Portable all-terrain automatic inspection device, system and method, electronic equipment and storage medium

Abstract

The invention discloses a portable all-terrain automatic inspection device, system and method, electronic equipment and a storage medium, the automatic inspection device comprises an automatic inspection part and an information processing part, and the automatic inspection part is connected with the information processing part; the automatic inspection part comprises a camera device, an IMU module, a light source module, a power supply module and a processing module; the IMU module is used for acquiring short-time position information; the processing module comprises a disease identification unit and a first positioning unit; the information processing component comprises a second positioning unit, and the second positioning unit is used for identifying known position information marks arranged in the inspection area through a video detection algorithm to calibrate coarse positioning information obtained by a visual odometer, so that accurate positioning information of the structure disease is obtained. According to the portable all-terrain automatic inspection device, system and method, the electronic equipment and the storage medium provided by the invention, the structure diseases can be intelligently identified, and the accurate positions of the structure diseases can be recorded.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of disease inspection, and relates to a kind of inspection devices, especially a kind of portable all-terrain automatic inspection device, system, method, electronic equipment and storage medium. BACKGROUND

[0002] With the improvement of industrial automation, automatic inspection technology as a new technology, has gradually received extensive attention and application. Simply speaking, automatic inspection technology is to realize the whole process monitoring and data collection of equipment or production line through computer, sensor and other equipment, so as to improve the reliability and stability of equipment, and provide data support for maintenance and protection.

[0003] The application scenario of automatic inspection technology is very wide, which can be applied to various production lines, industrial equipment, nuclear power plants, hospitals and other fields, especially for safety and environmental protection enterprises, automatic inspection technology is particularly important.

[0004] The existing automatic inspection device cannot be inspected on the ground and underground all-terrain, and the existing device cannot detect the same position disease repeatedly, and understand the development trend of the disease.

[0005] Therefore, it is urgent to design a new disease inspection method to overcome at least part of the above-mentioned defects of the existing disease inspection method. SUMMARY

[0006] The present application provides a kind of portable all-terrain automatic inspection device, system, method, electronic equipment and storage medium, which can intelligently identify structural disease, and can understand the development trend of the same position disease, which provides effective evidence for later maintenance.

[0007] To solve the above technical problems, according to one aspect of the present application, the following technical scheme is adopted:

[0008] A kind of portable all-terrain automatic inspection device, the automatic inspection device includes automatic inspection component and information processing component, the automatic inspection component is connected with information processing component;

[0009] The automatic inspection component includes camera, IMU module, light source module, power module and processing module;The IMU module includes a first positioning unit, and the first positioning unit is used to obtain position information;

[0010] The processing module is connected with camera, IMU module, light source module and information processing component respectively;The power module is connected with camera, IMU module, light source module and processing module respectively;

[0011] The processing module comprises a disease identification unit and a first positioning unit; the disease identification unit is used to identify structural disease information through image recognition; the first positioning unit is used to obtain coarse positioning information through a visual inertial odometer fused by a video detection algorithm and an IMU;

[0012] The information processing component comprises a second positioning unit, which is used to calibrate coarse positioning information obtained by a visual inertial odometer through a known position information marker set in a patrol area by a video detection algorithm, so as to obtain accurate positioning information of the structural disease.

[0013] As an embodiment of the present application, the processing module comprises a new and old disease identification unit, which is used to compare the found disease information with the existing disease information stored in a disease database, so as to identify whether the found disease is an existing disease or a newly found disease.

[0014] As an embodiment of the present application, the automatic patrol component further comprises a third positioning unit, which is used to obtain a position signal of the automatic patrol device; when the third positioning unit can obtain the position signal, the information processing component determines whether the corresponding structural disease is a structural disease area of a previous inspection according to the fusion positioning information of the IMU module and the first positioning unit; if yes, the interactive device controls the unmanned patrol device to take a photo again and automatically records the development of the structural disease according to the date of the structural disease and its position information, so as to understand the development trend of the structural disease; if the structural disease is identified as a newly added structural disease, the information processing component automatically establishes a newly added structural disease record table to record the structural disease and its position information.

[0015] When the third positioning unit cannot obtain the position signal, the information processing component obtains video obtained by the camera and obtains coarse positioning information through a visual inertial odometer fused by a video detection algorithm and an IMU module in the video; then, the information processing component identifies a known position information marker set in a patrol area through a video detection algorithm to calibrate coarse positioning information obtained by a visual inertial odometer, so as to obtain accurate positioning information of the structural disease; if yes, the interactive device controls the unmanned patrol device to take a photo again and automatically records the development of the structural disease according to the date of the structural disease and its position information, so as to understand the development trend of the structural disease; if the structural disease is identified as a newly added structural disease, the information processing component automatically establishes a newly added structural disease record table to record the structural disease and its position information.

[0016] As an embodiment of the present application, the information processing component is arranged in the automatic patrol component, or the information processing component is arranged separately from the automatic patrol component.

[0017] As an embodiment of the present application, the portable all-terrain automatic inspection device further comprises a wireless communication module, and the processing module is connected to the wireless communication module, and can send setting data to a server through the wireless communication module and receive data sent by the server.

[0018] As an embodiment of the present application, the portable all-terrain automatic inspection device further comprises a stabilizer.

[0019] According to another aspect of the present application, the following technical solution is adopted: a portable all-terrain automatic inspection system, the automatic inspection system comprising at least one portable all-terrain automatic inspection device and a server; the server being connected to each portable all-terrain automatic inspection device.

[0020] According to still another aspect of the present application, the following technical solution is adopted: an automatic inspection method of the above-mentioned portable all-terrain automatic inspection device, the automatic inspection method comprising:

[0021] The disease identification unit of the processing module identifies the structural disease information through image recognition;

[0022] The first positioning unit of the processing module obtains coarse positioning information through a video detection algorithm and a visual inertial odometer fused by an IMU;

[0023] The second positioning unit of the information processing component calibrates the coarse positioning information obtained by the visual inertial odometer through a video detection algorithm to identify known position information markers set in the inspection area, so as to obtain accurate positioning information of the structural disease.

