Target area positioning method and device, equipment, medium and program product

Abstract

The invention discloses a target area positioning method and device, equipment, a medium and a program product. The target area positioning method comprises the following steps: acquiring actual coordinates of an unmanned aerial vehicle when the unmanned aerial vehicle collects a to-be-marked power distribution network area picture, and matching the actual coordinates with a preset standard inspection route; under the condition that the actual coordinate does not belong to the standard inspection route, determining a target reference coordinate matched with the actual coordinate in the standard inspection route, and calculating a target offset distance and a target relative offset direction between the target reference coordinate and the actual coordinate; and based on the target offset distance, the target relative offset direction and the position of the target region in the standard power distribution network region picture acquired by the unmanned aerial vehicle in the target reference coordinate, positioning the target region in the to-be-marked power distribution network region picture. According to the technical scheme, the influence of weather factors in the inspection process of the unmanned aerial vehicle can be reduced.

Description

Technical Field

[0001] The present invention relates to the field of power control technology, and in particular to a target area positioning method, device, equipment, medium and program product. Background Art

[0002] In the field of distribution network inspection, traditional inspection methods require manual operation, which is time-consuming, labor-intensive and inefficient. In recent years, with the rapid development of drone technology, drone inspection has gradually become an effective means to replace traditional inspection methods. However, there are some problems with existing drone inspection technology, such as relying on high-precision satellite navigation systems for drone positioning and path planning, which increases equipment costs and operational complexity.

[0003] Due to the influence of weather conditions, drones are prone to deviation during flight. After setting a standard inspection route as the inspection route of the drone, once the wind is strong, the drone cannot effectively maintain the inspection route, resulting in limited inspection of the drone. In addition, the flight position of the drone is constantly adjusted, which seriously affects the speed of the drone's acquisition of images of the distribution network area. Summary of the invention

[0004] The present invention provides a target area positioning method, device, equipment, medium and program product to solve the problem that unmanned aerial vehicle inspection is greatly affected by weather.

[0005] According to one aspect of the present invention, a method for locating a target area is provided, comprising:

[0006] Obtain the actual coordinates of the drone when collecting images of the distribution network area to be marked, and match the actual coordinates with a pre-set standard inspection route;

[0007] In the case where the actual coordinates do not belong to a standard inspection route, determining a target reference coordinate that matches the actual coordinates in the standard inspection route, and calculating a target offset distance and a target relative offset direction between the target reference coordinates and the actual coordinates;

[0008] Based on the target offset distance, the target relative offset direction, and the position of the target area in the standard distribution network area picture collected by the drone with the target reference coordinates, the target area is located in the distribution network area picture to be marked.

[0009] According to another aspect of the present invention, there is provided a target area positioning device, comprising:

[0010] The actual coordinate acquisition module is used to obtain the actual coordinates of the drone when collecting the image of the distribution network area to be marked, and match the actual coordinates with the pre-set standard inspection route;

[0011] An offset information determination module, used to determine a target reference coordinate matching the actual coordinate in the standard inspection route when the actual coordinate does not belong to the standard inspection route, and calculate a target offset distance and a target relative offset direction between the target reference coordinate and the actual coordinate;

[0012] The target area positioning module is used to locate the target area in the distribution network area picture to be marked based on the target offset distance, the target relative offset direction, and the position of the target area in the standard distribution network area picture collected by the drone at the target reference coordinates.

[0013] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0014] at least one processor; and

[0015] a memory communicatively connected to the at least one processor; wherein,

[0016] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the target area positioning method described in any embodiment of the present invention.

[0017] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the target area positioning method described in any embodiment of the present invention when executed.

[0018] According to another aspect of the present invention, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the target area positioning method of any embodiment of the present disclosure is implemented.

[0019] The technical solution of the embodiment of the present invention obtains the actual coordinates of the drone when collecting the picture of the distribution network area to be marked, and matches the actual coordinates with a pre-set standard inspection route. When the actual coordinates do not belong to the standard inspection route, the target reference coordinates matching the actual coordinates are determined in the standard inspection route, and the target offset distance and the target relative offset direction between the target reference coordinates and the actual coordinates are calculated. Finally, based on the target offset distance, the target relative offset direction, and the position of the target area in the standard distribution network area picture collected by the drone at the target reference coordinates, the target area is located in the picture of the distribution network area to be marked. When the drone is offset relative to the standard inspection path, the target area can be accurately located in the picture of the distribution network area to be marked collected at the offset position, without the need to perform offset calibration of the drone all the time.

