Automatic connection method and device suitable for high-altitude intelligent terminal debugging

Abstract

The invention relates to an automatic connection method and device suitable for debugging of a high-place intelligent terminal, and the method comprises the following steps: connecting the device with a computer when the device needs to be connected with the high-place intelligent terminal, starting the device, lifting the device, and starting a camera to shoot the high-place intelligent terminal; the device collects image information of the intelligent terminal in real time and preprocesses the image information to obtain initial image information; performing feature information extraction on the initial image, detecting the integrity of the shot image, if the shot image is complete, skipping to the next step, and if the shot image is incomplete, adjusting the position of the device to obtain the initial image again for judgment; constructing a coordinate system according to the feature information and position information in the initial image, and acquiring coordinate information of a debugging interface of the high intelligent terminal; according to the device, the intelligent terminal at a high position can be automatically connected on the ground, then the testing process is completed, the operation safety is improved, the working efficiency is improved, and the use scene is widened.

Description

Technical Field

[0001] The present invention belongs to the technical field of power transmission maintenance, and in particular relates to an automatic connection method and device suitable for debugging a high-altitude intelligent terminal. Background Art

[0002] The feeder terminal unit (FTU) on the transmission line pole is a smart terminal located at a high altitude. Currently, it is usually necessary to climb up when debugging and connecting. However, this operation has some problems and hidden dangers. FTU is usually installed at a high altitude on the transmission line pole. Inspection and maintenance require additional time and resources to prepare climbing equipment, which increases the overall cost of the project. On the one hand, there is a risk of falling when working at high altitude. On the other hand, there may be problems such as wind influence and limited space when connecting lines in a high altitude environment, which increases the complexity and difficulty of the operation.

[0003] Therefore, there is an urgent need for an intelligent terminal debugging automatic connection method and device that can automatically connect on the ground without climbing. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide an automatic connection device and related methods suitable for debugging high-altitude intelligent terminals. The device can automatically connect the high-altitude intelligent terminals on the ground, thereby completing the testing process.

[0005] The technical solution adopted by the present invention to solve the problems existing in the prior art is:

[0006] A method for automatically connecting a high-altitude intelligent terminal using the device of the present application comprises the following steps:

[0007] Step S1: When it is necessary to connect to a high-altitude intelligent terminal, connect the device to a computer, turn on the device, raise the device and turn on the camera to shoot the high-altitude intelligent terminal;

[0008] Step S2: The device collects image information of the intelligent terminal in real time, and pre-processes the image information to obtain initial image information;

[0009] Step S3, extracting feature information from the initial image, detecting the integrity of the captured image, if the captured image is complete, jumping to the next step, if the captured image is incomplete, adjusting the position of the device to re-acquire the initial image for judgment;

[0010] Step S4: construct a coordinate system according to the feature information position information in the initial image, and obtain the coordinate information of the high-altitude intelligent terminal debugging interface;

[0011] Step S5, adjusting the device state, moving the plug-in module to the interface, inserting and connecting it, and performing interface testing.

[0012] Preferably, the preprocessing of the image information is specifically to perform dedistortion correction processing on the image information to obtain initial image information.

[0013] Preferably, the feature information extraction is specifically:

[0014] Step S31: The initial image is detected by using the canny edge detection operator to obtain edge pixels, and the local gradient of the edge pixels is calculated by using the sobel operator to obtain the normal direction of the circular tangent and the position of the center of the circle, and obtain all the arcs in the initial image whose center angles are greater than the threshold value;

[0015] Step S32: obtaining a radius data set according to the arc edge pixels and the center of the circle, performing feature point image cropping on the original image, and distinguishing the feature point types according to the radius information.