[0024] As an embodiment of the present application, the automatic inspection method specifically comprises:

[0025] (1) In the case of use of the wireless transmission module (i.e. in the presence of a wireless signal environment), the wireless transmission module automatically transmits the video information obtained by the camera to the cloud server, the structural disease automatic detection software on the cloud server performs real-time structural disease detection, and the detected structural disease picture is transmitted to the interactive device, which will perform the following two state operations:

[0026] In the case of unmanned inspection equipment of the portable inspection device, after the interactive device obtains the current inspection task, it will automatically obtain

[0027] the structural disease picture and the position information of the last detection of the area to be inspected are saved in the interactive device; during the inspection process of the unmanned inspection equipment, the following steps are further included:

[0028] Step S001: When there is a GPS signal, the interactive device determines whether the structural disease is a structural disease area of the previous inspection according to the fusion positioning information of the IMU and GPS, if so, the interactive device controls the unmanned inspection device to take a picture again and automatically records the development of the structural disease according to the date of the structural disease and its position information, so that the operation and management personnel can understand the development trend of the structural disease; once the interactive device confirms that the structural disease is a new structural disease, the interactive device automatically establishes a new structural disease record table to record the structural disease and its position information; at the same time, the interactive device transmits the inspection information and route trajectory to the cloud server through the wireless transmission module;

[0029] Step S002: When there is no GPS signal, the interactive device obtains the camera video in the unmanned inspection device and obtains coarse positioning information through the video detection algorithm and the visual inertial odometer fused by the IMU in it, and then calibrates the coarse positioning information obtained by the visual inertial odometer according to the known position information mark of the inspection area set by the video detection algorithm in the interactive device, so as to obtain the accurate positioning information of the structural disease; if it is a structural disease area of the previous inspection, the interactive device controls the unmanned inspection device to take a picture again and automatically records the development of the structural disease according to the date of the structural disease and its position information, so that the operation and management personnel can understand the development trend of the structural disease; once the interactive device confirms that the structural disease is a new structural disease, the interactive device automatically establishes a new structural disease record table to record the structural disease and its position information; at the same time, the interactive device transmits the inspection information and route trajectory to the cloud server through the wireless transmission module;

[0030] When the portable inspection device is in the state of manned inspection equipment, the interactive device will automatically save the structural disease picture and position information of the previous detection of the area to be inspected in the interactive device after obtaining this inspection task; during the inspection process of the inspection device, the following steps are further included:

[0031] Step S1001: When there is a GPS signal, the interactive device determines whether the structural disease is a structural disease area of the previous inspection according to the fusion positioning information of the IMU and GPS, and if so, the interactive device reminds the inspection worker to check and confirm the disease through voice, and if the inspection worker confirms the structural disease, the inspection worker controls the inspection device to take a photo again through the interactive device and records the structural disease and its position information according to the date, so that the operation and management personnel can understand the development trend of the structural disease; once the interactive device confirms that the structural disease is a new structural disease, the interactive device reminds the inspection worker of the new structural disease through voice, and if the inspection worker confirms the structural disease, the inspection worker establishes a new structural disease record table through the interactive device to record the structural disease and its position information; at the same time, the interactive device transmits the inspection information and route trajectory to the cloud server through the wireless transmission module;

[0032] Step S1002: When there is no GPS signal, the interactive device obtains the video of the camera in the inspection device and obtains coarse positioning information through the video detection algorithm and the visual inertial odometer fused by the IMU, and then calibrates the coarse positioning information obtained by the visual inertial odometer according to the known position information mark of the inspection area set by the video detection algorithm in the interactive device, so as to obtain the accurate positioning information of the structural disease; if it is a structural disease area of the previous inspection, the interactive device will remind the inspection worker to check and confirm the disease through voice, and if the inspection worker confirms the structural disease, the inspection worker controls the inspection device to take a photo again through the interactive device and records the structural disease and its position information according to the date, so that the operation and management personnel can understand the development trend of the structural disease; once the interactive device confirms that the structural disease is a new structural disease, the interactive device will remind the inspection worker of the new structural disease through voice, and if the inspection worker confirms the structural disease, the inspection worker establishes a new structural disease record table through the interactive device to record the structural disease and its position information; at the same time, the interactive device transmits the inspection information and route trajectory to the cloud server through the wireless transmission module;

[0033] After the inspection is completed, the disease automatic detection software on the cloud server automatically generates a detection report of the structural disease of this inspection, structural disease pictures and position information;

[0034] (2) When the wireless transmission module is not in use (i.e. there is no wireless signal environment), the interactive device will perform the following two state operations:

[0035] 1) Portable inspection device in unmanned inspection equipment state, interactive equipment will automatically obtain the structure disease picture and position information detected by the previous inspection of the area to be inspected and save it in the mobile phone after obtaining this inspection task. In the inspection process of the inspection equipment, the interactive equipment obtains the camera video in the unmanned inspection equipment and detects it through the video detection algorithm and disease detection algorithm in it, further including the following steps:

[0036] Step S2001: When there is a GPS signal, the interactive equipment detects the structure disease through the camera video in the unmanned inspection equipment and the disease detection algorithm. Once the structure disease is detected, the interactive equipment determines whether the structure disease is the structure disease area of the previous inspection according to the IMU and GPS fusion positioning information. If it is, the interactive equipment controls the unmanned inspection equipment to take a picture again and automatically records the development of the structure disease according to the date of the structure disease and its position information, so that the operation and management personnel can understand the development trend of the structure disease. Once the interactive equipment confirms that the structure disease is a new structure disease, the interactive equipment automatically establishes a new structure disease record table to record the structure disease and its position information.

[0037] Step S2002: When there is no GPS signal, the interactive equipment detects the structure disease through the camera video in the unmanned inspection equipment and the disease detection algorithm. Once the structure disease is detected, the interactive equipment will obtain coarse positioning information according to the video detection algorithm in it and the visual inertial odometer fused by IMU, and then calibrate the coarse positioning information obtained by the visual inertial odometer according to the known position information mark set by the inspection area in the video detection algorithm in the interactive equipment, so as to obtain the accurate positioning information of the structure disease. If it is the structure disease area of the previous inspection, the interactive equipment controls the unmanned inspection equipment to take a picture again and automatically records the development of the structure disease according to the date of the structure disease and its position information, so that the operation and management personnel can understand the development trend of the structure disease. Once the interactive equipment confirms that the structure disease is a new structure disease, the interactive equipment automatically establishes a new structure disease record table to record the structure disease and its position information.

