GIS room intelligent inspection terminal, equipment positioning method and abnormal area detection method

Abstract

The invention discloses a GIS room intelligent inspection terminal, an equipment positioning method and an abnormal area detection method.The inspection terminal comprises a vehicle body assembly, a binocular camera shooting assembly, a sensor assembly, a lifting assembly and a control unit, and the binocular camera shooting assembly, the sensor assembly and the lifting assembly are arranged on the vehicle body assembly; the control unit is connected with the binocular camera shooting assembly and the sensor assembly. The lifting assembly is used for lifting the vehicle body assembly; the binocular camera shooting assembly is used for calling two cameras to obtain GIS room images from different angles; the sensor assembly is used for collecting indoor data of the GIS room; and the control unit is used for carrying out indoor positioning according to the GIS room image acquired by the binocular camera shooting assembly, so that visual dead angles and visual blind areas can be reduced, collision between the inspection terminal and equipment in the GIS room is avoided, and anomaly detection is carried out according to the image acquired by the binocular camera shooting assembly and indoor data acquired by the sensor assembly so as to improve the detection precision.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of equipment inspection, and in particular to a GIS room intelligent inspection terminal, an equipment positioning method and an abnormal area detection method. BACKGROUND

[0002] The GIS room generally refers to a device installation and operation space of a gas insulated substation (GIS) in a power system. The GIS room is an important component of a substation. The facility realizes insulation by sealing high-voltage electrical equipment in a metal container filled with sulfur hexafluoride (SF6) gas. The GIS room is a metal-enclosed switchgear that uses gas as an insulating medium instead of air at atmospheric pressure, which forms a high-temperature and closed environment and is filled with a toxic gas environment, greatly increasing the cost and danger of manual operation.

[0003] Because of various operation hazards in the GIS room, in order to safely detect the environment in the GIS room, the commonly used technology is to design an automatically movable inspection robot, which can replace manual operation to perform these high-risk and high-intensity inspection tasks. Among them, the commonly used inspection robot is a wheeled robot, and a laser radar and a mechanical arm are configured on the robot. The bottom of the mechanical arm is equipped with a lifting mechanism to cover the GIS equipment at a high place, and a temperature sensor and a gas sensor are arranged at the end of the mechanical arm, and the data collected by the temperature sensor and the gas sensor are used to determine whether the GIS room is abnormal.

[0004] However, the current commonly used method has the following technical problems: the GIS room environment is chaotic (for example, the equipment positions are not uniform and the pipeline wiring is complex), there are visual dead angles through a single laser radar, collisions are prone to occur, making it difficult for the robot to move; if moving along a single route, the data detected by the sensor is one-sided, and the detection accuracy is low due to a large deviation from the GIS room environment. SUMMARY

[0005] The present application provides a GIS room intelligent inspection terminal, an equipment positioning method and an abnormal area detection method, which can solve the technical problems of the inspection robot moving vision having dead angles and the detection data having deviations and low detection accuracy in the prior art.

[0006] A first aspect of the embodiment of the present application provides a GIS room intelligent inspection terminal, which comprises a vehicle body assembly, a binocular camera assembly, a sensor assembly, a lifting assembly and a control unit, the binocular camera assembly, the sensor assembly and the lifting assembly are respectively arranged on the vehicle body assembly, and the control unit is connected with the binocular camera assembly and the sensor assembly respectively.

[0007] The lifting assembly is used for lifting the vehicle body assembly for movement of the vehicle body assembly.

[0008] The binocular camera assembly is used for acquiring GIS room images from different angles by two cameras through a stereo vision technology.

[0009] The sensor assembly is used for collecting indoor data of the GIS room.

[0010] The control unit is used for indoor positioning according to the GIS room images collected by the binocular camera assembly and anomaly detection according to the GIS room images collected by the binocular camera assembly and the indoor data collected by the sensor assembly.

[0011] The binocular camera assembly is used for acquiring GIS room images from different angles, and the control unit controls and positions through the images from different angles, so that the visual dead angle and visual blind area can be reduced, and the robot can be prevented from colliding with the equipment in the GIS room; meanwhile, the vision is widened, the user can control the movement of the robot according to the images, the robot can move to different areas and collect data in different areas, the data deviation is reduced, and the detection precision is improved.

[0012] In combination with the first aspect, in an implementation manner, the binocular camera assembly comprises a binocular camera, an infrared scanner, a fixing frame, a camera support, a camera cylindrical pin and a rotating disc.

[0013] The infrared scanner is arranged at the side of the camera head of the binocular camera, the binocular camera is arranged on the fixing frame, the fixing frame is arranged on the camera support through the camera cylindrical pin, and the camera support is arranged on the rotating disc.

[0014] In combination with the first aspect, in an implementation manner, the sensor assembly comprises a sensor support, a transmission support, a sensor stand, a gas sensor and a temperature sensor.

[0015] The gas sensor and the temperature sensor are arranged on the sensor stand respectively, the sensor stand is arranged on the transmission support, and the transmission support is arranged on the sensor support.

[0016] In combination with the first aspect, in an implementation manner, the lifting assembly comprises a moving support, a fixed support, a gear top cover, an eccentric gear, a first lifting cylindrical pin and a second lifting cylindrical pin.

[0017] The fixed support is arranged on the moving support, the eccentric gear is arranged on the gear top cover, the gear top cover is arranged on the fixed support through the first lifting cylindrical pin, and the second lifting cylindrical pin is arranged on the moving support.

[0018] The second aspect of the embodiment of the present application provides a device positioning method based on a GIS room intelligent inspection terminal, and the method comprises the following steps:

[0019] Two indoor images are acquired based on the GIS room intelligent inspection terminal, wherein the two indoor images are images of the GIS indoor environment captured from different angles by using a binocular camera;

[0020] Object depth information is determined based on matching points of the two indoor images, wherein the matching points are the same pixel points of the same object in the two indoor images;

[0021] Real-time positioning of GIS indoor equipment is determined according to the object depth information.