[0016] Step S33: The neural network recognizes the interface area image, identifies various types of interfaces and current interface status;

[0017] Preferably, the feature point types are specifically distinguished as follows:

[0018] Distinguish the information of the interface and the fixing bolt according to the radius information;

[0019] Obtain the edge information and the center position information of the fixing bolts, and determine the number of the identified fixing bolts. If the identified number is the set value n, proceed to the next step. If the identified number is less than the set value n, supplement the virtual bolts according to the identified bolt positions and the center positions, so that the number of bolts reaches the set value n.

[0020] Number the bolts: Starting from the bolts at the axis of symmetry, they are numbered in clockwise order as b1, b2, ..., b n ;

[0021] Connect the center of the overall contour of the smart terminal and the center of the bolt contour in the initial image in sequence, and divide the smart terminal image into a 12 、a 23 , ..., a (n-1)n 、a 1n n regions;

[0022] Obtain the tangent line segment of the edge of the plug interface through the center of the circle of the overall outline of the smart terminal, and obtain the minimum center angle of the adjacent tangents in the five areas of the smart terminal respectively, which is the minimum center angle of the arc gap allowed in the area. If there is no tangent in the current area, add one unit area to both sides and then search for the adjacent tangent;

[0023] Preferably, the step of detecting the integrity of the captured image is as follows:

[0024] According to the known radius information of the high-altitude smart terminal, the edge pixel information and origin coordinate information of the high-altitude smart terminal in the original image are obtained, and the integrity of the captured image is judged according to the comparison between the edge integrity of each area and the maximum angle of the missing edge center angle α and the minimum center angle of the arc gap allowed to exist in the area.

[0025] Preferably, the position of the adjustment device is specifically the angle and distance required to be adjusted according to the central angle calculation device of the missing part of each area, and the position of the camera module is adjusted by a rotating motor. If the central angle is still missing after calculation, the specific adjustment angle and distance are displayed through the control terminal.

[0026] Preferably, the construction coordinate system is specifically:

[0027] The standard coordinate system with the initial origin as the center of the picture is offset according to the edge center of the smart terminal. After the offset, the center is selected as the edge center of the smart terminal, and the specific coordinates of each interface are obtained.

[0028] Preferably, the coordinate information of the high-altitude intelligent terminal debugging interface is obtained specifically as follows:

[0029] Build a neural network to learn interface images;

[0030] Import the image information of the interface area into the neural network for training and complete the recognition analysis;

[0031] According to the recognition results, the interface status and interface category are marked and the coordinate position of the interface to be connected is obtained.

[0032] Preferably, the state of the regulating device is specifically:

[0033] The image of the interface to be connected is used to identify the interface orientation through opencv, and the plug-in module of the adjustment device adjusts the state of the test plug and then performs the insertion test.

[0034] An automatic connection device suitable for debugging a high-altitude intelligent terminal, characterized in that it comprises a plug-in module, a camera module and a control terminal, the plug-in module further comprises a plug-in mechanism and a moving mechanism, the plug-in mechanism comprises an interface clamping structure, an interface telescopic structure and a pressing structure, the moving mechanism comprises a telescopic structure and a hollow rotating motor, and a controller is also provided in the device;

[0035] The plug-in and pull-out mechanism is used to insert and connect at the interface and perform interface testing, and the moving mechanism is used to adjust the specific positions of the camera module and the plug-in and pull-out mechanism;

[0036] The camera module is used to collect image information of the smart terminal;

[0037] The controller is used to extract feature information of the initial image after preprocessing the image information to obtain initial image information, detect the integrity of the captured image, construct a coordinate system based on the feature information position information in the initial image, and obtain the coordinate information of the high-altitude intelligent terminal debugging interface.

[0038] Compared with the prior art, the present invention has the following beneficial effects:

[0039] 1. Improved operational safety: Through the automation mechanism, the operator is less likely to come into direct contact with high-voltage equipment, reducing the risk of electric shock and falling. The telescopic function allows the operator to complete the plugging and unplugging operations on the ground or on a safe platform without approaching the live object, ensuring that the operator and the smart terminal maintain a safe distance.

