Unmanned aerial vehicle-based electric power patrol inspection control method and system

Abstract

The present invention provides an unmanned aerial vehicle-based electric power patrol inspection control method and system. The method comprises: creating a flight path on the basis of an electric power patrol inspection area, and collecting images and position information of electric power devices by means of various types of devices carried by an unmanned aerial vehicle, the images and the position information being transmitted to a receiving terminal at a ground station in a wireless transmission mode; the ground station receiving the images and the position information that are collected in real time, processing and analyzing the images to obtain analytic status, such as defects, damage and corrosion, of the electric power devices; and, on the basis of the analytic status from the ground station, using the position information as distinguishing features to generate an electronic patrol inspection report, providing service lives, maintenance costs and maintenance measures of the electric power devices on the basis of the electronic patrol inspection report, and notifying maintenance staff of the position information of the electric power devices. The system comprises an unmanned aerial vehicle control module, an image processing and analysis module and an electronic patrol inspection report generation module. The present invention is of great significance to maintenance and management of electric power devices.

Description

A power inspection control method and system based on a UAV TECHNICAL FIELD

[0001] The present application relates to the technical field of remote monitoring of power facilities, and particularly relates to a power inspection control method and system based on a UAV. BACKGROUND

[0002] Power facilities refer to various devices and facilities used for power generation, transmission and distribution, including power plants, transmission lines, substations and distribution networks, etc. They are the foundation of energy supply and power system operation, and are crucial to ensuring the normal operation of modern society. The importance mainly lies in the following aspects: energy supply: power facilities are important infrastructure for providing electricity, providing power supply for various industries, households and public institutions, supporting economic and social development. Economic development: the construction and operation of power facilities promote economic growth, provide reliable power supply for industrial production, commercial operation and service industry, and promote the development of economic activities. Life convenience: the popularization of power facilities makes people's life more convenient, supports the normal operation of households, businesses and social facilities, and provides basic services such as lighting, heating and communication.

[0003] At the same time, the application of new technologies will promote the intelligentization and automation development of power facilities, such as artificial intelligence, Internet of Things and big data analysis, etc., to improve the efficiency of equipment operation and maintenance and the reliability of system operation. With the rise of distributed energy systems, power facilities will pay more attention to flexibility and sustainability, including small solar panels and wind turbines, to achieve more reliable and sustainable energy supply. With the progress of energy storage technology, power facilities will be able to better cope with energy fluctuations and peak-valley differences, providing stable power supply.

[0004] With the increasing number and decentralization of power facilities, traditional manual inspection is becoming more and more difficult and inefficient; the line defects are recorded by the inspection personnel on site by hand and paper, and then manually counted, which has the following obvious shortcomings:

[0005] 1. There is a lack of scientific supervision and examination means for on-site inspection personnel. Management personnel cannot check whether the inspection personnel have arrived at each tower and whether they have carefully checked the corresponding inspection equipment, so there is a possibility that the inspection personnel will not take their responsibilities seriously, resulting in missed inspections of towers and other equipment on the power transmission line, making it difficult to ensure the quality of the inspection. 2. The quality of the inspection is affected by the quality of the personnel. The knowledge and experience of each inspection personnel is uneven, and each person's understanding of the inspection equipment and inspection items is different, so the quality of the inspection and the on-site inspection records may also be very different. 3. The inspection data is saved in paper form, which is difficult to collect and query. A large amount of inspection records are generated after each inspection, and it is a considerable amount of work to collect, summarize, analyze and count the data of these records. Paper data is difficult to save for a long time and is easy to lose. 4. It is difficult for the operation and management personnel to accurately and qualitatively evaluate the quality and quantity of the work of the inspection personnel by checking the inspection records. 5. The manual management of the power transmission tower data often results in errors and omissions. Manual data query is not convenient, and statistical reports are time-consuming and laborious. Due to the many human factors, high management cost and inability to supervise the work of the inspection personnel in the traditional power transmission line inspection method, it is of great practical significance to develop an efficient and real-time intelligent inspection system in order to improve the scientific management level of the power transmission line inspection work, effectively supervise the work of the inspection personnel, prevent the occurrence of missed inspections, and centrally manage and statistically analyze the inspection data, realizing the electrification, informatization and intelligentization of the inspection work.

[0006] Prior art one, application number: CN202310454975.0 discloses a power inspection equipment with ice breaking structure, including power inspection vehicle, the bottom of the power inspection vehicle is hinged to the axis of the wheel, the inside of the power inspection vehicle is fixedly connected to the top side of the longitudinal motor, the output end of the longitudinal motor is fixedly connected to one end of the threaded rod, the threaded part of the threaded rod is threadedly connected to the threaded part of the longitudinal threaded sleeve, although the position of the two groups of ice breaking plates can be raised and lowered by the longitudinal motor, the bottom of the ice breaking plate can always be attached to the ground, avoiding incomplete ice breaking due to uneven ground, making the power inspection vehicle still drive on the ice surface, causing the power inspection vehicle to slip or causing the obstacle avoidance sensor to malfunction, resulting in the loss of obstacle avoidance function; but its function is relatively single, only involves ice breaking function, cannot detect power equipment in all directions, resulting in poor inspection effect.

[0007] The prior art two, application number: CN202310883577.0 discloses a kind of high-efficiency operation electric power inspection system, including dispatch platform, inspection unmanned aerial vehicle, overhaul distribution unit and scoring module, dispatch platform is patrolled by 5G remote control inspection unmanned aerial vehicle power equipment, dispatch platform is patrolled by personnel management operation overhaul distribution unit.The high-efficiency operation electric power inspection system, dispatch platform remote control inspection unmanned aerial vehicle realizes regular routine inspection to power line and equipment, simultaneously when monitoring out that specified area exists fault, hidden danger or anomaly, although by combining difficulty level division module with scoring module, ensure that task of different difficulty level is assigned to different scoring repair personnel, and scoring module realizes data update by the change of two feedback modules inside and outside, the score of repair personnel can be adjusted, the actual power inspection task can improve repair efficiency, so that electric power inspection system is efficiently operated;But lack the ability to discover problems and abnormal conditions, resulting in analysis result is relatively one-sided.

[0008] The prior art three, application number: CN202310785901.5 discloses a kind of electric power inspection robot path planning method and system, comprising: obtaining the power line path trajectory to be inspected by electric power inspection robot;According to the power line path trajectory and the preset path planning model obtained, the path planning of electric power inspection robot is carried out;Wherein, the preset path planning model uses improved sparrow search algorithm, although tent mapping is used for global disturbance of sparrow search algorithm, search factor is calculated, and the path optimization of electric power inspection robot inspection power line is realized;But the action range of robot is limited, especially in complex road conditions, mountainous areas and other places, the robot cannot efficiently inspect.

[0009] At present, the prior art one, the prior art two and the prior art three have low intelligent level of electric power inspection, cannot efficiently and accurately realize inspection, resulting in large error of inspection result, therefore, the present application provides a kind of electric power inspection control method and system based on unmanned aerial vehicle, mainly including unmanned aerial vehicle, image processing and operation, data storage and transmission technology;By carrying high-definition camera, thermal imager, laser radar and other various equipment on unmanned aerial vehicle, realize the functions such as rapid inspection, abnormal detection and positioning of electric power facilities;Image data collected is analyzed by image processing technology, to find the defects, damage and corrosion of equipment, predict the life and maintenance cost of equipment, and generate inspection report in time, improve the reliability and safety of equipment.

[0010] SUMMARY

[0011] In order to solve the above technical problems, the present application provides an electric power inspection control method based on unmanned aerial vehicle, comprising the following steps:

[0012] The flight trajectory is formulated according to the power inspection area, and images and position information of the power equipment are collected by various types of equipment carried by the unmanned aerial vehicle; the images and position information are transmitted to the receiving terminal of the ground station in the form of wireless transmission;

[0013] The ground station receives the real-time collected images and position information, processes and analyzes the images, and obtains the defect, damage and corrosion analysis status of the power equipment;

[0014] According to the analysis status of the ground station, an inspection electronic report containing the analysis status of multiple power equipment is generated based on the position information as the distinguishing feature.

[0015] Optionally, the device includes a high-definition camera, a thermal imager and a laser radar.

[0016] Optionally, the process of formulating the flight trajectory of the power inspection area includes the following steps:

[0017] Obtain the power equipment distribution map of the power inspection area, and obtain the position coordinates of each power equipment to form a training trajectory data set;

[0018] Input the training trajectory data set into a flight trajectory generation model to generate a flight trajectory in real time, and input the flight trajectory into the controller of the unmanned aerial vehicle;

[0019] Combine the power and flight trajectory of the wireless transmission of the unmanned aerial vehicle to minimize the time for the unmanned aerial vehicle to complete the specified power inspection area; and the unmanned aerial vehicle performs a test flight according to the flight trajectory to verify the time.

[0020] Optionally, the position coordinates are the position information; according to the difference of the position information, the multiple power equipment are divided into multiple flight trajectory nodes, and the flight trajectory nodes containing the position information are combined to form the training trajectory data set.

[0021] Optionally, the generation process of the flight trajectory includes the following steps:

[0022] The multiple flight trajectory nodes are connected in succession to obtain a flight route of adjacent flight trajectory points, the flight route is divided into multiple grids, and a flight trajectory background field containing multiple grids is constructed;

[0023] The geographic environment data of the power inspection area is obtained by the laser radar, the geographic environment data is preprocessed, a geographic environment background field of the power inspection area is constructed, and the geographic environment background field is divided into multiple grids;

[0024] The grids of the flight trajectory background field and the grids of the geographic environment background field are merged to form a grid matrix, and the grid matrix is used to judge the significance of the navigation direction of the unmanned aerial vehicle; and it is determined whether the current geographic environment needs to be flown around.