[0022] In combination with the second aspect, in an implementation mode, the object depth information is determined based on the matching points of the two indoor images, which comprises the following steps:

[0023] After the two indoor images are corrected, image key points of the two indoor images are extracted, and the image key points are sequentially matched and eliminated to obtain the matching points of the two indoor images;

[0024] An image parallax value is determined according to the position deviation of the matching points of the two indoor images in the images;

[0025] The object depth information is determined based on the image parallax value and camera parameters.

[0026] In combination with the second aspect, in an implementation mode, the real-time positioning of GIS indoor equipment is determined according to the object depth information, which comprises the following steps:

[0027] The object depth information is converted into three-dimensional coordinates in a camera coordinate system to obtain three-dimensional point cloud information;

[0028] The three-dimensional point cloud information is converted into coordinates in a preset coordinate system to obtain positioning coordinate information, wherein the preset coordinate system is a world coordinate system constructed by the GIS room intelligent inspection terminal according to a preset reference point in the GIS room;

[0029] The real-time positioning of GIS indoor equipment is determined according to the positioning coordinate information.

[0030] The third aspect of the embodiment of the present application provides an abnormal area detection method based on a GIS room intelligent inspection terminal, and the method comprises the following steps:

[0031] Obtain image information and detection information respectively, the image information is GIS room image obtained by the binocular camera assembly of the GIS room intelligent inspection terminal, and the detection information is indoor data of the GIS room collected by the sensor assembly of the GIS room intelligent inspection terminal;

[0032] Perform multi-modal fusion on the image information and the detection information to obtain fusion information;

[0033] Generate a data distribution map using the fusion information, and determine an abnormal area of the GIS room according to a value of the data distribution map.

[0034] In combination with the third aspect, in an implementation manner, the multi-modal fusion on the image information and the detection information to obtain fusion information comprises:

[0035] Perform unified processing on the image information and the detection information respectively to obtain image processing information and detection processing information, and the unified processing comprises timestamp alignment and space calibration;

[0036] Map image pixel points of the image processing information to three-dimensional coordinates to obtain image space coordinates;

[0037] Map values of the detection processing information to the image space coordinates to obtain fusion information.

[0038] In combination with the third aspect, in an implementation manner, the generation of a data distribution map using the fusion information and the determination of an abnormal area of the GIS room according to a value of the data distribution map comprises:

[0039] Construct a space scene using the fusion information, and perform space interpolation on the space scene to obtain a data distribution map;

[0040] Extract a data abnormal value from the data distribution map, and determine a coordinate of the data abnormal value to obtain an abnormal area, wherein the data abnormal value is greater than a preset threshold value.

[0041] Compared with the prior art, the GIS room intelligent inspection terminal, the equipment positioning method and the abnormal area detection method provided by the embodiment of the application have the beneficial effects that: the GIS room intelligent inspection terminal comprises a vehicle body assembly, a binocular camera assembly, a sensor assembly, a lifting assembly and a control unit; the binocular camera assembly is used to shoot images in the GIS room from different angles, and the control unit is used to control and position according to the images from different angles, so that the visual dead angle and the visual blind area can be reduced, and the robot can be prevented from colliding with the equipment in the GIS room; meanwhile, the visual field is widened, the user can control the movement of the robot according to the images, the robot can move to different areas and collect data in different areas, the data deviation is reduced, and the detection accuracy is improved. BRIEF DESCRIPTION OF DRAWINGS

[0042] Figure 1 is a structural schematic diagram of a GIS room intelligent inspection terminal provided by an embodiment of the application;

[0043] Figure 2 is a structural schematic diagram of the top surface of a GIS room intelligent inspection terminal provided by an embodiment of the application;

[0044] Figure 3 is a structural schematic diagram of a binocular camera assembly provided by an embodiment of the application;

[0045] Figure 4 is a structural schematic diagram of a sensor assembly provided by an embodiment of the application;

[0046] Figure 5 is a structural schematic diagram of a lifting assembly provided by an embodiment of the application;

[0047] Figure 6 is a flowchart of an equipment positioning method based on a GIS room intelligent inspection terminal provided by an embodiment of the application;

[0048] Figure 7 is a flowchart of an abnormal area detection method based on a GIS room intelligent inspection terminal provided by an embodiment of the application;

[0049] Figure 8 is a structural schematic diagram of an equipment positioning device based on a GIS room intelligent inspection terminal provided by an embodiment of the application;

[0050] Figure 9 is a structural schematic diagram of an abnormal area detection device based on a GIS room intelligent inspection terminal provided by an embodiment of the application;

[0051] In the figure: vehicle body assembly 1, binocular camera assembly 2, sensor assembly 3, lifting assembly 4, vehicle roof 11, vehicle chassis 12, vehicle wheel 13, vehicle body drive shaft 14, first gear 15, second gear 16, servo motor 17, protection room 18, cabinet door 19, binocular camera 21, infrared scanner 22, fixing frame 23, camera bracket 24, camera cylindrical pin 25, rotating disc 26, sensor bracket 31, transmission support 32, sensor stand 33, gas sensor 34, temperature sensor 35, rotating arm drive shaft 36, steering engine 37, moving bracket 41, fixed bracket 42, gear top cover 43, eccentric gear 44, first lifting cylindrical pin 45, second lifting cylindrical pin 46. DETAILED DESCRIPTION

[0052] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0053] The GIS room generally refers to the equipment installation and operation space of a gas insulated substation (GIS) in a power system. The GIS room is an important part of the substation. This facility realizes insulation by sealing high-voltage electrical equipment in a metal container filled with sulfur hexafluoride (SF6) gas. The GIS room is a metal-enclosed switchgear that uses gas as the insulation medium instead of air at atmospheric pressure. The GIS room forms a high-temperature and closed environment, and is filled with a toxic gas environment, greatly increasing the cost and danger of manual operation.

[0054] Due to various work hazards in the GIS room, in order to safely detect the environment in the GIS room, the commonly used technology is to design a mobile inspection robot that can automatically move, which can replace manual work to perform these high-risk and high-intensity inspection tasks. Among them, the commonly used inspection robot is a wheeled robot, and a laser radar and a mechanical arm are configured on the robot. The bottom of the mechanical arm is equipped with a lifting mechanism to cover the high GIS equipment, and a temperature sensor and a gas sensor are arranged at the end of the mechanical arm. The data collected by the temperature sensor and the gas sensor determine whether the GIS room is abnormal.

