A target region positioning method, apparatus, device, medium and program product

Abstract

The application discloses a target area positioning method, device, equipment, medium and program product. The target area positioning method comprises the following steps: acquiring an actual coordinate of a power distribution network area picture collected by a UAV, and matching the actual coordinate with a preset standard inspection route; in the case 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 between the target reference coordinate and the actual coordinate and a target relative offset direction; and positioning a target area in the power distribution network area picture to be labeled based on the target offset distance, the target relative offset direction, and a position of the target area in a standard power distribution network area picture collected by the UAV at the target reference coordinate. The technical scheme of the embodiment of the application can reduce the influence of weather factors on the UAV inspection process.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of power control, and in particular to a target area positioning method, device, equipment, medium and program product. BACKGROUND

[0002] In the field of power 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 unmanned aerial vehicle technology, unmanned aerial vehicle inspection has gradually become an effective means to replace traditional inspection methods. However, existing unmanned aerial vehicle inspection technology has some problems, such as relying on high-precision satellite navigation systems for unmanned aerial vehicle positioning and path planning, which increases equipment costs and operational complexity.

[0003] Due to the influence of weather environment, the unmanned aerial vehicle is prone to deviate during flight. After setting a standard inspection route as the inspection route of the unmanned aerial vehicle, once the wind is strong, the unmanned aerial vehicle cannot effectively maintain in the set inspection route for inspection, resulting in limited unmanned aerial vehicle inspection. And constantly adjusting the flight position of the unmanned aerial vehicle seriously affects the collection speed of the unmanned aerial vehicle on the power distribution network area picture. SUMMARY

[0004] The present application 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 an aspect of the present application, a target area positioning method is provided, comprising:

[0006] acquiring an actual coordinate of the unmanned aerial vehicle when collecting a to-be-labeled power distribution network area picture, and matching the actual coordinate with a pre-set standard inspection route;

[0007] in the case that the actual coordinate does not belong to the standard inspection route, determining a target reference coordinate matching 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;

[0008] based on the target offset distance, the target relative offset direction, and the position of the target area in the standard power distribution network area picture collected by the unmanned aerial vehicle at the target reference coordinate, positioning the target area in the to-be-labeled power distribution network area picture.

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

[0010] an actual coordinate acquisition module for acquiring an actual coordinate of the unmanned aerial vehicle when collecting a to-be-labeled power distribution network area picture, and matching the actual coordinate with a pre-set standard inspection route;

[0011] The offset information determining module is configured to, in the case that the actual coordinate does not belong to the standard inspection route, determine a target reference coordinate matching the actual coordinate in the standard inspection route, and calculate a target offset distance between the target reference coordinate and the actual coordinate and a target relative offset direction.

[0012] The target region positioning module is configured to position a target region in the power distribution network region picture to be labeled based on the target offset distance, the target relative offset direction, and a position of the target region in a standard power distribution network region picture collected by the UAV at the target reference coordinate.

[0013] According to another aspect of the present application, an electronic device is provided, which comprises:

[0014] at least one processor; and

[0015] a memory in communication with 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 to enable the at least one processor to perform the target region positioning method according to any one of the embodiments of the present application.

[0017] According to another aspect of the present application, a computer readable storage medium is provided, which stores computer instructions for enabling a processor to perform the target region positioning method according to any one of the embodiments of the present application when executed by the processor.

[0018] According to another aspect of the present application, a computer program product is provided, which comprises a computer program for enabling a processor to perform the target region positioning method according to any one of the embodiments of the present application when executed by the processor.

[0019] The technical solution of the embodiments of the present application acquires the actual coordinate of the power distribution network region picture to be labeled collected by the UAV, matches the actual coordinate with the pre-set standard inspection route, determines a target reference coordinate matching the actual coordinate in the standard inspection route in the case that the actual coordinate does not belong to the standard inspection route, calculates a target offset distance between the target reference coordinate and the actual coordinate and a target relative offset direction, and finally positions a target region in the power distribution network region picture to be labeled based on the target offset distance, the target relative offset direction, and a position of the target region in a standard power distribution network region picture collected by the UAV at the target reference coordinate. Thus, the target region can be accurately positioned in the power distribution network region picture to be labeled collected by the UAV at the offset position in the case that the UAV is offset relative to the standard inspection route, and it is not necessary to perform offset calibration of the UAV at all times.