[0020] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0022] Figure 1 is a flow chart of a target area positioning method provided according to Embodiment 1 of the present invention;

[0023] Figure 2 is a flow chart of a target area positioning method provided according to Embodiment 2 of the present invention;

[0024] Figure 3 is a structural schematic diagram of a target area positioning device provided according to Embodiment 3 of the present invention;

[0025] Figure 4 It is a structural schematic diagram of an electronic device for implementing the target area positioning method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0026] 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.

[0027] 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, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0028] Embodiment 1

[0029] Figure 1 A flowchart of a method for locating a target area is provided for the first embodiment of the present invention. This embodiment is applicable to the case of locating a target area in an image of a distribution network area collected when a drone deviates from a standard inspection route. The method can be performed by a target area locating device, which can be implemented in the form of hardware and / or software. The target area locating device can be configured in various general computing devices, such as a drone inspection control platform. Figure 1 As shown, the method includes:

[0030] S110, obtaining the actual coordinates of the drone when collecting images of the distribution network area to be marked, and matching the actual coordinates with a pre-set standard inspection route.

[0031] The distribution network area picture is a picture taken by a drone for safety inspection of key equipment in the distribution network. The area where the key equipment that needs to be inspected is located in the distribution network area picture is the target area. The distribution network area picture to be marked is the distribution network area picture that needs to be marked with the target area. For example, the target area is the location of the inductor in the distribution network area picture.

[0032] The standard inspection route is fitted according to the actual location of the power grid equipment that needs to be inspected, and is used to guide drones to inspect the distribution network.

[0033] In the implementation of the present invention, the actual coordinates of the drone when collecting the image of the distribution network area to be marked are first obtained. Specifically, the drone will send back the image of the distribution network area to be marked and its actual coordinates in real time during the distribution network inspection process. The drone inspection control platform determines the drone coordinates associated with the collection time as the actual coordinates based on the collection time of the distribution network area to be marked.

[0034] Furthermore, the actual coordinates are matched with a preset standard inspection route. Specifically, it can be determined whether the standard inspection route contains the currently acquired actual coordinates.

[0035] S220: When the actual coordinates do not belong to the standard inspection route, determine the target reference coordinates that match the actual coordinates in the standard inspection route, and calculate the target offset distance and target relative offset direction between the target reference coordinates and the actual coordinates.

[0036] In the embodiment of the present invention, if the actual coordinates do not belong to the standard inspection route, it means that the UAV has deviated from the standard inspection route due to the weather, such as the wind. At this time, it is necessary to determine the target reference coordinates that match the actual coordinates in the standard inspection route. For example, the standard inspection route contains at least one standard reference point where distribution network area image acquisition is required, and the standard reference point closest to the actual coordinates of the current UAV is selected as the target reference coordinate.

[0037] Furthermore, in order to locate the target area in the grid area picture to be marked, the target offset distance and the target relative offset direction between the target reference coordinates and the actual coordinates are calculated.

[0038] S230, based on the target offset distance, the target relative offset direction, and the position of the target area in the standard distribution network area picture collected by the drone at the target reference coordinates, locate the target area in the distribution network area picture to be marked.

[0039] In an embodiment of the present invention, the target area is located in the distribution network area picture to be labeled based on the target offset distance, the target relative offset direction, and the position of the target area in the standard distribution network area picture collected by the drone at the target reference coordinates. Specifically, the two-dimensional offset distance of the target area in the distribution network area picture to be labeled can be determined based on the correspondence between the predetermined target offset distance and the two-dimensional offset of the target area in the distribution network area picture. Then, the two-dimensional offset direction of the target area in the distribution network area picture to be labeled is determined based on the projection of the target relative offset direction on the shooting plane.

[0040] Finally, based on the two-dimensional coordinates of the target area in the standard distribution network area picture collected by the UAV at the target reference coordinates, in the distribution network area picture to be marked, the two-dimensional coordinates of the target area in the standard distribution network area picture are taken as the starting point, and the two-dimensional offset distance is offset in the opposite direction of the two-dimensional offset direction to obtain the target area in the distribution network area picture to be marked.

