Inspection method and device for inspection area and readable storage medium

Abstract

The invention discloses an inspection method and device for an inspection area and a readable storage medium. The method comprises the steps that a scene image of a to-be-inspected area is acquired, and the image content of the scene image comprises a scene where the inspection area is located; the scene state of the to-be-inspected area is determined based on the scene image, the scene state is used for indicating the state of the power transmission line in the to-be-inspected area and / or the state of the environment where the power transmission line is located, and the scene state at least comprises a normal scene state and an abnormal scene state; generating an inspection task in response to the situation that the scene state is an abnormal scene state; based on the inspection task, determining an inspection route of the inspection equipment; and controlling the inspection equipment to inspect the to-be-inspected area according to the inspection route. The technical problem of low inspection efficiency is solved.

Description

Technical Field

[0001] The present invention relates to the field of circuit inspection technology, and in particular to an inspection method, device and readable storage medium for an inspection area. Background Art

[0002] At present, transmission lines are the key link to ensure the stable operation of the power system and the safety of power supply. Inspection of transmission lines can timely discover potential problems on the lines, effectively prevent the occurrence of faults, and avoid greater losses.

[0003] In the related art, the current transmission lines may have abnormalities due to the external environment or the internal operating environment. In order to avoid the hidden dangers of the transmission lines, manual inspections are generally carried out on site, and the problems existing in the transmission lines are recorded, so as to find out the hidden dangers of the transmission lines and repair the transmission lines in time. However, the current inspection route is generally preset by the system after the transmission lines are erected. Workers arrive at the designated inspection point within the scheduled time, and then inspect the transmission lines and the surrounding environment through observation or climbing frames and record the inspection data. This kind of manual inspection has problems such as untimely inspection, poor efficiency, and personal safety hazards. At the same time, when the recorded data is numerous, it is easy to cause data loss, troublesome operation, and then increase the inspection cost. Therefore, there is a technical problem of low inspection efficiency.

[0004] Currently, no effective solution has been proposed for the above-mentioned technical problem of low inspection efficiency. Summary of the invention

[0005] The embodiments of the present invention provide a method, a device and a readable storage medium for inspecting an inspection area, so as to at least solve the technical problem of low inspection efficiency.

[0006] According to one aspect of an embodiment of the present invention, a method for inspecting an inspection area is provided. The method may include: acquiring a scene image of the area to be inspected, wherein the image content of the scene image includes the scene in which the inspection area is located; determining the scene state of the area to be inspected based on the scene image, wherein the scene state is used to indicate the state of the power transmission line in the area to be inspected and / or the state of the environment in which the power transmission line is located, and the scene state includes at least a normal scene state and an abnormal scene state; in response to the scene state being an abnormal scene state, generating an inspection task; based on the inspection task, determining the inspection route of the inspection equipment; and controlling the inspection equipment to inspect the area to be inspected according to the inspection route.

[0007] Optionally, based on the scene image, the scene status of the area to be inspected is determined, including: obtaining weather change information of the inspection area, wherein the weather change information is used to indicate the weather changes from the time when the last inspection task ended to the current time; inputting the weather change information and the scene image into an abnormality recognition model for analysis to determine the scene status of the area to be inspected, wherein the abnormality recognition model is a pre-set recognition model.

[0008] Optionally, based on the inspection task, the inspection route of the inspection equipment is determined, including: based on the inspection task, determining the distribution location of the transmission line and the geographical environment of the area to be inspected; based on the distribution location and the geographical environment, determining multiple inspection points; integrating the preset routes corresponding to the multiple inspection points to determine the inspection route.

[0009] Optionally, the inspection device is controlled to inspect the area to be inspected according to the inspection route, including: obtaining location information of the inspection device; matching the location information with the location of the inspection point in the inspection route to obtain a matching result; in response to the matching result being that the location information matches the location of the inspection point, controlling the inspection device to inspect the area to be inspected according to the inspection route.

[0010] Optionally, the inspection method of the inspection area further includes: in response to a matching result that the location information does not match the location of the inspection point, determining movement parameters of the inspection device, wherein the movement parameters are used to indicate data of movement of the inspection device; and adjusting the inspection device based on the movement parameters.

[0011] Optionally, the inspection method of the inspection area further includes: uploading inspection information acquired by the inspection device to a server, wherein the inspection information is used to indicate the inspection result of the inspection device inspecting the area to be inspected.

[0012] According to another aspect of an embodiment of the present invention, there is also provided an inspection device for an inspection area. The device may include: an acquisition unit, used to acquire a scene image of the area to be inspected, wherein the image content of the scene image includes the scene in which the inspection area is located; a first determination unit, used to determine the scene state of the area to be inspected based on the scene image, wherein the scene state is used to indicate the state of the power transmission line in the area to be inspected and / or the state of the environment in which the power transmission line is located, and the scene state includes at least a normal scene state and an abnormal scene state; a generation unit, used to generate an inspection task in response to the scene state being an abnormal scene state; a second determination unit, used to determine the inspection route of the inspection device based on the inspection task; and a control unit, used to control the inspection device to inspect the area to be inspected according to the inspection route.