[0020] It is to be understood that the details set forth herein do not limit the scope of the embodiments of the application to the specific embodiments described. Rather, the scope of the embodiments of the application is to be defined by the appended claims. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed in the embodiments description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0022] Figure 1 is a flow chart of a target region positioning method according to an embodiment of the present application;

[0023] Figure 2 is a flow chart of a target region positioning method according to an embodiment of the present application;

[0024] Figure 3 is a structural schematic diagram of a target region positioning device according to an embodiment of the present application;

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

[0026] In order to make the technical personnel in the art better understand the present application, the following will combine the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should be within the scope of protection of the present application.

[0027] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or units does not necessarily limit to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0028] Embodiment one

[0029] Figure 1 A flowchart of a target area positioning method is provided for Embodiment one of the present application. The embodiment can be applied to the case of positioning a target area in a power distribution network area image collected by a UAV when the UAV deviates from a standard inspection route. The method can be executed by a target area positioning device, which can be implemented in the form of hardware and / or software, and can be configured in various general-purpose computing devices, such as a UAV inspection control platform. As shown in the figure, the method comprises the following steps. Figure 1

[0030] S110, obtaining the actual coordinates of the UAV when collecting the power distribution network area picture to be labeled, and matching the actual coordinates with the pre-set standard inspection route.

[0031] The power distribution network area picture is a picture taken by a UAV for safety detection of key equipment in the power distribution network. The area where the key equipment for safety detection is located in the power distribution network area picture is the target area. The power distribution network area picture to be labeled is a power distribution network area picture that needs to be labeled with a target area. By way of example, the target area is the location of the inductor in the power distribution network area picture.

[0032] The standard inspection route is a route fitted according to the actual location of the power grid equipment to be detected, which is used to guide the UAV to conduct power distribution network inspection.

[0033] In the present application, the actual coordinates of the UAV when collecting the power distribution network area picture to be labeled are first obtained. Specifically, the UAV transmits the power distribution network area picture to be labeled and its actual coordinates in real time during the power distribution network inspection process. The UAV inspection control platform determines the coordinates of the UAV associated with the collection time of the power distribution network area picture to be labeled as the actual coordinates according to the collection time.

[0034] Further, the actual coordinates are matched with the pre-set standard inspection route. Specifically, it can be determined whether the standard inspection route contains the currently obtained actual coordinates.

[0035] S220, in the case where the actual coordinates do not belong to the standard inspection route, determining the target reference coordinates matching the actual coordinates in the standard inspection route, and calculating the target offset distance and the target relative offset direction between the target reference coordinates and the actual coordinates.

[0036] ​In the embodiment of the present application, if the actual coordinate does not belong to the standard inspection route, it indicates that the unmanned aerial vehicle deviates from the standard inspection route due to the influence of weather, for example, wind. At this time, it is necessary to determine the target reference coordinate matching the actual coordinate in the standard inspection route. For example, the standard inspection route contains at least one standard reference point requiring power grid area picture collection, and the target reference coordinate is selected as the closest one to the actual coordinate of the current unmanned aerial vehicle in the standard reference point.

[0037] Further, in order to position the target area in the power grid area picture to be labeled, the target offset distance and the target relative offset direction between the target reference coordinate and the actual coordinate 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 power grid area picture collected by the unmanned aerial vehicle at the target reference coordinate, the target area is positioned in the power grid area picture to be labeled.

[0039] In the embodiment of the present application, based on the target offset distance, the target relative offset direction, and the position of the target area in the standard power grid area picture collected by the unmanned aerial vehicle at the target reference coordinate, the target area is positioned in the power grid area picture to be labeled. Specifically, the corresponding relationship between the target offset distance and the two-dimensional offset distance of the target area in the power grid area picture can be determined based on the pre-determined two-dimensional offset distance of the target area in the power grid area picture. Further, the two-dimensional offset direction of the target area in the power grid area picture to be labeled is determined according to the projection of the target relative offset direction on the shooting plane.

[0040] Finally, based on the two-dimensional coordinate of the target area in the standard power grid area picture collected by the unmanned aerial vehicle at the target reference coordinate, the target area in the power grid area picture to be labeled is obtained by taking the two-dimensional coordinate of the target area in the standard power grid area picture as the starting point, offsetting the two-dimensional offset distance in the reverse direction of the two-dimensional offset direction.