[0025] Optionally, the generating process of the inspection electronic report comprises the following steps:

[0026] Upon receiving the result of the ground station analyzing the condition, the ground station sends a request for generating the inspection electronic report, acquires an electronic report template corresponding to the power equipment corresponding to the location information, and confirms the items contained in the inspection electronic report; the inspection electronic report request contains an electronic report identifier and location information;

[0027] According to the items, the basic parameters and global parameters of the inspection electronic report are confirmed; the basic parameters refer to parameters defining the basic content of the inspection electronic report, and the global parameters refer to normal parameters of the electronic equipment cited in the inspection electronic report;

[0028] Based on the basic parameters, the root node of the inspection electronic report is generated on the interface of the inspection electronic report, and the title of the root node is the name of the power equipment corresponding to the location information; in response to the instruction of adding a child node under the root node, the child node is the result of analyzing the condition of the unified power equipment.

[0029] Optionally, the service life, maintenance cost and maintenance measures of the power equipment are given according to the inspection electronic report, and the location information of the power equipment is notified to the maintenance personnel.

[0030] The application provides a power inspection control system based on a UAV, comprising:

[0031] The UAV control module is responsible for formulating a flight trajectory according to a power inspection area, and collecting images and location information of power equipment through various types of equipment carried by the UAV; the images and location information are transmitted to the receiving terminal of the ground station in the form of wireless transmission;

[0032] The image processing and analyzing module is responsible for receiving the real-time collected images and location information by the ground station, processing and analyzing the images, and obtaining the defect, damage and corrosion analysis condition of the power equipment;

[0033] The inspection electronic report generation module is responsible for generating an inspection electronic report containing the analysis conditions of multiple power equipment according to the analysis condition of the ground station, taking the location information as a distinguishing feature; the service life, maintenance cost and maintenance measures of the power equipment are given according to the inspection electronic report, and the location information of the power equipment is notified to the maintenance personnel.

[0034] Optionally, the UAV control module comprises:

[0035] The location information acquisition submodule is responsible for acquiring a power equipment distribution map of the power inspection area, and acquiring the location coordinates of each power equipment, which are the location information; according to the difference of the location information, the multiple power equipment are divided into multiple flight trajectory nodes, and the flight trajectory nodes containing the location information are combined to form a training trajectory data set;

[0036] a flight trajectory generation submodule, configured to input the training trajectory dataset into a flight trajectory generation model, to generate a flight trajectory in real time, and to input the flight trajectory into a controller of the UAV;

[0037] a patrol time minimization submodule, configured to minimize a time for the UAV to complete a scheduled power patrol area by jointly considering a power of wireless transmission of the UAV and the flight trajectory, and to verify the time by performing a test flight of the UAV according to the flight trajectory;

[0038] a first background field formation submodule, configured to sequentially connect a plurality of flight trajectory nodes to obtain a flight route of adjacent flight trajectory points, to divide the flight route into a plurality of grids, and to construct a flight trajectory background field including the plurality of grids;

[0039] a second background field formation submodule, configured to acquire geographic environment data of the power patrol area by using a laser radar, to pre-process the geographic environment data, to construct a geographic environment background field of the power patrol area, and to divide the geographic environment background field into a plurality of grids;

[0040] a fly-around judgment submodule, configured to merge the grids of the flight trajectory background field and the grids of the geographic environment background field to form a grid matrix, to judge a significance of a navigation direction of the UAV based on the grids of the grid matrix, and to determine whether the current geographic environment requires fly-around.

[0041] Optionally, the inspection electronic report generation module includes:

[0042] a report generation request submodule, configured to receive a result of analysis of a situation by a ground station, to receive a request for generating an inspection electronic report from the ground station, to determine an electronic report identifier and location information in the request for generating the inspection electronic report, to acquire an electronic report template corresponding to a power equipment corresponding to the location information, and to determine items included in the inspection electronic report;

[0043] a parameter definition submodule, configured to determine basic parameters and global parameters of the inspection electronic report according to the items, wherein the basic parameters refer to parameters for defining basic contents of the inspection electronic report, and the global parameters refer to normal parameters of electronic equipment referenced in the inspection electronic report;

[0044] a boundary definition submodule, configured to generate a root node of the inspection electronic report on an interface of the inspection electronic report based on the basic parameters, to set a title of the root node as a name of the power equipment corresponding to the location information, and to respond to an instruction for adding a child node under the root node, and to set the child node as a result of analysis of a situation of the unified power equipment.

[0045] The application firstly formulates a flight trajectory according to a power inspection area, collects images and position information of power equipment through various types of devices carried by the unmanned aerial vehicle; the images and position information are transmitted to the receiving terminal of the ground station in the form of wireless transmission; secondly, the ground station receives the real-time collected images and position information, processes and analyzes the images to obtain the analysis conditions of defects, damages and corrosion of the power equipment; finally, according to the analysis conditions of the ground station, the position information is taken as a distinguishing feature to generate an inspection electronic report containing the analysis conditions of multiple power equipment; at the same time, the service life, maintenance cost and maintenance measures of the power equipment are given according to the inspection electronic report, and the position information of the power equipment is notified to the maintenance personnel. The significance of the above scheme in using unmanned aerial vehicles for power equipment inspection mainly lies in the following aspects: improving efficiency and accuracy: using unmanned aerial vehicles for inspection can realize rapid and efficient comprehensive inspection of power equipment. Unmanned aerial vehicles can cover a large area of inspection area in a short time, reducing the demand for human resources and inspection time. At the same time, various devices carried by the unmanned aerial vehicle can collect high-definition images and position information, and through image processing and analysis algorithms, the defects, damages and corrosion of the power equipment can be accurately identified, improving the accuracy of the inspection. Improving safety: traditional power equipment inspection requires personnel to enter high-voltage and dangerous working environment, which has safety risks. Unmanned aerial vehicle inspection can avoid direct contact of personnel with high-voltage equipment, reducing the personal safety risk. At the same time, unmanned aerial vehicles can fly in complex terrain conditions, and can better inspect some difficult-to-reach places such as high altitude and steep mountainous areas, improving the safety of the inspection. Saving cost: unmanned aerial vehicle inspection can save human resources and time cost compared with traditional manual inspection. In addition, through unmanned aerial vehicle inspection, problems of power equipment can be found early, maintenance measures can be taken in advance, and the expansion and delay of equipment failure can be avoided, thereby reducing maintenance cost and maintenance time, saving maintenance cost. Real-time monitoring and report generation: through unmanned aerial vehicle inspection, images and position information of power equipment can be obtained in real time, and through image processing and analysis of the ground station, analysis conditions of defects, damages and corrosion of power equipment can be obtained in time. Based on these analysis results, an inspection electronic report is generated to provide information such as service life, maintenance cost and maintenance measures of power equipment, providing guidance and decision basis for maintenance personnel.

[0046] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent to those skilled in the art from the description, or can be learned by practice of the application. The objects and other advantages of the present application can be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

[0047] The technical solutions of the present application will be further described in detail below with the help of the drawings and examples. BRIEF DESCRIPTION OF DRAWINGS

[0048] The accompanying drawings are included to provide a further understanding of the present application, and are incorporated in and constitute a part of the specification. The drawings illustrate embodiments of the present application and, together with the description, serve to explain the principles of the present application. In the drawings:

[0049] Fig. 1 is a flow chart of a method for controlling power inspection based on a UAV according to an embodiment of the present application;

[0050] Fig. 2 is a process diagram for generating a flight trajectory for a power inspection area according to an embodiment of the present application;

[0051] Fig. 3 is a process diagram for generating a flight trajectory according to an embodiment of the present application;

[0052] Fig. 4 is a process diagram for wirelessly transmitting image and position information according to an embodiment of the present application;

[0053] Fig. 5 is a process diagram for processing and analyzing images according to an embodiment of the present application;

[0054] Fig. 6 is a process diagram for object detection and segmentation of power equipment in images according to an embodiment of the present application;

[0055] Fig. 7 is a process diagram for extracting target features related to defects, damage, and corrosion according to an embodiment of the present application;

[0056] Fig. 8 is a process diagram for generating an electronic inspection report according to an embodiment of the present application;

[0057] Fig. 9 is a block diagram of a power inspection control system based on a UAV according to an embodiment of the present application;

[0058] Fig. 10 is a block diagram of a UAV control module according to an embodiment of the present application. DETAILED DESCRIPTION

[0059] Preferred embodiments of the present application will be described herein below with reference to the accompanying drawings. It is to be understood that the preferred embodiments described herein are merely intended to illustrate and explain the present application, and are not intended to limit the present application.

[0060] The terminology used in the present application is merely for the purpose of describing particular embodiments and is not intended to limit the present application. As used in the present application and the appended claims herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0061] The following description refers to the accompanying drawings. Unless otherwise noted, like elements in different drawings have the same or similar reference numerals. The following description of illustrative embodiments is not meant to limit or restrict the scope of the application. Rather, the following description is merely exemplary of devices and methods in accordance with aspects of the present application, as detailed in the appended claims. In the description of the application, it will be understood that the terms "first", "second", "third", etc. are used merely as labels, and are not intended to signify relative importance or a particular order of succession. The specific meanings of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.

