A foreign matter inspection method and device for a power transmission tower and a storage medium

Abstract

The application discloses a kind of foreign matter inspection methods, equipment and storage medium of power transmission tower, the method comprises: when controlling first automatic aircraft according to preset inspection path flight, call the camera in first automatic aircraft to gather original image data to power transmission tower, original image data is preprocessed, obtain target image data, calculate the index value on shape in multiple contour data in target image data, if index value is greater than or equal to preset index threshold, then determine that contour data is foreign matter on power transmission tower, according to contour data generate the location of foreign matter and the category of foreign matter, control second automatic aircraft to fly to position, use and clean up device matched with category clean up foreign matter. Through automatic aircraft, intelligent inspection and foreign matter cleaning are carried out to power transmission tower, foreign matter is accurately identified and positioned using image processing technology, and suitable cleaning device is selected according to the category of foreign matter, which significantly improves the efficiency of foreign matter inspection of power transmission tower.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the field of power transmission equipment maintenance, and particularly to a foreign object inspection method for a power transmission tower, a device and a storage medium. BACKGROUND

[0002] A power transmission tower is one of the infrastructures in a power transmission network, which bears the weight of overhead power transmission lines and ensures efficient and safe power transmission to different regions. Since the power transmission tower is exposed to the natural environment all year round, it is easily affected by various foreign objects, which may cause power equipment failure and lead to power interruption or safety accidents.

[0003] The traditional power transmission tower inspection method mainly relies on manual inspection and ground monitoring equipment, which usually requires workers to climb, climb and other means for inspection and cleaning, which not only has high labor intensity, but also has high safety risks. Manual inspection is difficult to find and handle foreign objects that may exist on the power transmission tower in time, which affects the efficiency of foreign object inspection of the power transmission tower. SUMMARY

[0004] The present application provides a foreign object inspection method for a power transmission tower, a device and a storage medium to improve the efficiency of foreign object inspection of the power transmission tower.

[0005] In a first aspect, embodiments of the present application provide a foreign object inspection method for a power transmission tower, comprising:

[0006] When controlling the first automatic aircraft to fly according to the preset inspection path, calling a camera in the first automatic aircraft to collect original image data of the power transmission tower;

[0007] Pretreating the original image data to obtain target image data;

[0008] Calculating an index value on the shape of the plurality of contour data in the target image data;

[0009] If the index value is greater than or equal to a preset index threshold, it is determined that the contour data is a foreign object on the power transmission tower;

[0010] Generating the position of the foreign object and the category of the foreign object according to the contour data;

[0011] Controlling a second automatic aircraft to fly to the position and using a cleaning device matched with the category to clean the foreign object.

[0012] In a second aspect, embodiments of the present application provide a foreign object inspection device for a power transmission tower, comprising:

[0013] An original image data collection module is configured to collect original image data of the power transmission tower by invoking a camera in the first automatic aircraft when the first automatic aircraft is controlled to fly along a preset inspection path.

[0014] A target image data acquisition module is configured to preprocess the original image data to obtain target image data.

[0015] An index value calculation module is configured to calculate an index value in shape for a plurality of contour data in the target image data.

[0016] A foreign matter determination module is configured to determine that the contour data is a foreign matter on the power transmission tower if the index value is greater than or equal to a preset index threshold.

[0017] A foreign matter information acquisition module is configured to generate a position of the foreign matter and a category of the foreign matter according to the contour data.

[0018] A foreign matter cleaning module is configured to control a second automatic aircraft to fly to the position and use a cleaning device matched with the category to clean the foreign matter.

[0019] In a third aspect, an embodiment of the present application further provides a computer device, which comprises:

[0020] One or more processors;

[0021] A storage device configured to store one or more programs;

[0022] When the one or more programs are executed by the one or more processors, the one or more processors implement the foreign matter inspection method for a power transmission tower according to the first aspect of the present application.

[0023] In a fourth aspect, an embodiment of the present application further provides a computer readable storage medium, which stores a computer program, and the program is executed by a processor to implement the foreign matter inspection method for a power transmission tower according to the first aspect of the present application.

[0024] In a fifth aspect, an embodiment of the present application further provides a computer program product, which comprises a computer program, and the computer program is executed by a processor to implement the foreign matter inspection method for a power transmission tower according to the first aspect of the present application.

[0025] In the embodiment of the present application, when the first automatic aircraft is controlled to fly according to the preset inspection path, the camera in the first automatic aircraft is called to collect original image data of the power transmission tower, the original image data is preprocessed to obtain target image data, the index value in the shape of the plurality of contour data in the target image data is calculated, if the index value is greater than or equal to the preset index threshold value, it is determined that the contour data is a foreign matter on the power transmission tower, the position of the foreign matter and the category of the foreign matter are generated according to the contour data, and the second automatic aircraft is controlled to fly to the position and use the cleaning device matched with the category to clean the foreign matter. Through the intelligent inspection of the power transmission tower by the automatic aircraft, the potential foreign matter is quickly screened out by calculating the shape index value of the contour data, the position and the category of the foreign matter are accurately calculated based on the potential foreign matter according to the contour data, and the appropriate cleaning device is selected according to the category of the foreign matter. The combination of the two calculations not only improves the overall calculation efficiency, but also ensures the high precision of foreign matter identification and cleaning, thereby optimizing the automatic inspection and cleaning process of the aircraft, significantly improving the efficiency of the foreign matter inspection of the power transmission tower, reducing the labor cost and risk, and ensuring the stable operation of the power transmission tower. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 A flowchart of a foreign matter inspection method of a power transmission tower is provided for the first embodiment of the present application.