[0041] Optionally, before positioning the target area in the power grid 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 power grid area picture collected by the unmanned aerial vehicle at the target reference coordinate, the method further comprises:

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

[0043] in the case where the target offset distance is greater than the offset limit value, controlling the unmanned aerial vehicle to offset to the target reference coordinate in the reverse direction of the target relative offset direction.

[0044] The offset limit value is a maximum offset distance of the UAV relative to the target reference coordinate in the target relative offset direction. If the offset distance exceeds the offset limit value in the target relative offset direction, the UAV cannot capture a power distribution network area picture containing a complete target area.

[0045] In this optional embodiment, when the UAV flight is greatly affected by wind, the UAV may deviate from the standard inspection route by a large distance, so that the power distribution network area picture containing the entire target area cannot be collected.

[0046] In view of the above, before locating the target area in the power distribution network area picture to be labeled, a specific step of judging whether the target offset distance is greater than the offset limit value of the target reference coordinate in the target relative offset direction can be added. If the target offset distance is greater than the offset limit value, the UAV 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 power distribution network area pictures when the UAV is greatly affected by wind.

[0047] Optionally, before obtaining the actual coordinate of the UAV when collecting the power distribution network area picture to be labeled, the method further comprises:

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

[0049] The power distribution network area picture is collected during the offset of the UAV until the collected power distribution network area picture does not contain the region of interest, and the test coordinate of the current UAV is 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 sequentially extracting the standard reference coordinates in the standard inspection route as the current reference coordinates is returned to be executed until the traversal of the standard reference coordinates in the standard inspection route is completed.

[0051] In this optional embodiment, before obtaining the actual coordinate of the UAV when collecting the power distribution network area picture to be labeled, a specific step of calculating the offset limit value of each standard reference coordinate in the standard inspection route in the target relative offset direction is provided: first, the standard reference coordinates in the standard inspection route are sequentially extracted as current reference coordinates, and the UAV is controlled to offset from the current reference coordinates in the target relative offset direction. The standard inspection route includes a plurality of standard reference coordinates preset in advance.

[0052] Further, the power distribution network area picture is collected during the deviation of the unmanned aerial vehicle until the collected power distribution network area picture does not contain the region of interest, and the test coordinates of the current unmanned aerial vehicle are recorded. Finally, the distance between the test coordinates and the current reference coordinates is calculated as the deviation limit value of the current reference coordinates in the target relative deviation 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 deviation direction can be determined according to the seasonal wind direction of the region where the power distribution network to be inspected is located. For example, if the current seasonal wind direction is southeast wind, the target relative deviation direction is set to the same southeast direction as the wind direction.

[0054] The technical scheme of the embodiment of the application obtains the actual coordinates of the unmanned aerial vehicle when collecting the power distribution network region picture to be labeled, and matches the actual coordinates with the pre-set standard inspection route. In the case that 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 deviation distance between the target reference coordinates and the actual coordinates and the target relative deviation direction are calculated. Finally, the target region is positioned in the power distribution network region picture to be labeled based on the target deviation distance, the target relative deviation direction, and the position of the target region in the standard power distribution network region picture collected by the unmanned aerial vehicle at the target reference coordinates. The target region can be accurately positioned in the power distribution network region picture to be labeled collected at the deviation position of the unmanned aerial vehicle relative to the standard inspection path without deviation calibration of the unmanned aerial vehicle at all times.

[0055] Embodiment two

[0056] Figure 2 A flowchart of a target region positioning method provided by the second embodiment of the application is further refined based on the above-mentioned embodiment, and specific steps of determining the target reference coordinates matching the actual coordinates in the standard inspection route, and specific steps of positioning the target region in the power distribution network region picture to be labeled based on the target deviation distance, the target relative deviation direction, and the position of the target region in the standard power distribution network region picture collected by the unmanned aerial vehicle at the target reference coordinates are provided. As shown in the figure, the method comprises: Figure 2

[0057] S210, obtaining the actual coordinates of the unmanned aerial vehicle when collecting the power distribution network region picture to be labeled, and matching the actual coordinates with the pre-set standard inspection route.