[0062] Embodiment 1: As shown in FIG. 1, the embodiment of the present application provides a power inspection control method based on a UAV, comprising the following steps:

[0063] S100: Formulate a flight trajectory according to a power inspection area, and collect images and position information of power equipment by various types of equipment carried by a UAV; the images and position information are transmitted to a receiving terminal of a ground station in a wireless transmission form;

[0064] S200: The ground station receives the real-time collected images and position information, processes and analyzes the images, and obtains analysis conditions such as defects, damages, and corrosion of the power equipment;

[0065] S300: According to the analysis conditions of the ground station, generate an inspection electronic report containing the analysis conditions of multiple power equipment with position information as a distinguishing feature; at the same time, give the service life, maintenance cost, and maintenance measures of the power equipment according to the inspection electronic report, and notify the position information of the power equipment to the maintenance personnel.

[0066] The working principle and beneficial effects of the technical solution are as follows: first, the flight trajectory is formulated according to the power inspection area, and the images and position information of the power equipment are collected by various types of equipment carried by the unmanned aerial vehicle; the images and position information are transmitted to the receiving terminal of the ground station in the form of wireless transmission; second, the ground station receives the real-time collected images and position information, processes and analyzes the images, and obtains the analysis conditions of defects, damages and corrosion of the power equipment; finally, according to the analysis conditions of the ground station, the position information is used as a distinguishing feature to generate an inspection electronic report containing the analysis conditions of multiple power equipment; at the same time, the service life, maintenance cost and maintenance measures of the power equipment are given according to the inspection electronic report, and the position information of the power equipment is notified to the maintenance personnel. The significance of the above scheme using unmanned aerial vehicles for power equipment inspection mainly lies in the following aspects: improving efficiency and accuracy: using unmanned aerial vehicles for inspection can achieve rapid, efficient and comprehensive inspection of power equipment. Unmanned aerial vehicles can cover a large area of inspection area in a short time, reducing the demand for human resources and inspection time. At the same time, the various devices carried by the unmanned aerial vehicle can collect high-definition images and position information, and through image processing and analysis algorithms, the defects, damages and corrosion of the power equipment can be accurately identified, improving the accuracy of the inspection. Improving safety: traditional power equipment inspection requires personnel to enter high-voltage and dangerous working environments, which poses a safety risk. Unmanned aerial vehicle inspection can avoid direct contact with high-voltage equipment, reducing the risk of personal safety. At the same time, unmanned aerial vehicles can fly in complex terrain conditions, and can better inspect places that are difficult to reach, such as high altitudes and steep mountainous areas, improving the safety of the inspection. Saving costs: unmanned aerial vehicle inspection can save human resources and time costs compared to traditional manual inspection. In addition, through unmanned aerial vehicle inspection, problems with power equipment can be detected early, and maintenance measures can be taken in advance to avoid the expansion and delay of equipment failure, thereby reducing maintenance costs and maintenance time, saving maintenance costs. Real-time monitoring and report generation: through unmanned aerial vehicle inspection, images and position information of power equipment can be obtained in real time, and through image processing and analysis by the ground station, the analysis conditions of defects, damages and corrosion of power equipment can be obtained in a timely manner. Based on these analysis results, an inspection electronic report is generated, providing information such as the service life, maintenance cost and maintenance measures of the power equipment to provide guidance and decision-making basis for maintenance personnel.

[0067] In summary, the embodiment of the present application uses unmanned aerial vehicles for power equipment inspection to improve inspection efficiency and accuracy, improve the safety of the inspection, save costs, and enable real-time monitoring and report generation, which is of great significance for the maintenance and management of power equipment.

[0068] The power inspection system based on the unmanned aerial vehicle of the embodiment can solve many problems existing in the traditional power inspection method, improve the inspection efficiency, accuracy and safety, and provide a better means for the maintenance and management of power equipment. Including: low efficiency of manual inspection: the traditional power inspection needs personnel to arrive at the scene for inspection, which consumes time and labor cost. While the unmanned aerial vehicle inspection can quickly cover a large area through the aircraft, efficiently complete the inspection task, and reduce the labor and time cost. The accuracy of the inspection is difficult to guarantee: the traditional power inspection method may cause missed inspection and misjudgment due to personnel negligence or subjective factors. While the unmanned aerial vehicle inspection can scan the power equipment in all directions through high-resolution images, videos and infrared thermal imaging technology, accurately capture abnormal conditions, and improve the accuracy of the inspection. The safety risk is large: the traditional power inspection method needs personnel to enter the dangerous area around the high-voltage power equipment for inspection, which has a certain safety risk. While the unmanned aerial vehicle inspection can inspect the power equipment through the remote control aircraft, ensuring the safety of the operator. It is difficult to meet the real-time monitoring requirements: the traditional power inspection method needs to collect the collected data for processing, which cannot meet the real-time monitoring requirements. While the unmanned aerial vehicle inspection can upload data to the cloud for real-time processing and analysis, so that the state of the power equipment can be fed back to the manager in time, improving the monitoring effect.

[0069] The power inspection system based on the unmanned aerial vehicle of the embodiment can improve the inspection efficiency and accuracy, and reduce the inspection cost and risk. As a new type of mobile platform, the unmanned aerial vehicle has good maneuverability and observation ability, can quickly reach the place that needs to be inspected, and can collect data and image information more comprehensively. At the same time, the unmanned aerial vehicle can also avoid the safety problems in the vertical direction of the construction area, effectively protecting the safety of the workers. The power inspection system based on the unmanned aerial vehicle mainly includes unmanned aerial vehicle, image processing and operation, data storage and transmission technologies; by carrying high-definition cameras, thermal imagers, laser radars and other devices on the unmanned aerial vehicle, the functions of rapid inspection, abnormal detection and positioning of power facilities are realized. Through image processing technology, the collected image data is analyzed to find defects, damage, corrosion and other conditions of the equipment, predict the service life and maintenance cost of the equipment, and generate an inspection report in time to improve the reliability and safety of the equipment.

[0070] Embodiment 2: As shown in FIG. 2, on the basis of embodiment 1, the process of the power inspection area for formulating the flight trajectory provided by the embodiment of the application comprises the following steps:

[0071] S101: Obtain the power equipment distribution map of the power inspection area, and obtain the position coordinates of each power equipment, that is, the position information; according to the difference of the position information, the plurality of power equipments are divided into a plurality of flight trajectory nodes, and the flight trajectory nodes containing the position information are composed into a training trajectory data set;

[0072] S102: input the training trajectory data set into the flight trajectory generation model, and generate the flight trajectory in real time; input the flight trajectory into the controller of the unmanned aerial vehicle;

[0073] S103: combine the power of the wireless transmission of the unmanned aerial vehicle and the flight trajectory, and minimize the time for the unmanned aerial vehicle to complete the specified power inspection area; the unmanned aerial vehicle performs a test flight according to the flight trajectory, and verifies the time.

[0074] The working principle and beneficial effects of the above technical solution are: first, the power inspection area is obtained, and the power equipment distribution map is obtained, and the position coordinates of each power equipment are obtained, and the position coordinates are the position information; according to the different position information, the plurality of power equipment is divided into a plurality of flight trajectory nodes, and the flight trajectory node containing the position information is composed into a training trajectory data set; second, the training trajectory data set is input into the flight trajectory generation model to obtain the flight trajectory generation model, and the flight trajectory is generated in real time, and the flight trajectory is input into the controller of the unmanned aerial vehicle; finally, the power of the wireless transmission of the unmanned aerial vehicle and the flight trajectory are combined, and the time of the unmanned aerial vehicle completing the specified power inspection area is minimized; the unmanned aerial vehicle flies according to the flight trajectory, and the time is verified. The above scheme optimizes the inspection path: by obtaining the power equipment distribution map and the position coordinates, the power equipment can be divided into a plurality of flight trajectory nodes, and input into the flight trajectory generation model as a training trajectory data set; the generated flight trajectory can be optimized according to the position information of the power equipment, so that the unmanned aerial vehicle can pass through each power equipment during the inspection process, cover the entire inspection area, and minimize the missed detection and repeated detection, thereby optimizing the inspection path and improving the inspection efficiency. Automatic inspection: the unmanned aerial vehicle can perform inspection according to the specified flight path generated by the flight trajectory generation model without human intervention; automatic inspection can be realized, and the demand for human resources is reduced, and time and cost are saved. Minimize the inspection time: by combining the power of the wireless transmission of the unmanned aerial vehicle and the flight trajectory, and minimizing the time of the unmanned aerial vehicle completing the specified power inspection area, the flight path and speed of the unmanned aerial vehicle can be optimized, thereby minimizing the inspection time under the premise of ensuring the comprehensiveness of the inspection; the efficiency of the inspection can be improved, and the consumption of the inspection time can be reduced. The significance of setting the aircraft trajectory node according to the position coordinates is: ensuring coverage: setting the aircraft trajectory node according to the position coordinates of the power equipment can ensure that the unmanned aerial vehicle can pass through each power equipment during the inspection process, cover the entire inspection area, and avoid missed detection. Optimize the path: by dividing the power equipment into a plurality of nodes, the flight path of the unmanned aerial vehicle can be optimized according to the position information, and the repeated detection and missed detection can be minimized to the greatest extent, thereby improving the inspection efficiency. Management and analysis: as key information, the position coordinates can help manage and analyze the distribution and inspection of the power equipment, such as generating an inspection report, counting the equipment state, etc., to provide a reference basis for subsequent maintenance and management.

[0075] In summary, the embodiment sets the aircraft trajectory node according to the position coordinates to optimize the inspection path, realize automatic inspection, minimize the inspection time, and provide basic data for the management and analysis of the power equipment.