[0027] Figure 2 A structural schematic diagram of a cleaning device is provided for the first embodiment of the present application.

[0028] Figure 3 A structural schematic diagram of a clamping mechanism is provided for the first embodiment of the present application.

[0029] Figure 4 A structural schematic diagram of a suction accessory is provided for the first embodiment of the present application.

[0030] Figure 5 A structural block diagram of a foreign matter inspection device of a power transmission tower is provided for the second embodiment of the present application.

[0031] Figure 6 A structural schematic diagram of a computer device is provided for the third embodiment of the present application. DETAILED DESCRIPTION

[0032] In order for those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part 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.

[0033] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and in the above drawings are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the application described herein can encompass the order of implementation 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 including a series of steps or units does not necessarily have to be limited 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.

[0034] Embodiment one

[0035] Referring to Figure 1 , a flowchart of a foreign object inspection method for a power transmission tower is shown, which can be performed by a foreign object inspection device for a power transmission tower, which can be realized in the form of hardware and / or software, and can be configured in a computer device. As Figure 1 shown, the method comprises:

[0036] Step 101, when controlling the first automatic aircraft to fly according to the preset inspection path, calling the camera in the first automatic aircraft to collect original image data of the power transmission tower.

[0037] An automatic aircraft is a kind of flight equipment that does not need manual driving and completes flight tasks through preset programs or remote control. The automatic aircraft is usually equipped with advanced sensors, cameras and navigation systems, and can perform cruise, shooting, monitoring and other operations according to specific task requirements.

[0038] The power transmission tower is a high tower structure used to support power transmission lines, usually made of solid materials such as steel. The main function of the power transmission tower is to support high-voltage power lines overhead, so that power can be transmitted from power plants to different areas or cities. The power transmission tower is usually distributed in a wide geographical area and undertakes the key task of power supply. Since the power transmission tower is located outdoors and often in remote or difficult-to-reach places, it needs to be regularly inspected and maintained.

[0039] In this embodiment, by controlling the first automatic aircraft to fly along the predetermined inspection path, the original image data of the power transmission tower is collected by the camera on the first automatic aircraft, realizing comprehensive and real-time monitoring of the power transmission tower to timely find the foreign matter on the power transmission tower. By shooting high-quality original image data during the inspection, accurate data support can be provided for subsequent image processing and foreign matter detection, ensuring wide coverage and accuracy of the detection of the power transmission tower. At the same time, using the first automatic aircraft for inspection has higher efficiency than traditional manual inspection, which can reduce human errors and dangers, and improve the safety and reliability of the inspection work.

[0040] Step 102, pre-processing the original image data to obtain target image data.

[0041] In this embodiment, the original image data is pre-processed to optimize the quality of the original image data, remove noise and interference, and ensure the accuracy of subsequent analysis. The original image data usually contains some noise due to environmental factors or equipment limitations, which may affect the accuracy of foreign matter identification. By improving the clarity of the original image data through preprocessing techniques, target image data is obtained, and the accuracy of subsequent foreign matter detection is improved.

[0042] For example, the pre-processing includes noise reduction, contrast enhancement and color correction processing of the original image data, and the original image data is converted into a gray image (i.e. target image data).

[0043] Noise reduction: noise reduction is one of the important steps in the pre-processing of the original image data, and the purpose is to remove image noise caused by environmental factors, sensor limitations or other external interference. These image noises will affect subsequent image analysis, resulting in inaccurate detection of foreign matter. Noise reduction methods include median filtering, mean filtering, Gaussian filtering and bilateral filtering, etc. The present application does not limit them.

[0044] Contrast enhancement: contrast enhancement is to improve the light and dark contrast in the original image data, making the details of the original image data clearer. Many important features in the original image data may not be easily identified in low contrast conditions, and enhancing the contrast helps to highlight the outline data of the foreign matter on the power transmission tower, thereby improving the distinction between the target object and the background. Contrast enhancement methods include histogram equalization, adaptive contrast enhancement and gamma correction, etc. The present application does not limit them.

[0045] Color correction: Color correction is to correct the color deviation in the original image data caused by light, camera settings or shooting angle, etc. In the processing process, through color correction, the color of the original image data can be more accurate and natural, avoiding the contour misidentification or classification error caused by color deviation. The color correction method includes white balance adjustment, color mapping, color space conversion and color correction algorithm, etc. The present application does not limit here.

[0046] Converting the original image data into a gray image: converting the original image data into a gray image is one of the steps in the preprocessing. The gray image only has brightness information, and the color interference is removed, which makes the subsequent target image data analysis more simple and efficient. The gray image can usually better preserve the shape and structural features of the object in the original image data, facilitating edge detection, contour extraction and other image processing tasks.

[0047] Step 103, calculating the index value on the shape of the plurality of contour data in the target image data.