[0055] However, the current commonly used method has the following technical problems: the indoor environment of the GIS room is messy (for example, the equipment positions are not uniform and the pipeline wiring is complex), there are dead angles in the line of sight through a single laser radar, collisions are prone to occur, and the robot is difficult to move; if moving along a single route, the data detected by the sensor is one-sided, and the deviation from the indoor environment of the GIS room is large, and the detection accuracy is low.

[0056] To solve the above problems, the GIS room intelligent inspection terminal, the equipment positioning method and the abnormal area detection method provided by the embodiments of the application will be described in detail below through the following specific embodiments.

[0057] To solve the technical problems of the existing inspection robot moving vision having dead angles and detection data having deviations and low detection accuracy, with reference to Figures 1-2 , respectively shows the structural schematic diagram of the GIS room intelligent inspection terminal and the structural schematic diagram of the top surface of the GIS room intelligent inspection terminal.

[0058] Among them, as an example, the GIS room intelligent inspection terminal can include: a vehicle body assembly 1, a binocular camera assembly 2, a sensor assembly 3, a lifting assembly 4 and a control unit, the binocular camera assembly 2, the sensor assembly 3 and the lifting assembly 4 are respectively arranged on the vehicle body assembly 1, and the control unit is respectively connected with the binocular camera assembly 2 and the sensor assembly 3;

[0059] The lifting assembly 4 is used to lift the vehicle body assembly 1 for moving the vehicle body assembly 1;

[0060] The binocular camera assembly 2 is used to acquire GIS room images from different angles by using stereo vision technology and two cameras;

[0061] The sensor assembly 3 is used to collect indoor data of the GIS room;

[0062] The control unit is used for indoor positioning according to the GIS room images collected by the binocular camera assembly 2, and abnormal detection according to the GIS room images collected by the binocular camera assembly 2 and the indoor data collected by the sensor assembly 3.

[0063] In an operation mode, the binocular camera assembly 2 shoots images in the GIS room from different angles, and controls and positions through images from different angles, which can reduce the dead angle and visual blind area of vision, and thus can avoid the collision between the robot and the equipment in the GIS room; at the same time, by widening the vision, the user can control the movement of the robot according to the images, so that the robot can move to different areas and collect data in different areas, reduce the deviation of the data, and thus improve the detection accuracy.

[0064] It should be noted that the control unit can be a computer, a smart terminal or an integrated circuit, and the control unit can be arranged on the vehicle body assembly 1. For example, the control unit is arranged inside the vehicle body assembly 1 to control the operation of each component. The control unit can also be arranged outside the vehicle body assembly 1, for example, the control unit is a smart terminal of a technician, and the control unit is wirelessly connected to each component. By collecting data of each component, the technician can control each component outdoors in the GIS room.

[0065] Referring to Figures 1-2 The vehicle body assembly 1 comprises a roof cover 11, a vehicle chassis 12, a vehicle wheel 13, a vehicle body transmission shaft 14, a first gear 15, a second gear 16 and a servo motor 17.

[0066] The servo motor 17 is arranged on the vehicle chassis 12, the first gear 15 is arranged on the vehicle body transmission shaft 14, the vehicle body transmission shaft 14 is connected with the vehicle wheel 13, and the servo motor 17 drives the first gear 15 through the second gear 16, so that the first gear 15 drives the vehicle body transmission shaft 14 and the vehicle wheel 13 to rotate.

[0067] The vehicle chassis 12 is connected with the roof cover 11 through the lifting assembly 4.

[0068] The roof cover 11 is provided with a protection room 18, and the sensor assembly 3 is arranged in the protection room 18.

[0069] In an embodiment, the roof cover 11 is made of aluminum alloy material, which has high strength and rigidity, and can ensure the stability and reliability of the equipment. At the same time, aluminum alloy has good heat conductivity and heat dissipation, which helps to improve the monitoring accuracy of each sensor of the sensor assembly 3.

[0070] In an embodiment, the servo motor 17 is fixedly installed on the vehicle chassis 12, the output shaft of the servo motor 17 is fixedly connected with the second gear 16, the second gear 16 is connected with the first gear 15 to realize gear transmission, and the first gear 15 is arranged on the vehicle body transmission shaft 14. The vehicle chassis serves as a structural support of the whole vehicle and maintains the integrity of the appearance. The servo motor 17 drives the first gear 15 through the second gear 16, so that the first gear 15 drives the vehicle body transmission shaft 14 to rotate, and then the vehicle body transmission shaft 14 drives the vehicle wheel 13 to rotate.

[0071] In an embodiment, the vehicle chassis also can be made of aluminum alloy material, which has high strength, high rigidity and light weight.

[0072] Referring to Figure 2The protection chamber 18 can be provided with a cabinet door 19 which can be automatically opened and closed, when the trolley is in the inspection state, the cabinet door 19 is opened, and the sensor assembly 3 can be rotated to the outside to realize the monitoring function; when it is not in the inspection state, the sensor assembly 3 can be withdrawn into the protection chamber 18 to prevent dust and other pollutants from entering the sensor assembly 3, so as to prolong the service life of the sensor assembly 3.

[0073] Referring to Figure 3 , a structural schematic diagram of a binocular camera assembly provided by an embodiment of the application is shown.

[0074] In an embodiment, the binocular camera assembly 2 comprises a binocular camera 21, an infrared scanner 22, a fixing frame 23, a camera support 24, a camera cylindrical pin 25 and a rotating disc 26.

[0075] Referring to Figure 3 , the infrared scanner 22 is arranged at the side of the camera head of the binocular camera 21, the binocular camera is arranged on the fixing frame 23, the fixing frame 23 is arranged on the camera support 24 through the camera cylindrical pin 25, and the camera support 24 is arranged on the rotating disc 26.

[0076] In a specific operation, the infrared scanner 22 can be arranged between the two camera heads of the binocular camera 21.