[0058] Optionally, before obtaining the actual coordinates of the unmanned aerial vehicle when collecting the power distribution network region picture to be labeled, the method further comprises:

[0059] ​extract the standard reference coordinates in the standard inspection route as the current reference coordinates in sequence, and acquire a first power distribution network region picture collected by the unmanned aerial vehicle at the current reference coordinates;

[0060] control the unmanned aerial vehicle to collect a second power distribution network region picture after the unmanned aerial vehicle is offset by the set offset distance along at least the target relative offset direction from the current reference coordinates as the starting point;

[0061] calculate a two-dimensional offset between the position of the target region in the first power distribution network region picture and the position of the target region in the second power distribution network region picture, and return to execute the step of extracting 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;

[0062] establish a correlation between the unmanned aerial vehicle offset distance and the two-dimensional offset of the target region in the power distribution network region picture according to the set offset distance and the two-dimensional offset.

[0063] In the optional embodiment, specific steps of establishing a correlation between the unmanned aerial vehicle offset distance and the two-dimensional offset of the target region in the power distribution network region picture before acquiring the actual coordinates of the unmanned aerial vehicle when collecting the power distribution network region picture to be labeled are provided. First, the standard reference coordinates in the standard inspection route are extracted as the current reference coordinates in sequence, and a first power distribution network region picture collected by the unmanned aerial vehicle at the current reference coordinates is acquired. The unmanned aerial vehicle is controlled to collect a second power distribution network region picture after the unmanned aerial vehicle is offset by the set offset distance along at least the target relative offset direction from the current reference coordinates as the starting point.

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

[0065] Finally, the correlation between the unmanned aerial vehicle offset distance and the two-dimensional offset of the target region in the power distribution network region picture is established according to the set offset distance and the two-dimensional offset. Specifically, the correlation between the unmanned aerial vehicle offset distance and the two-dimensional offset of the target region in the power distribution network region picture can be determined according to the ratio between the set offset distance of the unmanned aerial vehicle and the two-dimensional offset in the picture at each current reference coordinate. For example, the average value of the ratio at each current reference coordinate can be calculated as the correlation between the unmanned aerial vehicle offset distance and the two-dimensional offset of the target region in the power distribution network region picture. For another example, a set of correlations between the unmanned aerial vehicle offset distance and the two-dimensional offset of the target region in the power distribution network region picture can be established for each standard reference coordinate in the standard inspection route.

[0066] S220, in the case that the actual coordinate does not belong to the standard inspection route, in the standard inspection route, the standard reference coordinate closest to the actual coordinate is determined as the target reference coordinate, and the target offset distance between the target reference coordinate and the actual coordinate and the target relative offset direction are calculated.

[0067] In the embodiment of the application, in the case that the actual coordinate does not belong to the standard inspection route, in the standard inspection route, the standard reference coordinate closest to the actual coordinate is determined as the target reference coordinate. Furthermore, in order to locate the target region in the to-be-labeled power grid region picture, the target offset distance between the target reference coordinate and the actual coordinate and the target relative offset direction are calculated.

[0068] S230, based on the correlation between the UAV offset distance and the two-dimensional offset amount of the target region in the power grid region picture, the target two-dimensional offset amount corresponding to the target offset distance is determined.

[0069] In the embodiment of the application, based on the correlation between the UAV offset distance and the two-dimensional offset amount of the target region in the power grid region picture, the target two-dimensional offset amount corresponding to the target offset distance is determined. Specifically, in the pre-stored correlation between the UAV offset distance corresponding to each standard reference coordinate and the two-dimensional offset amount of the target region in the power grid region picture, the correlation between the UAV offset distance and the two-dimensional offset amount of the target region in the power grid region picture under the target reference coordinate is searched.

[0070] Furthermore, based on the correlation between the UAV offset distance and the two-dimensional offset amount of the target region in the power grid region picture, the target two-dimensional offset amount corresponding to the target offset distance is determined. For example, the correlation between the UAV offset distance and the two-dimensional offset amount of the target region in the power grid region picture is a linear relationship or a nonlinear relationship.

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

[0072] In the embodiment of the application, the target relative offset direction is projected to 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 to the shooting plane to obtain a two-dimensional vector, and the two-dimensional vector 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 amount, the target two-dimensional offset direction, and the position of the target region in the standard power grid region picture collected by the UAV at the target reference coordinate, the target region is located in the to-be-labeled power grid region picture.