[0013] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided, which includes a stored program, wherein when the program is executed by a processor, the device where the storage medium is located is controlled to execute the inspection method of the inspection area in the embodiment of the present invention.

[0014] According to another aspect of an embodiment of the present invention, a processor is further provided. The processor is used to run a program, wherein the inspection method for an inspection area in an embodiment of the present invention is executed when the program is run.

[0015] According to another aspect of the embodiment of the present invention, a computer program product is provided, which includes computer instructions, and when the computer instructions are executed by a processor, the inspection method of the inspection area in the embodiment of the present invention is implemented.

[0016] In an embodiment of the present invention, a scene image of the area to be inspected is obtained, wherein the image content of the scene image includes the scene in which the inspection area is located; based on the scene image, the scene state of the area to be inspected is determined, wherein the scene state is used to indicate the state of the power transmission line in the area to be inspected and / or the state of the environment in which the power transmission line is located, and the scene state includes at least a normal scene state and an abnormal scene state; in response to the scene state being an abnormal scene state, an inspection task is generated; based on the inspection task, an inspection route of the inspection equipment is determined; and the inspection equipment is controlled to inspect the area to be inspected according to the inspection route. That is, the embodiment of the present invention determines the scene state of the area to be inspected through the scene image of the area to be inspected, thereby determining whether to perform an inspection. When the scene state is an abnormal scene state, it indicates that the area to be inspected is abnormal and needs to be inspected. Based on this, an inspection task is generated, and the inspection equipment is controlled to perform an inspection according to the inspection route, thereby reducing the intervention of manual operations, thereby solving the technical problem of low inspection efficiency, and achieving the technical effect of improving inspection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0018] Figure 1 is a flow chart of a method for inspecting an inspection area according to an embodiment of the present invention;

[0019] Figure 2 is a flow chart of a transmission line inspection collaborative method based on a drone according to an embodiment of the present invention;

[0020] Figure 3 Schematic diagram of an inspection device for an inspection area according to an embodiment of the present invention. DETAILED DESCRIPTION

[0021] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings 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 should fall within the scope of protection of the present invention.

[0022] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, functional component or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, functional components or devices.

[0023] According to an embodiment of the present invention, an embodiment of an inspection method for an inspection area is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0024] Figure 1 is a flow chart of a method for inspecting an inspection area according to an embodiment of the present invention. Figure 1 As shown, the method may include the following steps:

[0025] Step S101, obtaining a scene image of the area to be inspected.

[0026] In the technical solution provided in the above step S101 of the present invention, the image content of the scene image includes the scene where the inspection area is located. The scene image can also be called a satellite remote sensing image.

[0027] In this embodiment, the scene image of the area to be inspected is obtained. For example, the scene image of the area to be inspected is obtained through various remote sensing platforms. This is only an illustrative example and does not limit the specific method of obtaining the scene image of the area to be inspected.

[0028] Step S102: determining the scene state of the area to be inspected based on the scene image.

[0029] In the technical solution provided in the above step S102 of the present invention, the scene state is used to indicate the state of the power transmission line in the inspection area and / or the state of the environment in which the power transmission line is located, and the scene state at least includes a normal scene state and an abnormal scene state. The scene state can also be referred to as the surrounding environment state of the power transmission line.

[0030] In this embodiment, after the scene image of the area to be inspected is acquired in step S101, the scene state of the area to be inspected is determined according to the scene image. For example, the scene state of the area to be inspected is determined using an abnormality recognition model, which is only an illustrative example and does not limit the specific method for determining the scene state of the area to be inspected.

[0031] For example, machine learning models and historical satellite remote sensing images are used to build an anomaly recognition model to determine whether there are anomalies in the power transmission line and its surrounding environment.

[0032] Step S103: In response to the scene state being an abnormal scene state, generating an inspection task.

[0033] In the technical solution provided in the above step S103 of the present invention, after the scene state of the area to be inspected is determined in step S102, when the scene state is an abnormal scene state, an inspection task is generated.

[0034] In this embodiment, when the scene state is an abnormal scene state, it means that the area to be inspected is abnormal and needs to be inspected, based on which, an inspection task is generated.

[0035] Optionally, the abnormal scene status may at least include, but is not limited to: snow accumulation on the transmission line, trees around the transmission line are too high, there are hanging objects or obstacles on the cables of the transmission line, mudslides in the terrain around the transmission line and other environmental anomalies.

[0036] Step S104: determining the inspection route of the inspection equipment based on the inspection task.

