performance parameters of the target UAV stored in the database, wherein the performance parameters include the standard flight mileage of the target UAV; The standard flight range of the target UAV refers to the flight distance flown at a safe flight speed under standard conditions.

3. The method for detecting insulators by a multi-rotor drone according to claim 1, characterized in that: The specific implementation method of the environmental information monitoring module is as follows: By presetting an environmental monitoring device in the area to be detected to monitor the environment of the area to be detected, environmental information of the area to be detected is obtained, wherein the environmental information corresponding to the area to be detected includes wind speed information, air temperature and humidity information and rainfall corresponding to the area to be detected.

4. The method for detecting insulators by a multi-rotor drone according to claim 3, characterized in that: The specific implementation method of the navigation path in the path preliminary analysis module is as follows: Establish a data extraction relationship between the path preliminary analysis module and the database, extract the power planning map of the area to be detected stored in the database, extract information from the power planning map of the area to be detected, and obtain each transmission line in the area to be detected; The wind speed information includes wind direction and wind speed; Establish a rectangular coordinate system between each transmission line in the area to be detected and the wind direction in the area to be detected. The wind direction is Axis, perpendicular to the wind direction Axis, draw the graph to get the transmission lines and The angle between the axes is calculated, and the angle between the transmission lines in the area to be detected is obtained by counting , , is a positive integer, It is represented by the number of each transmission line in the area to be detected; The smaller the angle, the higher the detection priority, and the preliminary detection priority of each transmission line in the area to be detected is obtained by screening; Extracting the power transmission amount corresponding to each power transmission line in the area to be detected stored in the database; The higher the transmission amount, the higher the detection priority of the corresponding transmission line, and the preliminary detection priority 2 of each transmission line in the area to be detected is obtained by screening; A data set is established by using the preliminary detection priority 1 and the preliminary detection priority 2 of each transmission line in the area to be detected, and the data sets corresponding to each detection priority stored in the database are compared and screened to obtain the detection priority of each transmission line in the area to be detected, and obtain the detection order of each transmission line in the area to be detected; The air temperature and humidity information corresponding to the area to be detected includes the air temperature and air humidity corresponding to the area to be detected; Extracting standard environment information corresponding to the standard environment stored in the database, wherein the standard environment information includes standard air temperature, standard air humidity, standard rainfall and standard wind speed corresponding to the target UAV; The air temperature corresponding to the area to be detected , air humidity , rainfall Standard air temperature corresponding to the target drone , Standard air humidity and standard rainfall Substitute into the formula , get the performance impact coefficient corresponding to the target UAV ,in Expressed as the preset performance impact factor, is a natural constant; The wind speed corresponding to the area to be detected , performance impact coefficient corresponding to the target UAV , Standard wind speed corresponding to the target drone The angle between the transmission line and the area to be detected and the standard flight mileage of the target drone Substitute into the formula , get the actual flight distance of the target UAV corresponding to each transmission line ,in Expressed as the preset wind speed influence factor, Expressed as a preset actual flight distance impact factor.

5. The method for detecting insulators by a multi-rotor drone according to claim 2, characterized in that: The specific implementation method of inspecting the total path in the path preliminary analysis module is as follows: Extract information from the insulator layout diagram of each transmission line corresponding to each carrying device, and obtain the number of insulators, the type of insulators, the spatial position coordinates of the insulators, and the standard inspection sequence of each insulator corresponding to each carrying device of each transmission line; Extract the standard detection accuracy coefficients of various types of insulators stored in the database and standard test paths , , is a positive integer, Indicates the serial number of various types of insulators; The standard test accuracy coefficient of various types of insulators , Standard test paths for various types of insulators The air humidity corresponding to the area to be detected , rainfall and wind speed Substitute into the formula , get the actual detection path of various types of insulators ,in It is expressed as the preset detection accuracy influencing factor, It is expressed as the preset actual path impact factor; According to the actual detection paths of various types of insulators, the total detection paths of each insulator corresponding to each device are calculated, and the total detection paths of each transmission line corresponding to each device are statistically obtained. , , is a positive integer, It is represented by the number of each device carried in the transmission line; The standard connection path of each insulator corresponding to each mounting device is calculated based on the standard detection sequence of each insulator corresponding to each mounting device and the spatial position coordinates of each insulator, and the standard connection path of each transmission line corresponding to each mounting device is obtained by statistics. ; Each transmission line corresponds to the standard connection path of each mounted device The total path of insulator detection for each device on each transmission line Add up to get the total inspection path of each transmission line corresponding to each device .

6. The method for detecting insulators by a multi-rotor drone according to claim 5, characterized in that: The specific implementation method of the comprehensive detection path analysis module is as follows: Extracting the distances between adjacent mounted devices in each power transmission line in the area to be inspected stored in the database; The total inspection path of each transmission line corresponding to each device , the actual flight distance of the target UAV corresponding to each transmission line Comprehensively analyze the distances between adjacent devices in each transmission line to obtain the detection sub-routes corresponding to each transmission line; The detection sequence of each power transmission line in the area to be detected and each detection sub-route corresponding to each power transmission line are connected in series to obtain a detection path corresponding to the area to be detected.

7. A device for detecting insulators by a multi-rotor drone, applied to a method for detecting insulators by a multi-rotor drone according to any one of claims 1 to 6, characterized in that: include: Obtain the basic working performance of the UAV and obtain the corresponding performance parameters of the target UAV; Detect the environmental conditions of the area to be detected and obtain the environmental information corresponding to the area to be detected; Extract each carrying device corresponding to each transmission line stored in the database, extract the insulator layout diagram corresponding to each carrying device stored in the database, and analyze the performance parameters corresponding to the target UAV, the environmental information corresponding to the area to be detected, the carrying devices corresponding to each transmission line, and the insulator layout diagram corresponding to each carrying device to obtain the actual flight distance of the target UAV corresponding to each transmission line and the total inspection path of each carrying device corresponding to each transmission line; The actual flight distance of the target UAV corresponding to each transmission line and the total inspection path of each transmission line corresponding to each mounted device are analyzed to obtain the inspection path corresponding to the area to be inspected.

Images