[0041] Optionally, before locating the target area in the distribution network area picture to be marked based on the target offset distance, the target relative offset direction, and the position of the target area in the standard distribution network area picture collected by the drone at the target reference coordinates, the method further includes:

[0042] Determine whether the target offset distance is greater than the offset limit value of the target reference coordinate in the target relative offset direction;

[0043] When the target offset distance is greater than the offset limit value, the UAV is controlled to offset to the target reference coordinates in the opposite direction of the target relative offset direction.

[0044] The offset limit value is the maximum offset distance of the UAV relative to the target reference coordinates in the target relative offset direction. If the offset limit value is exceeded in the target relative offset direction, the UAV will not be able to capture the distribution network area image that includes the complete target area.

[0045] In this optional embodiment, when the flight of the drone is greatly affected by wind, the drone may deviate far from the standard inspection route, making it impossible to capture images of the distribution network area that includes the entire target area.

[0046] Considering the above situation, before locating the target area in the distribution network area to be marked, a specific step can be added to determine whether the target offset distance is greater than the offset limit value of the target reference coordinate in the target relative offset direction. If the target offset distance is greater than the offset limit value, the drone is controlled to offset to the target reference coordinate in the opposite direction of the target relative offset direction. This avoids the problem of collecting a large number of useless distribution network area images when the drone is greatly affected by wind.

[0047] Optionally, before obtaining the actual coordinates of the drone when collecting the image of the distribution network area to be marked, the following is also included:

[0048] The standard reference coordinates in the standard inspection route are sequentially extracted as the current reference coordinates, and the UAV is controlled to deviate along the target relative deviation direction starting from the current reference coordinates;

[0049] During the UAV deviation process, the distribution network area image is collected until the collected distribution network area image does not contain the area of ​​interest, and the test coordinates of the current UAV are recorded;

[0050] The distance between the test coordinate and the current reference coordinate is calculated as the offset limit value of the current reference coordinate in the target relative offset direction, and the standard reference coordinates in the standard inspection route are extracted in sequence as the current reference coordinates until the traversal of the standard reference coordinates in the standard inspection route is completed.

[0051] In this optional embodiment, there is provided a specific step of calculating the offset limit value of each standard reference coordinate in the standard inspection route along the target relative offset direction before obtaining the actual coordinates of the drone when collecting the image of the distribution network area to be annotated: first, the standard reference coordinates in the standard inspection route are sequentially extracted as the current reference coordinates, and the drone is controlled to offset along the target relative offset direction starting from the current reference coordinates. The standard inspection route includes a plurality of pre-set standard reference coordinates.

[0052] Furthermore, during the UAV offset process, the distribution network area screen is collected until the distribution network area screen collected does not contain the area of ​​interest, and the test coordinates of the current UAV are recorded. Finally, the distance between the test coordinates and the current reference coordinates is calculated as the offset limit value of the current reference coordinates in the target relative offset direction, and the standard reference coordinates in the standard inspection route are extracted in turn as the current reference coordinates until the traversal of the standard reference coordinates in the standard inspection route is completed.

[0053] The target relative offset direction may be determined according to the seasonal wind direction of the area where the power distribution network to be inspected is located. For example, if the current seasonal wind direction is southeast, the target relative offset direction is set to the southeast direction which is the same as the wind direction.

[0054] The technical solution of the embodiment of the present invention obtains the actual coordinates of the drone when collecting the picture of the distribution network area to be marked, and matches the actual coordinates with a pre-set standard inspection route. When the actual coordinates do not belong to the standard inspection route, the target reference coordinates matching the actual coordinates are determined in the standard inspection route, and the target offset distance and the target relative offset direction between the target reference coordinates and the actual coordinates are calculated. Finally, based on the target offset distance, the target relative offset direction, and the position of the target area in the standard distribution network area picture collected by the drone at the target reference coordinates, the target area is located in the picture of the distribution network area to be marked. When the drone is offset relative to the standard inspection path, the target area can be accurately located in the picture of the distribution network area to be marked collected at the offset position, without the need to perform offset calibration of the drone all the time.