[0037] In the technical solution provided in the above step S104 of the present invention, after the inspection route of the inspection equipment is determined in step S103, the inspection route of the inspection equipment is determined according to the inspection task.

[0038] In this embodiment, the distribution location of the power transmission lines in the inspection area and the geographical environment of the inspection area are extracted from the inspection task, so that multiple inspection points and drone inspection routes are determined based on the extracted information.

[0039] For example, each inspection point corresponds to a drone inspection route, that is, each inspection point corresponds to an initial drone inspection route. When the inspection of each inspection point is completed, the drone-based transmission line inspection collaborative system will automatically record the inspection route of the inspection point and update the inspection route of the inspection point in the transmission line inspection collaborative system. Preferably, the setting of the inspection point is generally set for the transmission line equipment in the transmission line, such as each tower of the transmission line, each transformer of the transmission line, etc. By taking the transmission line equipment of the transmission line as the inspection point, the transmission line equipment and the surrounding environment are inspected by drones.

[0040] Step S105, controlling the inspection equipment to inspect the area to be inspected according to the inspection route.

[0041] In the technical solution provided in the above step S105 of the present invention, the inspection equipment can at least be a drone.

[0042] In this embodiment, after the inspection route of the inspection device is determined in step S104, the inspection device is controlled to inspect the area to be inspected according to the inspection route.

[0043] Optionally, the inspection task is sent to the inspector's mobile terminal, so that the inspector carries the mobile terminal and the inspection drone to each inspection point for inspection according to the inspection task.

[0044] For example, when the inspection point is inspected for the first time, there is no drone inspection route in the system, and the inspector is prompted to start manual inspection. After the manual inspection is completed, the current inspection route is automatically recorded and uploaded to the system, recorded as the drone inspection route of the inspection point. When the inspection point is not inspected for the first time, the drone inspection route stored in the system is obtained through the mobile terminal to start automatic inspection. When the inspection starts, the terminal device sends an inspection start request to the background server to obtain the drone inspection route of the corresponding inspection point, and the drone inspection route is sent to the drone, so that the drone performs automatic inspection according to the drone inspection route, and records the automatic inspection data during the automatic inspection process. During the automatic inspection process, the drone also sends the inspection screen to the terminal device in real time for the inspector to view in real time. When the inspector needs to perform a specific scan of a certain area according to the inspection screen, he can send an automatic inspection pause command to the drone, and then manually control the drone for inspection to realize the manual inspection of the drone. When manual inspection is required, the terminal device sends an automatic inspection pause command to the drone, so that the drone pauses the automatic inspection and records the automatic inspection interruption point, and then receives the control command of the terminal device in real time to perform manual inspection and record the manual inspection data. When the manual inspection is completed, the terminal device sends a manual inspection end command to the drone, so that the drone continues the automatic inspection according to the automatic inspection interruption point recorded in the system and records the automatic inspection data.

[0045] It should be noted that the above embodiments can be implemented through a transmission line inspection collaborative system based on drones.

[0046] In the above steps S101 to S105 of the present invention, a scene image of the area to be inspected is obtained, wherein the image content of the scene image includes the scene in which the inspection area is located; based on the scene image, the scene state of the area to be inspected is determined, wherein the scene state is used to indicate the state of the power transmission line in the area to be inspected and / or the state of the environment in which the power transmission line is located, and the scene state includes at least a normal scene state and an abnormal scene state; in response to the scene state being an abnormal scene state, an inspection task is generated; based on the inspection task, an inspection route of the inspection equipment is determined; and the inspection equipment is controlled to inspect the area to be inspected according to the inspection route. That is, the embodiment of the present invention determines the scene state of the area to be inspected through the scene image of the area to be inspected, thereby determining whether to perform an inspection. When the scene state is an abnormal scene state, it indicates that the area to be inspected is abnormal and needs to be inspected. Based on this, an inspection task is generated, and the inspection equipment is controlled to perform an inspection according to the inspection route, thereby reducing the intervention of manual operations, thereby solving the technical problem of low inspection efficiency, and achieving the technical effect of improving inspection efficiency.

[0047] The above method of this embodiment is further introduced below.

[0048] As an optional implementation method, based on the scene image, the scene status of the area to be inspected is determined, including: obtaining weather change information of the inspection area, wherein the weather change information is used to indicate the weather changes from the time when the last inspection task ended to the current time; inputting the weather change information and the scene image into an abnormality recognition model for analysis to determine the scene status of the area to be inspected, wherein the abnormality recognition model is a pre-set recognition model.

[0049] In this embodiment, weather change information of the inspection area is obtained. For example, the weather change status in the inspection area is calculated from the end time of the last inspection, and certain conditions are set, such as when there is heavy snow for several consecutive days, there may be snow on the transmission line.