[0040] 2. Improved work efficiency: The automated plug-in and unplug process greatly shortens the time for testing and inspecting FTUs, and improves the work efficiency of power system maintenance. Due to the reduction of manual operations, subsequent inspections and maintenance become simpler and faster, reducing labor costs and technical difficulties.

[0041] 3. Broadened the use scenarios: It is applicable to both acceptance tests before installation and daily inspections after installation on poles, and avoids the situation where the FTU wiring lines are blocked during daily inspections, affecting the recognition of feature points and causing connection failures. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0043] Figure 1 This is a flow chart of an automatic connection method for debugging a high-altitude intelligent terminal according to the present invention.

[0044] Figure 2 This is a flow chart of feature information extraction for a method of automatic connection for debugging a high-altitude intelligent terminal according to the present invention.

[0045] Figure 3 This is a schematic diagram of an automatic connection device suitable for debugging a high-altitude intelligent terminal according to the present invention.

[0046] In the figure: 1 plug, 2 interface telescopic mechanism, 3 camera, 4 interface telescopic structure, 5 pressing structure, 6 hollow rotating motor, 7 telescopic structure, 8 switch button, 9 foldable bracket. DETAILED DESCRIPTION

[0047] For example, certain words are used in the specification and claims to refer to specific components. Those skilled in the art should understand that hardware manufacturers may use different terms to refer to the same component. This specification and claims do not use differences in names as a way to distinguish components, but use differences in the functions of components as the criteria for distinction. For example, "including" mentioned throughout the specification and claims is an open term, so it should be interpreted as "including but not limited to". "Approximately" means that within an acceptable error range, those skilled in the art can solve the technical problem within a certain error range and basically achieve the technical effect.

[0048] The following is combined with Figures 1 to 3 The automatic connection method and device applicable to high-altitude intelligent terminal debugging in the present invention are further described in detail, but this is not intended to limit the present invention.

[0049] like Figure 3 The automatic connection device suitable for debugging a high-altitude intelligent terminal is shown, comprising a plug-in module, a camera module and a control terminal. The plug-in module further comprises a plug-in mechanism and a moving mechanism. The plug-in mechanism comprises an interface clamping structure, an interface telescopic structure and a pressing structure. The upper part of the interface telescopic structure is movably connected with an interface clamping structure. The interface clamping structure is specifically composed of two symmetrical left and right parts, with a semicircular hollow in the middle. The radius of the circle is larger than the connection line and smaller than the radius of the connection plug. When used for the first time, open the interface clamping structure first, and insert the connecting cable from the top downward. The pressing structure is specifically provided with a driving motor inside, and the driving motor drives the gear to drive the pressing arm to move toward the joint.

[0050] In this embodiment, the connection plug is specifically a crystal plug. The interface telescopic structure is set as an internal hollow structure, which can realize the connection line passing through the middle. After completing the position recognition, the connection of the connection plug is completed through the interface telescopic structure. The moving mechanism includes a telescopic structure and a hollow rotating motor. Among them, the telescopic structure can realize the extension of the device and complete the connection task at a high place, and the hollow rotating motor can realize the adjustment of the angle of the plug-in module and the camera module. The device is also provided with a switch button, and a foldable bracket is provided at the end of the device.

[0051] The camera module is specifically a camera device, and in this embodiment, it is specifically a camera structure. The control terminal includes a remote control terminal, and the device also includes a controller, which is located inside the device and electrically connected to the remaining structures to control the movement of the mechanism and algorithm processing. The remote control terminal is specifically a mobile terminal, which communicates with the controller through a wireless connection to start the device, view the camera image in real time, view the image analysis results, and view the connection test results.

[0052] The specific structure of the commonly used FTU at present is a clock structure, with an interface panel at the bottom, which is fixed by five bolts. The interface types in the interface panel include various aviation plug interfaces, network interfaces, etc. When in use, the lines are connected through various interfaces to obtain the current line status.