[0074] The technical scheme of the embodiment of the present application acquires the actual coordinates where the unmanned aerial vehicle collects the to-be-labeled power distribution network region picture, matches the actual coordinates with the pre-set standard inspection route, in the case that the actual coordinates do not belong to the standard inspection route, determines the standard reference coordinates closest to the actual coordinates in the standard inspection route as the target reference coordinates, calculates the target offset distance between the target reference coordinates and the actual coordinates and the target relative offset direction, determines the target two-dimensional offset amount corresponding to the target offset distance based on the correlation between the unmanned aerial vehicle offset distance and the two-dimensional offset amount of the target region in the power distribution network region picture, projects the target relative offset direction to the shooting plane to determine the target two-dimensional offset direction corresponding to the target relative offset direction, and finally locates the target region in the to-be-labeled power distribution network region picture based on the target two-dimensional offset amount, the target two-dimensional offset direction and the position of the target region in the standard power distribution network region picture collected by the unmanned aerial vehicle at the target reference coordinates. In the case that the unmanned aerial vehicle inspection deviates from the standard inspection route due to weather influence, the offset calibration of the unmanned aerial vehicle does not need to be performed at all times, and the effect of accurately locating the target region in the to-be-labeled power distribution network region picture collected at the deviated position is achieved.

[0075] Embodiment three

[0076] Figure 3 A structural schematic diagram of a target region positioning device provided for the embodiment three of the present application.

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

[0078] The actual coordinate acquisition module 310 is configured to acquire the actual coordinates where the unmanned aerial vehicle collects the to-be-labeled power distribution network region picture, and match the actual coordinates with the pre-set standard inspection route.

[0079] The offset information determination module 320 is configured to, in the case that the actual coordinates do not belong to the standard inspection route, determine the target reference coordinates matched with the actual coordinates in the standard inspection route, and calculate the target offset distance between the target reference coordinates and the actual coordinates and the target relative offset direction.

[0080] The target region positioning module 330 is configured to locate the target region in the to-be-labeled power distribution network region picture 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 collected by the unmanned aerial vehicle at the target reference coordinates.

[0081] The technical scheme of the embodiment of the application acquires an actual coordinate where the unmanned aerial vehicle collects the to-be-labeled power distribution network region picture, and matches the actual coordinate with a preset standard inspection route, in the case that the actual coordinate does not belong to the standard inspection route, determines a target reference coordinate matched with the actual coordinate in the standard inspection route, and calculates a target offset distance between the target reference coordinate and the actual coordinate and a target relative offset direction, finally, based on the target offset distance, the target relative offset direction, and a position of a target region in a standard power distribution network region picture collected by the unmanned aerial vehicle at the target reference coordinate, the target region is positioned in the to-be-labeled power distribution network region picture, so that the target region can be accurately positioned in the to-be-labeled power distribution network region picture collected at the offset position in the case that the unmanned aerial vehicle offsets relative to the standard inspection route, without needing to perform offset calibration of the unmanned aerial vehicle at any time.

[0082] Optionally, the target region positioning module 330 is specifically configured to:

[0083] determine a target two-dimensional offset amount corresponding to the target offset distance based on a correlation between the unmanned aerial vehicle offset distance and the two-dimensional offset amount of the target region in the power distribution network region picture;

[0084] project the target relative offset direction to 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 a shooting angle;

[0085] position the target region in the to-be-labeled power distribution network region picture based on the target two-dimensional offset amount, the target two-dimensional offset direction, and the position of the target region in the standard power distribution network region picture collected by the unmanned aerial vehicle at the target reference coordinate.

[0086] Optionally, the target region positioning apparatus further includes:

[0087] a limit judgment module configured to, before positioning the target region in the to-be-labeled power distribution network region picture 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 collected by the unmanned aerial vehicle at the target reference coordinate, judge whether the target offset distance is greater than an offset limit value of the target reference coordinate in the target relative offset direction;

[0088] a reverse offset module configured to, in the case that the target offset distance is greater than the offset limit value, control the unmanned aerial vehicle to offset to the target reference coordinate along a reverse direction of the target relative offset direction.

[0089] Optionally, the target region positioning apparatus further includes:

[0090] The UAV offset module is configured to extract the standard reference coordinates in the standard inspection route as current reference coordinates in sequence before acquiring the actual coordinates where the UAV collects the power distribution network region picture to be labeled, and control the UAV to start from the current reference coordinates and offset along the target relative offset direction.

[0091] The test coordinate recording module is configured to collect the power distribution network region picture during the UAV offset process until the collected power distribution network region picture does not contain the region of interest, and record the test coordinates of the current UAV.