[0050] Optionally, after obtaining weather change information, the weather change information and scene images are input into an anomaly recognition model for analysis to determine the scene status of the area to be inspected. For example, a database is constructed by acquiring historical satellite remote sensing images of the power transmission line and its surrounding environment, and an anomaly recognition model is constructed in combination with a machine learning model. By constructing an anomaly recognition model, it is determined whether there are anomalies in the power transmission line and its surrounding environment.

[0051] As an optional implementation method, the inspection route of the inspection equipment is determined based on the inspection task, including: based on the inspection task, determining the distribution location of the transmission line and the geographical environment of the area to be inspected, and determining multiple inspection points; integrating the preset routes corresponding to the multiple inspection points to determine the inspection route.

[0052] In this embodiment, the distribution location of the power transmission lines and the geographical environment of the area to be inspected are determined according to the inspection task. For example, the corresponding area in the area to be inspected is extracted according to the inspection task, thereby determining the distribution location of the power transmission lines in the area to be inspected and the geographical environment of the area to be inspected.

[0053] Optionally, inspection points are determined according to the distribution location and geographical environment, so that preset routes corresponding to the inspection points are integrated to determine the inspection routes. For example, the distribution location and geographical environment are integrated to determine the locations that need to be inspected in the inspection area, that is, the inspection points.

[0054] For example, each inspection point corresponds to a drone inspection route. When each inspection point is inspected, the system automatically records the inspection route of the inspection point and updates the inspection route of the inspection point in the system. Inspection points are generally set for transmission line equipment in the transmission line, such as each tower set on the transmission line, each transformer set on the transmission line, etc. The inspection route is determined by taking the transmission line equipment of the transmission line as the inspection point.

[0055] As an optional implementation method, the inspection device is controlled to inspect the area to be inspected according to the inspection route, including: obtaining location information of the inspection device; matching the location information with the location of the inspection point in the inspection route to obtain a matching result; in response to the matching result that the location information matches the location of the inspection point, controlling the inspection device to inspect the area to be inspected according to the inspection route.

[0056] In this embodiment, the location information of the inspection device is obtained, and the location information is matched with the location of the inspection point in the inspection route to obtain a matching result. The inspection device may be a drone, and the location information may also be referred to as a positioning location.

[0057] Optionally, when the matching result is that the location information matches the location of the inspection point, it means that the drone is in the correct position at this time and the inspection can be started. Based on this, the inspection equipment is controlled to inspect the inspection area according to the inspection route.

[0058] For example, the mobile terminal and the inspection drone are connected in communication to obtain the positioning position of the inspection drone, and determine whether the positioning position of the drone is the same as the current inspection point. If so, the drone is started and the drone inspection route is sent to the drone, so that the inspection drone performs automatic inspection according to the drone inspection route.

[0059] As an optional embodiment, the inspection method of the inspection area also includes: in response to the matching result that the location information does not match the location of the inspection point, determining the movement parameters of the inspection device, wherein the movement parameters are used to indicate the data of the movement of the inspection device; based on the movement parameters, adjusting the inspection device.

[0060] In this embodiment, when the matching result is that the location information does not match the location of the inspection point, it means that the drone is not in a position where it can be inspected and needs to be adjusted. Based on this, the movement parameters of the inspection equipment can be determined, and the inspection equipment can be adjusted according to the movement parameters.

[0061] For example, the positioning position of the inspection drone is obtained, and it is determined whether the positioning position of the drone is the same as the position of the current inspection point. If not, the inspection drone is positioned by moving it, the parameters that the drone needs to move are determined, and the position of the drone is adjusted.

[0062] As an optional implementation manner, the inspection method of the inspection area further includes: uploading inspection information acquired by the inspection device to a server, wherein the inspection information is used to indicate the inspection result of the inspection device inspecting the area to be inspected.

[0063] In this embodiment, the inspection information obtained by the inspection device is uploaded to the server. For example, the inspection data recorded by the drone is obtained through the terminal device and the inspection data of the inspection point is uploaded to the backend server in real time.

[0064] For example, the terminal device uploads the inspection data of the inspection point to the background server, and specifically uploads the inspection data in real time via satellite. The transmission of the inspection data of each inspection point via satellite can ensure the stability of data transmission and solve the problem of no signal outdoors. At the same time, the inspection data of the inspection point is uploaded to the background server in real time, and the background server further determines whether there are hidden dangers in the transmission line based on the inspection data.

[0065] It should be noted that the above embodiments can be implemented through a transmission line inspection collaborative system based on drones.