[0038] 2) Portable inspection device in manned inspection equipment state, the interactive equipment will automatically obtain the structure disease picture and position information detected by the previous inspection of the area to be inspected and save it in the mobile phone after obtaining this inspection task. In the inspection process of the inspection equipment, the interactive equipment obtains the camera video in the inspection equipment and detects it through the video detection algorithm and disease detection algorithm in it, further including the following steps:

[0039] Step S3001: When GPS signal is available, the interactive device acquires video from the camera in the inspection equipment and performs structural defect detection using a defect detection algorithm. Once a structural defect is detected, the interactive device determines whether the structural defect is in a previously inspected area based on the IMU and GPS fusion positioning information. If so, the interactive device will remind the inspection worker to check and confirm the defect via voice. If the inspection worker confirms the structural defect, the inspection worker will control the inspection equipment to take another picture via the interactive device and record the structural defect and its location information by date so that the operation and management personnel can understand the development trend of the structural defect. Once the interactive device confirms that the structural defect is a new structural defect, the interactive device will remind the inspection worker via voice that there is a new structural defect. If the inspection worker confirms the structural defect, the inspection worker will create a new structural defect record table via the interactive device and record the structural defect and its location information.

[0040] Step S3002: In the absence of a GPS signal, the interactive device acquires video from the camera in the unmanned inspection device and performs structural defect detection using a defect detection algorithm. Once a structural defect is detected, the interactive device obtains coarse positioning information based on its video detection algorithm and the visual inertial odometry fused from the IMU. Then, it uses the video detection algorithm in the interactive device to identify known location information markers set in the inspection area to calibrate the coarse positioning information obtained by the visual inertial odometry, thereby obtaining the accurate positioning information of the structural defect. If it is a structural defect area inspected previously, the interactive device... The system will use voice prompts to remind inspection workers to check and confirm the structural defect. If the inspection worker confirms the structural defect, they will use the interactive device to control the inspection equipment to take another picture and record the structural defect and its location information by date, so that operations management personnel can understand the development trend of the structural defect. Once the interactive device confirms that the structural defect is a new structural defect, it will use voice prompts to remind the inspection worker of the new structural defect. If the inspection worker confirms the structural defect, they will use the interactive device to create a new structural defect record table, recording the structural defect and its location information.

[0041] After the inspection is completed, the video captured by the inspection equipment will be transmitted to the cloud server through the memory card in the camera. The automatic defect detection software on the cloud server will detect structural defects, and at the same time, the defect detection software in the interactive device will transmit its detection information to the cloud server. Through comparative analysis of the two defect detection software, a detection report, images of structural defects, and location information of this inspection will be generated.

[0042] According to another aspect of the present invention, the following technical solution is adopted: an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the above method.

[0043] According to another aspect of the present invention, the following technical solution is adopted: a storage medium storing computer program instructions thereon, which, when executed by a processor, implement the steps of the above-described method.

[0044] The beneficial effects of this invention are as follows: The portable all-terrain automatic inspection device, system, method, electronic device, and storage medium proposed in this invention can intelligently identify structural defects and record their precise locations; it can also understand the development trend of defects in the same location, which provides effective evidence for subsequent maintenance. Furthermore, this invention can inspect structural defects in narrow spaces, both above and below ground. Attached Figure Description

[0045] Figure 1 This is a schematic diagram of the composition of a portable all-terrain automatic inspection system in one embodiment of the present invention.

[0046] Figure 2 This is a flowchart of a portable all-terrain automatic inspection method according to an embodiment of the present invention.

[0047] Figure 3 This is a schematic diagram of the composition of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0048] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0049] To further understand the present invention, preferred embodiments of the present invention are described below in conjunction with examples. However, it should be understood that these descriptions are only for further illustrating the features and advantages of the present invention, and not for limiting the scope of the claims of the present invention.

[0050] The description in this section pertains to only a few typical embodiments, and the present invention is not limited to the scope of the embodiments described. Substitution of identical or similar prior art methods with some technical features in the embodiments is also within the scope of the description and protection of this invention.

[0051] The steps described in the various embodiments in the specification are for illustrative purposes only, and the implementation of this application is not limited by the order of the steps.

[0052] The term "connection" in the instruction manual includes both direct and indirect connections.

[0053] This invention discloses a portable all-terrain automatic inspection system. Figure 1This is a schematic diagram of the composition of a portable all-terrain automatic inspection system according to an embodiment of the present invention; please refer to [link / reference]. Figure 1 The portable all-terrain automatic inspection system includes at least one portable all-terrain automatic inspection device 1 and a server 2; the server 2 is connected to each portable all-terrain automatic inspection device 1.

[0054] The portable all-terrain automatic inspection device 1 includes an automatic inspection component 11 and an information processing component 12, wherein the automatic inspection component 11 is connected to the information processing component 12.

[0055] The automatic inspection component 11 includes a camera device 111, an IMU module 112, a light source module 113, a power supply module 114, and a processing module 115. The IMU module 112 includes a first positioning unit 1121 for acquiring location information. The processing module 115 is connected to the camera device 111, the IMU module 112, the light source module 113, and the information processing component 115. The power supply module 113 is connected to the camera device 111, the IMU module 112, the light source module 113, and the processing module 115. The information processing component 12 can be part of the automatic inspection component 11 or can be designed separately from the automatic inspection component 11; for example, the information processing component 12 and the processing module 115 can be the same component.

[0056] The processing module 115 includes a disease identification unit and a first positioning unit; the disease identification unit is used to identify structural disease information through image recognition; the first positioning unit is used to obtain coarse positioning information through a video detection algorithm, namely YOLOv3, and a visual inertial odometry method, namely VINS-Mono algorithm, which is a fusion of IMU.

[0057] The information processing unit 12 includes a second positioning unit, which is used to identify known location information markers set in the inspection area through the video detection algorithm YOLOv3 to calibrate the coarse positioning information obtained by the visual inertial odometry (VINS-Mono) algorithm, thereby obtaining the accurate positioning information of the structural defect.

[0058] In one embodiment of the present invention, the processing module 115 includes a new and old disease identification unit, which is used to compare the discovered disease information with the existing disease information stored in the disease database, thereby identifying whether the discovered disease is an existing disease or a newly discovered disease.