[0076] Embodiment 3: As shown in FIG. 3, based on embodiment 2, the flight trajectory generation process provided by the embodiment of the application comprises the following steps:

[0077] S1021: connect the plurality of flight trajectory nodes in succession to obtain a flight route of adjacent flight trajectory points, divide the flight route into a plurality of grids, and construct a flight trajectory background field containing the plurality of grids;

[0078] S1022: acquire geographic environment data of the power inspection area by the laser radar, preprocess the geographic environment data, construct a geographic environment background field of the power inspection area, and divide the geographic environment background field into a plurality of grids;

[0079] S1023: merge the grids of the flight trajectory background field and the grids of the geographic environment background field to form a grid matrix, and judge the significance of the flight direction of the unmanned aerial vehicle based on the grids of the grid matrix; and determine whether the current geographic environment needs to be flown around.

[0080] The working principle and beneficial effects of the above technical solution are as follows: firstly, the plurality of flight trajectory nodes are connected in succession to obtain a flight route of adjacent flight trajectory points, the flight route is divided into a plurality of grids, and a flight trajectory background field containing the plurality of grids is constructed; secondly, geographic environment data of the power inspection area is acquired by the laser radar, the geographic environment data is preprocessed, a geographic environment background field of the power inspection area is constructed, and the geographic environment background field is divided into a plurality of grids; finally, the grids of the flight trajectory background field and the grids of the geographic environment background field are merged to form a grid matrix, and the significance of the flight direction of the unmanned aerial vehicle is judged based on the grids of the grid matrix; and it is determined whether the current geographic environment needs to be flown around. The above scheme determines the flight direction: by merging the flight trajectory background field and the geographic environment background field to form a grid matrix, and judging the significance of the flight direction of the unmanned aerial vehicle based on the grid matrix; it can help the unmanned aerial vehicle to determine the best flight direction, avoid collision with obstacles in the geographic environment, and ensure the safety of the inspection. Optimize the flight path: by combining the flight trajectory background field and the geographic environment background field, the flight path can be optimized based on the geographic environment data of the inspection area; through the analysis of the grid matrix, it can be determined which geographic environment needs to be flown around, so as to avoid the collision between the unmanned aerial vehicle and the obstacles in the geographic environment, and improve the efficiency and accuracy of the inspection. Improve safety and obstacle avoidance capability: by combining the geographic environment data and the flight trajectory background field, the unmanned aerial vehicle can identify and avoid potential collision risks during the inspection process; by judging the significance of the flight direction, the unmanned aerial vehicle can adjust and avoid according to the obstacles in the geographic environment, thereby improving the safety and obstacle avoidance capability of the inspection. Improve the inspection efficiency: by optimizing the flight path and avoiding unnecessary flying around, the flight efficiency of the unmanned aerial vehicle can be improved; the unmanned aerial vehicle can more quickly inspect the target area, reduce the inspection time and cost, and improve the inspection efficiency.

[0081] In summary, the scheme of the geographic environment data and the flight trajectory background field can help the unmanned aerial vehicle to determine the optimal navigation direction, optimize the navigation path, improve the safety and obstacle avoidance ability, and improve the inspection efficiency.

[0082] Embodiment 4: As shown in FIG. 4, on the basis of embodiment 1, the process of the present embodiment for wirelessly transmitting image and position information comprises the following steps:

[0083] S104: The controller of the unmanned aerial vehicle presets a wireless transmission power enhancement program, and the trigger condition of the wireless transmission power enhancement program is that the wireless transmission power of the flight trajectory node of the current unmanned aerial vehicle exceeds the maximum transmission distance from the current unmanned aerial vehicle to the ground station;

[0084] S105: The unmanned aerial vehicle determines the wireless transmission distance from the flight trajectory node to the ground station in real time; when flying according to the flight trajectory, the controller predicts that the next flight trajectory node will exceed the maximum transmission distance, and when flying away from the current flight trajectory node, the trigger condition is started;

[0085] S106: According to the trigger condition, the controller starts the wireless transmission power enhancement program, and the image and position information collected by the unmanned aerial vehicle are transmitted at the new wireless transmission power of the wireless transmission power enhancement program.

[0086] The working principle and beneficial effects of the technical solution are as follows: first, the controller of the unmanned aerial vehicle presets a wireless transmission power enhancement program, and the triggering condition of the wireless transmission power enhancement program is that the wireless transmission power of the flight trajectory node of the unmanned aerial vehicle exceeds the maximum transmission distance from the unmanned aerial vehicle to the ground station; second, the unmanned aerial vehicle determines the wireless transmission distance from the flight trajectory node to the ground station in real time; when flying according to the flight trajectory, the controller predicts that the next flight trajectory node will exceed the maximum transmission distance, and the triggering condition is started when flying away from the current flight trajectory node; finally, according to the triggering condition, the controller starts the wireless transmission power enhancement program, and the images and position information collected by the unmanned aerial vehicle are transmitted at the new wireless transmission power of the wireless transmission power enhancement program. The significance of the above scheme mainly lies in the following aspects: ensuring data transmission reliability: by presetting the wireless transmission power enhancement program, when the wireless transmission power of the flight trajectory node of the unmanned aerial vehicle exceeds the maximum transmission distance from the unmanned aerial vehicle to the ground station, the controller starts the wireless transmission power enhancement program; the transmission reliability of the data can still be ensured when the wireless transmission range reaches the limit; by enhancing the wireless transmission power, the transmission distance can be expanded, and data transmission interruption or signal quality degradation can be avoided. Improve communication stability: determine the wireless transmission distance from the flight trajectory node to the ground station in real time, and predict whether the next flight trajectory node will exceed the maximum transmission distance according to the flight trajectory; when it is predicted that the next node may exceed the transmission distance, the triggering condition is started, and the controller starts the wireless transmission power enhancement program; the transmission power can be adjusted in time to maintain the stability of the communication, and the data transmission problem caused by weak or interrupted signals can be avoided. Improve data transmission efficiency: the significance of the wireless transmission power enhancement program is to enhance the wireless transmission power to improve the efficiency of data transmission; after the transmission power is enhanced, the signal strength is increased, the data transmission rate and stability are improved, the transmission delay is reduced, the data transmission speed is accelerated, and the real-time performance of the images and position information collected by the unmanned aerial vehicle is improved. Ensure data integrity: by enhancing the wireless transmission power, the data packet loss or damage during data transmission can be reduced, and the integrity of the data can be ensured; errors during data transmission can be avoided, and the transmitted images and position information can be ensured to be accurate.

[0087] In summary, the preset wireless transmission power enhancement program of the embodiment can ensure the reliability, stability and efficiency of data transmission; by enhancing the wireless transmission power, the transmission distance can be expanded, the communication stability can be improved, the data transmission speed can be accelerated, and the integrity and accuracy of the data can be ensured; it is of great significance for data transmission of unmanned aerial vehicle inspection.

[0088] Embodiment 5: As shown in FIG. 5, on the basis of embodiment 1, the process of processing and analyzing the images provided by the present embodiment comprises the following steps:

[0089] S201: pre-process the received image, which includes image denoising, contrast enhancement, brightness adjustment, and other operations; perform object detection and segmentation on the power equipment in the image to identify and locate the position and bounding box of the power equipment;

[0090] S202: in the segmented area of the power equipment, extract target features related to defects, damage, and corrosion, and convert image information into quantifiable and analyzable feature vectors; target features include texture features, shape features, color features, and the like;

[0091] S203: use a classifier to analyze and classify the extracted target features, determine the condition of the power equipment such as defects, damage, and corrosion based on the feature vectors, and give the corresponding judgment result.

[0092] The working principle and beneficial effects of the above technical solution are as follows: the embodiment first pre-processes the received image, which includes image denoising, contrast enhancement, brightness adjustment, and other operations; performs object detection and segmentation on the power equipment in the image to identify and locate the position and bounding box of the power equipment; secondly, in the segmented area of the power equipment, extract target features related to defects, damage, and corrosion, and convert image information into quantifiable and analyzable feature vectors; target features include texture features, shape features, color features, and the like; finally, use a classifier to analyze and classify the extracted target features, determine the condition of the power equipment such as defects, damage, and corrosion based on the feature vectors, and give the corresponding judgment result. The above scheme realizes automatic analysis: through pre-processing, object detection and segmentation, and feature extraction of the received image, automatic analysis of the power equipment can be realized; the influence of manual intervention and subjective judgment can be reduced, and the objectivity and consistency of the analysis can be improved. Efficiency and accuracy: through the use of image processing and machine learning technology, efficient processing and analysis of a large amount of image data can be realized; the classifier uses the extracted target features to analyze and classify defects, which can quickly and accurately determine the condition of the power equipment such as defects, damage, and corrosion; the efficiency and accuracy of the analysis can be greatly improved, saving manpower and time cost. Unified standard and consistency: by establishing a classifier to analyze and classify the extracted target features, a unified standard and consistency of the condition of the power equipment can be realized; the classifier can learn the normal state and various defect types of the power equipment based on training data, so that new image data can be compared with these standards to determine the specific condition of the power equipment; human factors can be avoided to ensure the objectivity and consistency of the judgment result. Provide decision basis: the significance of the classifier analyzing and classifying the extracted target features is to provide a decision basis. Based on the results of the classifier, the condition of the power equipment such as defects, damage, and corrosion can be accurately diagnosed; important reference and guidance are provided for formulating maintenance plans, optimizing resource allocation, and improving the reliability of the power equipment.

[0093] To sum up, the embodiment can realize the automatic analysis and judgment of the power equipment by pre-processing the image, object detection and segmentation, and defect analysis and classification of the feature extraction and classifier; can improve the efficiency and accuracy of the analysis, ensure the objectivity and consistency of the analysis results, and provide the basis for decision-making, thereby improving the maintenance and management level of the power equipment.