[0066] In this embodiment, a scene image of the area to be inspected is obtained, wherein the image content of the scene image includes the scene in which the inspection area is located; based on the scene image, the scene state of the area to be inspected is determined, wherein the scene state is used to indicate the state of the power transmission line in the area to be inspected and / or the state of the environment in which the power transmission line is located, and the scene state includes at least a normal scene state and an abnormal scene state; in response to the scene state being an abnormal scene state, an inspection task is generated; based on the inspection task, an inspection route of the inspection equipment is determined; and the inspection equipment is controlled to inspect the area to be inspected according to the inspection route. That is, the embodiment of the present invention determines the scene state of the area to be inspected through the scene image of the area to be inspected, thereby determining whether to perform an inspection. When the scene state is an abnormal scene state, it indicates that the area to be inspected is abnormal and needs to be inspected. Based on this, an inspection task is generated, and the inspection equipment is controlled to perform an inspection according to the inspection route, thereby reducing the intervention of manual operations, thereby solving the technical problem of low inspection efficiency, and achieving the technical effect of improving inspection efficiency.

[0067] The technical solution of the embodiment of the present invention is illustrated below in conjunction with preferred implementation modes.

[0068] At present, transmission lines are the key link to ensure the stable operation of the power system and the safety of power supply. Inspection of transmission lines can timely discover potential problems on the lines, effectively prevent the occurrence of faults, and avoid greater losses.

[0069] In the related art, the current transmission lines may have abnormalities due to the external environment or the internal operating environment. In order to avoid the hidden dangers of the transmission lines, manual inspections are generally carried out on site, and the problems existing in the transmission lines are recorded, so as to find out the hidden dangers of the transmission lines and repair the transmission lines in time. However, the current inspection route is generally preset by the system after the transmission lines are erected. Workers arrive at the designated inspection point within the scheduled time, and then inspect the transmission lines and the surrounding environment through observation or climbing frames and record the inspection data. This kind of manual inspection has problems such as untimely inspection, poor efficiency, and personal safety hazards. At the same time, when the recorded data is numerous, it is easy to cause data loss, troublesome operation, and then increase the inspection cost. Therefore, there is a technical problem of low inspection efficiency.

[0070] However, the embodiment of the present invention proposes a transmission line inspection collaborative method based on drones, which obtains satellite remote sensing images in the inspection area, and at the same time determines whether there are abnormalities in the transmission lines and the surrounding environment of the transmission lines in the inspection area based on the distribution position of the transmission lines in the inspection area. If so, an inspection task is generated; the inspection task is obtained and the distribution position of the transmission lines in the inspection area and the geographical environment of the inspection area are determined according to the inspection task to obtain multiple inspection points and drone inspection routes, and the inspection task is sent to the inspector's mobile terminal, so that the inspector can carry the mobile terminal and the inspection drone to each inspection point for inspection according to the inspection task. The technical problem of low inspection efficiency is solved, and the technical effect of improving inspection efficiency is achieved.

[0071] The embodiments of the present invention are further described below.

[0072] Figure 2 is a flow chart of a transmission line inspection collaborative method based on a drone according to an embodiment of the present invention. Figure 2 As shown, the transmission line inspection collaborative method includes the following steps:

[0073] Step S201, obtaining satellite remote sensing images within the inspection area.

[0074] In this embodiment, satellite remote sensing images within the inspection area are acquired, for example, satellite remote sensing images within the inspection area are acquired through various remote sensing platforms.

[0075] Step S202, determining whether there is any abnormality in the power transmission line and the surrounding environment of the power transmission line within the inspection area.

[0076] In this embodiment, based on the distribution position of the transmission lines in the inspection area, it is determined whether there are any abnormalities in the transmission lines and the surrounding environment of the transmission lines in the inspection area. If there are any abnormalities, step S203 is executed; if there are no abnormalities, the process ends.

[0077] Optionally, when determining whether there is an abnormality, a database can be constructed by acquiring historical satellite remote sensing images of the power transmission line and its surrounding environment, and an abnormality recognition model can be constructed in combination with a machine learning model. By constructing an abnormality recognition model, it is determined whether there is an abnormality in the power transmission line and its surrounding environment.

[0078] Optionally, it is also possible to collect satellite remote sensing images of transmission lines and surrounding environments that show abnormalities, then extract feature vectors from the images to obtain a set of feature vectors, and then extract feature vectors from the satellite remote sensing images of the inspection area acquired in real time and match and compare them with the set of feature vectors to determine whether there are abnormalities in the transmission lines and surrounding environments, so as to generate inspection tasks based on the abnormal results.

[0079] Optionally, when generating inspection tasks, the weather conditions in the inspection area are taken into consideration, such as the weather changes in the inspection area from the end time of the last inspection, by setting certain conditions, such as when there is heavy snow for several consecutive days, there may be snow on the transmission line, so it is necessary to inspect the transmission line. Specifically, an abnormal recognition model can be set, and then an inspection task can be generated when the abnormal recognition model is met.