[0048] In this embodiment, the index value on the shape is calculated to objectively analyze and classify the contour data, avoid human interference or misjudgment, and distinguish different categories of objects in the contour data, such as whether it is part of a normal structure or a foreign object that needs to be cleaned up; when inspecting the transmission tower, the resources of the dispatched automatic aircraft are limited, so calculating the index value is the initial step of screening foreign objects, using a simple algorithm to filter out possible foreign objects, excluding unnecessary interference, reducing the amount of subsequent calculation, because the subsequent involves finding the real foreign object from these possible foreign objects, which requires higher precision calculation, after the initial step of screening, the objects to be calculated are greatly reduced, ensuring that the resources of the automatic aircraft are within the affordable range.

[0049] In an embodiment of the present application, step 103 can include the following steps:

[0050] Step 1031, performing edge detection on the target image data to obtain edge image data.

[0051] In this embodiment, edge detection is performed on the target image data to extract the boundary information of the object in the target image data, which can clearly identify the contour data of the object in the target image data, remove the background clutter information, and make the subsequent contour extraction and analysis more accurate.

[0052] Exemplarily, the Canny edge detection algorithm is used to perform edge detection on the target image data to obtain a binary edge image. The Canny edge detection algorithm is a classical edge detection method, which removes noise through smoothing processing, calculates the gradient of the image, applies non-maximum suppression to accurately locate the edge, and realizes the connection and thinning of the edge through a double-threshold algorithm, thereby effectively extracting the edge information in the target image data.

[0053] Step 1032, extracting a plurality of contour data from the edge image data.

[0054] In this embodiment, the extraction of the contour data is a further processing of the edge image data. By identifying the edge-connected regions in the edge image data, the contour data of a plurality of objects in the edge image data can be obtained, which reflects the geometric shape of the objects in the edge image data. The extraction of the contour data is a step of object recognition in the edge image data, which ensures that the subsequent analysis object is the actual object in the edge image data, rather than noise or background information.

[0055] Exemplarily, the findContours in the computer vision library (OpenCV) is used to perform contour detection on the edge image data to extract the contour data of all potential foreign objects in the edge image data. If there is no contour data in the edge image that is judged as a foreign object, it is marked that the transmission tower region photographed by the edge image has no foreign object risk.

[0056] Step 1033, counting the original area of each contour data.

[0057] In this embodiment, the original area of each contour data is counted to quantify the size of the object, and the contour data represents the geometric appearance of the object. The original area as an important geometric feature of the object can help to distinguish different objects, such as bird nests, garbage or other foreign objects. In the identification and classification process, the size of the original area can be used as a standard for preliminary screening to help exclude contour data that does not meet the foreign object standard, thereby improving the efficiency and accuracy of the inspection.

[0058] Step 1034, calculating the original complexity of the shape of the contour data according to the original area.

[0059] In this embodiment, calculating the original complexity of the contour data can help to analyze whether the shape of the object meets the characteristics of the foreign object. The original complexity usually involves the boundary features of the contour data, such as the perimeter and the area. By measuring the complexity through the original area, the shape characteristics of the object can be more accurately evaluated. If a contour data lake has an irregular shape and a complex boundary, it may be a foreign object. This step helps to improve the accuracy of foreign object recognition and avoid misjudgment.

[0060] For example, the original complexity calculation formula is as follows:

[0061]

[0062] Where, F i Indicates the original complexity of the i-th contour data, C i Indicates the perimeter value of the i-th contour data, P i Represents the original area of ​​the i-th contour data, C i and P i Available through the computer vision library (OpenCV).

[0063] Step 1035: Normalize each original complexity to obtain a target complexity.

[0064] In this embodiment, the original complexity is normalized to eliminate dimensional differences in complexity between different contour data, allowing for comparison of the complexities of different contour data using a unified standard. The normalized target complexity allows for a fairer comparison of the shapes of each contour data, helping to accurately distinguish foreign objects in subsequent determinations, improving the stability of foreign object identification and reducing errors.

[0065] For example, the calculation formula of target complexity is as follows:

[0066]

[0067] Where, Re i Indicates the target complexity of the i-th profile data, F min Indicates the minimum value of the original complexity among multiple contour data, F max Indicates the maximum value of the original complexity among multiple contour data, F i Indicates the original complexity of the i-th contour data.

[0068] Step 1036: Normalize each original area to obtain a target area.

[0069] In this embodiment, similar to the object complexity, the original area normalization process is used to eliminate size differences between different contour data, making the object area comparison more standardized. This allows contour data of different sizes to be analyzed using a unified standard, which helps further determine whether the contour data is a foreign object. For example, a small, irregular object may be considered a foreign object, while a large, regular structure is less likely to be a foreign object.

[0070] For example, the target area calculation formula is as follows:

[0071]

[0072] Resi i denotes the target area of the i-th profile data, P min denotes the minimum value of the original area in the plurality of profile data, P max denotes the maximum value of the original area in the plurality of profile data, P i denotes the original area of the i-th profile data.

[0073] Step 1037, for the same profile data, the target complexity is fused with the target area to form a shape index value.

[0074] In the embodiment, the target complexity and the target area are fused to form a shape index value, so as to comprehensively evaluate the shape characteristics of the profile data and more comprehensively judge whether the shape characteristics of a profile data meet the standard of the foreign matter. The target complexity reflects the boundary characteristics of the profile data, and the target area reflects the scale of the profile data.

[0075] For example, the index value calculation formula is as follows:

[0076] QM i = α × Re i + β × Res i ;

[0077] In the formula, QM i denotes the index value of the i-th profile data, Re i denotes the target complexity of the i-th profile data, Res i denotes the target area of the i-th profile data, α denotes the first weight of the target complexity, β denotes the second weight of the target area, the value range of α is between 0.2 and 0.4, the value range of β is between 0.6 and 0.8, and α and β can be set according to actual conditions, which are not limited in the present application.