[0077] Further, the binocular camera 21 and the infrared scanner 22 can assist each other in imaging, data fusion, generation of real-time images with high definition, improvement of image definition, and improvement of positioning accuracy; the fixing frame 23 can be a U-shaped fixing frame. The fixing frame 23, the camera support 24 and the camera cylindrical pin 25 can be the support structure of the binocular camera 21 and the infrared scanner 22; the rotating disc 26 can drive the binocular camera 21 and the infrared scanner 22 above to rotate, can expand the camera field of view, and can further improve the positioning accuracy.

[0078] Referring to Figure 4 , a structural schematic diagram of a sensor assembly provided by an embodiment of the application is shown.

[0079] In an embodiment, the sensor assembly 3 comprises a sensor support 31, a transmission support 32, a sensor column 33, a gas sensor 34 and a temperature sensor 35.

[0080] The gas sensor 34 and the temperature sensor 35 are arranged on the sensor column 33 respectively, the sensor column 33 is arranged on the transmission support 32, and the transmission support 32 is arranged on the sensor support 31.

[0081] In an embodiment, the gas sensor 34 can be an infrared gas sensor, which can detect trace amounts of SF6 gas leakage with high sensitivity by using the absorption characteristics of specific gas molecules to specific infrared wave bands. Further, the infrared sensor is usually equipped with temperature and pressure compensation technology, which enables the sensor to provide accurate measurement results under different environmental conditions.

[0082] Further, the infrared gas sensor is usually equipped with temperature and pressure compensation technology, which enables the infrared gas sensor to provide accurate measurement results under different environmental conditions.

[0083] In an embodiment, the temperature sensor 35 can adopt a fiber grating temperature sensor, which has the advantages of strong anti-electromagnetic interference ability, good insulation performance, small size, light weight, etc. The fiber grating temperature sensor is used to monitor the temperature changes of key parts in the GIS room, prevent equipment aging and failure caused by high temperature, and send temperature data to the monitoring terminal in time through the cloud server. Further, the temperature sensor 35 and the binocular camera assembly 2 perform data fusion to accurately locate and real-time feedback the temperature abnormal points.

[0084] Further, the binocular camera assembly 2 can perform data fusion with the temperature sensor 35 and the gas sensor 34 to calculate and generate temperature distribution and gas concentration distribution of the space, and accurately locate the temperature abnormal points and the gas concentration abnormal points.

[0085] Further, the temperature sensor 35 and the binocular camera assembly 2 perform data fusion to accurately locate and real-time feedback the temperature abnormal points.

[0086] In an embodiment, the sensor assembly 3 further comprises a rotating arm transmission shaft 36 and a rudder 37. The rotating arm transmission shaft 36 and the rudder 37 are connected, the rudder 37 can be arranged in the protection room 18, the rotating arm transmission shaft 36 and the sensor support 31 are connected,

[0087] In actual use, the rotating support can drive the upper sensor column 33 to rotate, improving the monitoring flexibility. When the trolley is in the patrol state, the cabinet door 19 of the protection room 18 is opened, the rudder 37 controls the rotating arm transmission shaft 36 to rotate, and then drives the rotating arm transmission shaft 36 to rotate to the vertical state, the gas sensor 34 and the temperature sensor 35 on the sensor column 33 start to monitor the indoor environment of the GIS room; the transmission support 32 can drive the upper sensor column 33 and the sensor to rotate, which is used to expand the monitoring direction.

[0088] Referring to Figure 5 , a structure schematic diagram of a lifting assembly provided by an embodiment of the present application is shown.

[0089] In an embodiment, the lifting assembly 4 comprises a moving bracket 41, a fixed bracket 42, a gear cover 43, an eccentric gear 44, a first lifting cylindrical pin 45 and a second lifting cylindrical pin 46.

[0090] The fixed bracket 42 is arranged on the moving bracket 41, the eccentric gear 44 is arranged on the gear cover 43, the gear cover 43 is arranged on the fixed bracket 42 through the first lifting cylindrical pin 45, and the second lifting cylindrical pin 46 is arranged on the moving bracket 41.

[0091] The lower end of the fixed bracket 42 is fixedly connected with the bottom plate of the vehicle, and the upper end is connected with the lower end of the eccentric gear 44 through the second lifting cylindrical pin 46.

[0092] Further, the upper end of the moving bracket 41 is fixedly connected with the roof of the vehicle body, the lowermost end is coaxially fixed with the fixed bracket 42 through a cylindrical sleeve to enhance the stability of the lifting structure, and the middle is connected with the upper end of the eccentric gear 44 through the first lifting cylindrical pin 45.

[0093] Further, the rotation of the eccentric gear 44 converts the rotary motion into linear motion, and the power is transmitted to the moving bracket 41 to complete the up-down movement of the roof of the vehicle body, so as to facilitate the height adjustment of the binocular camera assembly 2 and prevent the phenomenon of blocking the visual angle.

[0094] Further, the eccentric gear 44 can rotate, convert the rotary motion into linear motion, and transmit the power to the moving bracket 41 to complete the up-down movement of the roof 11, so as to facilitate the height adjustment of the binocular camera assembly 2 and prevent the phenomenon of blocking the visual angle.

[0095] In the embodiment, the GIS room intelligent inspection terminal provided by the embodiment has the beneficial effects that: the GIS room intelligent inspection terminal comprises a vehicle body assembly, a binocular camera assembly, a sensor assembly, a lifting assembly and a control unit; the binocular camera assembly photographs images in the GIS room from different angles, and the control unit controls and positions through the images from different angles, so as to reduce the dead angle and visual blind area of vision, and thus the collision between the robot and the equipment in the GIS room can be avoided; at the same time, the vision is widened, the user can control the movement of the robot according to the images, the robot can move to different areas and collect data in different areas, the deviation of data is reduced, and thus the detection precision is improved.

[0096] In the field, when the GIS room inspection terminal needs to be positioned, one of the commonly used technologies is to call the laser radar of the robot to position. However, the above technology has the following problems: there is a line-of-sight dead angle through a single laser radar, the positioning in the GIS room is deviated, and the positioning precision is low.