[0092] The limit value determination module is configured to calculate the distance between the test coordinates and the current reference coordinates as the offset limit value of the current reference coordinates in the target relative offset direction, and return to execute the step of extracting the standard reference coordinates in the standard inspection route as 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 determination module 320 is specifically configured to:

[0094] In the standard inspection route, determine the standard reference coordinate closest to the actual coordinates as the target reference coordinate.

[0095] Optionally, the target region positioning device further comprises:

[0096] The first picture acquisition module is configured to extract the standard reference coordinates in the standard inspection route as current reference coordinates in sequence before acquiring the actual coordinates where the UAV collects the power distribution network region picture to be labeled, and acquire the first power distribution network region picture collected by the UAV at the current reference coordinates.

[0097] The second picture acquisition module is configured to control the UAV to collect the second power distribution network region picture after offsetting a set offset distance along at least the target relative offset direction with the current reference coordinates as the starting point.

[0098] The two-dimensional offset amount determination module is configured to calculate the two-dimensional offset amount between the position of the target region in the first power distribution network region picture and the position of the target region in the second power distribution network region picture, and return to execute the step of extracting the standard reference coordinates in the standard inspection route as current reference coordinates in sequence until the traversal of the standard reference coordinates in the standard inspection route is completed.

[0099] The association relationship determination module is configured to establish the association relationship between the UAV offset distance and the two-dimensional offset amount of the target region in the power distribution network region picture according to the set offset distance and the two-dimensional offset amount.

[0100] The target region positioning device provided by the embodiment of the present application can execute the target region positioning method provided by any embodiment of the present application, and has the corresponding function modules and beneficial effects of the execution method.

[0101] In the technical solution of the present application, the collection, storage, use, processing, transmission, provision and disclosure of the user personal information comply with relevant laws and regulations and do not violate public order and good customs.

[0102] Embodiment Four

[0103] According to the embodiments of the present application, the present application further provides an electronic device, a readable storage medium and a computer program product.

[0104] Figure 4 A structural schematic diagram of an electronic device 10 that can be used to implement embodiments of the present application is shown. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, appliances, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular telephones, smart phones, wearable devices (e.g., headsets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not intended to limit implementations of the present application described and / or claimed in this document.

[0105] As shown in Figure 4 The electronic device 10 includes at least one processor 11, and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which is communicatively connected to the at least one processor 11, wherein the memory stores a computer program that can be executed by the at least one processor, and the processor 11 can execute various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or loaded from the storage unit 18 into 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 plurality 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 magnetic 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 can be various general and / or special purpose 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 specialized 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 performs various methods and processes described above, such as the target region positioning method.

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

[0109] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a complex programmable logic device (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0110] Computer programs for implementing the methods of the present application can be written in any combination of one or more programming languages. These computer programs can be implemented on general purpose computers, special purpose computers, or other programmable data processing apparatus to produce the functions / acts specified in the flow diagrams and / or block diagrams. Computer programs can be applied to a data changed on the processing unit to produce a result. The computer programs can be implemented entirely on a machine, partially on a machine, partially on a machine as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or application.

[0111] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer-readable storage medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of a machine-readable storage medium will include one or more lines of electrical connections, a portable computer diskette, 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 disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0112] To provide for interaction with a user, the systems and techniques described here can 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 a trackball) by which the user can provide input to the electronic device. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0113] The systems and techniques described here can be implemented in a computing system that includes a back end component, e.g., as a data application server, or that includes a middleware component, e.g., an application server, or that includes a front end component, e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here, or any combination of such back end, middleware, or front end components. The components of the system can 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] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing application system, and solves the defects of large management difficulty and weak business scalability in traditional physical host and VPS application.

[0115] It should be understood that the steps shown in the above various forms of flowcharts can be reordered, added, or deleted. For example, the steps described in the present application can be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solutions of the present application can be achieved, and the present application is not limited herein.

[0116] The above detailed description does not constitute a limitation on the protection scope of the present application. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method of locating a target area, characterized by, The method comprises the following steps: acquiring the actual coordinates of the unmanned aerial vehicle when collecting the power distribution network region picture to be labeled, and matching the actual coordinates with the pre-set standard inspection route; in the case that the actual coordinates do not belong to the standard inspection route, determining the target reference coordinates matching the actual coordinates in the standard inspection route, and calculating the target offset distance and the 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 region in the standard power distribution network region picture collected by the unmanned aerial vehicle at the target reference coordinates, positioning the target region in the power distribution network region picture to be labeled.