[0059] The automatic inspection component further includes a third positioning unit for acquiring the position signal of the automatic inspection device; the third positioning unit can be a global positioning system (such as GPS, BeiDou, etc.). When the third positioning unit can acquire the position signal, the information processing component determines whether the corresponding structural defect is a previously inspected structural defect area based on the fused positioning information from the IMU module and the first positioning unit; if so, the interactive device controls the unmanned inspection device to take another picture and automatically records the development of the structural defect and its position information according to the date, so as to understand the development trend of the structural defect; if the structural defect is identified as a newly added structural defect, the information processing component automatically establishes a newly added structural defect record table to record the structural defect and its position information.

[0060] When the third positioning unit cannot acquire a position signal, the information processing unit 12 acquires the video captured by the camera device 111 and obtains coarse positioning information through the visual inertial odometry (VINS-Mono) algorithm, which is a fusion of the video detection algorithm YOLOv3 and the IMU module. Then, based on the video detection algorithm YOLOv3 in the information processing unit 12, it identifies known position information markers set in the inspection area to calibrate the coarse positioning information obtained by the VINS-Mono algorithm, thereby obtaining accurate positioning information for the structural defect. If it is a previously inspected structural defect area, the interactive device controls the unmanned inspection device to take another picture and automatically records the development of the structural defect and its location information by date to understand its development trend. If the structural defect is identified as a new structural defect, the information processing unit automatically establishes a new structural defect record table to record the structural defect and its location information. The information processing unit 12 can be located within the automatic inspection unit, or the information processing unit and the automatic inspection unit can be set separately.

[0061] The automatic inspection component 11 may further include a wireless communication module 116 and a stabilizer 117. The processing module 115 is connected to the wireless communication module 116 and can send setting data to the server 2 through the wireless communication module, and can also receive data sent by the server 2. The stabilizer 117 may be a gimbal used to set up structures such as the camera device 111.

[0062] In one embodiment of the present invention, the portable all-terrain automatic inspection device includes a camera, an IMU (including GPS), a light source, a stabilizer, a wireless transmission module, an interactive device, a multi-functional interface module, a battery, and a portable mounting structure. The camera, IMU (including GPS), light source, stabilizer, wireless transmission module, multi-functional interface module, and battery are mounted together using the portable mounting structure to form an integrated structure.

[0063] The wireless transmission module is used to transmit the video signal captured by the camera to the cloud server. The interactive device is used for human-machine interaction with inspection workers and for interaction with the aforementioned integrated structure to obtain and record information on structural defects to be inspected. The portable installation structure also has a connecting mechanism for mounting the integrated structure on other devices.

[0064] The interactive devices include embedded image processing modules, mobile phones and specially developed structural disease apps within the mobile phones, wristbands, and any devices capable of image interaction.

[0065] When there is no wireless signal in the underground space, the integrated structure consists of a camera, an IMU (which may include GPS), a light source, a stabilizer, a multi-functional interface module, and a battery, all mounted together using a portable mounting structure. When there is wireless signal and GPS on the ground, the integrated structure consists of a camera, an IMU (including GPS), a light source, a stabilizer, a wireless transmission module, a multi-functional interface module, and a battery, all mounted together using a portable mounting structure.

[0066] When the inspection requires taking pictures, the camera and IMU (including GPS) are combined separately as a high-definition wide-angle camera; when the inspection requires a combination of video stream and picture taking, the camera and IMU (including GPS) are combined separately as an integrated deep wide-angle camera or a wide-angle action camera and IMU (including GPS).

[0067] The portable mounting structure includes an integrated mounting structure for mounting the devices together, a mounting structure for mounting on other mobile inspection equipment, a mounting structure for mounting on the safety helmets of inspection workers, and a mounting structure for mounting on handheld devices. The portable mounting structure mounts the camera, IMU (including GPS), stabilizer, light source, multi-function interface module, and battery together using snap-fit ​​mechanisms, which are then fixed to a long, narrow mounting device. During device installation, the stabilizer is first fixed, and then the camera and IMU (including GPS) are mounted on the stabilizer. The stabilizer in the device has two degrees of freedom of movement: left-right and up-down, allowing for the recording of defects during inspections.

[0068] The portable mounting structure is installed on the worker's safety helmet, the mobile inspection equipment, or the handheld device, with an "L"-shaped structure that is snapped onto the worker's safety helmet, the mobile inspection equipment, or the handheld device.

[0069] The multi-functional interface module includes a WIFI interface, a USB interface, a Bluetooth module interface, and an NB-IoT interface. The wireless transmission module includes a wireless video transmission module and a wireless data transmission module; the wireless video transmission module transmits video information captured by the camera, and the wireless data transmission module transmits structural defect location information and information recorded by inspection workers.

[0070] This invention further discloses an automatic inspection method for the portable all-terrain automatic inspection device described above. Figure 2 This is a flowchart of a portable all-terrain automatic inspection method according to an embodiment of the present invention; please refer to [link / reference]. Figure 2 The automatic inspection method includes:

[0071] The disease identification unit of the processing module identifies structural disease information through image recognition;

[0072] The first positioning unit of the processing module obtains coarse positioning information through video detection algorithm and visual inertial odometry fused from IMU;

[0073] The second positioning unit of the information processing component uses the video detection algorithm YOLOv3 to identify known location information markers set in the inspection area to calibrate the coarse positioning information obtained by the visual inertial odometry (VINS-Mono) algorithm, thereby obtaining the accurate positioning information of the structural defect.

[0074] In one embodiment of the present invention, the automatic inspection method specifically includes:

[0075] (1) When the wireless transmission module is in use (i.e., in a wireless signal environment), the wireless transmission module automatically transmits the video information obtained by the camera to the cloud server. The automatic disease detection software on the server performs real-time structural disease detection and transmits the detected structural disease images to the interactive device. The interactive device will perform the following two operations:

[0076] ① When the portable inspection device is in unmanned inspection mode, after receiving the current inspection task, the interactive device will automatically obtain the previously detected structural defects and their location information for the area to be inspected and save them in the interactive device; during the unmanned inspection process, the following steps will be further included:

[0077] Step S001: When a GPS (Global Positioning System, such as GPS or BeiDou) signal is available, the interactive device determines whether the structural defect is in the previously inspected area based on the IMU and GPS fused positioning information. If so, the interactive device controls the unmanned inspection device to take another picture and automatically records the development of the structural defect and its location information by date, so that operation and management personnel can understand the development trend of the structural defect. Once the interactive device confirms that the structural defect is a new structural defect, it automatically creates a new structural defect record table, recording the structural defect and its location information. At the same time, the interactive device transmits the inspection information and route trajectory to the cloud server through the wireless transmission module.