[0094] The received image is pre-processed, which includes image denoising, contrast enhancement, brightness adjustment and other operations; the power equipment in the image is subjected to object detection and segmentation to identify and locate the position and bounding box of the power equipment.

[0095] Embodiment 6: As shown in Figure 6, on the basis of embodiment 5, the process of object detection and segmentation of the power equipment in the image provided by the embodiment of the application comprises the following steps:

[0096] S2011: Obtain an image to be detected containing a positive sample of power equipment, use a target detection algorithm to locate and identify the power equipment in the image, automatically identify the power equipment in the image, and give the position and bounding box;

[0097] S2012: Take the bounding box as the segmentation boundary, and according to the position and bounding box obtained by target detection, segment the power equipment from the background to form a segmentation result;

[0098] S2013: Use negative samples of images not containing power equipment to evaluate the results of object detection and segmentation.

[0099] The working principle and beneficial effects of the technical solution are as follows: first, the embodiment obtains an image to be detected containing a positive sample of a power device, uses a target detection algorithm to locate and identify the power device in the image, automatically identifies the power device in the image, and gives the position and bounding box; second, taking the bounding box as the segmentation boundary, the power device is segmented from the background according to the position and bounding box obtained by target detection to form a segmentation result; finally, the negative sample of the image not containing the power device is used to evaluate the object detection and segmentation result. The above scheme automatically detects and segments: by using the target detection algorithm, the power device in the image can be automatically identified, and the position and bounding box can be given; the influence of manual intervention and subjective judgment can be reduced, and the automatic detection and positioning of the power device can be realized; at the same time, by using the object segmentation algorithm, the power device can be segmented from the background to form an accurate segmentation result. Reducing manual labor and cost: automatic detection and segmentation can reduce manual labor and cost; compared with using manual methods to detect and segment the power device, the automatic method can quickly and accurately process a large amount of image data, saving manpower and time cost. Improve the accuracy of detection and segmentation: by using the target detection algorithm, the power device in the image can be accurately located and identified, and the position and bounding box can be given; at the same time, by using the object segmentation algorithm, the power device can be segmented from the background to form an accurate segmentation result; the accuracy of the detection and segmentation result can be improved, and the false detection and missed detection can be reduced. Result evaluation and optimization: the result of object detection and segmentation can be evaluated, and the negative sample of the image not containing the power device can be used to verify the performance of the algorithm. Through the evaluation result, the accuracy, recall rate, IoU and other indicators of the algorithm can be analyzed, and the performance of the detection and segmentation algorithm can be further optimized and improved.

[0100] In summary, the embodiment can reduce manual labor and cost, improve the accuracy of detection and segmentation, and continuously improve the performance of the algorithm through result evaluation and optimization. This is of great significance for the detection, positioning and analysis of power devices, and can improve the efficiency and accuracy of power device management and maintenance.

[0101] Embodiment 7: As shown in FIG. 7, on the basis of embodiment 5, the process of extracting target features related to defects, damages and corrosion provided by the embodiment of the application comprises the following steps:

[0102] S2021: identifying the target features of the features in the region segmented with the power device, performing target feature extraction on the segmented power device image to be identified and the segmented preset power device image to obtain a plurality of feature vectors; wherein the feature vectors correspond to information such as texture features, shape features and color features of the segmented power device image to be detected;

[0103] S2022: Calculate the similarity of the feature vectors of the segmented to-be-identified power equipment image and the segmented preset power equipment image under the same power equipment image texture feature, shape feature and color feature, to obtain a first similarity of the texture feature, a second similarity of the shape feature and a third similarity of the color feature; wherein the calculation expression of the similarity sim(LP, La) is:

[0104] wherein L p , L q and L s correspond to the feature vectors of the texture feature, the shape feature and the color feature respectively, i pk represents the kth element of the texture feature vector L p| , i pk represents the kth element of the shape feature vector L p , i sk represents the kth element of the color feature vector L s , min(·) represents the minimum function, and N represents the number of elements in the feature vector. Specifically, for the texture feature, the shape feature and the color feature, each element in the feature vector corresponds to a certain quantization or statistics of the corresponding feature. For example, for the texture feature, each element may represent the value of a certain texture statistical index (such as contrast, energy, etc.); for the shape feature, each element may represent the value of a certain geometric feature (such as area, perimeter, etc.); for the color feature, each element may represent the value of a certain color attribute (such as the value of a certain color channel of the color histogram).

[0105] S2023: Obtain the differences of the power equipment image in the texture feature, the shape feature and the color feature according to the first similarity, the second similarity and the third similarity obtained by calculation, to obtain the changes of the target features related to defects, damages and corrosion.

[0106] The working principle and beneficial effects of the above technical solution are as follows: Firstly, the target features in the region of the segmented power equipment are identified, and the target features of the segmented to-be-identified power equipment image and the segmented preset power equipment image are extracted to obtain a plurality of feature vectors; wherein, the feature vectors correspond to the texture features, shape features and color features of the segmented to-be-detected power equipment image; secondly, the similarity of the feature vectors of the segmented to-be-identified power equipment image and the segmented preset power equipment image under the same power equipment image texture feature, shape feature and color feature is calculated to obtain a first similarity of the texture feature, a second similarity of the shape feature and a third similarity of the color feature; finally, the differences of the texture feature, shape feature and color feature of the power equipment image are obtained according to the calculated first similarity, second similarity and third similarity, so as to obtain the changes of the target features related to defects, damages and corrosion. The feature extraction and similarity calculation of the above scheme: by extracting the target features such as texture features, shape features and color features from the segmented to-be-identified power equipment image and the segmented preset power equipment image, and calculating the similarity between them, the feature difference between the two can be quantified; it can help to identify and analyze the defects, damages and corrosion of the power equipment, so as to provide quantitative information about the condition of the power equipment. Difference analysis and feature change: through the calculated similarity, the differences of the texture feature, shape feature and color feature of the power equipment image can be obtained; these differences can reflect the feature changes of the defects, damages and corrosion of the power equipment; by analyzing these feature changes, the health status of the power equipment can be judged, potential problems can be predicted, and guidance and basis for maintenance and repair work can be provided. Automatic identification and analysis: through automatic feature extraction and similarity calculation, automatic identification and analysis of the target features in the power equipment image can be realized; the influence of manual intervention and subjective judgment can be reduced, and the objectivity and consistency of the analysis can be improved. At the same time, automatic identification and analysis can quickly process a large amount of image data and improve the analysis efficiency. Provide decision basis: by analyzing the differences of the texture feature, shape feature and color feature of the power equipment image, decision basis can be provided; the changes of these features can help to judge the severity and type of defects, damages and corrosion of the power equipment; based on this information, corresponding maintenance plans can be made, resources can be optimized, and corresponding repair measures can be taken, so as to improve the reliability and safety of the power equipment.

[0107] In summary, the embodiment can quantify the differences of the target features in the power equipment image by feature extraction and similarity calculation, and provide the changes of the target features related to defects, damages and corrosion. This is of great significance for the identification, analysis and decision of power equipment, and can improve the maintenance and management level of power equipment and reduce potential risks.

[0108] Embodiment 8: As shown in FIG. 8, on the basis of Embodiment 1, the generation process of the inspection electronic report provided by the present embodiment comprises the following steps:

[0109] S301: receiving the result of the ground station analysis condition, the ground station sends a request for generating an inspection electronic report, the inspection electronic report request contains an electronic report identifier and position information; obtaining an electronic report template corresponding to the power equipment corresponding to the position information, and confirming the items contained in the inspection electronic report;

[0110] S302: confirming the basic parameters and global parameters of the inspection electronic report according to the items, the basic parameters refer to the parameters defining the basic content of the inspection electronic report, and the global parameters refer to the normal parameters of the electronic equipment cited in the inspection electronic report;

[0111] S303: generating the root node of the inspection electronic report based on the basic parameters in the interface of the inspection electronic report, the title of the root node is the name of the power equipment corresponding to the position information; in response to the instruction of adding a child node under the root node, the child node is the result of analyzing the condition of the unified power equipment.

[0112] The working principle and beneficial effects of the technical solution are as follows: first, the embodiment receives the analysis result of the ground station, the ground station sends a request to generate an inspection electronic report, and the inspection electronic report request contains an electronic report identifier and position information; an electronic report template corresponding to the power equipment corresponding to the position information is obtained, and the items contained in the inspection electronic report are confirmed; second, the basic parameters and global parameters of the inspection electronic report are confirmed according to the items, the basic parameters refer to the parameters defining the basic content of the inspection electronic report, and the global parameters refer to the normal parameters of the electronic equipment cited in the inspection electronic report; finally, the root node of the inspection electronic report is generated in the interface of the inspection electronic report based on the basic parameters, and the title of the root node is the name of the power equipment corresponding to the position information; in response to the newly added child node instruction under the root node, the child node is the analysis result of the unified power equipment. The above scheme automatically generates a report: by receiving the analysis result of the ground station, and according to the position information and the electronic report template in the electronic report request, the inspection electronic report is automatically generated; the workload and time of manually writing the report can be reduced, and the efficiency and accuracy of report generation can be improved. Standardized report content: by confirming the items and parameters contained in the inspection electronic report, the content of the report can be ensured to be consistent with the requirements and standards; consistent report content can be provided to facilitate subsequent analysis, comparison and decision-making. Information concentration and visualization: by generating the root node and child node of the inspection electronic report, the dispersed analysis result can be concentrated in the report; this can facilitate user viewing and reading, and also provides a visual way to present the analysis result, making the information more intuitive and easy to understand. Provide decision basis: the inspection electronic report contains the analysis result and parameter information of the power equipment. Based on these information, a basis can be provided for subsequent maintenance and management decision-making; for example, according to the abnormal result in the report, a corresponding repair plan and preventive maintenance measure can be made to improve the reliability and safety of the power equipment. Data traceability and archiving: by generating the inspection electronic report, the analysis result and parameter information of the power equipment can be recorded and associated with the specific position information; this can facilitate future query, traceability and archiving, and provide support for long-term maintenance and management of the power equipment.