[0055] Embodiment 2

[0056] Figure 2 This is a flow chart of a method for locating a target area provided in the second embodiment of the present invention. This embodiment further refines the above embodiment and provides specific steps for determining target reference coordinates that match actual coordinates in a standard inspection route, and specific steps for locating the target area in the distribution network area picture to be marked based on the target offset distance, target relative offset direction, and the location of the target area in the standard distribution network area picture collected by the drone at the target reference coordinates. Figure 2 As shown, the method includes:

[0057] S210, obtaining the actual coordinates of the drone when collecting images of the distribution network area to be marked, and matching the actual coordinates with a pre-set standard inspection route.

[0058] Optionally, before obtaining the actual coordinates of the drone when collecting the image of the distribution network area to be marked, the following is also included:

[0059] Sequentially extract the standard reference coordinates in the standard inspection route as the current reference coordinates, and obtain the first distribution network area image collected by the drone at the current reference coordinates;

[0060] Control the UAV to take the current reference coordinate as the starting point, and after offsetting by a set offset distance along at least the target relative offset direction, collect the second distribution network area image;

[0061] Calculate the two-dimensional offset between the position of the target area in the first distribution network area screen and the position of the target area in the second distribution network area screen, and return to execute the step of sequentially extracting the standard reference coordinates in the standard inspection route as the current reference coordinates until the traversal of the standard reference coordinates in the standard inspection route is completed;

[0062] According to the set offset distance and the two-dimensional offset, a correlation relationship between the offset distance of the UAV and the two-dimensional offset of the target area in the distribution network area picture is established.

[0063] In this optional embodiment, there are provided specific steps for establishing the correlation between the offset distance of the drone and the two-dimensional offset of the target area in the distribution network area picture before obtaining the actual coordinates of the drone when collecting the distribution network area picture to be marked: first, the standard reference coordinates in the standard inspection route are sequentially extracted as the current reference coordinates, and the first distribution network area picture collected by the drone at the current reference coordinates is obtained. The drone is controlled to collect the second distribution network area picture after offsetting the set offset distance along at least the target relative offset direction with the current reference coordinates as the starting point.

[0064] Furthermore, the two-dimensional offset between the position of the target area in the first distribution network area screen and the position of the target area in the second distribution network area screen is calculated, and the step of sequentially extracting the standard reference coordinates in the standard inspection route as the current reference coordinates is returned to execute until the traversal of the standard reference coordinates in the standard inspection route is completed.

[0065] Finally, according to the set offset distance and the two-dimensional offset, the correlation relationship between the offset distance of the drone and the two-dimensional offset of the target area in the distribution network area screen is established. Specifically, the correlation relationship between the offset distance of the drone and the two-dimensional offset of the target area in the distribution network area screen can be determined according to the ratio between the set offset distance of the drone and the two-dimensional offset in the screen at each current reference coordinate. Exemplarily, the average value of the ratio at each current reference coordinate can be calculated as the correlation relationship between the offset distance of the drone and the two-dimensional offset of the target area in the distribution network area screen. As another example, a set of correlation relationships between the offset distance of the drone and the two-dimensional offset of the target area in the distribution network area screen can be established for each standard reference coordinate in the standard inspection route.

[0066] S220. When the actual coordinates do not belong to the standard inspection route, determine the standard reference coordinates closest to the actual coordinates in the standard inspection route as the target reference coordinates, and calculate the target offset distance and target relative offset direction between the target reference coordinates and the actual coordinates.

[0067] In the embodiment of the present invention, when the actual coordinates do not belong to the standard inspection route, the standard reference coordinates closest to the actual coordinates are determined in the standard inspection route as the target reference coordinates. Then, in order to locate the target area in the grid area to be marked screen, the target offset distance and the target relative offset direction between the target reference coordinates and the actual coordinates are calculated.

[0068] S230. Determine the target two-dimensional offset corresponding to the target offset distance based on the correlation between the offset distance of the UAV and the two-dimensional offset of the target area in the distribution network area screen.

[0069] In an embodiment of the present invention, based on the association relationship between the offset distance of the drone and the two-dimensional offset of the target area in the distribution network area screen, the target two-dimensional offset corresponding to the target offset distance is determined. Specifically, in the association relationship between the offset distance of the drone and the two-dimensional offset of the target area in the distribution network area screen corresponding to each pre-stored standard reference coordinate, the association relationship between the offset distance of the drone and the two-dimensional offset of the target area in the distribution network area screen under the target reference coordinate is searched.