[0078] Step S002: When there is no GPS signal, the interactive device acquires video from the camera in the unmanned inspection device and obtains coarse positioning information through a visual inertial odometry (VINS-Mono) fusion algorithm formed by video detection and IMU. Then, based on the video detection algorithm (YOLOv3) in the interactive device, it identifies known location information markers set in the inspection area to calibrate the coarse positioning information obtained by the VINS-Mono algorithm, thereby obtaining accurate positioning information of the structural defect. If it is a previously inspected structural defect area, the interactive device controls the unmanned inspection device to take pictures again and automatically records the development of the structural defect and its location information by date, so that operation and management personnel can understand the development trend of the structural defect. Once the interactive device confirms that the structural defect is a new structural defect, it automatically creates a new structural defect record table, recording the structural defect and its location information. At the same time, the interactive device transmits the inspection information and route trajectory to the cloud server through the wireless transmission module.

[0079] ② When the portable inspection device is in manned inspection mode, after receiving the current inspection task, the interactive device will automatically obtain the previously detected structural defects and their location information for the area to be inspected and save them in the interactive device; during the inspection process, the following steps are further included:

[0080] Step S1001: When a GPS signal is available, the interactive device determines whether the structural defect is in the previously inspected area based on the IMU and GPS fusion positioning information. If so, the interactive device will remind the inspection worker to check and confirm the defect via voice. If the inspection worker confirms the structural defect, the worker will control the inspection device to take another picture and record the structural defect and its location information by date so that the operation and management personnel can understand the development trend of the structural defect. Once the interactive device confirms that the structural defect is a new structural defect, it will remind the inspection worker via voice. If the worker confirms the structural defect, the worker will create a new structural defect record table through the interactive device, recording the structural defect and its location information. At the same time, the interactive device will transmit the inspection information and route trajectory to the cloud server via the wireless transmission module.

[0081] Step S1002: When there is no GPS signal, the interactive device acquires video from the camera in the inspection equipment and obtains coarse positioning information through the video detection algorithm (YOLOv3) and the visual inertial odometry (VINS-Mono) algorithm fused with the IMU. Then, based on the video detection algorithm (YOLOv3) in the interactive device, it identifies the known location information markers set in the inspection area to calibrate the coarse positioning information obtained by the visual inertial odometry (VINS-Mono) algorithm, thereby obtaining the accurate positioning information of the structural defect. If it is a structural defect area inspected previously, the interactive device will remind the inspection workers to proceed via voice. After inspecting and confirming the defect, if the inspection worker confirms the structural defect, the worker will use the interactive device to control the inspection equipment to take another photo and record the structural defect and its location information by date, so that the operation and management personnel can understand the development trend of the structural defect. Once the interactive device confirms that the structural defect is a new structural defect, it will notify the inspection worker of the new structural defect via voice. If the inspection worker confirms the structural defect, the worker will use the interactive device to create a new structural defect record table, recording the structural defect and its location information. At the same time, the interactive device will transmit the inspection information and route trajectory to the cloud server through the wireless transmission module.

[0082] After the inspection is completed, the automatic defect detection software on the cloud server automatically generates a report on the detection of structural defects, pictures of structural defects, and location information for this inspection.

[0083] (2) When the wireless transmission module is not in use (i.e., in the absence of a wireless signal environment), the interactive device will operate in the following two states:

[0084] ① When the portable inspection device is in unmanned inspection mode, after receiving the current inspection task, the interactive device will automatically obtain the previously detected structural defects images and location information of the area to be inspected and save them to the mobile phone; during the inspection process, the interactive device acquires the camera video from the unmanned inspection device and performs detection through its built-in video detection algorithm and defect detection algorithm, further including the following steps:

[0085] Step S2001: When GPS signal is available, the interactive device acquires video from the camera in the unmanned inspection device and performs structural defect detection using a defect detection algorithm. Once a structural defect is detected, the interactive device determines whether the structural defect is in a previously inspected area based on IMU and GPS fusion positioning information. If so, the interactive device controls the unmanned inspection device to take another picture and automatically records the development of the structural defect and its location information by date, so that operation and management personnel can understand the development trend of the structural defect. Once the interactive device confirms that the structural defect is a new structural defect, it automatically creates a new structural defect record table to record the structural defect and its location information.

[0086] Step S2002: When there is no GPS signal, the interactive device acquires video from the camera in the unmanned inspection device and performs structural defect detection using a defect detection algorithm. Once a structural defect is detected, the interactive device obtains coarse positioning information based on its video detection algorithm (YOLOv3) and the visual inertial odometry (VINS-Mono) algorithm fused with the IMU. Then, it uses the YOLOv3 video detection algorithm in the interactive device to identify known location information markers set in the inspection area to calibrate the coarse positioning information obtained by the VINS-Mono algorithm, thereby obtaining accurate positioning information for the structural defect. If it is a previously inspected structural defect area, the interactive device controls the unmanned inspection device to take another picture and automatically records the development of the structural defect and its location information by date, so that operation and management personnel can understand the development trend of the structural defect. Once the interactive device confirms that the structural defect is a new structural defect, it automatically creates a new structural defect record table to record the structural defect and its location information.

[0087] ② When the portable inspection device is in manned inspection mode, after receiving the current inspection task, the interactive device will automatically obtain the previously detected structural defects images and location information of the area to be inspected and save them to the mobile phone; during the inspection process, the interactive device will acquire the camera video from the inspection device and perform detection through its built-in video detection algorithm and defect detection algorithm, further including the following steps:

[0088] Step S3001: When GPS signal is available, the interactive device acquires video from the camera in the inspection equipment and performs structural defect detection using a defect detection algorithm. Once a structural defect is detected, the interactive device determines whether the structural defect is in a previously inspected area based on the IMU and GPS fusion positioning information. If so, the interactive device will remind the inspection worker to check and confirm the defect via voice. If the inspection worker confirms the structural defect, the inspection worker will control the inspection equipment to take another picture via the interactive device and record the structural defect and its location information by date so that the operation and management personnel can understand the development trend of the structural defect. Once the interactive device confirms that the structural defect is a new structural defect, the interactive device will remind the inspection worker via voice that there is a new structural defect. If the inspection worker confirms the structural defect, the inspection worker will create a new structural defect record table via the interactive device and record the structural defect and its location information.