2. The method of claim 1, wherein, 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 collected by the unmanned aerial vehicle at the target reference coordinates, positioning the target region in the power distribution network region picture to be labeled, comprising: determining the target two-dimensional offset amount corresponding to the target offset distance based on the correlation between the offset distance of the unmanned aerial vehicle and the two-dimensional offset amount of the target region in the power distribution network region picture; projecting the target relative offset direction to the shooting plane to determine the target two-dimensional offset direction corresponding to the target relative offset direction; the shooting plane is a plane perpendicular to the shooting angle; based on the target two-dimensional offset amount, the target two-dimensional offset direction, and the position of the target region in the standard power distribution network region picture collected by the unmanned aerial vehicle at the target reference coordinates, positioning the target region in the power distribution network region picture to be labeled.

3. The method of claim 1, wherein, before positioning the target region in the power distribution network region picture to be labeled 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 collected by the unmanned aerial vehicle at the target reference coordinates, further comprising: judging whether the target offset distance is greater than the offset limit value of the target reference coordinates in the target relative offset direction; in the case that the target offset distance is greater than the offset limit value, controlling the unmanned aerial vehicle to offset to the target reference coordinates along the reverse direction of the target relative offset direction.

4. The method of claim 3, wherein, before acquiring the actual coordinates of the unmanned aerial vehicle when collecting the power distribution network region picture to be labeled, further comprising: extracting the standard reference coordinates in the standard inspection route as the current reference coordinates in turn, and controlling the unmanned aerial vehicle to offset along the target relative offset direction from the current reference coordinates; collecting the power distribution network region picture during the offset of the unmanned aerial vehicle until the collected power distribution network region picture does not contain the region of interest, and recording the test coordinates of the current unmanned aerial vehicle; calculating the distance between the test coordinates and the current reference coordinates as the offset limit value of the current reference coordinates in the target relative offset direction, and returning to extract the standard reference coordinates in the standard inspection route as the current reference coordinates in turn until the traversal of the standard reference coordinates in the standard inspection route is completed.

5. The method of claim 1, wherein, determining the target reference coordinates matching the actual coordinates in the standard inspection route comprises: determining the standard reference coordinates closest to the actual coordinates in the standard inspection route as the target reference coordinates.

6. The method of claim 1, wherein, Before acquiring the actual coordinate where the unmanned aerial vehicle collects the power distribution network region picture to be labeled, the method further comprises: extracting the standard reference coordinates in the standard inspection route in sequence as current reference coordinates, and acquiring a first power distribution network region picture collected by the unmanned aerial vehicle at the current reference coordinates; controlling the unmanned aerial vehicle to collect a second power distribution network region picture after the current reference coordinates as a starting point and offsetting a set offset distance along at least a target relative offset direction; calculating a two-dimensional offset between the position of the target region in the first power distribution network region picture and the position of the target region in the second power distribution network region picture, and returning to execute the step of extracting the standard reference coordinates in the standard inspection route in sequence as the current reference coordinates until the traversal of the standard reference coordinates in the standard inspection route is completed; establishing a correlation between the offset distance of the unmanned aerial vehicle and the two-dimensional offset of the target region in the power distribution network region picture according to the set offset distance and the two-dimensional offset.

7. A target area positioning device, characterized by comprise: an actual coordinate acquisition module configured to acquire an actual coordinate where the unmanned aerial vehicle collects a power distribution network region picture to be labeled, and match the actual coordinate with a pre-set standard inspection route; an offset information determination module configured to, in a case where the actual coordinate does not belong to the standard inspection route, determine a target reference coordinate matching the actual coordinate in 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; a target region positioning module configured to position a target region in the power distribution network region picture to be labeled based on the target offset distance, the target relative offset direction, and the position of the target region in a standard power distribution network region picture collected by the unmanned aerial vehicle at the target reference coordinate.

8. An electronic device, comprising: The electronic device comprises: at least one processor; and a memory connected in communication with 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 to enable the at least one processor to execute the target region positioning method of any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions for enabling the processor to execute the target region positioning method of any one of claims 1-6 when executed by the processor.

10. A computer program product, characterised in that, The computer program product comprises a computer program which, when executed by the processor, implements the target region positioning method according to any one of claims 1-6. The computer program product comprises a computer program which, when executed by the processor, implements the target region positioning method according to any one of claims 1-6.

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