[0078] Step 104, if the index value is greater than or equal to a preset index threshold value, it is determined that the profile data is a foreign matter on the power transmission tower.

[0079] In the embodiment, the index value calculated for each profile data is compared with a preset index threshold value, if the index value is greater than or equal to the preset index threshold value, it is determined that the profile data corresponding to the index value is a foreign matter on the power transmission tower, if the index value is less than the preset index threshold value, the profile data corresponding to the index value is not a foreign matter, and the profile data is discarded.

[0080] Step 105, the position of the foreign matter and the category of the foreign matter are generated according to the profile data.

[0081] In the embodiment, when the contour data is confirmed as a foreign object, the position of the contour data is collected by the locator in the first automatic flight and transmitted back to the control system. The shape, area, color and texture features of the contour data are extracted by the computer vision library (OpenCV) and input into the preset foreign object classification model to identify the category of the foreign object.

[0082] For example, the foreign object classification model can be trained by a classification algorithm such as a support vector machine, a random forest and / or a convolutional neural network, which is not limited in the present application.

[0083] Step 106, controlling the second automatic aircraft to fly to the position, and cleaning the foreign object by using the cleaning device matched with the category.

[0084] In the embodiment, the second automatic aircraft is controlled to fly to the position according to the position collected by the first automatic aircraft, and the foreign object is cleaned by using the cleaning device matched with the category of the foreign object, so that the foreign object is cleaned in time and effectively, and the safety and normal operation of the power transmission tower are ensured.

[0085] For example, as shown in Figure 2 The cleaning device includes a box body 1 fixed to the bottom of the body of the second automatic aircraft, a side recess 3 on the side wall of the box body, a receiving port on the groove bottom wall 4 of the side recess 3, an audio player on the box body 1, and a clamping mechanism in the side recess 3. The clamping mechanism includes a third telescopic driving rod 5, a second telescopic driving rod 6, and a first telescopic driving rod 7. The box body 1 is internally provided with a cavity 2, and the side recess 3 is arranged in the recessed portion of the side wall of the box body 1. The recessed area of the side recess 3 is a recess cavity, and the cavity 2 is used to store the foreign objects collected and cleaned by the clamping mechanism.

[0086] For example, as shown in Figure 3 The clamping mechanism includes a first telescopic driving rod 7 arranged on the side recess, a second telescopic driving rod 6 arranged on the side recess and corresponding below the first telescopic driving rod, a third telescopic driving rod 5 arranged on the side recess and corresponding below the second telescopic driving rod, a negative pressure motor fixed in the cavity 2 for generating negative pressure in the cavity 2, an electrically driven scissors 8 fixed to the other end of the first telescopic driving rod 7, a clamp 9 fixed to the other end of the second telescopic driving rod 6, and a suction accessory fixed to the third telescopic driving rod 5. The third telescopic driving rod 5 has an upper rod wall 10, a lower rod wall 11, a connecting rod 13, and a side rod 14. The first telescopic driving rod 7, the second telescopic driving rod 6, and the third telescopic driving rod 5 are arranged in parallel with each other.

[0087] For example, as shown in Figure 4The structure diagram of the suction accessory is shown, the suction accessory comprises a U-shaped rod arranged horizontally and internally hollow, a plurality of suction holes 15 arranged on the upper rod wall 10 and the side rod wall 12 of the U-shaped rod in sequence, a through hole arranged on the lower rod wall of the U-shaped rod, a plurality of guide pipes arranged for respectively communicating the suction holes with the through hole, a suction pump fixed on the box body, a transmission guide pipe arranged for respectively communicating the suction end of the suction pump with the through hole, and a control unit arranged for controlling the suction operation intensity of the suction pump; the suction pump operation realizes the suction force of each suction hole 15; the plurality of guide pipes are located in the hollow structure of the U-shaped rod, the U-shaped rod is composed of two parallel side rods and a connecting rod connecting the two side rods, the side rods and the connecting rod are located on the same horizontal plane, the bottom surface of the side rods and the connecting rod constitutes the bottom wall of the U-shaped rod, the top surface of the side rods and the connecting rod constitutes the top wall of the U-shaped rod, and the opposite inner side surfaces of the two side rods are the side walls of the U-shaped rod.

[0088] In one embodiment of the present application, step 106 can include the following steps:

[0089] Step 1061, if the category is a dynamic object, a specified audio signal is played by an audio player to drive away the dynamic object.

[0090] In this embodiment, dynamic objects, especially birds, can stay on or around the power transmission tower, affecting the normal operation of the power transmission tower, and even causing damage to the power facilities. Traditionally, these animals can be driven away by physical means, but this method may increase the risk and labor cost. By playing a specific frequency audio signal through an audio player, animals can be effectively driven away by sound stimulation without touching or interfering with their normal activities, thereby reducing the potential threat to the power transmission tower. In addition, driving dynamic objects by audio signals is safer and more efficient than direct physical intervention, avoiding potential dangers caused by manual driving, especially in high-altitude operation environment, ensuring the safety of equipment and operating personnel.