[0113] In summary, the embodiment generates an inspection electronic report through automatic report generation, standardized report content and information visualization, and the generation process of the inspection electronic report has the significance of improving efficiency, providing decision basis and facilitating data management. This helps to improve the maintenance and management process of the power equipment and improve the reliability and safety of the power equipment.

[0114] Embodiment 9: As shown in FIG. 9, based on embodiments 1-8, the unmanned aerial vehicle-based power inspection control system provided by the embodiment of the application comprises:

[0115] The unmanned aerial vehicle control module is responsible for formulating a flight track according to a power inspection area, collecting image and position information of the power equipment through various types of devices carried by the unmanned aerial vehicle; and the image and position information are transmitted to a receiving terminal of the ground station in a wireless transmission form.

[0116] The image processing and analysis module is responsible for receiving the real-time collected image and position information by the ground station, processing and analyzing the image, and obtaining analysis conditions of defects, damages and corrosion of the power equipment.

[0117] The inspection electronic report generation module is responsible for generating an inspection electronic report containing analysis conditions of multiple power equipment according to the analysis conditions of the ground station and taking the position information as a distinguishing feature; meanwhile, the inspection electronic report gives the service life, maintenance cost and maintenance measures of the power equipment, and notifies the position information of the power equipment to the maintenance personnel.

[0118] The working principle and beneficial effects of the above technical solution are: the unmanned aerial vehicle control module of the embodiment formulates a flight trajectory according to the power inspection area, and collects images and position information of the power equipment through various types of devices carried by the unmanned aerial vehicle; the images and position information are transmitted to the receiving terminal of the ground station in the form of wireless transmission; the image processing and analysis module receives the real-time collected images and position information, processes and analyzes the images, and obtains the analysis conditions of defects, damages and corrosion of the power equipment; the inspection electronic report generation module generates an inspection electronic report containing the analysis conditions of multiple power equipment according to the analysis conditions of the ground station, taking the position information as the distinguishing feature; at the same time, the service life, maintenance cost and maintenance measures of the power equipment are given according to the inspection electronic report, and the position information of the power equipment is notified to the maintenance personnel. The significance of the above scheme in using unmanned aerial vehicles for power equipment inspection mainly lies in the following aspects: improving efficiency and accuracy: using unmanned aerial vehicles for inspection can realize rapid and efficient comprehensive inspection of power equipment. Unmanned aerial vehicles can cover a large area of inspection area in a short time, reducing the demand for human resources and inspection time. At the same time, various devices carried by the unmanned aerial vehicle can collect high-definition images and position information, and through image processing and analysis algorithms, the defects, damages and corrosion of the power equipment can be accurately identified, improving the accuracy of the inspection. Improving safety: traditional power equipment inspection requires personnel to enter high-voltage and dangerous working environments, which poses a safety risk. Unmanned aerial vehicle inspection can avoid direct contact between personnel and high-voltage equipment, reducing the risk of personal safety. At the same time, unmanned aerial vehicles can fly in complex terrain conditions and better inspect places that are difficult to reach, such as high altitudes and steep mountainous areas, improving the safety of the inspection. Saving costs: unmanned aerial vehicle inspection can save human resources and time costs compared to traditional manual inspection. In addition, through unmanned aerial vehicle inspection, problems with power equipment can be detected early, and maintenance measures can be taken in advance to avoid the expansion and delay of equipment failure, thereby reducing maintenance costs and maintenance time and saving maintenance costs. Real-time monitoring and report generation: through unmanned aerial vehicle inspection, images and position information of power equipment can be obtained in real time, and through image processing and analysis by the ground station, the analysis conditions of defects, damages and corrosion of the power equipment can be obtained in a timely manner. Based on these analysis results, an inspection electronic report is generated, providing information such as the service life, maintenance cost and maintenance measures of the power equipment to provide guidance and decision-making basis for maintenance personnel.

[0119] In summary, the use of unmanned aerial vehicles for power equipment inspection in the embodiment can improve inspection efficiency and accuracy, improve the safety of the inspection, save costs, and enable real-time monitoring and report generation, which is of great significance for the maintenance and management of power equipment.

[0120] Embodiment 10: As shown in FIG. 10, based on embodiment 9, the unmanned aerial vehicle control module provided by the embodiment of the application comprises:

[0121] A position information obtaining sub-module is responsible for obtaining a power equipment distribution map of a power inspection area and obtaining position coordinates of each power equipment, and the position coordinates are position information. A plurality of flight trajectory nodes are divided into a plurality of flight trajectory nodes according to different position information, and the flight trajectory nodes containing position information are combined to form a training trajectory data set;

[0122] A flight trajectory generation sub-module is responsible for inputting the training trajectory data set into a flight trajectory generation model, generating a flight trajectory in real time, and inputting the flight trajectory into a controller of the unmanned aerial vehicle;

[0123] An inspection time minimization sub-module is responsible for jointly minimizing the power of the wireless transmission of the unmanned aerial vehicle and the flight trajectory, and minimizing the time for the unmanned aerial vehicle to complete the specified power inspection area. The unmanned aerial vehicle performs a test flight according to the flight trajectory, and verifies the time;

[0124] A first background field forming sub-module is responsible for connecting a plurality of flight trajectory nodes to obtain a flight route of adjacent flight trajectory points, dividing the flight route into a plurality of grids, and constructing a flight trajectory background field containing a plurality of grids;

[0125] A second background field forming sub-module is responsible for obtaining geographical environment data of the power inspection area through a laser radar, preprocessing the geographical environment data, constructing a geographical environment background field of the power inspection area, and dividing the geographical environment background field into a plurality of grids;

[0126] A fly-around judgment sub-module is responsible for merging the grids of the flight trajectory background field and the grids of the geographical environment background field to form a grid matrix, judging the significance of the navigation direction of the unmanned aerial vehicle based on the grids of the grid matrix, and confirming whether the current geographical environment needs to fly around.

[0127] The working principle and beneficial effects of the technical solution are as follows: the position information acquisition submodule of the embodiment acquires a power equipment distribution map of the power inspection area and simultaneously acquires position coordinates of each power equipment, and the position coordinates are the position information; a plurality of flight trajectory nodes are divided into a plurality of flight trajectories according to the different position information, and the flight trajectory nodes containing the position information are combined to form a training trajectory data set; the flight trajectory generation submodule inputs the training trajectory data set into a flight trajectory generation model to generate a flight trajectory in real time, and inputs the flight trajectory into a controller of the unmanned aerial vehicle; the inspection time minimization submodule minimizes the time for the unmanned aerial vehicle to complete the specified power inspection area in combination with the power wirelessly transmitted by the unmanned aerial vehicle and the flight trajectory; the unmanned aerial vehicle performs a test flight according to the flight trajectory, and verifies the time; the first background field forming submodule connects a plurality of flight trajectory nodes in succession to obtain a flight route of adjacent flight trajectory points, divides the flight route into a plurality of grids, and constructs a flight trajectory background field containing the plurality of grids; the second background field forming submodule acquires geographic environment data of the power inspection area through a laser radar, pre-processes the geographic environment data, constructs a geographic environment background field of the power inspection area, and divides the geographic environment background field into a plurality of grids; the circling judgment submodule combines the grids of the flight trajectory background field and the grids of the geographic environment background field to form a grid matrix, judges the significance of the navigation direction of the unmanned aerial vehicle based on the grids of the grid matrix, and confirms whether the current geographic environment needs to be circled.

[0128] The above scheme optimizes the inspection path: by obtaining the power equipment distribution map and position coordinates, the power equipment can be divided into multiple flight trajectory nodes, and the flight trajectory generation model is input as a training trajectory dataset; the generated flight trajectory can be optimized according to the position information of the power equipment, so that the unmanned aerial vehicle can pass through each power equipment during the inspection process, cover the entire inspection area, and minimize the missed detection and repeated detection, thereby optimizing the inspection path and improving the inspection efficiency. Automatic inspection: the trajectory generated by the flight trajectory generation model can be used by the unmanned aerial vehicle to follow the specified flight path for inspection without human intervention; automatic inspection can be realized, reducing the demand for human resources and saving time and cost. Minimize the inspection time: by jointly optimizing the power of the unmanned aerial vehicle wireless transmission and the flight trajectory, and minimizing the time for the unmanned aerial vehicle to complete the specified power inspection area, the flight path and speed of the unmanned aerial vehicle can be optimized, thereby minimizing the inspection time under the premise of ensuring comprehensive inspection; the efficiency of the inspection can be improved, and the consumption of the inspection time can be reduced. The significance of setting the aircraft trajectory node according to the position coordinates is to ensure coverage: setting the aircraft trajectory node according to the position coordinates of the power equipment can ensure that the unmanned aerial vehicle can pass through each power equipment during the inspection process, cover the entire inspection area, and avoid missed detection. Optimize the path: by dividing the power equipment into multiple nodes, the flight path of the unmanned aerial vehicle can be optimized according to the position information, minimizing repeated detection and missed detection, and improving the inspection efficiency. Management and analysis: as key information, the position coordinates can help manage and analyze the distribution of power equipment and the inspection situation, such as generating inspection reports, counting equipment status, etc., providing a reference for subsequent maintenance and management.