[0053] like Figures 1-2 The following is an automatic connection method for debugging a high-altitude intelligent terminal, specifically:

[0054] Step S1, when it is necessary to connect to a high-altitude smart terminal, connect the device to a computer, turn on the device, raise the device and turn on the camera to shoot the high-altitude smart terminal.

[0055] The specific process is: the connection socket and the connection wire pass through the interface telescopic structure and extend from the bottom, one end is fixed above the card structure due to the interface card structure, and the other end is connected to the test end of the smart terminal, which is usually a mobile computer for testing. The device is turned on by pressing the device button, the device is raised and the camera is turned on to shoot the smart terminal at a high place.

[0056] Step S2: The device collects image information of the intelligent terminal in real time, and pre-processes the image information to obtain initial image information.

[0057] The preprocessing of the image information specifically includes de-distortion correction of the image information to obtain the initial image information. Since the camera lens will cause distortion of the captured image, and the image distortion will cause the recognition error of this method, it is necessary to perform image de-distortion correction algorithm for processing.

[0058] In this embodiment, a binary polynomial is used to correct the collective position of the image points. Specifically, the relationship between the spatial coordinates (u, v) of the standard image and the spatial coordinates (u′, v′) of the corrected distorted image is described by the following polynomial.

[0059]

[0060] Step S3, extract feature information from the initial image and detect the integrity of the captured image. If the captured image is complete, jump to the next step. If the captured image is incomplete, adjust the position of the device and re-acquire the initial image for judgment.

[0061] Since this method has two usage scenarios when debugging high-altitude intelligent terminals, namely daily testing, maintenance, and device acceptance, and further has two states when in use, namely, a large number of line connections and no line connections. Therefore, this method should be applicable to all usage scenarios. This method can avoid the loss of recognition feature points caused by cable occlusion in image recognition, which affects the recognition results.

[0062] The specific steps of feature information extraction in this method are:

[0063] Step S31: The initial image obtains edge pixels through the canny edge detection operator, calculates the local gradient of the edge pixels through the sobel operator, and then obtains the normal direction of the circular tangent and the center position of the circle, and obtains all arcs in the initial image whose center angles are greater than the threshold.

[0064] Step S32: obtaining a radius data set according to the arc edge pixels and the center of the circle, performing feature point image cropping on the original image, and distinguishing the feature point types according to the radius information.

[0065] The feature point types are specifically classified as follows:

[0066] The information of the interface and the fixing bolt is distinguished based on the radius information.

[0067] Obtain the edge information and center position information of the fixing bolts, and determine the number of identified fixing bolts. If the identified number is the set value n, proceed to the next step. If the identified number is less than the set value n, supplement it according to the identified bolt position and center position.

[0068] The bolts are numbered in clockwise order starting from the bolts at the axis of symmetry, namely b1, b2, ..., b n .

[0069] Connect the center of the overall contour of the intelligent terminal and the center of the bolt contour in sequence, so the intelligent terminal is divided into a 12 、a 23 , ..., a (n-1)n 、a 1n n regions.

[0070] In this embodiment, the set value is specifically five, which is related to the specific number of bolts of the FTU required to be used.

[0071] Get the tangent line segment of the edge of the plug interface through the center of the circle of the overall outline of the smart terminal, and get the minimum center angle of the adjacent tangents in the five areas of the smart terminal respectively, which is the minimum center angle of the arc gap allowed to exist in the area. If there is no tangent in the current area, add one unit area to both sides and then search for the adjacent tangent.

[0072] Step S33: The neural network recognizes the interface area image, identifies various types of interfaces and current interface states.

[0073] The determination and detection of the integrity of the captured image is specifically as follows:

[0074] According to the known radius information of the high-altitude smart terminal, the edge pixel information and origin coordinate information of the high-altitude smart terminal in the original image are obtained, and the integrity of the captured image is judged according to the comparison between the edge integrity of each area and the maximum angle of the missing edge center angle α and the minimum center angle of the arc gap allowed to exist in the area.