[0091] Step 1062, if the category is a static object, a clamping mechanism is used to clamp the static object, a suction accessory is used to suck the static object according to the category information of the static object, and the clamping operation of the clamping mechanism is completed to clean the static object.

[0092] In this embodiment, when a static object (such as a branch, a plastic bag, cloth, and / or paper, etc.) is detected, the clamping mechanism arranged on the second automatic aircraft will clamp the static object, combined with the cleaning of the suction accessory. Static objects generally do not have the agility of dynamic objects, so they can be cleaned by physical means. The main function of the clamping mechanism is to accurately grasp the static object and remove it. At the same time, according to the different categories of static objects (such as material or size), the cleaning device adjusts the suction value of the suction accessory to ensure that the static object can be safely and effectively adsorbed and cleaned. For example, for lighter debris or small objects, a smaller suction force may be required, while for heavier or solid objects, a larger suction force is required to ensure that it is firmly adsorbed and successfully removed. This process ensures that static objects can be efficiently and accurately cleaned, avoiding potential damage to the power transmission tower or power facilities, while improving the automation and accuracy of the entire cleaning operation, reducing manual intervention, improving safety and operational efficiency.

[0093] Specifically, the second automatic aircraft hovers near the foreign matter of the power transmission tower, the second telescopic drive rod is started, and is stretched to the target position, so that the clamping device is close to the foreign matter. At the same time, the third telescopic drive rod is also started, and the suction accessory and the clamping device are synchronized to the foreign matter position. The clamping device clamps the foreign matter to ensure its stability, and the suction accessory generates suction force through the negative pressure motor and the air suction pump to firmly adsorb the foreign matter, so as to improve the stability of the clamping. The first telescopic drive rod is started, and the electrically driven scissors on the first telescopic drive rod are started after clamping and adsorbing are completed. The electrically driven scissors cut the branch, plastic bag, cloth, and / or paper foreign matter, separate the foreign matter from the power transmission tower, and move the foreign matter to the groove cavity position of the box body through the clamping device and the suction accessory. After the foreign matter is cut and separated by the electrically driven scissors, the foreign matter is transmitted into the cavity of the box body through the receiving port, so as to collect the foreign matter into the cavity and complete the cleaning of the foreign matter.

[0094] For example, the suction accessory is configured with a suction value according to the category information of the static object, and the suction accessory adsorbs the static object according to the suction value to cooperate with the clamping operation of the clamping mechanism to complete the cleaning of the static object.

[0095] wherein the suction value is represented as:

[0096]

[0097] wherein P m represents the suction value, P baseThe suction reference value is represented by S, the weight for adjusting the adsorption area is represented by γ, the scale parameter is represented by Ksc, the area of the profile data representing the foreign matter is represented by P, the reference area is represented by Pref, and the coefficient of the category information is represented by Kt, which can be 0.8 to 1 when the category information is a plastic bag and / or paper, 1 to 1.3 when the category information is cloth, and 1.3 to 1.6 when the category information is a branch. The value range of Kt can be set according to actual needs, and the application does not limit it. γ is set by a person skilled in the art based on rich practical experience to obtain an initial value, and is gradually adjusted and optimized through multiple experiments and actual application feedback to ensure the weight for adjusting the adsorption area.

[0098] In the embodiment of the application, when the first automatic aircraft is controlled to fly along the preset inspection path, the camera in the first automatic aircraft is called to collect original image data of the power transmission tower, the original image data is preprocessed to obtain target image data, the index value of the shape of the plurality of profile data in the target image data is calculated, and if the index value is greater than or equal to a preset index threshold value, the profile data is determined to be a foreign matter on the power transmission tower. The position of the foreign matter and the category of the foreign matter are generated according to the profile data, and the second automatic aircraft is controlled to fly to the position and use a cleaning device matched with the category to clean the foreign matter. Through the intelligent inspection of the power transmission tower by the automatic aircraft, the potential foreign matter is quickly screened out by calculating the shape index value of the profile data, the position and category of the foreign matter are accurately calculated based on the potential foreign matter according to the profile data, and the appropriate cleaning device is selected according to the category of the foreign matter. The combination of the two calculations not only improves the overall calculation efficiency, but also ensures the high precision of foreign matter identification and cleaning, thereby optimizing the automatic inspection and cleaning process of the aircraft, significantly improving the efficiency of the power transmission tower foreign matter inspection, reducing the labor cost and risk, and ensuring the stable operation of the power transmission tower.

[0099] Embodiment two

[0100] Figure 5 A structural schematic diagram of a foreign matter inspection device for a power transmission tower provided in the embodiment two of the application is shown in Figure 5 The device comprises:

[0101] An original image data acquisition module 501 is configured to collect original image data of a power transmission tower by calling a camera in a first automatic aircraft when the first automatic aircraft is controlled to fly along a preset inspection path.

[0102] A target image data acquisition module 502 is configured to preprocess the original image data to obtain target image data.

[0103] An index value calculation module 503 is configured to calculate the index value of the shape of a plurality of profile data in the target image data.

[0104] The foreign matter determination module 504 is configured to determine that the contour data is foreign matter on the power transmission tower if the index value is greater than or equal to a preset index threshold value.

[0105] The foreign matter information acquisition module 505 is configured to generate a position of the foreign matter and a category of the foreign matter according to the contour data.

[0106] The foreign matter cleaning module 506 is configured to control a second automatic aerial vehicle to fly to the position and clean the foreign matter by using a cleaning device matched with the category.