[0097] To solve the technical problems of deviation and low positioning accuracy in the prior art, with reference to Figure 6 FIG. 1 shows a flowchart of a device positioning method based on a GIS room intelligent inspection terminal according to an embodiment of the present application.

[0098] In an embodiment, the device positioning method based on the GIS room intelligent inspection terminal is applicable to a control unit of the GIS room intelligent inspection terminal.

[0099] For example, the device positioning method based on the GIS room intelligent inspection terminal can include the following steps.

[0100] S11, acquiring two indoor images based on the GIS room intelligent inspection terminal according to the above embodiment, wherein the two indoor images are images of the GIS indoor environment captured from different angles by a binocular camera.

[0101] In an embodiment, the two indoor images can be acquired by the GIS room intelligent inspection terminal, and the two indoor images are images acquired by two cameras of a binocular camera assembly of the GIS room intelligent inspection terminal, and the two indoor images are images of the GIS indoor environment captured from different angles by the binocular camera.

[0102] Specifically, the binocular camera uses stereo vision technology to acquire images from different angles by two cameras, and the indoor image can be a two-dimensional image.

[0103] S12, determining object depth information based on matching points of the two indoor images, wherein the matching points are the same pixel points of the same object in the two indoor images.

[0104] Next, the matching points of the two indoor images can be determined, and the matching points are the same pixel points of the same object in the two indoor images.

[0105] Then, the depth information of the object in the indoor environment can be determined based on the matching points to obtain the object depth information.

[0106] In an optional embodiment, the step of determining the object depth information based on the matching points of the two indoor images can include the following sub-steps.

[0107] S121, after correcting the two indoor images, extracting image key points of the two indoor images and sequentially matching and removing the image key points to obtain the matching points of the two indoor images.

[0108] S122, determining an image parallax value based on the matching points of the two indoor images in the image position deviation.

[0109] S123, determining the object depth information based on the image parallax value and the camera parameters.

[0110] In an embodiment, the matching points can be obtained by matching the image points of the same point in the corresponding space in the two two-dimensional images through analyzing the images obtained by the two cameras from different angles.

[0111] In an operation mode, the images obtained by the left and right cameras can be rectified (Stereo Rectification) or corrected, which can ensure that the same spatial point is located on the same horizontal line in the indoor image, so as to reduce the matching error.

[0112] Then, the image key points and feature descriptors of the two indoor images can be extracted by using algorithms such as SIFT, SURF or ORB; then the feature points are paired by using Brute Force Matching or FLANN algorithm, and the false matching points are removed by using RANSAC algorithm, and the stable matching pairs are retained, so as to obtain the matching points.

[0113] It should be noted that if a dense disparity map is needed, block matching (Block Matching), semi-global matching (SGM) or a method based on deep learning can be further used for pixel-level matching processing.

[0114] Then, the position deviation of the corresponding points between the two images can be calculated to obtain a disparity map. It should be noted that the pixel positions of the same object in the left and right views of the two indoor images obtained by the binocular camera will produce a horizontal deviation, which is called disparity (Disparity.

[0115] Before this calculation, the image needs to be horizontally corrected to ensure that the disparity is mainly distributed in the horizontal direction, thereby improving the matching accuracy.

[0116] In an embodiment, the calculation formula of the image disparity value can be as follows:

[0117] d = x L -x R ;

[0118] In the above formula, d is the image disparity value, x L is the horizontal coordinate of the point in the left image, and x R is the horizontal coordinate of the corresponding point in the right image.

[0119] Finally, the object depth information can be calculated by using the image disparity value and the binocular camera parameters. In a specific operation, the calculation formula of the object depth information can be as follows:

[0120]

[0121] In the above formula, Z is the object depth information, specifically the depth value of the object; f is the focal length of the camera, B is the baseline length between the binocular camera, and d is the image disparity value.

[0122] S13, determining the real-time positioning of the GIS indoor equipment according to the object depth information.

[0123] After determining the object depth information, the GIS indoor equipment can be accurately positioned according to the object depth information. Specifically, the GIS indoor equipment can be accurately positioned according to the calculated object depth information,

[0124] In one embodiment, the determining the real-time positioning of the GIS indoor equipment according to the object depth information can include the following sub-steps:

[0125] S131, converting the object depth information to a three-dimensional coordinate in the camera coordinate system to obtain three-dimensional point cloud information.

[0126] S132, converting the three-dimensional point cloud information to a coordinate in a preset coordinate system to obtain positioning coordinate information, wherein the preset coordinate system is a world coordinate system constructed by the GIS indoor intelligent inspection terminal according to a preset reference point in the GIS indoor.

[0127] S133, determining the real-time positioning of the GIS indoor equipment according to the positioning coordinate information.

[0128] In one embodiment, the object depth information (the depth value of the object) can be converted to a three-dimensional coordinate in the camera coordinate system to generate a three-dimensional point cloud to obtain three-dimensional point cloud information.

[0129] In one embodiment, the three-dimensional point cloud information can be as shown in the following formula:

[0130]

[0131] In the above formula, (u, v) is the pixel coordinate, (c x ,c y ) is the optical center coordinate, (f x, f y ) is the focal length parameter, and Z is the object depth information.

[0132] Then, the three-dimensional coordinate of the three-dimensional point cloud information can be converted to a coordinate in a preset coordinate system to obtain positioning coordinate information. The preset coordinate system is a world coordinate system constructed by the GIS indoor intelligent inspection terminal according to a preset reference point in the GIS indoor.

[0133] In an operation mode, the binocular camera can be calibrated by the calibration plate, and a conversion matrix Tcam→world of the three-dimensional point cloud information of the camera coordinate system to the world coordinate system can be converted. The positioning coordinate information converted can be as follows:

[0134]

[0135] The world coordinate system can be a pre-constructed coordinate system. Specifically, the world coordinate system can be constructed by presetting reference points (such as ground marks and wall corner points) in a GIS room.

[0136] After the positioning coordinate information is determined, the device accurate coordinates and state in the world coordinate system can be output according to the positioning coordinate information, and real-time positioning can be obtained.