[0129] The above scheme determines the navigation direction: by merging the flight trajectory background field and the geographical environment background field to form a grid matrix, and judging the significance of the navigation direction of the unmanned aerial vehicle based on the grid matrix; the best navigation direction of the unmanned aerial vehicle can be determined to avoid collision with obstacles in the geographical environment, ensuring the safety of the inspection. Optimize the navigation path: by combining the flight trajectory background field and the geographical environment background field, the flight path can be optimized based on the geographical environment data of the inspection area; through the analysis of the grid matrix, it can be determined which geographical environment needs to be flown around, thereby avoiding the collision of the unmanned aerial vehicle with the obstacles in the geographical environment, improving the efficiency and accuracy of the inspection. Improve safety and obstacle avoidance capability: by combining geographical environment data and flight trajectory background field, the unmanned aerial vehicle can identify and avoid potential collision risks during the inspection process; by judging the significance of the navigation direction, the unmanned aerial vehicle can adjust and avoid obstacles in the geographical environment, improving the safety and obstacle avoidance capability of the inspection. Improve the efficiency of the inspection: by optimizing the navigation path and avoiding invalid flying around, the navigation efficiency of the unmanned aerial vehicle can be improved; the unmanned aerial vehicle can more quickly inspect the target area, reducing the inspection time and cost, and improving the efficiency of the inspection.

[0130] In summary, the embodiment can optimize the inspection path, realize automatic inspection, minimize the inspection time, and provide basic data for the management and analysis of power equipment by setting the aircraft trajectory node according to the position coordinates. The embodiment can help the UAV determine the best navigation direction, optimize the navigation path, improve the safety and obstacle avoidance ability, and improve the inspection efficiency through the scheme of geographical environment data and flight trajectory background field. It is of great significance to the safety, accuracy and efficiency of power inspection.

[0131] Embodiment 11: On the basis of Embodiment 9, the image processing and analysis module provided by the embodiment of the application comprises:

[0132] An image preprocessing submodule is responsible for preprocessing the received image, and the preprocessing includes image denoising, contrast enhancement, brightness adjustment and the like. The image preprocessing submodule is also responsible for object detection and segmentation of the power equipment in the image, and identifying and locating the position and bounding box of the power equipment.

[0133] A feature vector acquisition submodule is responsible for extracting target features related to defects, damages and corrosion in the segmented area of the power equipment, and converting the image information into quantifiable and analyzable feature vectors. The target features include texture features, shape features and color features, etc.

[0134] A condition judgment submodule is responsible for defect analysis and classification of the extracted target features by using a classifier, judging the conditions of defects, damages and corrosion of the power equipment according to the feature vectors, and giving corresponding judgment results.

[0135] The working principle and beneficial effects of the above technical solution are as follows: the image preprocessing submodule of the embodiment pre-processes the received image, and the pre-processing includes image denoising, contrast enhancement, brightness adjustment and the like; object detection and segmentation are performed on the power equipment in the image to identify and locate the position and bounding box of the power equipment; the feature vector acquisition submodule extracts target features related to defects, damages and corrosion in the segmented region of the power equipment, and converts image information into quantifiable and analyzable feature vectors; the target features include texture features, shape features and color features and the like; the condition judgment submodule uses a classifier to analyze and classify the extracted target features, judges the conditions of defects, damages and corrosion of the power equipment according to the feature vectors, and gives corresponding judgment results. The above scheme realizes automatic analysis: through pre-processing, object detection and segmentation, and feature extraction of the received image, automatic analysis of the power equipment can be realized; the influence of manual intervention and subjective judgment can be reduced, and the objectivity and consistency of the analysis can be improved. Efficiency and accuracy: through the use of image processing and machine learning technology, efficient processing and analysis of a large amount of image data can be realized; the classifier uses the extracted target features to analyze and classify defects, which can quickly and accurately judge the conditions of defects, damages and corrosion of the power equipment; the efficiency and accuracy of the analysis can be greatly improved, saving manpower and time cost. Unified standard and consistency: by establishing a classifier to analyze and classify the extracted target features, a unified standard and consistency of the conditions of the power equipment can be realized; the classifier can learn the normal state and various defect types of the power equipment based on training data, so that new image data can be compared with these standards to judge the specific conditions of the power equipment; human intervention can be avoided to ensure the objectivity and consistency of the judgment results. Provide decision basis: the significance of the classifier analyzing and classifying the extracted target features lies in providing a decision basis. Based on the results of the classifier, the conditions of defects, damages and corrosion of the power equipment can be accurately diagnosed; important references and guidance are provided for formulating maintenance plans, optimizing resource allocation and improving the reliability of the power equipment.

[0136] In summary, the embodiment can realize automatic analysis and judgment of the power equipment by pre-processing, object detection and segmentation, feature extraction and classifier defect analysis and classification; the efficiency and accuracy of the analysis can be improved, the objectivity and consistency of the analysis results can be ensured, and a basis for decision-making can be provided, thereby improving the maintenance and management level of the power equipment.

[0137] Embodiment 12: Based on embodiment 9, the inspection electronic report generation module provided by the embodiment of the application comprises:

[0138] The report generation request submodule is responsible for receiving the result of the ground station analysis condition, the ground station issuing a request for generating an inspection electronic report, the inspection electronic report request containing an electronic report identifier and position information; obtaining an electronic report template corresponding to the power equipment corresponding to the position information, and confirming the items contained in the inspection electronic report;

[0139] The parameter definition submodule is responsible for confirming the basic parameters and global parameters of the inspection electronic report according to the items, the basic parameters being parameters for defining the basic content of the inspection electronic report, and the global parameters being normal parameters of the electronic equipment referenced in the inspection electronic report;

[0140] The boundary definition submodule is responsible for generating a root node of the inspection electronic report based on the basic parameters in the interface of the inspection electronic report, the title of the root node being the name of the power equipment corresponding to the position information; and in response to a newly added child node instruction under the root node, the child node being the result of the analysis condition of the unified power equipment.

[0141] The working principle and beneficial effects of the technical solution are as follows: The report generation request submodule of the embodiment receives the result of the ground station analysis condition, the ground station sends a request to generate an inspection electronic report, and the inspection electronic report request contains an electronic report identifier and position information; an electronic report template corresponding to the power equipment corresponding to the position information is obtained, and the items contained in the inspection electronic report are confirmed; the parameter definition submodule confirms the basic parameters and global parameters of the inspection electronic report according to the item confirmation, the basic parameters refer to the parameters defining the basic content of the inspection electronic report, and the global parameters refer to the normal parameters of the electronic equipment cited in the inspection electronic report; the interface definition submodule generates a root node of the inspection electronic report based on the basic parameters in the interface of the inspection electronic report, and the title of the root node is the name of the power equipment corresponding to the position information; in response to the newly added child node instruction under the root node, the child node is the result of the analysis condition of the unified power equipment. The significance of the above scheme in using a UAV to conduct power equipment inspection mainly lies in the following aspects: improving efficiency and accuracy: using a UAV for inspection can achieve rapid, efficient and comprehensive inspection of power equipment. The UAV can cover a large area of inspection area in a short time, reducing the demand for human resources and the inspection time. At the same time, the UAV carries multiple devices to collect high-definition images and position information, which can accurately identify defects, damage and corrosion of power equipment through image processing and analysis algorithms, improving the accuracy of inspection. Improving safety: traditional power equipment inspection requires personnel to enter high-voltage and dangerous working environments, which poses a safety risk. UAV inspection can avoid direct contact with high-voltage equipment, reducing the risk of personal safety. At the same time, the UAV can fly in complex terrain conditions and better inspect places that are difficult to reach, such as high altitudes and steep mountainous areas, improving the safety of the inspection. Saving costs: UAV inspection can save human resources and time costs compared to traditional manual inspection. In addition, through UAV inspection, problems with power equipment can be detected early, and maintenance measures can be taken in advance to avoid the expansion and delay of equipment failure, thereby reducing maintenance costs and time, and saving maintenance costs. Real-time monitoring and report generation: through UAV inspection, images and position information of power equipment can be obtained in real time, and through image processing and analysis by the ground station, the analysis conditions of defects, damage and corrosion of power equipment can be obtained in a timely manner. Based on these analysis results, an inspection electronic report is generated to provide information such as the service life, maintenance cost and maintenance measures of the power equipment, providing guidance and decision-making basis for maintenance personnel.

[0142] In summary, the embodiment uses a UAV to conduct power equipment inspection, which can improve inspection efficiency and accuracy, improve the safety of the inspection, save costs, and enable real-time monitoring and report generation, which is of great significance for the maintenance and management of power equipment.

[0143] Obviously, many modifications and variations of the present application are possible in light of the above teachings. It is, therefore, to be understood that within the scope of the appended claims and their equivalents, the application can be practiced otherwise than as specifically described.