[0089] Step S3002: In the absence of a GPS signal, the interactive device acquires video from the camera in the unmanned inspection device and performs structural defect detection using a defect detection algorithm. Once a structural defect is detected, the interactive device obtains coarse positioning information based on its video detection algorithm (YOLOv3) and the visual inertial odometry (VINS-Mono) algorithm fused with the IMU. Then, it uses the YOLOv3 video detection algorithm to identify known location information markers set in the inspection area to calibrate the coarse positioning information obtained by the VINS-Mono algorithm, thereby obtaining accurate positioning information for the structural defect. If the structural defects are from previous inspections, the interactive device will prompt the inspection worker to check and confirm the defects via voice. If the inspection worker confirms the defects, they will use the interactive device to control the device to take another photo and record the defects and their location information by date, so that operations management personnel can understand the development trend of the defects. Once the interactive device confirms that the defects are new, it will prompt the inspection worker via voice. If the inspection worker confirms the defects, they will use the interactive device to create a new structural defect record table, recording the defects and their location information.

[0090] After the inspection is completed, the video captured by the inspection equipment will be transmitted to the cloud server through the memory card in the camera. The automatic disease detection software on the cloud server will detect structural diseases, and at the same time, the disease detection software in the interactive device will transmit its detection information to the cloud server. Through the comparative analysis of the two disease detection software, a detection report of structural diseases, images of structural diseases, and location information of this inspection will be generated.

[0091] This invention also discloses an electronic device, Figure 3This is a schematic diagram of the composition of an electronic device according to an embodiment of the present invention; please refer to [link / reference]. Figure 3 At the hardware level, the electronic device includes a memory, a processor, and at least one network interface; the processor may be a microprocessor, and the memory may include main memory, such as random access memory (RAM) or non-volatile memory. Of course, the electronic device may also include other hardware as needed.

[0092] The processor, network interface, and memory are interconnected via an internal bus, which can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. The bus may include an address bus, a data bus, a control bus, etc. The memory stores programs (including operating system programs and application programs); the programs may include program code, which may include computer operation instructions. The memory may include main memory and non-volatile memory, and provides instructions and data to the processor.

[0093] In one embodiment, the processor can read the corresponding program from non-volatile memory into memory and then run it; the processor can execute the program stored in memory and specifically perform the following operations (e.g. Figure 2 As shown):

[0094] When the third positioning unit can acquire a position signal, the information processing component determines whether the corresponding structural defect is a previously inspected structural defect area based on the fused positioning information from the IMU module and the first positioning unit. If so, the interactive device controls the unmanned inspection device to take another picture and automatically records the development of the structural defect and its location information according to the date, so as to understand the development trend of the structural defect. If the structural defect is identified as a newly added structural defect, the information processing component automatically establishes a newly added structural defect record table to record the structural defect and its location information.

[0095] When the third positioning unit cannot acquire a position signal, the information processing unit acquires the video captured by the camera device and obtains coarse positioning information through the visual inertial odometry (VINS-Mono) algorithm, which is a fusion of the video detection algorithm YOLOv3 and the IMU module. Then, based on the video detection algorithm YOLOv3 in the information processing unit, it identifies the known position information markers set in the inspection area to calibrate the coarse positioning information obtained by the VINS-Mono algorithm, thereby obtaining the accurate positioning information of the structural defect. If it is a previously inspected structural defect area, the interactive device controls the unmanned inspection device to take pictures again and automatically records the development of the structural defect and its position information according to the date, so as to understand the development trend of the structural defect. If the structural defect is identified as a new structural defect, the information processing unit automatically establishes a new structural defect record table to record the structural defect and its position information.

[0096] This invention further discloses a storage medium storing computer program instructions, which, when executed by a processor, implement the following steps of the method of this invention (e.g. Figure 2 As shown):

[0097] When the third positioning unit can acquire a position signal, the information processing component determines whether the corresponding structural defect is a previously inspected structural defect area based on the fused positioning information from the IMU module and the first positioning unit. If so, the interactive device controls the unmanned inspection device to take another picture and automatically records the development of the structural defect and its location information according to the date, so as to understand the development trend of the structural defect. If the structural defect is identified as a newly added structural defect, the information processing component automatically establishes a newly added structural defect record table to record the structural defect and its location information.

[0098] When the third positioning unit cannot acquire a position signal, the information processing unit acquires the video captured by the camera device and obtains coarse positioning information through the visual inertial odometry (VINS-Mono) algorithm, which is a fusion of the video detection algorithm YOLOv3 and the IMU module. Then, based on the video detection algorithm YOLOv3 in the information processing unit, it identifies the known position information markers set in the inspection area to calibrate the coarse positioning information obtained by the VINS-Mono algorithm, thereby obtaining the accurate positioning information of the structural defect. If it is a previously inspected structural defect area, the interactive device controls the unmanned inspection device to take pictures again and automatically records the development of the structural defect and its position information according to the date, so as to understand the development trend of the structural defect. If the structural defect is identified as a new structural defect, the information processing unit automatically establishes a new structural defect record table to record the structural defect and its position information.

[0099] In summary, the portable all-terrain automatic inspection device, system, method, electronic equipment, and storage medium disclosed in this invention can intelligently identify structural defects and record their precise locations; it can also understand the development trend of defects in the same location, providing effective evidence for subsequent maintenance. Furthermore, this invention can inspect structural defects in narrow spaces, both above and below ground.

[0100] It should be noted that this application can be implemented in software and / or a combination of software and hardware; for example, it can be implemented using an application-specific integrated circuit (ASIC), a general-purpose computer, or any other similar hardware device. In some embodiments, the software program of this application can be executed by a processor to implement the steps or functions described above. Similarly, the software program of this application (including related data structures) can be stored in a computer-readable recording medium; for example, RAM memory, magnetic or optical drives, floppy disks, and similar devices. In addition, some steps or functions of this application can be implemented in hardware; for example, as circuitry that cooperates with a processor to perform the various steps or functions.