[0137] In the embodiment, the device positioning method based on the GIS room intelligent inspection terminal has the beneficial effects that the GIS room intelligent inspection terminal can capture two indoor images at different angles by using the binocular camera, and the positioning can be performed according to the feature points of the two indoor images at different angles, so that the dead angle of view can be avoided, the positioning deviation can be reduced, and the positioning accuracy can be improved.

[0138] In the field of technology, when the GIS room needs to be detected, one of the commonly used technologies is to call the sensor of the robot to collect data at fixed positions, and to determine whether the GIS room has an abnormality according to the data. However, the above technology has the following problems: it is difficult to reflect the actual situation of the entire indoor area of the GIS room by collecting data at fixed positions, resulting in deviation of the data collected at fixed positions from the actual situation, and low detection accuracy.

[0139] To solve the technical problems of the prior art that the positioning has deviation and the positioning accuracy is low, with reference to Figure 7 , a flowchart of an abnormal area detection method based on a GIS room intelligent inspection terminal is shown.

[0140] As an example, the abnormal area detection method based on the GIS room intelligent inspection terminal can include the following steps.

[0141] S21, image information and detection information are acquired respectively, the image information is GIS room images acquired by the binocular camera assembly of the GIS room intelligent inspection terminal according to the above embodiment, and the detection information is GIS room indoor data collected by the sensor assembly of the GIS room intelligent inspection terminal according to the above embodiment.

[0142] In an embodiment, the GIS room image can be acquired by the binocular camera assembly of the GIS room intelligent inspection terminal described in the above embodiments. Meanwhile, the GIS room indoor data can be collected by the sensor assembly of the GIS room intelligent inspection terminal described in the above embodiments.

[0143] Specifically, the GIS room image acquired by the binocular camera assembly can be a binocular camera, the temperature data of the GIS room indoor can be collected by the temperature sensor, and the gas data of the GIS room indoor can be collected by the gas sensor.

[0144] S22, multi-modal fusion of the image information and the detection information is performed to obtain fusion information.

[0145] Then, the GIS room image and the temperature data can be subjected to multi-modal fusion, or the GIS room image and the gas data can be subjected to multi-modal fusion, so that the fusion information can be obtained.

[0146] In an optional embodiment, the multi-modal fusion of the image information and the detection information to obtain the fusion information can include the following sub-steps:

[0147] S221, the image information and the detection information are respectively subjected to uniform processing to obtain image processing information and detection processing information, and the uniform processing includes timestamp alignment and spatial calibration.

[0148] S222, the image pixel points of the image processing information are mapped to three-dimensional coordinates to obtain image space coordinates.

[0149] S223, the numerical values of the detection processing information are mapped to the image space coordinates to obtain the fusion information.

[0150] In an embodiment, the image captured by the binocular camera can be subjected to data fusion with the temperature sensor and the infrared gas sensor.

[0151] Specifically, the image captured by the binocular camera can be subjected to timestamp alignment and spatial calibration processing to obtain image processing information, and the data collected by the temperature sensor and the infrared gas sensor can be subjected to timestamp alignment and spatial calibration processing to obtain detection processing information.

[0152] The timestamp alignment can ensure that the temperature sensor, the gas sensor and the image acquisition are at the same time point, and the spatial calibration can complete the spatial calibration between the sensor and the camera to obtain a relative conversion matrix.

[0153] Then, the image pixel points of the image processing information are mapped to three-dimensional coordinates by a depth map to realize coordinate unification, so that the image space coordinates are obtained.

[0154] Finally, the value of the detection processing information is mapped to the corresponding position in the point cloud on the space where the image space coordinates correspond, using algorithms such as nearest neighbor interpolation, weight weighting, or Gaussian process regression, to realize the fusion of multi-modal data, and obtain the fusion information.

[0155] S23, generating a data distribution map using the fusion information, and determining an abnormal area of the GIS chamber according to the value of the data distribution map.

[0156] After the fusion data, the abnormal area of the GIS chamber can be determined according to the positioning and abnormal data of the fusion data, and the abnormal data is the area of data anomaly. By combining positioning and value detection, the accuracy of anomaly detection can be improved and errors can be reduced.

[0157] For example, the generating a data distribution map using the fusion information, and determining an abnormal area of the GIS chamber according to the value of the data distribution map can include the following sub-steps:

[0158] S231, constructing a space scene using the fusion information, and performing spatial interpolation on the space scene to obtain a data distribution map.

[0159] S232, extracting a data anomaly value from the data distribution map, and determining the coordinates of the data anomaly value to obtain an abnormal area, wherein the data anomaly value is greater than a preset threshold value.

[0160] In an embodiment, a space scene can be established using the fused three-dimensional space point cloud, and the space scene can be a space grid or an interpolation model of the space scene. Then, the temperature and gas concentration data in the point cloud can be spatially interpolated using the inverse distance weighted interpolation method (Inverse Distance Weighted, IDW) or the Kriging interpolation method, and a data distribution map can be generated. If it is temperature data, a continuous spatial temperature distribution map can be generated. If it is gas data, a continuous gas concentration distribution map can be generated. Finally, numerical detection can be performed on the distribution map, and if any value is greater than a preset threshold value, the positioning coordinates of the value can be determined, and the positioning coordinates can be used to accurately position the temperature anomaly point and the gas concentration anomaly point.

[0161] In an alternative embodiment, based on a preset GIS device three-dimensional model library (such as the geometric features of circuit breakers and disconnectors), the real-time point cloud can be matched with the model through the ICP point cloud registration algorithm. Then, the pose is solved: the 6-degree-of-freedom pose (position coordinates and rotation angle) of the matched device is calculated, and then the multi-source verification is performed: the temperature / gas sensor data (such as the coincidence of high-temperature points and device space positions) is fused, and the abnormal area is confirmed. The abnormal area can be the position area of the device, so that the identity of the abnormal device can be determined.

[0162] In the embodiment, the application provides an abnormal area detection method based on a GIS room intelligent inspection terminal, which has the beneficial effects that the application can acquire images captured by a camera and data detected by a sensor through the GIS room intelligent inspection terminal, perform positioning detection according to the fused data after fusing the images and the data, so as to reduce detection deviation and improve detection accuracy.