[0080] Optionally, satellite remote sensing images are first used to determine whether there are any abnormalities in the transmission line and its surrounding environment. If so, an inspection task is generated in a timely manner to carry out the inspection, which can make the inspection task more targeted and solve the problem that the existing scheduled inspection may not be timely.

[0081] Optionally, the anomaly here may be environmental anomalies such as snow accumulation on the transmission line, trees around the transmission line being too high, hanging objects or obstacles on the cables of the transmission line, mudslides in the terrain around the transmission line, etc.

[0082] Optionally, each template library contains all possible information points of the terminal device, as well as detailed information such as the format, data type, and value range of these information points.

[0083] Step S203, generating an inspection task and determining the inspection route of the drone.

[0084] In this embodiment, an inspection task is obtained and the distribution location of the power transmission lines in the inspection area and the geographical environment of the inspection area are determined according to the inspection task to obtain multiple inspection points and drone inspection routes.

[0085] Optionally, each inspection point corresponds to a drone inspection route. At the beginning of the system, each inspection point corresponds to an initial drone inspection route. When the inspection of each inspection point is completed, the system will automatically record the inspection route of the inspection point and update the inspection routes of the inspection points in the system. Preferably, the setting of the inspection point is generally set for the transmission line equipment in the transmission line, such as each tower set on the transmission line, each transformer of the transmission line, etc. By using the transmission line equipment of the transmission line as the inspection point, the equipment and the surrounding environment of the transmission line are inspected by drones.

[0086] Optionally, in some special geographical environments and near some high-voltage equipment, in order to ensure the safety of inspectors, the inspection point may not be set at the installation location of the transmission line equipment, but may be an area within a certain range from the installation location of the transmission line equipment. In this way, the inspector can inspect the transmission line equipment without approaching the transmission line equipment, ensuring the safety of the inspector. Step S303, support the export and import of the point table after correction.

[0087] Step S204: Send the inspection task to the inspector's mobile terminal to control the inspection drone to perform the inspection.

[0088] In this embodiment, the inspection task is sent to the mobile terminal of the inspector, so that the inspector carries the mobile terminal and the inspection drone to each inspection point for inspection according to the inspection task.

[0089] Optionally, when the inspector carries the mobile terminal and the inspection drone to the corresponding inspection point, the mobile terminal and the inspection drone are first connected for communication to obtain the positioning position of the inspection drone, and determine whether the positioning position of the drone is the same as the current inspection point. If not, the inspection drone is positioned by moving the inspection drone; if so, the drone is started and the drone inspection route is sent to the drone, so that the inspection drone performs automatic inspection according to the drone inspection route.

[0090] Optionally, when the inspection point is inspected for the first time, there is no drone inspection route in the system, and the inspector is prompted to start a manual inspection. After the manual inspection is completed, the current inspection route is automatically recorded and uploaded to the system, and recorded as the drone inspection route of the inspection point.

[0091] Optionally, when the inspection point is not inspected for the first time, the drone inspection route stored in the system is obtained through the mobile terminal to start automatic inspection.

[0092] Optionally, when the inspection begins, a patrol start request is sent to the background server through the terminal device to obtain the drone patrol route of the corresponding inspection point, and the drone patrol route is sent to the drone, so that the drone performs automatic patrol according to the drone patrol route, and records automatic patrol data during the automatic patrol process.

[0093] Optionally, during the automatic inspection process, the drone also sends the inspection screen to the terminal device in real time for the inspector to view in real time. When the inspector needs to perform a specific scan of a certain area according to the inspection screen, he can send an automatic inspection pause command to the drone, and then manually control the drone to realize manual inspection of the drone.

[0094] Optionally, when manual inspection is required, an automatic inspection pause command is sent to the drone through the terminal device, so that the drone pauses the automatic inspection and records the automatic inspection interruption point, and then receives the control command of the terminal device in real time to perform manual inspection and record manual inspection data.

[0095] Optionally, when the manual inspection is finished, a manual inspection end instruction is sent to the drone through the terminal device, so that the drone continues the automatic inspection according to the automatic inspection interruption point recorded in the system and records the automatic inspection data.

[0096] Optionally, when the drone inspection is finished, the inspection data recorded by the drone is obtained through the terminal device and the inspection data of the inspection point is uploaded to the background server in real time. Specifically, the terminal device uploads the inspection data of the inspection point to the background server, and specifically uploads the inspection data in real time via satellite. The transmission of the inspection data of each inspection point through satellite can ensure the stability of data transmission and solve the problem of no signal outdoors. At the same time, the inspection data of the inspection point is uploaded to the background server in real time, and the background server further determines whether there are hidden dangers in the transmission line based on the inspection data.

[0097] Optionally, when the inspection of each inspection point is completed, the real-time inspection route of the inspection point is recorded and the drone inspection route stored in the system is updated to record the new drone inspection route.