[0107] In an embodiment of the present application, the index value calculation module 503 comprises:

[0108] An edge image data acquisition module is configured to perform edge detection on the target image data to obtain edge image data.

[0109] A contour data extraction module is configured to extract a plurality of contour data from the edge image data.

[0110] An original area statistics module is configured to count original areas of the contour data.

[0111] An original complexity calculation module is configured to calculate original complexities in shape of the contour data according to the original areas.

[0112] A target complexity acquisition module is configured to perform normalization processing on the original complexities to obtain target complexities.

[0113] A target area acquisition module is configured to perform normalization processing on the original areas to obtain target areas.

[0114] An index value fusion module is configured to fuse the target complexities and the target areas to obtain an index value in shape for the same contour data.

[0115] In an embodiment of the present application, the index value is expressed as:

[0116]

[0117]

[0118]

[0119] QM i = α × Re i + β × Res i ;

[0120] In the formula, F ia complexity value of the i-th contour data, C i a perimeter value of the i-th contour data, P i a raw area of the i-th contour data, Re i a target complexity of the i-th contour data, F min a minimum value of the raw complexity of the plurality of contour data, F max a maximum value of the raw complexity of the plurality of contour data, Res i a target area of the i-th contour data, P min a minimum value of the raw area of the plurality of contour data, P max a maximum value of the raw area of the plurality of contour data, QM i an index value of the i-th contour data, α represents a first weight of the target complexity, and β represents a second weight of the target area.

[0121] In one embodiment of the present application, the cleaning device comprises a box fixed to the bottom of the body of the second automatic aircraft, a side recess in the side wall of the box, a receiving opening in the groove bottom wall of the side recess, an audio player on the box, and a clamping mechanism in the side recess.

[0122] The box is internally provided with a containing cavity, the side recess is provided in a recessed area of the box side wall, and the corresponding recessed area of the side recess is a groove cavity. The containing cavity is used to store the foreign matter collected and cleaned by the clamping mechanism.

[0123] In one embodiment of the present application, the clamping mechanism comprises a first telescopic driving rod arranged on the side recess, a second telescopic driving rod arranged on the side recess and corresponding below the first telescopic driving rod, a third telescopic driving rod arranged on the side recess and corresponding below the second telescopic driving rod, a negative pressure motor fixed in the containing cavity for generating negative pressure in the containing cavity, an electrically driven scissors fixed to the other end of the first telescopic driving rod, a gripper fixed to the other end of the second telescopic driving rod, and a suction accessory fixed to the third telescopic driving rod.

[0124] The first telescopic driving rod, the second telescopic driving rod, and the third telescopic driving rod are arranged in parallel with each other.

[0125] In one embodiment of the present application, the suction accessory comprises a U-shaped rod arranged horizontally and internally hollow, a plurality of suction holes arranged on the upper rod wall and the side rod wall of the U-shaped rod in sequence, a through hole arranged on the lower rod wall of the U-shaped rod, a plurality of branch conduits arranged for respectively connecting the suction holes and the through hole, a suction pump fixed on the box body, a transmission conduit arranged for respectively connecting the suction end of the suction pump and the through hole, and a control unit arranged for controlling the suction operation intensity of the suction pump; the suction pump operation realizes the suction force generated by each of the suction holes.

[0126] The plurality of branch conduits are located in the hollow structure of the U-shaped rod, the U-shaped rod is composed of two parallel side rods and a connecting rod connecting the two side rods, the side rods and the connecting rod are located on the same horizontal plane, the bottom surfaces of the side rods and the connecting rod constitute the bottom wall of the U-shaped rod, the top surfaces of the side rods and the connecting rod constitute the top wall of the U-shaped rod, and the opposite inner side surfaces of the two side rods are the side walls of the U-shaped rod.

[0127] In one embodiment of the present application, the foreign matter cleaning module 506 comprises:

[0128] A dynamic object cleaning module, configured to, if the category is a dynamic object, play a specified audio signal by using the audio player to drive away the dynamic object.

[0129] A static object cleaning module, configured to, if the category is a static object, clamp the static object by using the clamping mechanism, and clean the static object by using the suction accessory to suck the static object according to the category information of the static object, so as to cooperate with the clamping operation of the clamping mechanism.

[0130] In one embodiment of the present application, the static object cleaning module comprises:

[0131] A suction force value configuration module, configured to configure a suction force value for the suction accessory according to the category information of the static object.

[0132] A static object suction module, configured to control the suction accessory to suck the static object according to the suction force value, so as to cooperate with the clamping operation of the clamping mechanism to clean the static object.

[0133] Wherein, the suction force value is represented as:

[0134]

[0135] In the formula, P m represents the suction force value, P baserepresents a suction reference value, Kt represents a coefficient of the category information, γ represents a weight that adjusts a suction area, Ksc represents a scale parameter, P represents an area of the profile data that characterizes the foreign matter, and Pref represents a reference area.

[0136] The foreign matter inspection device for a power transmission tower provided by the embodiments of the present application can execute the foreign matter inspection method for a power transmission tower provided by any of the embodiments of the present application, and has the corresponding function modules and beneficial effects of executing the foreign matter inspection method for a power transmission tower.