[0163] The application also provides a device positioning apparatus based on a GIS room intelligent inspection terminal, which is shown in Figure 8 , which shows a structural schematic diagram of a device positioning apparatus based on a GIS room intelligent inspection terminal according to an embodiment of the application.

[0164] For example, the device positioning apparatus based on a GIS room intelligent inspection terminal can include:

[0165] The image acquisition module 201 is configured to acquire two indoor images based on the GIS room intelligent inspection terminal according to any one of claims 1-4, wherein the two indoor images are images of a GIS indoor environment captured from different angles by a binocular camera.

[0166] The depth determination module 202 is configured to determine object depth information based on matching points of the two indoor images, wherein the matching points are the same pixel points of the same object in the two indoor images.

[0167] The positioning module 203 is configured to determine real-time positioning of GIS indoor equipment according to the object depth information.

[0168] After correcting the two indoor images, the image key points of the two indoor images are extracted and the image key points are sequentially matched and removed to obtain the matching points of the two indoor images.

[0169] The image disparity value is determined according to the position deviation of the matching points of the two indoor images in the images.

[0170] The object depth information is determined based on the image disparity value and the camera parameters.

[0171] Optionally, the determination of the real-time positioning of GIS indoor equipment according to the object depth information includes:

[0172] The object depth information is converted to three-dimensional coordinates in the camera coordinate system to obtain three-dimensional point cloud information.

[0173] The three-dimensional point cloud information is converted to coordinates of a preset coordinate system to obtain positioning coordinate information, wherein the preset coordinate system is a world coordinate system constructed by the GIS room intelligent inspection terminal according to a preset reference point in the GIS room.

[0174] The real-time positioning of the indoor equipment of the GIS room is determined according to the positioning coordinate information.

[0175] The embodiment of the application further provides an abnormal area detection device based on a GIS room intelligent inspection terminal, which is shown in Figure 9 , which shows a structural schematic diagram of an abnormal area detection device based on a GIS room intelligent inspection terminal according to an embodiment of the application.

[0176] For example, the abnormal area detection device based on the GIS room intelligent inspection terminal can include:

[0177] The information acquisition module 301 is configured to acquire image information and detection information respectively, wherein the image information is GIS room images acquired by the binocular camera assembly of the GIS room intelligent inspection terminal according to the above embodiment, and the detection information is indoor data of the GIS room collected by the sensor assembly of the GIS room intelligent inspection terminal according to the above embodiment.

[0178] The fusion module 302 is configured to perform multi-modal fusion on the image information and the detection information to obtain fusion information.

[0179] The area determination module 303 is configured to generate a data distribution map using the fusion information, and determine an abnormal area of the GIS room according to a value of the data distribution map.

[0180] Optionally, the multi-modal fusion on the image information and the detection information to obtain fusion information includes:

[0181] The image information and the detection information are respectively uniformly processed to obtain image processing information and detection processing information, wherein the uniform processing includes timestamp alignment and space calibration.

[0182] The image pixels of the image processing information are mapped to three-dimensional coordinates to obtain image space coordinates.

[0183] The value of the detection processing information is mapped to the image space coordinates to obtain the fusion information.

[0184] Optionally, the generation of the data distribution map using the fusion information and the determination of the abnormal area of the GIS room according to the value of the data distribution map include:

[0185] A spatial scene is constructed using the fusion information, and spatial interpolation is performed on the spatial scene to obtain the data distribution map.

[0186] extracting data outliers from the data distribution diagram, and determining coordinates of the data outliers to obtain an abnormal area, wherein the data outliers are greater than a preset threshold value.

[0187] Those skilled in the art can clearly understand that, for the convenience of description and brevity, the specific working process of the device described above can refer to the corresponding process in the foregoing method embodiments, which will not be described here.

[0188] Further, the embodiment of the present application also provides an electronic device, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the device positioning method based on the GIS room intelligent inspection terminal or the abnormal area detection method based on the GIS room intelligent inspection terminal as described in the foregoing embodiments when executing the program.

[0189] Further, the embodiment of the present application also provides a computer readable storage medium, which stores a computer executable program, and the computer executable program is used to make a computer execute the device positioning method based on the GIS room intelligent inspection terminal or the abnormal area detection method based on the GIS room intelligent inspection terminal as described in the foregoing embodiments.

[0190] In the description of the embodiments of the present application, it should be noted that the terms "upper", "lower" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. When an element such as a layer, a region or a substrate is referred to as "on" or "above" another element, it can be directly on the other element, or there can be an intermediate element. In contrast, when an element is referred to as "directly on" or "directly above" another element, there is no intermediate element. It should also be understood that when an element is referred to as "below" or "under" another element, it can be directly below or under the other element, or there can be an intermediate element. In contrast, when an element is referred to as "directly below" or "directly under" another element, there is no intermediate element. Unless otherwise specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0191] Those skilled in the art will appreciate that embodiments of the application can also provide for computer program products. Accordingly, the present application can be embodied in the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, etc.) embodying computer readable program code.

[0192] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 The flowchart blocks and / or diagrams can also represent a computer program in which the flowchart blocks and / or diagrams are one or more of the following: a process, a procedure, a function, a routine, a subroutine, a module, a segment, a thread of execution, a program, a routine, a application, a midlet, a servlet, a daemons, or a program. Figure 1 The flowchart blocks and / or diagrams can also represent a computer program in which the flowchart blocks and / or diagrams are one or more of the following: a process, a procedure, a function, a routine, a subroutine, a module, a segment, a thread of execution, a program, a routine, a application, a midlet, a servlet, a daemons, or a program.

[0193] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 The flowchart blocks and / or diagrams can also represent a computer program in which the flowchart blocks and / or diagrams are one or more of the following: a process, a procedure, a function, a routine, a subroutine, a module, a segment, a thread of execution, a program, a routine, a application, a midlet, a servlet, a daemons, or a program. Figure 1 The flowchart blocks and / or diagrams can also represent a computer program in which the flowchart blocks and / or diagrams are one or more of the following: a process, a procedure, a function, a routine, a subroutine, a module, a segment, a thread of execution, a program, a routine, a application, a midlet, a servlet, a daemons, or a program.