[0070] Then, based on the correlation between the offset distance of the drone and the two-dimensional offset of the target area in the distribution network area screen, the target two-dimensional offset corresponding to the target offset distance is determined. Exemplarily, the correlation between the offset distance of the drone and the two-dimensional offset of the target area in the distribution network area screen is a linear relationship or a nonlinear relationship.

[0071] S240, projecting the target relative offset direction onto a shooting plane to determine a target two-dimensional offset direction corresponding to the target relative offset direction; the shooting plane is a plane perpendicular to the shooting viewing angle.

[0072] In an embodiment of the present invention, the target relative offset direction is projected onto the shooting plane to determine the target two-dimensional offset direction corresponding to the target relative offset direction. Specifically, the target relative offset direction is projected onto the shooting plane to obtain a two-dimensional vector, which is determined as the target two-dimensional offset direction corresponding to the target relative offset direction.

[0073] S250, based on the target two-dimensional offset, the target two-dimensional offset direction and the position of the target area in the standard distribution network area picture collected by the drone at the target reference coordinates, locate the target area in the distribution network area picture to be marked.

[0074] The technical solution of the embodiment of the present invention obtains the actual coordinates of the drone when collecting the distribution network area picture to be marked, and matches the actual coordinates with a pre-set standard inspection route. When the actual coordinates do not belong to the standard inspection route, the standard reference coordinates closest to the actual coordinates are determined in the standard inspection route as the target reference coordinates, and the target offset distance and the target relative offset direction between the target reference coordinates and the actual coordinates are calculated. Based on the correlation between the drone offset distance and the two-dimensional offset of the target area in the distribution network area picture, the target two-dimensional offset corresponding to the target offset distance is determined, the target relative offset direction is projected onto the shooting plane, and the target two-dimensional offset direction corresponding to the target relative offset direction is determined. Finally, based on the target two-dimensional offset, the target two-dimensional offset direction and the position of the target area in the standard distribution network area picture collected by the drone at the target reference coordinates, the target area is located in the distribution network area picture to be marked. When the drone inspection deviates from the standard inspection route due to weather, there is no need to perform the offset calibration of the drone all the time, so as to achieve the effect of accurately locating the target area in the distribution network area picture to be marked collected at the offset position.

[0075] Embodiment 3

[0076] Figure 3 A schematic diagram of the structure of a target area positioning device provided in Embodiment 3 of the present invention.

[0077] like Figure 3 As shown, the device comprises:

[0078] The actual coordinate acquisition module 310 is used to acquire the actual coordinates of the drone when collecting the image of the distribution network area to be marked, and match the actual coordinates with a pre-set standard inspection route;

[0079] An offset information determination module 320 is used to determine a target reference coordinate matching the actual coordinate in the standard inspection route when the actual coordinate does not belong to the standard inspection route, and calculate a target offset distance and a target relative offset direction between the target reference coordinate and the actual coordinate;

[0080] The target area positioning module 330 is used to locate the target area in the distribution network area picture to be marked based on the target offset distance, the target relative offset direction, and the position of the target area in the standard distribution network area picture collected by the drone at the target reference coordinates.

[0081] The technical solution of the embodiment of the present invention obtains the actual coordinates of the drone when collecting the picture of the distribution network area to be marked, and matches the actual coordinates with a pre-set standard inspection route. When the actual coordinates do not belong to the standard inspection route, the target reference coordinates matching the actual coordinates are determined in the standard inspection route, and the target offset distance and the target relative offset direction between the target reference coordinates and the actual coordinates are calculated. Finally, based on the target offset distance, the target relative offset direction, and the position of the target area in the standard distribution network area picture collected by the drone at the target reference coordinates, the target area is located in the picture of the distribution network area to be marked. When the drone is offset relative to the standard inspection path, the target area can be accurately located in the picture of the distribution network area to be marked collected at the offset position, without the need to perform offset calibration of the drone all the time.

[0082] Optionally, the target area positioning module 330 is specifically used to:

[0083] Based on the correlation between the offset distance of the UAV and the two-dimensional offset of the target area in the distribution network area screen, determine the target two-dimensional offset corresponding to the target offset distance;

[0084] Projecting the target relative offset direction onto a shooting plane to determine a target two-dimensional offset direction corresponding to the target relative offset direction; the shooting plane is a plane perpendicular to the shooting viewing angle;

[0085] Based on the target two-dimensional offset, the target two-dimensional offset direction and the position of the target area in the standard distribution network area picture collected by the drone at the target reference coordinates, the target area is located in the distribution network area picture to be marked.