[0137] Embodiment Three

[0138] Referring to Figure 6 , a structure schematic diagram of a computer device provided by an embodiment of the present application is shown. The computer device is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, mainframes, and other appropriate computers. The computer device can also represent various forms of mobile devices, such as personal digital processors, cellular telephones, smart phones, wearable devices (such as headsets, glasses, watches, etc.), and other similar computing devices. The components shown here, their connections, and their functions, as well as their implementation, are merely examples and are not intended to limit the implementations of the present application described and / or claimed herein.

[0139] As Figure 6 shown, the computer device 20 includes at least one processor 21, and a memory, such as a read-only memory (ROM) 22, a random access memory (RAM) 23, etc., which is communicatively connected to the at least one processor 21, wherein the memory stores a computer program that can be executed by the at least one processor. The processor 21 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 22 or the computer program loaded from the storage unit 28 into the random access memory (RAM) 23. In the RAM 13, various programs and data required for the operation of the computer device 20 can also be stored. The processor 21, the ROM 12, and the RAM 13 are connected to each other through a bus 24. An input / output (I / O) interface 25 is also connected to the bus 24.

[0140] The plurality of components in the computer device 20 are connected to the I / O interface 25, including: an input unit 26, such as a keyboard, a mouse, etc.; an output unit 27, such as various types of displays, speakers, etc.; a storage unit 28, such as a magnetic disk, an optical disk, etc.; and a communication unit 29, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 29 allows the computer device 20 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunication networks.

[0141] The processor 21 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 21 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 suitable processor, controller, microcontroller, and the like. The processor 21 performs various methods and processes described above, such as the foreign object inspection method of the power transmission tower.

[0142] In some embodiments, the foreign object inspection method of the power transmission tower can be implemented as a computer program tangibly embodied in a computer readable storage medium, such as the storage unit 28. In some embodiments, part or all of the computer program can be loaded and / or installed onto the computer device 20 via the ROM 12 and / or the communication unit 29. When the computer program is loaded onto the RAM 13 and executed by the processor 21, one or more steps of the foreign object inspection method of the power transmission tower described above can be performed. Alternatively, in other embodiments, the processor 21 can be configured to perform the foreign object inspection method of the power transmission tower by any other suitable means, such as by means of firmware.

[0143] 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 programmable logic device (PLD), a 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.

[0144] Computer programs used to implement the methods of the application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the computer program, when executed by the processor of the machine, implements the functions / acts specified in the flowcharts and / or block diagrams. The computer program can be executed entirely on a machine, partially on a machine, partially on a machine as a stand-alone software package, partially on a machine and partially on a remote machine or entirely on a remote machine or server.

[0145] 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 a program of instructions in a transitory signal, 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.

[0146] To provide for interaction with a user, the systems and techniques described here can be implemented on a computer 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 computer 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.

[0147] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data 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.

[0148] 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. Servers can be cloud servers, also known as cloud computing servers or cloud hosts, which are a host product in the cloud computing service system to solve the defects of great management difficulty and weak business scalability in traditional physical hosts and VPS services.

[0149] Embodiment four

[0150] The embodiment of the present application also provides a computer program product, which comprises a computer program, and the computer program is executed by a processor to realize the foreign matter inspection method of the power transmission tower provided by any of the embodiments of the present application.

[0151] The computer program product can be written in one or more programming languages or combinations of languages to implement the operational steps of the present application, including object-oriented programming languages such as Java, Smalltalk, C++, and conventional procedural programming languages such as 'C' language or similar programming languages. The program code can be executed entirely on a user computer, partially on a user computer, as an independent software package, partially on a user computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (for example, through the Internet by using an Internet service provider).

[0152] It should be understood that the steps shown in the above forms 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.

[0153] The above specific embodiments do not constitute a limitation on the scope of protection 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 replacements and improvements made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A method for inspecting foreign objects on a transmission tower, characterized in that: include: When controlling the first automatic aerial vehicle to fly along a preset inspection path, calling a camera in the first automatic aerial vehicle to collect raw image data of the transmission tower; Preprocessing the original image data to obtain target image data; Calculating shape index values ​​for a plurality of contour data in the target image data; If the index value is greater than or equal to a preset index threshold, determining that the profile data is a foreign object on the transmission tower; generating the position of the foreign object and the category of the foreign object according to the contour data; controlling a second automatic flying vehicle to fly to the location and using a cleaning device matching the category to clean the foreign matter; The step of calculating the shape index value for the plurality of contour data in the target image data includes: Performing edge detection on the target image data to obtain edge image data; extracting a plurality of contour data from the edge image data; Counting the original area of ​​each of the contour data; Calculating the original complexity of the shape of the contour data according to the original area; Normalizing each of the original complexity levels to obtain a target complexity level; Normalizing each of the original areas to obtain a target area; For the same contour data, the target complexity and the target area are integrated into a shape index value; The index value is expressed as: Where, represents the original complexity of the i-th contour data, represents the perimeter value of the i-th contour data, represents the original area of ​​the i-th contour data, represents the target complexity of the i-th contour data, represents the minimum value of the original complexity among a plurality of the contour data, represents the maximum value of the original complexity among the plurality of contour data, represents the target area of ​​the i-th contour data, represents the minimum value of the original area among the plurality of contour data, represents the maximum value of the original area among the plurality of contour data, represents the index value of the i-th profile data, A first weight representing the complexity of the target, A second weight representing the target area.