[0075] The position of the adjustment device is specifically to calculate the distance that the device needs to adjust according to the central angle of the missing part of each area and adjust the position of the camera module through the moving mechanism. If the structure of the device itself cannot complete the adjustment to achieve the capture of a complete picture, the device sends information to the mobile terminal to remind the operator of the specific moving direction of the device to achieve the overall movement of the device.

[0076] Step S4: construct a coordinate system based on the feature information position information in the initial image, and obtain the coordinate information of the high-altitude intelligent terminal debugging interface.

[0077] The construction of the coordinate system is specifically to offset the standard coordinate system with the initial origin as the center of the picture according to the edge center of the smart terminal, and the center after offset is selected as the edge center of the smart terminal, and the specific coordinates of each interface are obtained.

[0078] The acquisition of the coordinate information of the debugging interface of the high-altitude intelligent terminal is specifically to construct a neural network and learn the interface image. The image information of the interface area is imported into the neural network for training to complete the recognition analysis. The interface status and interface category are marked according to the recognition result and the coordinate position of the interface to be connected is obtained.

[0079] Step S5, adjusting the device state, moving the plug-in module to the interface, inserting and connecting it, and performing interface testing.

[0080] The state of the regulating device is specifically as follows: the image of the interface to be connected is used to identify the interface orientation through opencv, and the plug-in module of the regulating device adjusts the state of the test plug and then performs the insertion test.

[0081] The interface test specifically includes sending a signal to a high-placed smart terminal through a mobile terminal to detect whether a feedback signal sent from the smart terminal is received. If a feedback signal is received, the connection is completed; if no feedback signal is received, the connection telescopic device is retracted to identify and adjust the position again, and the connection process is repeated.

[0082] The specific use process of this method and device is as follows:

[0083] After the tester completes the line connection of the device, it is connected to the test computer, and the device is turned on directly below the high mobile terminal, and the device is placed on the ground. According to the image integrity information sent by the device to the test computer, it is determined whether the position needs to be adjusted. After obtaining the complete image, the device is connected by connecting the telescopic structure, and the tester performs the conventional high-altitude intelligent terminal test.

[0084] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge scope of ordinary technicians in the relevant technical field without departing from the purpose of the present invention.

Claims

1. A method for automatic connection of intelligent terminal debugging at high altitude, characterized in that: The following steps are involved: Step S1: When it is necessary to connect to a high-altitude intelligent terminal, connect the device to a computer, turn on the device, raise the device and turn on the camera to shoot the high-altitude intelligent terminal; Step S2: The device collects image information of the intelligent terminal in real time, and pre-processes the image information to obtain initial image information; Step S3, extracting feature information from the initial image, detecting the integrity of the captured image, if the captured image is complete, jumping to the next step, if the captured image is incomplete, adjusting the position of the device to re-acquire the initial image for judgment; Step S4: construct a coordinate system according to the feature information position information in the initial image, and obtain the coordinate information of the high-altitude intelligent terminal debugging interface; Step S5, adjusting the device state, moving the plug-in module to the interface, inserting and connecting it, and performing interface testing.

2. According to claim 1, a method for automatic connection of high-altitude intelligent terminal debugging is characterized in that: The preprocessing of the image information specifically includes performing a dedistortion correction process on the image information to obtain initial image information.

3. According to claim 1, a method for automatic connection of high-altitude intelligent terminal debugging is characterized in that: The feature information extraction is specifically as follows: Step S31: The initial image is detected by using the canny edge detection operator to obtain edge pixels, and the local gradient of the edge pixels is calculated by using the sobel operator to obtain the normal direction of the circular tangent and the position of the center of the circle, and obtain all arcs in the initial image whose center angles are greater than a threshold value; Step S32: obtaining a radius data set according to the arc edge pixels and the center of the circle, performing feature point image cropping on the original image, and distinguishing the feature point types according to the radius information. Step S33: The neural network recognizes the interface area image, identifies various types of interfaces and current interface states.