[0194] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 The flowchart blocks and / or diagrams can also represent a computer program in which the flowchart blocks and / or diagrams are one or more of the following: a process, a procedure, a function, a routine, a subroutine, a module, a segment, a thread of execution, a program, a routine, a application, a midlet, a servlet, a daemons, or a program. Figure 1 The flowchart blocks and / or diagrams can also represent a computer program in which the flowchart blocks and / or diagrams are one or more of the following: a process, a procedure, a function, a routine, a subroutine, a module, a segment, a thread of execution, a program, a routine, a application, a midlet, a servlet, a daemons, or a program.

[0195] The above description is only preferred embodiments of the present application, and it should be pointed out that, for those skilled in the art, without departing from the technical principles of the present application, a number of improvements and modifications can be made, and these improvements and modifications should be considered as the protection scope of the present application.

Claims

1. A GIS room intelligent inspection terminal, characterized in that, The GIS chamber intelligent inspection terminal comprises a vehicle body assembly, a binocular camera assembly, a sensor assembly, a lifting assembly and a control unit, the binocular camera assembly, the sensor assembly and the lifting assembly are arranged on the vehicle body assembly respectively, and the control unit is connected with the binocular camera assembly and the sensor assembly respectively. The lifting assembly is used for lifting the vehicle body assembly to move the vehicle body assembly. The binocular camera assembly is used for acquiring GIS chamber images from different angles by using a stereo vision technology. The sensor assembly is used for collecting indoor data of the GIS chamber. The control unit is used for indoor positioning according to the GIS chamber images collected by the binocular camera assembly and abnormality detection according to the GIS chamber images collected by the binocular camera assembly and the indoor data collected by the sensor assembly. 2.The GIS room intelligent inspection terminal of claim 1, wherein, The binocular camera assembly comprises a binocular camera, an infrared scanner, a fixing frame, a camera support, a camera cylindrical pin and a rotating disc. The infrared scanner is arranged on the side of the camera of the binocular camera, the binocular camera is arranged on the fixing frame, the fixing frame is arranged on the camera support through the camera cylindrical pin, and the camera support is arranged on the rotating disc. 3.The GIS room intelligent inspection terminal of claim 1, wherein, The sensor assembly comprises a sensor support, a transmission support, a sensor stand, a gas sensor and a temperature sensor. The gas sensor and the temperature sensor are arranged on the sensor stand respectively, the sensor stand is arranged on the transmission support, and the transmission support is arranged on the sensor support.

4. The GIS room intelligent inspection terminal according to claim 1, characterized in that, The lifting assembly comprises a moving support, a fixed support, a gear top cover, an eccentric gear, a first lifting cylindrical pin and a second lifting cylindrical pin. The fixed support is arranged on the moving support, the eccentric gear is arranged on the gear top cover, the gear top cover is arranged on the fixed support through the first lifting cylindrical pin, and the second lifting cylindrical pin is arranged on the moving support.

5. A device positioning method based on a GIS room intelligent inspection terminal, characterized in that, The method comprises: The GIS chamber intelligent inspection terminal according to any one of claims 1-4 is used to acquire two indoor images, wherein the two indoor images are images of the indoor environment of the GIS chamber acquired from different angles by using a binocular camera; Object depth information is determined based on matching points of the two indoor images, wherein the matching points are the same pixel points of the same object in the two indoor images; Real-time positioning of indoor equipment of the GIS chamber is determined according to the object depth information. 6.The GIS-based room intelligent inspection terminal device positioning method of claim 5, wherein, The object depth information is determined based on the matching points of the two indoor images, comprising: After the two indoor images are corrected, image key points of the two indoor images are extracted, and the image key points are matched and eliminated in sequence to obtain the matching points of the two indoor images; An image parallax value is determined according to the position deviation of the matching points of the two indoor images in the images; The object depth information is determined based on the image parallax value and camera parameters.

7. The GIS-based room intelligent inspection terminal device positioning method of claim 5, wherein, The real-time positioning of indoor equipment of the GIS chamber is determined according to the object depth information, comprising: The object depth information is converted into three-dimensional coordinates in a camera coordinate system to obtain three-dimensional point cloud information. The three-dimensional point cloud information is converted to coordinates of a preset coordinate system to obtain positioning coordinate information, wherein the preset coordinate system is a world coordinate system constructed by the GIS room intelligent inspection terminal according to a preset reference point in a GIS room; Real-time positioning of indoor equipment in the GIS room is determined according to the positioning coordinate information. 8.A method for detecting an abnormal area based on a GIS room intelligent inspection terminal, characterized in that, The method comprises: Image information and detection information are obtained respectively, the image information being GIS room images obtained by a binocular camera assembly of the GIS room intelligent inspection terminal according to any one of claims 1-4, and the detection information being indoor data of the GIS room collected by a sensor assembly of the GIS room intelligent inspection terminal according to any one of claims 1-4; Multi-modal fusion is performed on the image information and the detection information to obtain fusion information; A data distribution map is generated using the fusion information, and an abnormal area of the GIS room is determined according to a value of the data distribution map. 9.The GIS-based room intelligent inspection terminal abnormal area detection method of claim 8, wherein, The multi-modal fusion of the image information and the detection information to obtain fusion information comprises: The image information and the detection information are uniformly processed respectively to obtain image processing information and detection processing information, the uniform processing comprising timestamp alignment and spatial calibration; Image pixel points of the image processing information are mapped to three-dimensional coordinates to obtain image space coordinates; Values of the detection processing information are mapped to the image space coordinates to obtain fusion information. 10.The GIS-based room intelligent inspection terminal abnormal area detection method of claim 8, wherein, The generation of a data distribution map using the fusion information and the determination of an abnormal area of the GIS room according to a value of the data distribution map comprises: A spatial scene is constructed using the fusion information, and spatial interpolation is performed on the spatial scene to obtain a data distribution map; Data abnormal values are extracted from the data distribution map, and coordinates of the data abnormal values are determined to obtain an abnormal area, wherein the data abnormal values are greater than a preset threshold value.

Images