[0086] Optionally, the target area positioning device further includes:

[0087] A limit judgment module is used to judge whether the target offset distance is greater than the offset limit value of the target reference coordinate in the target relative offset direction before locating the target area in the distribution network area picture to be marked based on the target offset distance, the target relative offset direction, and the position of the target area in the standard distribution network area picture collected by the drone at the target reference coordinate;

[0088] The reverse offset module is used to control the UAV to offset to the target reference coordinates in the reverse direction of the target relative offset direction when the target offset distance is greater than the offset limit value.

[0089] Optionally, the target area positioning device further includes:

[0090] The UAV offset module is used to extract the standard reference coordinates in the standard inspection route as the current reference coordinates before obtaining the actual coordinates of the UAV when collecting the image of the distribution network area to be marked, and control the UAV to offset along the target relative offset direction starting from the current reference coordinates;

[0091] The test coordinate recording module is used to collect the distribution network area picture during the UAV deviation process until the collected distribution network area picture does not contain the area of ​​interest, and record the test coordinates of the current UAV;

[0092] The limit value determination module is used to calculate the distance between the test coordinate and the current reference coordinate as the offset limit value of the current reference coordinate in the target relative offset direction, and return to execute the extraction of the standard reference coordinates in the standard inspection route as the current reference coordinates in sequence until the traversal of the standard reference coordinates in the standard inspection route is completed.

[0093] Optionally, the offset information determining module 320 is specifically configured to:

[0094] In the standard inspection route, a standard reference coordinate that is closest to the actual coordinate is determined as the target reference coordinate.

[0095] Optionally, the target area positioning device further includes:

[0096] A first picture acquisition module is used to extract the standard reference coordinates in the standard inspection route as the current reference coordinates before acquiring the actual coordinates at which the drone collects the picture of the distribution network area to be marked, and to acquire the first distribution network area picture collected by the drone at the current reference coordinates;

[0097] A second picture acquisition module is used to control the UAV to capture a second distribution network area picture after offsetting by a set offset distance along at least a target relative offset direction with the current reference coordinates as the starting point;

[0098] A two-dimensional offset determination module, used to calculate the two-dimensional offset between the position of the target area in the first distribution network area screen and the position of the target area in the second distribution network area screen, and return to execute the step of sequentially extracting the standard reference coordinates in the standard inspection route as the current reference coordinates until the traversal of the standard reference coordinates in the standard inspection route is completed;

[0099] The association relationship determination module is used to establish an association relationship between the drone offset distance and the two-dimensional offset of the target area in the distribution network area picture according to the set offset distance and the two-dimensional offset.

[0100] The target area positioning device provided in the embodiment of the present invention can execute the target area positioning method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0101] In the technical solution of the present invention, the collection, storage, use, processing, transmission, provision and disclosure of user personal information involved are in compliance with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0102] Embodiment 4

[0103] According to an embodiment of the present invention, the present invention also provides an electronic device, a readable storage medium and a computer program product.

[0104] Figure 4 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, applicators, blade applicators, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0105] like Figure 4 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0106] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0107] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a target area positioning method.

[0108] In some embodiments, the target area positioning method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the target area positioning method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the target area positioning method in any other appropriate manner (e.g., by means of firmware).

[0109] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0110] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or application.

[0111] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0112] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0113] The systems and techniques described herein may be implemented in a computing system that includes a backend component (e.g., as a data applier), or a computing system that includes a middleware component (e.g., an application applier), or a computing system that includes a frontend component (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0114] A computing system may include a client and an application server. The client and the application server are generally remote from each other and usually interact through a communication network. The relationship between the client and the application server is generated by computer programs running on corresponding computers and having a client-application server relationship with each other. The application server may be a cloud application server, also known as a cloud computing application server or a cloud host, which is a host product in a cloud computing application system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS applications.