[0098] Optionally, the inspection data includes image data of the power transmission line and its surrounding environment, and also includes environmental data detected by environmental sensors such as temperature sensors and humidity sensors installed in the drone.

[0099] In this embodiment, the present application first uses satellite remote sensing images to determine in real time whether there are any abnormalities in the power transmission line and the surrounding environment. If so, an inspection task is generated in a timely manner to start the inspection of the power transmission line, which can make the inspection task more targeted and can promptly detect the transmission line with problems. At the same time, in the process of starting the inspection, the automatic inspection of the drone is used to solve the existing manual inspection. With the assistance of the drone, the inspection efficiency of the power transmission line can be greatly increased, the inspection area is larger, and there will be no omissions. Furthermore, during the automatic inspection of the drone, the power transmission line and the surrounding environment within a specific range can be manually inspected at any time by manual takeover to ensure that the inspection is more accurate on the basis of unmanned automatic inspection, and the accuracy and clarity of the inspection data are guaranteed.

[0100] In this embodiment, satellite remote sensing images in the inspection area are obtained, and based on the distribution position of the transmission lines in the inspection area, it is determined whether there are any abnormalities in the transmission lines and the surrounding environment of the transmission lines in the inspection area. If so, an inspection task is generated; the inspection task is obtained and the distribution position of the transmission lines in the inspection area and the geographical environment of the inspection area are determined according to the inspection task to obtain multiple inspection points and drone inspection routes, and the inspection task is sent to the inspector's mobile terminal, so that the inspector can carry the mobile terminal and the inspection drone to each inspection point for inspection according to the inspection task. The technical problem of low inspection efficiency is solved, and the technical effect of improving inspection efficiency is achieved.

[0101] According to an embodiment of the present invention, a patrol device for a patrol area is also provided. It should be noted that the patrol device for the patrol area can be used to execute the patrol method for the patrol area in the method embodiment.

[0102] Figure 3 FIG. 1 is a schematic diagram of an inspection device for an inspection area according to an embodiment of the present invention. Figure 3 As shown, the inspection device 300 of the inspection area may include: an acquisition unit 301 , a first determination unit 302 , a generation unit 303 , a second determination unit 304 and a control unit 305 .

[0103] The acquisition unit 301 is used to acquire a scene image of the area to be inspected, wherein the image content of the scene image includes the scene where the inspection area is located.

[0104] The first determination unit 302 is used to determine the scene state of the area to be inspected based on the scene image, wherein the scene state is used to indicate the state of the transmission line in the area to be inspected and / or the state of the environment in which the transmission line is located, and the scene state includes at least a normal scene state and an abnormal scene state.

[0105] The generating unit 303 is configured to generate an inspection task in response to the scene state being an abnormal scene state.

[0106] The second determining unit 304 is used to determine the inspection route of the inspection device based on the inspection task.

[0107] The control unit 305 is used to control the inspection equipment to inspect the inspection area according to the inspection route.

[0108] Optionally, the first determination unit 302 may include: a first acquisition module, used to acquire weather change information in the inspection area, wherein the weather change information is used to indicate the weather change situation from the end time of the last inspection task to the current time; an analysis module, used to input the weather change information and the scene image into an abnormality recognition model for analysis to determine the scene status of the area to be inspected, wherein the abnormality recognition model is a pre-set recognition model.

[0109] Optionally, the second determination unit 304 may include: a first determination module, used to determine the distribution location of the transmission line and the geographical environment of the area to be inspected based on the inspection task; a second determination module, used to determine multiple inspection points based on the distribution location and the geographical environment; a third determination module, used to integrate the preset routes corresponding to multiple inspection points to determine the inspection route.

[0110] Optionally, the control unit 305 may include: a second acquisition module, used to acquire the location information of the inspection device; a matching module, used to match the location information with the location of the inspection point in the inspection route to obtain a matching result; and a control module, used to control the inspection device to inspect the inspection area to be inspected according to the inspection route in response to the matching result that the location information matches the location of the inspection point.

[0111] Optionally, the inspection device 300 of the inspection area may further include: a third determination unit, used to determine the movement parameters of the inspection equipment in response to the matching result that the location information does not match the location of the inspection point, wherein the movement parameters are used to indicate data of the movement of the inspection equipment; and an adjustment unit, used to adjust the inspection equipment based on the movement parameters.

[0112] Optionally, the inspection device 300 of the inspection area may further include: an uploading unit, configured to upload inspection information acquired by the inspection device to a server, wherein the inspection information is used to indicate the inspection result of the inspection device inspecting the area to be inspected.