[0101] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0102] The description and application of the present invention herein are illustrative and not intended to limit the scope of the invention to the embodiments described above. Effects or advantages involved in the embodiments may not be apparent due to various factors, and the description of effects or advantages is not intended to limit the embodiments. Variations and modifications of the embodiments disclosed herein are possible, and various substitutions and equivalents of the components in the embodiments are well known to those skilled in the art. It should be apparent to those skilled in the art that the invention can be implemented in other forms, structures, arrangements, proportions, and with other components, materials, and parts without departing from the spirit or essential characteristics of the invention. Other variations and modifications can be made to the embodiments disclosed herein without departing from the scope and spirit of the invention.

Claims

1. A portable all-terrain automatic inspection device, characterized in that, The automatic inspection device includes an automatic inspection component and an information processing component, wherein the automatic inspection component is connected to the information processing component. The automatic inspection component includes a camera device, an IMU module, a light source module, a power supply module, and a processing module; the IMU module is used to acquire short-term location information. The processing module is connected to the camera device, the IMU module, the light source module, and the information processing component, respectively; the power supply module is connected to the camera device, the IMU module, the light source module, and the processing module, respectively. The processing module includes a disease identification unit and a first positioning unit; the disease identification unit is used to identify structural disease information through image recognition; the first positioning unit is used to obtain coarse positioning information through a visual inertial odometry system fused from a video detection algorithm and an IMU module. The information processing component includes a second positioning unit, which is used to identify known location information markers set in the inspection area through a video detection algorithm to calibrate the coarse positioning information obtained by the visual odometer, thereby obtaining the accurate positioning information of the structural defect.

2. The portable all-terrain automatic inspection device according to claim 1, characterized in that: The processing module includes a new and old disease identification unit, which compares the discovered disease information with the existing disease information stored in the disease database to identify whether the discovered disease is an existing disease or a newly discovered disease.

3. The portable all-terrain automatic inspection device according to claim 1, characterized in that: The automatic inspection component further includes a third positioning unit for acquiring the position signal of the automatic inspection device; when the third positioning unit can acquire the position signal, the information processing component determines whether the corresponding structural defect is the structural defect area inspected in the previous inspection based on the fusion positioning information of the IMU module and the first positioning unit. If so, the interactive device controls the unmanned inspection device to take another picture and automatically record the development of the structural defects and their location information according to the date, so as to understand the development trend of the structural defects. If a structural defect is identified as a newly added structural defect, the information processing component automatically creates a record table of newly added structural defects to record the structural defect and its location information. When the third positioning unit fails to acquire a position signal, the information processing unit acquires the video captured by the camera device and obtains coarse positioning information by fusing the video detection algorithm and the IMU module into a visual inertial odometry. Then, based on the video detection algorithm in the information processing unit, it identifies the known position information set in the inspection area to calibrate the coarse positioning information obtained by the visual inertial odometry, thereby obtaining the accurate positioning information of the structural defect. If so, for structural defects in the area inspected in the previous inspection, the interactive device controls the unmanned inspection device to take pictures again and automatically record the development of the structural defects and their location information according to the date, so as to understand the development trend of the structural defects. If a structural defect is identified as a newly added structural defect, the information processing component automatically creates a record table of newly added structural defects, recording the structural defect and its location information.

4. The portable all-terrain automatic inspection device according to claim 1, characterized in that: The information processing component is located within the automatic inspection component, or the information processing component and the automatic inspection component are separately located.

5. The portable all-terrain automatic inspection device according to claim 1, characterized in that: The portable all-terrain automatic inspection device further includes a wireless communication module and a stabilizer. The processing module is connected to the wireless communication module and can send set data to the server through the wireless communication module and receive data sent by the server.

6. A portable all-terrain automatic inspection system, characterized in that, The automatic inspection system includes at least one portable all-terrain automatic inspection device as described in any one of claims 1 to 5 and a server; the server is connected to each portable all-terrain automatic inspection device.

7. An automatic inspection method for the portable all-terrain automatic inspection device according to any one of claims 1 to 5, characterized in that, The automatic inspection method includes: The disease identification unit of the processing module identifies structural disease information through image recognition; The first positioning unit of the processing module obtains coarse positioning information through video detection algorithm and visual inertial odometry fused by IMU; the second positioning unit of the information processing component uses video detection algorithm to identify known location information markers set in the inspection area to calibrate the coarse positioning information obtained by visual inertial odometry, thereby obtaining accurate positioning information of the structural defect.