[0115] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0116] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for locating a target area, characterized in that: include: Obtain the actual coordinates of the drone when collecting images of the distribution network area to be marked, and match the actual coordinates with a pre-set standard inspection route; In the case where the actual coordinates do not belong to a standard inspection route, determining a target reference coordinate that matches the actual coordinates in the standard inspection route, and calculating a target offset distance and a target relative offset direction between the target reference coordinates and the actual coordinates; Based on the target offset distance, the target relative offset direction, and the position of the target area in the standard distribution network area picture collected by the drone with the target reference coordinates, the target area is located in the distribution network area picture to be marked.

2. The method according to claim 1, characterized in that Based on the target offset distance, the target relative offset direction, and the position of the target area in the standard distribution network area picture collected by the drone with the target reference coordinates, the target area is located in the distribution network area picture to be marked, including: Based on the correlation between the offset distance of the UAV and the two-dimensional offset of the target area in the distribution network area screen, determine the target two-dimensional offset corresponding to the target offset distance; Projecting the target relative offset direction onto a shooting plane to determine a target two-dimensional offset direction corresponding to the target relative offset direction; the shooting plane is a plane perpendicular to the shooting viewing angle; Based on the target two-dimensional offset, the target two-dimensional offset direction and the position of the target area in the standard distribution network area picture collected by the drone at the target reference coordinates, the target area is located in the distribution network area picture to be marked.

3. The method according to claim 1, characterized in that Before locating the target area in the distribution network area picture to be marked based on the target offset distance, the target relative offset direction, and the position of the target area in the standard distribution network area picture collected by the drone with the target reference coordinates, the method further includes: Determining whether the target offset distance is greater than an offset limit value of the target reference coordinate in the target relative offset direction; When the target offset distance is greater than the offset limit value, the UAV is controlled to offset to the target reference coordinates in the opposite direction of the target relative offset direction.

4. The method according to claim 3, characterized in that Before obtaining the actual coordinates of the drone when collecting the image of the distribution network area to be marked, it also includes: The standard reference coordinates in the standard inspection route are sequentially extracted as the current reference coordinates, and the UAV is controlled to deviate along the target relative deviation direction starting from the current reference coordinates; During the UAV deviation process, the distribution network area image is collected until the collected distribution network area image does not contain the area of ​​interest, and the test coordinates of the current UAV are recorded; The distance between the test coordinate and the current reference coordinate is calculated as the offset limit value of the current reference coordinate in the target relative offset direction, and the execution is returned to sequentially extract the standard reference coordinates in the standard inspection route as the current reference coordinates until the traversal of the standard reference coordinates in the standard inspection route is completed.

5. The method according to claim 1, characterized in that Determining a target reference coordinate matching the actual coordinate in the standard inspection route includes: In the standard inspection route, a standard reference coordinate that is closest to the actual coordinate is determined as the target reference coordinate.

6. The method according to claim 1, characterized in that Before obtaining the actual coordinates of the drone when collecting the image of the distribution network area to be marked, it also includes: Sequentially extract the standard reference coordinates in the standard inspection route as the current reference coordinates, and obtain the first distribution network area image collected by the drone at the current reference coordinates; Controlling the drone to take the current reference coordinates as a starting point, and after offsetting by a set offset distance along at least a target relative offset direction, to collect a second distribution network area image; Calculate the two-dimensional offset between the position of the target area in the first distribution network area screen and the position of the target area in the second distribution network area screen, and return to execute the step of sequentially extracting the standard reference coordinates in the standard inspection route as the current reference coordinates until the traversal of the standard reference coordinates in the standard inspection route is completed; According to the set offset distance and the two-dimensional offset, a correlation relationship between the offset distance of the drone and the two-dimensional offset of the target area in the distribution network area screen is established.

7. A target area positioning device, characterized in that: include: The actual coordinate acquisition module is used to obtain the actual coordinates of the drone when collecting the image of the distribution network area to be marked, and match the actual coordinates with the pre-set standard inspection route; An offset information determination module, used to determine a target reference coordinate matching the actual coordinate in the standard inspection route when the actual coordinate does not belong to the standard inspection route, and calculate a target offset distance and a target relative offset direction between the target reference coordinate and the actual coordinate; The target area positioning module is used to locate the target area in the distribution network area picture to be marked based on the target offset distance, the target relative offset direction, and the position of the target area in the standard distribution network area picture collected by the drone at the target reference coordinates.

8. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the target area positioning method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the target area positioning method according to any one of claims 1 to 6 when executed.

10. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the computer program implements the target area positioning method according to any one of claims 1 to 6.

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