2. The method according to claim 1, wherein The cleaning device includes a box body fixed to the bottom of the body of the second automatic aircraft, a side groove on the side wall of the box body, a receiving port on the bottom wall of the groove of the side groove, an audio player on the box body, and a clamping mechanism in the side groove; Wherein, a cavity is provided inside the box body, the side groove is provided at the concave part of the box side wall relative to the box body, the corresponding concave area of ​​the side groove is the groove cavity, and the cavity is used to store the foreign matter collected and cleaned by the clamping mechanism.

3. The method according to claim 2, wherein The clamping mechanism includes a first telescopic drive rod provided on the side groove, a second telescopic drive rod provided on the side groove and correspondingly located below the first telescopic drive rod, a third telescopic drive rod provided on the side groove and correspondingly located below the second telescopic drive rod, a negative pressure motor fixed in the cavity for generating negative pressure in the cavity, an electric driven scissors fixed to the other end of the first telescopic drive rod, a clamper fixed to the other end of the second telescopic drive rod, and an adsorption member fixed to the third telescopic drive rod; Wherein, the first telescopic driving rod, the second telescopic driving rod and the third telescopic driving rod are arranged parallel to each other.

4. The method according to claim 3, wherein The adsorption member includes a horizontally arranged U-shaped rod with a hollow interior, a plurality of adsorption holes sequentially arranged on the upper rod wall and the side rod wall of the U-shaped rod, a through hole arranged on the lower rod wall of the U-shaped rod, a plurality of ducts for connecting the adsorption holes with the through holes respectively, an air suction pump fixed to the box body, a transmission duct for connecting the air suction end of the air suction pump with the through holes respectively, and a control unit for controlling the air suction operation intensity of the air suction pump; the operation of the air suction pump enables each of the adsorption holes to generate an adsorption force; The multi-branch catheter is located in the hollow structure of the U-shaped rod, and the U-shaped rod is composed of two parallel side rods and a connecting rod connecting the two side rods. The side rods and the connecting rod are located on the same horizontal plane. The bottom surfaces of the side rods and the connecting rod constitute the bottom wall of the U-shaped rod, and the top surfaces of the side rods and the connecting rod constitute the top wall of the U-shaped rod. The inner surfaces of the two side rods facing each other are the side walls of the U-shaped rod.

5. The method according to any one of claims 2 to 4, characterized in that: The method of using a cleaning device that matches the category to clean the foreign matter includes: If the category is a dynamic object, using the audio player to play a specified audio signal to drive away the dynamic object; If the category is a static object, the clamping mechanism is used to clamp the static object, and the adsorption component is used to adsorb the static object according to the category information of the static object to cooperate with the clamping operation of the clamping mechanism to complete the cleaning of the static object.

6. The method according to claim 5, characterized in that Adsorbing the static object using the adsorbent according to the category information of the static object includes: configuring a suction value for the adsorbent according to the category information of the static object; Controlling the adsorption member to adsorb the static object according to the suction value to cooperate with the clamping operation of the clamping mechanism to complete the cleaning of the static object; Wherein, the suction value is expressed as: Where, represents the suction value, Indicates the suction reference value, The coefficient representing the category information, represents the weight for adjusting the adsorption area, Ksc represents a scaling parameter, P represents the area of ​​the contour data characterizing the foreign matter, and Pref represents a reference area.

7. A foreign body inspection device for a transmission tower, characterized in that: include: a raw image data acquisition module, configured to call a camera in the first autonomous aircraft to collect raw image data of the transmission tower when controlling the first autonomous aircraft to fly along a preset inspection path; A target image data acquisition module, configured to pre-process the original image data to obtain target image data; An index value calculation module, configured to calculate an index value on a shape of a plurality of contour data in the target image data; a foreign object determination module, configured to determine that the profile data is a foreign object on the transmission tower if the index value is greater than or equal to a preset index threshold; A foreign body information acquisition module, configured to generate the position and category of the foreign body according to the contour data; a foreign matter cleaning module, configured to control the second automatic aerial vehicle to fly to the location and clean the foreign matter using a cleaning device matching the category; The indicator value calculation module includes: An edge image data acquisition module is used to perform edge detection on the target image data to obtain edge image data; A contour data extraction module, configured to extract a plurality of contour data from the edge image data; An original area statistics module, used for counting the original area of ​​each of the contour data; An original complexity calculation module, configured to calculate the original complexity of the shape of the contour data according to the original area; A target complexity acquisition module is used to normalize each of the original complexities to obtain a target complexity; a target area acquisition module, configured to normalize each of the original areas to obtain a target area; An index value fusion module, configured to fuse the target complexity and the target area into a shape index value for the same contour data; The index value is expressed as: Where, represents the original complexity of the i-th contour data, represents the perimeter value of the i-th contour data, represents the original area of ​​the i-th contour data, represents the target complexity of the i-th contour data, represents the minimum value of the original complexity among a plurality of the contour data, represents the maximum value of the original complexity among the plurality of contour data, represents the target area of ​​the i-th contour data, represents the minimum value of the original area among the plurality of contour data, represents the maximum value of the original area among the plurality of contour data, represents the index value of the i-th profile data, A first weight representing the complexity of the target, A second weight representing the target area.

8. A computer device, characterized in that: The computer device comprises: one or more processors; a storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the foreign object inspection method for a transmission tower as described in any one of claims 1-6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the foreign object inspection method for a transmission tower as described in any one of claims 1 to 6 is implemented.

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