8. The automatic inspection method according to claim 7, characterized in that: The automatic inspection method specifically includes: (1) In the presence of a wireless signal, the processing module automatically transmits the video information obtained by the camera to the cloud server via the wireless transmission module. The automatic structural defect detection software on the server performs real-time structural defect detection and transmits the detected structural defect images to the interactive device. The interactive device will perform the following two operations: ① When the portable inspection device is in unmanned inspection mode, after receiving the current inspection task, the interactive device will automatically obtain the previously detected structural defects and their location information for the area to be inspected and save them in the interactive device; during the unmanned inspection process, the following steps will be further included: Step S001: When a GPS signal is available, the interactive device determines whether the structural defect is in the previously inspected area based on the IMU and GPS fusion positioning information. If so, the interactive device controls the unmanned inspection device to take another picture and automatically records the development of the structural defect and its location information by date, so that operation and management personnel can understand the development trend of the structural defect. Once the interactive device confirms that the structural defect is a new structural defect, it automatically creates a new structural defect record table to record the structural defect and its location information. At the same time, the interactive device transmits the inspection information and route trajectory to the cloud server through the wireless transmission module. Step S002: When there is no GPS signal, the interactive device acquires video from the camera in the unmanned inspection device and obtains coarse positioning information through a visual inertial odometry system fused with its video detection algorithm and IMU. Then, it uses the video detection algorithm in the interactive device to identify known location markers set in the inspection area to calibrate the coarse positioning information obtained by the visual inertial odometry system, thereby obtaining accurate positioning information of the structural defect. If it is a previously inspected structural defect area, the interactive device controls the unmanned inspection device to take pictures again and automatically records the development of the structural defect and its location information by date, so that operation and management personnel can understand the development trend of the structural defect. Once the interactive device confirms that the structural defect is a new structural defect, it automatically creates a new structural defect record table to record the structural defect and its location information. At the same time, the interactive device transmits the inspection information and route trajectory to the cloud server through the wireless transmission module. ② When the portable inspection device is in manned inspection mode, after receiving the current inspection task, the interactive device will automatically obtain the previously detected structural defects and their location information for the area to be inspected and save them in the interactive device; during the inspection process, the following steps are further included: Step S1001: When a GPS signal is available, the interactive device determines whether the structural defect is in the previously inspected area based on the IMU and GPS fusion positioning information. If so, the interactive device will remind the inspection worker to check and confirm the defect via voice. If the inspection worker confirms the structural defect, the worker will control the inspection device to take another picture and record the structural defect and its location information by date so that the operation and management personnel can understand the development trend of the structural defect. Once the interactive device confirms that the structural defect is a new structural defect, it will remind the inspection worker via voice. If the worker confirms the structural defect, the worker will create a new structural defect record table through the interactive device, recording the structural defect and its location information. At the same time, the interactive device will transmit the inspection information and route trajectory to the cloud server via the wireless transmission module. Step S1002: When there is no GPS signal, the interactive device acquires video from the camera in the inspection equipment and obtains coarse positioning information through a visual inertial odometry system fused with its video detection algorithm and IMU. Then, it uses the video detection algorithm in the interactive device to identify known location information markers set in the inspection area to calibrate the coarse positioning information obtained by the visual inertial odometry, thereby obtaining accurate positioning information of the structural defect. If it is a structural defect area inspected previously, the interactive device will remind the inspection worker to check and confirm the defect via voice, and the inspection worker will then confirm the structure. If a structural defect is detected, the inspection worker will use the interactive device to control the inspection equipment to take another photo and record the defect and its location information by date so that the operation and management personnel can understand the development trend of the structural defect. Once the interactive device confirms that the structural defect is newly added, it will notify the inspection worker of the new structural defect via voice. If the inspection worker confirms the structural defect, he / she will create a new structural defect record table through the interactive device, recording the structural defect and its location information. At the same time, the interactive device will transmit the inspection information and route trajectory to the cloud server through the wireless transmission module. After the inspection is completed, the automatic defect detection software on the cloud server automatically generates a report on the detection of structural defects, pictures of structural defects, and location information for this inspection. (2) In the absence of a wireless signal, the interactive device will operate in the following two states: ① When the portable inspection device is in unmanned inspection mode, after receiving the current inspection task, the interactive device will automatically obtain the previously detected structural defects images and location information of the area to be inspected and save them to the mobile phone; during the inspection process, the interactive device acquires the camera video from the unmanned inspection device and performs detection through its built-in video detection algorithm and defect detection algorithm, further including the following steps: Step S2001: When GPS signal is available, the interactive device acquires video from the camera in the unmanned inspection device and performs structural defect detection using a defect detection algorithm. Once a structural defect is detected, the interactive device determines whether the structural defect is in a previously inspected area based on IMU and GPS fusion positioning information. If so, the interactive device controls the unmanned inspection device to take another picture and automatically records the development of the structural defect and its location information by date, so that operation and management personnel can understand the development trend of the structural defect. Once the interactive device confirms that the structural defect is a new structural defect, it automatically creates a new structural defect record table to record the structural defect and its location information. Step S2002: When there is no GPS signal, the interactive device acquires video from the camera in the unmanned inspection device and performs structural defect detection using a defect detection algorithm. Once a structural defect is detected, the interactive device obtains coarse positioning information based on its video detection algorithm and the visual inertial odometry fused by the IMU. Then, it uses the video detection algorithm in the interactive device to identify known location information markers set in the inspection area to calibrate the coarse positioning information obtained by the visual inertial odometry, thereby obtaining accurate positioning information of the structural defect. If it is a previously inspected structural defect area, the interactive device controls the unmanned inspection device to take another picture and automatically records the development of the structural defect and its location information by date, so that operation and management personnel can understand the development trend of the structural defect. Once the interactive device confirms that the structural defect is a new structural defect, it automatically creates a new structural defect record table to record the structural defect and its location information. ② When the portable inspection device is in manned inspection mode, after receiving the current inspection task, the interactive device will automatically obtain the previously detected structural defects images and location information of the area to be inspected and save them to the mobile phone; during the inspection process, the interactive device will acquire the camera video from the inspection device and perform detection through its built-in video detection algorithm and defect detection algorithm, further including the following steps: Step S3001: When GPS signal is available, the interactive device acquires video from the camera in the inspection equipment and performs structural defect detection using a defect detection algorithm. Once a structural defect is detected, the interactive device determines whether the structural defect is in a previously inspected area based on the IMU and GPS fusion positioning information. If so, the interactive device will remind the inspection worker to check and confirm the defect via voice. If the inspection worker confirms the structural defect, the inspection worker will control the inspection equipment to take another picture via the interactive device and record the structural defect and its location information by date so that the operation and management personnel can understand the development trend of the structural defect. Once the interactive device confirms that the structural defect is a new structural defect, the interactive device will remind the inspection worker via voice that there is a new structural defect. If the inspection worker confirms the structural defect, the inspection worker will create a new structural defect record table via the interactive device and record the structural defect and its location information. Step S3002: In the absence of a GPS signal, the interactive device acquires video from the camera in the unmanned inspection device and performs structural defect detection using a defect detection algorithm. Once a structural defect is detected, the interactive device obtains coarse positioning information based on its video detection algorithm and the visual inertial odometry fused from the IMU. Then, it uses the video detection algorithm in the interactive device to identify known location information markers set in the inspection area to calibrate the coarse positioning information obtained by the visual inertial odometry, thereby obtaining the accurate positioning information of the structural defect. If it is a structural defect area inspected previously, the interactive device... The system will use voice prompts to remind inspection workers to check and confirm the structural defect. If the inspection worker confirms the structural defect, they will use the interactive device to control the inspection equipment to take another picture and record the structural defect and its location information by date, so that operations management personnel can understand the development trend of the structural defect. Once the interactive device confirms that the structural defect is a new structural defect, it will use voice prompts to remind the inspection worker of the new structural defect. If the inspection worker confirms the structural defect, they will use the interactive device to create a new structural defect record table, recording the structural defect and its location information. After the inspection is completed, the video captured by the inspection equipment will be transmitted to the cloud server through the memory card in the camera. The automatic defect detection software on the cloud server will detect structural defects, and at the same time, the defect detection software in the interactive device will transmit its detection information to the cloud server. Through comparative analysis of the two defect detection software, a detection report, images of structural defects, and location information of this inspection will be generated.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method of claim 7 or 8.

10. A storage medium storing computer program instructions thereon, characterized in that, When the computer program instructions are executed by the processor, they implement the steps of the method of claim 7 or 8.

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