4. According to claim 3, a method for automatic connection of high-altitude intelligent terminal debugging is characterized in that: The types of feature points are specifically divided into: Distinguish the information of the interface and the fixing bolt according to the radius information; Obtain the edge information and the center position information of the fixing bolts, and determine the number of the identified fixing bolts. If the identified number is the set value n, proceed to the next step. If the identified number is less than the set value n, supplement the virtual bolts according to the identified bolt positions and the center positions, so that the number of bolts reaches the set value n. Number the bolts: Starting from the bolts at the axis of symmetry, they are numbered in clockwise order as b1, b2, ..., b n ; Connect the center of the overall contour of the smart terminal and the center of the bolt contour in the initial image in sequence, and divide the smart terminal image into a 12 、a 23 , ..., a (n-1)n 、a 1n n regions; Get the tangent line segment of the edge of the plug interface through the center of the circle of the overall outline of the smart terminal, and get the minimum center angle of the adjacent tangents in the five areas of the smart terminal respectively, which is the minimum center angle of the arc gap allowed to exist in the area. If there is no tangent in the current area, add one unit area to both sides and then search for the adjacent tangent.

5. According to claim 4, a method for automatic connection of high-altitude intelligent terminal debugging is characterized in that: The detection of the integrity of the captured image is specifically as follows: According to the known radius information of the high-altitude smart terminal, the edge pixel information and origin coordinate information of the high-altitude smart terminal in the original image are obtained, and the integrity of the captured image is judged according to the comparison between the edge integrity of each area and the maximum angle of the missing edge center angle α and the minimum center angle of the arc gap allowed to exist in the area.

6. The automatic connection method for debugging a high-altitude intelligent terminal according to claim 5 is characterized in that: The position of the adjustment device is specifically based on the angle and distance that the central angle calculation device needs to adjust according to the missing part of each area, and the position of the camera module is adjusted by a rotating motor. If the central angle is still missing after calculation, the specific adjustment angle and distance are displayed through the control terminal.

7. The automatic connection method for debugging a high-altitude intelligent terminal according to claim 1 is characterized in that: The construction coordinate system is specifically: The standard coordinate system with the initial origin as the center of the picture is offset according to the edge center of the smart terminal. After the offset, the center is selected as the edge center of the smart terminal, and the specific coordinates of each interface are updated.

8. The automatic connection method for debugging a high-altitude intelligent terminal according to claim 1 is characterized in that: The coordinate information of the high-altitude intelligent terminal debugging interface is obtained as follows: Build a neural network to learn interface images; Import the image information of the interface area into the neural network for training and complete the recognition analysis; According to the recognition results, the interface status and interface category are marked and the coordinate position of the interface to be connected is obtained.

9. The automatic connection method for debugging a high-altitude intelligent terminal according to claim 1, characterized in that: The state of the regulating device is specifically: The image of the interface to be connected is used to identify the interface orientation through opencv, and the plug-in module of the adjustment device adjusts the state of the test plug and then performs the insertion test.

10. An automatic connection device suitable for debugging a high-altitude intelligent terminal, characterized in that: It includes a plug-in module, a camera module and a control terminal. The plug-in module includes a plug-in mechanism and a moving mechanism. The plug-in mechanism includes an interface clamping structure, an interface telescopic structure and a pressing structure. The moving mechanism includes a telescopic structure and a hollow rotating motor. A controller is also provided in the device. The plug-in and pull-out mechanism is used to perform insertion connection at the interface and to perform interface testing, and the moving mechanism is used to adjust the specific positions of the camera module and the plug-in and pull-out mechanism; The camera module is used to collect image information of the smart terminal; The controller is used to extract feature information of the initial image after preprocessing the image information to obtain initial image information, detect the integrity of the captured image, construct a coordinate system based on the feature information position information in the initial image, and obtain the coordinate information of the high-altitude intelligent terminal debugging interface.

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