[0113] In this embodiment, a scene image of the area to be inspected is obtained, wherein the image content of the scene image includes the scene in which the inspection area is located; based on the scene image, the scene state of the area to be inspected is determined, wherein the scene state is used to indicate the state of the power transmission line in the area to be inspected and / or the state of the environment in which the power transmission line is located, and the scene state includes at least a normal scene state and an abnormal scene state; in response to the scene state being an abnormal scene state, an inspection task is generated; based on the inspection task, an inspection route of the inspection equipment is determined; and the inspection equipment is controlled to inspect the area to be inspected according to the inspection route. That is, the embodiment of the present invention determines the scene state of the area to be inspected through the scene image of the area to be inspected, thereby determining whether to perform an inspection. When the scene state is an abnormal scene state, it indicates that the area to be inspected is abnormal and needs to be inspected. Based on this, an inspection task is generated, and the inspection equipment is controlled to perform an inspection according to the inspection route, thereby reducing the intervention of manual operations, thereby solving the technical problem of low inspection efficiency, and achieving the technical effect of improving inspection efficiency.

[0114] According to an embodiment of the present invention, a computer-readable storage medium is further provided. The storage medium includes a stored program, wherein the program executes the inspection method of the inspection area in the method embodiment.

[0115] According to an embodiment of the present invention, a processor is further provided. The processor is used to run a program, wherein the inspection method of the inspection area in the method embodiment is executed when the program is run.

[0116] According to an embodiment of the present invention, a computer program product is further provided. The computer program product includes computer instructions. When the computer instructions are executed by a processor, the inspection method of the inspection area in the method embodiment is implemented.

[0117] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0118] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0119] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0120] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed over multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0121] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0122] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent functional component, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software functional component, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk, etc., which can store program codes.

[0123] The above are only preferred embodiments of the present invention. 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 invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for inspecting an inspection area, characterized in that: include: Acquire a scene image of the area to be inspected, wherein the image content of the scene image includes the scene in which the inspection area is located; Based on the scene image, determining the scene state of the area to be inspected, wherein the scene state is used to indicate the state of the power transmission line in the area to be inspected and / or the state of the environment in which the power transmission line is located, and the scene state includes at least a normal scene state and an abnormal scene state; In response to the scene state being the abnormal scene state, generating an inspection task; Based on the inspection task, determine the inspection route of the inspection equipment; Control the inspection equipment to inspect the area to be inspected according to the inspection route.

2. The method according to claim 1, characterized in that Determining the scene state of the area to be inspected based on the scene image includes: Obtaining weather change information of the inspection area, wherein the weather change information is used to indicate weather changes from the time when the last inspection task was completed to the current time; The weather change information and the scene image are input into an abnormality recognition model for analysis to determine the scene status of the area to be inspected, wherein the abnormality recognition model is a pre-set recognition model.

3. The method according to claim 1, characterized in that Based on the inspection task, an inspection route of the inspection equipment is determined, including: Based on the inspection task, determining the distribution location of the transmission line and the geographical environment of the area to be inspected; Based on the distribution locations and the geographical environment, determining a plurality of inspection points; The preset routes corresponding to the plurality of inspection points are integrated to determine the inspection route.

4. The method according to claim 1, characterized in that: Controlling the inspection equipment to inspect the area to be inspected according to the inspection route includes: Obtaining location information of the inspection device; Matching the location information with the location of the inspection point in the inspection route to obtain a matching result; In response to the matching result that the location information matches the location of the inspection point, the inspection device is controlled to inspect the area to be inspected according to the inspection route.

5. The method according to claim 4, characterized in that The method further comprises: In response to the matching result being that the location information does not match the location of the inspection point, determining a movement parameter of the inspection device, wherein the movement parameter is used to indicate data of movement of the inspection device; Based on the movement parameters, the inspection device is adjusted.

6. The method according to any one of claims 1 to 5, characterized in that: The method further comprises: The inspection information acquired by the inspection device is uploaded to the server, wherein the inspection information is used to indicate the inspection result of the inspection device inspecting the area to be inspected.

7. An inspection device for an inspection area, characterized in that: include: An acquisition unit, used for acquiring a scene image of the area to be inspected, wherein the image content of the scene image includes the scene where the inspection area is located; A first determining unit is used to determine a scene state of the area to be inspected based on the scene image, wherein the scene state is used to indicate a state of a power transmission line in the area to be inspected and / or a state of an environment in which the power transmission line is located, and the scene state includes at least a normal scene state and an abnormal scene state; A generating unit, configured to generate an inspection task in response to the scene state being the abnormal scene state; A second determining unit, configured to determine an inspection route of the inspection equipment based on the inspection task; A control unit is used to control the inspection equipment to inspect the area to be inspected according to the inspection route.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed by a processor, the device where the storage medium is located is controlled to execute the method according to any one of claims 1 to 6.

9. A processor, characterized in that: The processor is used to run a program, wherein the program executes the method according to any one of claims 1 to 6 when running.

10. A computer program product, characterized in that The computer program product comprises computer instructions, which implement the method according to any one of claims 1 to 6 when executed by a processor.

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