Claims

1. A power inspection control method based on drone, characterized in that: The following steps are involved: The flight trajectory is formulated according to the power inspection area, and the images and location information of the power equipment are collected through various types of equipment carried by the drone. The images and location information are transmitted wirelessly to the receiving terminal of the ground station. The ground station receives the real-time collected images and location information, processes and analyzes the images, and obtains the defect, damage, and corrosion analysis status of the power equipment; Based on the analysis of the ground station, an electronic inspection report containing the analysis status of multiple power equipment is generated with location information as the distinguishing feature; The process of developing a flight trajectory for the power inspection area includes the following steps: Obtain the distribution map of power equipment in the power inspection area and the location coordinates of each power equipment to form a training trajectory dataset; Input the training trajectory dataset into the flight trajectory generation model, generate the flight trajectory in real time, and input the flight trajectory into the UAV controller; Combine the power of the drone's wireless transmission and its flight trajectory to minimize the time it takes for the drone to complete the specified power inspection area; conduct test flights along the flight trajectory to verify the time; The flight trajectory generation process includes the following steps: Connect multiple flight trajectory nodes to obtain flight paths of adjacent flight trajectory points, divide the flight paths into multiple grids, and construct a flight trajectory background field containing multiple grids; Obtain geographic environment data of the power inspection area through LiDAR, pre-process the geographic environment data, construct a geographic environment background field of the power inspection area, and divide the geographic environment background field into multiple grids; The grid of the flight trajectory background field and the grid of the geographical environment background field are combined to form a grid matrix. The significance of the UAV's navigation direction is judged based on the grid of the grid matrix; whether the current geographical environment requires detour is determined; The process of image processing and analysis includes the following steps: Preprocess the received image, including image denoising, contrast enhancement, and brightness adjustment; detect and segment the power equipment in the image, and identify and locate the position and bounding box of the power equipment; In the segmented area of ​​the power equipment, target features related to defects, damage and corrosion are extracted, and the image information is converted into quantifiable and analyzable feature vectors; Target features include texture features, shape features and color features; Use the classifier to analyze and classify the extracted target features, judge the defects, damage and corrosion of the power equipment according to the feature vector, and give the corresponding judgment results; The process of extracting target features related to defects, damage, and corrosion includes the following steps: Identify target features of features in the segmented area of ​​the power equipment, extract target features from the segmented image of the power equipment to be identified and the segmented preset image of the power equipment to obtain multiple feature vectors; wherein the feature vectors correspond to texture features, shape features, and color feature information of the segmented image of the power equipment to be detected; Calculate the similarity of the feature vectors of the segmented power equipment image to be identified and the segmented preset power equipment image under the texture features, shape features and color features of the same power equipment image, and obtain the first similarity of the texture feature, the second similarity of the shape feature, and the third similarity of the color feature; wherein the similarity Sim(L p , L q ) is calculated as: Among them, L p , L q , L s The feature vectors corresponding to texture features, shape features and color features, i pk Represents the texture feature vector L p The kth element of qk Represents the shape feature vector L q The kth element of sk Represents the color feature vector L s The kth element of , min(·) indicates that the function takes the minimum, and N indicates the number of elements in the feature vector. Specifically, for texture features, shape features, and color features, each element in the feature vector corresponds to a specific quantitative value or statistic of the corresponding feature; for texture features, each element may represent the value of a certain texture statistical index; for shape features, each element may represent the value of a certain geometric feature; for color features, each element may represent the value of a certain color attribute; According to the calculated first similarity, second similarity and third similarity, the differences in texture features, shape features and color features of the power equipment image are obtained, thereby obtaining changes in target features related to defects, damage and corrosion.

2. The power inspection control method based on drone according to claim 1, characterized in that: The equipment includes high-definition cameras, thermal imagers and lidar.

3. The power inspection control method based on drone according to claim 1, characterized in that: The location coordinates are the location information; multiple power equipment are divided into multiple flight trajectory nodes according to different location information, and the flight trajectory nodes containing the location information are composed of a training trajectory data set.

4. The power inspection control method based on drone according to claim 1, characterized in that: The process of generating an electronic inspection report includes the following steps: After receiving the results of the situation analysis from the ground station, the ground station issues a request to generate an electronic inspection report, obtains an electronic report template corresponding to the power equipment corresponding to the location information, and confirms the items included in the electronic inspection report; the electronic inspection report request includes an electronic report identifier and location information; Confirm the basic parameters and global parameters of the electronic inspection report based on the project; basic parameters refer to the parameters that define the basic content of the electronic inspection report, and global parameters refer to the normal parameters of the electronic equipment cited in the electronic inspection report; Generate a root node of the inspection electronic report on the inspection electronic report interface based on the basic parameters, where the title of the root node is the name of the power equipment corresponding to the location information; In response to the instruction to add a new child node under the root node, the child node is the result of the analysis status of the unified power equipment.

5. The power inspection control method based on drone according to claim 4, characterized in that: At the same time, the service life, maintenance costs and maintenance measures of the power equipment are given according to the electronic inspection report, and the location information of the power equipment is notified to the maintenance personnel.

6. A power inspection control system based on drone, characterized in that: Include: The drone control module is responsible for developing a flight trajectory based on the power inspection area and collecting images and location information of power equipment through various types of equipment carried by the drone. The images and location information are transmitted wirelessly to the receiving terminal of the ground station. The image processing and analysis module is responsible for receiving real-time images and location information from the ground station, processing and analyzing the images to obtain defect, damage, and corrosion analysis of the power equipment; The inspection electronic report generation module is responsible for generating an inspection electronic report containing the analysis status of multiple power equipment based on the ground station's analysis of the situation and using location information as a distinguishing feature. At the same time, the inspection electronic report provides the service life, maintenance costs and maintenance measures of the power equipment, and notifies maintenance personnel of the location information of the power equipment. UAV control module, including: The location information acquisition submodule is responsible for obtaining the distribution map of power equipment in the power inspection area and obtaining the location coordinates of each power equipment. The location coordinates are the location information. Multiple power equipment are divided into multiple Flight trajectory nodes, the flight trajectory nodes containing position information are combined into a training trajectory dataset; The flight trajectory generation submodule is responsible for inputting the training trajectory dataset into the flight trajectory generation model, generating the flight trajectory in real time, and inputting the flight trajectory into the UAV controller; The inspection time minimization submodule is responsible for combining the power of the drone's wireless transmission and the flight trajectory to minimize the time it takes for the drone to complete the specified power inspection area. The drone conducts test flights according to the flight trajectory to verify the time. The first background field forming submodule is responsible for connecting multiple flight trajectory nodes to obtain the flight paths of adjacent flight trajectory points, dividing the flight paths into multiple grids, and constructing a flight trajectory background field containing multiple grids; The second background field formation submodule is responsible for acquiring the geographical environment data of the power inspection area through the lidar, preprocessing the geographical environment data, constructing the geographical environment background field of the power inspection area, and dividing the geographical environment background field into multiple grids; The fly-around judgment submodule is responsible for merging the grid of the flight trajectory background field and the grid of the geographical environment background field to form a grid matrix. Based on the grid of the grid matrix, the significance of the UAV's navigation direction is judged; and whether the current geographical environment requires a fly-around is determined. Image processing and analysis module, including: The image preprocessing submodule is responsible for preprocessing the received image, including image denoising, contrast enhancement, and brightness adjustment. It also detects and segments the power equipment in the image, identifying and locating its position and bounding box. The feature vector acquisition submodule is responsible for extracting target features related to defects, damage, and corrosion in the segmented area of ​​the power equipment, and converting the image information into quantifiable and analyzable feature vectors; Target features include texture features, shape features and color features; The condition judgment submodule is responsible for using the classifier to perform defect analysis and classification on the extracted target features, judging the defects, damage and corrosion conditions of the power equipment based on the feature vectors, and giving the corresponding judgment results; The feature vector acquisition submodule extracts target features related to defects, damage, and corrosion, including: Identify target features of features in the segmented area of ​​the power equipment, extract target features from the segmented image of the power equipment to be identified and the segmented preset image of the power equipment to obtain multiple feature vectors; wherein the feature vectors correspond to texture features, shape features, and color feature information of the segmented image of the power equipment to be detected; Calculate the similarity of the feature vectors of the segmented power equipment image to be identified and the segmented preset power equipment image under the texture features, shape features and color features of the same power equipment image, and obtain the first similarity of the texture feature, the second similarity of the shape feature, and the third similarity of the color feature; wherein the similarity Sim(L p , L q ) is calculated as: Among them, L p , L q , L s The feature vectors corresponding to texture features, shape features and color features, i pk Represents the texture feature vector L p The kth element of qk Represents the shape feature vector L q The kth element of sk Represents the color feature vector L s The kth element of , min(·) indicates that the function takes the minimum, and N indicates the number of elements in the feature vector. Specifically, for texture features, shape features, and color features, each element in the feature vector corresponds to a specific quantitative value or statistic of the corresponding feature; for texture features, each element may represent the value of a certain texture statistical index; for shape features, each element may represent the value of a certain geometric feature; for color features, each element may represent the value of a certain color attribute; According to the calculated first similarity, second similarity and third similarity, the differences in texture features, shape features and color features of the power equipment image are obtained, thereby obtaining changes in target features related to defects, damage and corrosion.

7. The UAV-based power inspection and control system according to claim 6, characterized in that: Inspection electronic report generation module, including: The report generation request submodule is responsible for receiving the results of the ground station's analysis of the situation, and the ground station issues a request to generate an inspection electronic report. The inspection electronic report request contains the electronic report identifier and location information; Obtain the electronic report template corresponding to the power equipment corresponding to the location information, and confirm the items included in the inspection electronic report; The parameter definition submodule is responsible for confirming the basic parameters and global parameters of the inspection electronic report according to the project. The basic parameters refer to the parameters that define the basic content of the inspection electronic report, and the global parameters refer to the normal parameters of the electronic equipment referenced in the inspection electronic report; The definition submodule is responsible for generating a root node of the inspection electronic report on the interface of the inspection electronic report based on basic parameters. The title of the root node is the name of the power equipment corresponding to the location information; In response to the instruction to add a new child node under the root node, the child node is the result of the analysis status of the unified power equipment.

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