CN115755946A - Power inspection method, device and system based on digital twinning - Google Patents
Power inspection method, device and system based on digital twinningDownload PDFInfo
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Abstract
Description
Translated fromChinese技术领域technical field
本文涉及电力巡检技术领域，尤其涉及一种基于数字孪生的电力巡检方法、装置及系统。This article relates to the field of electric power inspection technology, in particular to a digital twin-based electric power inspection method, device and system.
背景技术Background technique
传统的电力巡检方法大多为工作人员在塔下进行远距离控制无人机进行巡检，工作人员通过目测和无人机上的摄像头，对无人机和电塔进行距离把控，受人肉眼观测距离和摄像头观测范围的限制，当无人机进行远距离高空巡检时，工作人员既要控制无人机的运行移动，又要控制无人机内部摄像头角度的运转，还要对线路和电塔进行实时拍摄观察，单个工作人员很难进行高效巡检。Most of the traditional power inspection methods are for the staff to carry out remote control of the drone under the tower for inspection. The staff controls the distance between the drone and the electric tower through visual inspection and the camera on the drone, and is observed by the naked eye. Due to the limitation of distance and camera observation range, when the UAV conducts long-distance high-altitude inspections, the staff must not only control the operation and movement of the UAV, but also control the operation of the internal camera angle of the UAV. It is very difficult for a single staff member to carry out efficient inspections.
现在亟需一种基于数字孪生的电力巡检方法，从而解决现有技术中电力巡检的效率低的问题。There is an urgent need for a power inspection method based on digital twins, so as to solve the problem of low efficiency of power inspection in the prior art.
发明内容Contents of the invention
为解决现有技术中存在的问题，本文实施例提供了一种基于数字孪生的电力巡检方法、装置及系统，实现了根据卫星定位数据对无人机的巡检过程进行控制，实现了自动巡检，提高了电力巡检的效率，解决了现有技术中电力巡检效率低的问题。In order to solve the problems existing in the existing technology, the embodiment of this paper provides a power inspection method, device and system based on digital twins, which realizes the control of the inspection process of the UAV according to the satellite positioning data, and realizes automatic inspection. The inspection improves the efficiency of electric power inspection and solves the problem of low efficiency of electric power inspection in the prior art.
为了解决上述技术问题，本文的具体技术方案如下：In order to solve the above technical problems, the specific technical solutions of this paper are as follows:
一方面，本文实施例提供了一种基于数字孪生的电力巡检方法，所述方法包括，On the one hand, the embodiment of this paper provides a digital twin-based power inspection method, the method includes,
预先获取多个电塔以及相邻两个所述电塔之间的线路的坐标，并根据所述坐标建立电塔三维模型；Pre-obtaining the coordinates of a plurality of electric towers and the lines between two adjacent electric towers, and establishing a three-dimensional model of the electric towers according to the coordinates;
根据所述电塔三维模型以及电力巡检需求生成巡检路径；Generate an inspection path according to the three-dimensional model of the electric tower and the power inspection requirements;
根据所述巡检路径以及巡检无人机的巡检坐标控制所述巡检无人机对所述电塔以及线路进行摄录巡检。According to the inspection path and the inspection coordinates of the inspection UAV, the inspection UAV is controlled to record and inspect the electric tower and the line.
进一步地，所述电力巡检需求包括巡检电塔编号；Further, the power inspection requirement includes the inspection tower number;
根据所述电塔三维模型以及电力巡检需求生成巡检线路进一步包括，Generating inspection lines according to the three-dimensional model of the electric tower and power inspection requirements further includes,
在所述电塔三维模型中确定所述巡检电塔编号对应的目标电塔；Determining the target electric tower corresponding to the number of the inspection electric tower in the three-dimensional model of the electric tower;
根据所述目标电塔的坐标以及相邻的所述目标电塔之间的线路的坐标生成所述巡检路径。The inspection path is generated according to the coordinates of the target electric towers and the coordinates of the lines between adjacent target electric towers.
进一步地，根据所述目标电塔的坐标以及相邻的所述目标电塔之间的线路的坐标生成所述巡检线路还包括，Further, generating the inspection line according to the coordinates of the target electric tower and the coordinates of the lines between adjacent target electric towers further includes,
根据所述线路的电压计算所述线路的安全距离；calculating the safety distance of the line according to the voltage of the line;
根据所述目标电塔的坐标、线路的坐标以及所述安全距离生成所述巡检路径。The inspection path is generated according to the coordinates of the target electric tower, the coordinates of the line, and the safety distance.
进一步地，根据所述巡检路径以及巡检无人机的巡检坐标控制所述巡检无人机对所述电塔以及线路进行摄录巡检还包括，Further, controlling the inspection drone to record and inspect the electric tower and the line according to the inspection path and the inspection coordinates of the inspection drone also includes,
获取所述巡检无人机拍摄到的巡检图像的质量得分；Obtain the quality score of the inspection image captured by the inspection drone;
在所述质量得分低于预设门限值的情况下，对所述巡检图像对应的巡检路径进行标记；If the quality score is lower than a preset threshold value, mark the inspection path corresponding to the inspection image;
在所述巡检无人机完成所述巡检路径对应的摄录巡检之后，根据标记的所述巡检路径对应的所述电塔以及线路坐标生成复检路径，根据所述复检路径以及所述巡检无人机的巡检坐标控制所述巡检无人机对所述复检路径对应的电塔和线路进行再次进行摄录巡检。After the inspection UAV completes the video inspection corresponding to the inspection path, a re-inspection path is generated according to the marked electric tower and line coordinates corresponding to the inspection path, and according to the re-inspection path And the inspection coordinates of the inspection UAV control the inspection UAV to perform video inspection again on the electric tower and line corresponding to the re-inspection path.
另一方面，本文实施例还提供了一种基于数字孪生的电力巡检装置，包括，On the other hand, the embodiment of this paper also provides a digital twin-based power inspection device, including:
电塔三维模型构建单元，用于预先获取多个电塔的以及每个相邻两个所述电塔之间的线路的坐标，并根据所述坐标建立电塔三维模型；The three-dimensional model building unit of the electric tower is used to pre-acquire the coordinates of a plurality of electric towers and the lines between each two adjacent electric towers, and establish a three-dimensional model of the electric tower according to the coordinates;
巡检路径生成单元，用于根据所述电塔三维模型以及电力巡检需求生成巡检路径；An inspection path generation unit, configured to generate an inspection path according to the three-dimensional model of the electric tower and power inspection requirements;
巡检控制单元，用于根据所述巡检路径以及巡检无人机的巡检坐标控制所述巡检无人机对所述电塔以及线路进行摄录巡检。The inspection control unit is configured to control the inspection drone to record and inspect the electric tower and the line according to the inspection path and the inspection coordinates of the inspection drone.
进一步地，所述巡检控制单元包括巡检图像的质量得分获取模块，用于获取所述巡检无人机拍摄到的巡检图像的质量得分；Further, the patrol control unit includes a quality score acquisition module of the patrol image, which is used to acquire the quality score of the patrol image captured by the patrol drone;
巡检路径标记模块，用于在所述质量得分低于预设门限值的情况下，对所述巡检图像对应的巡检路径进行标记；An inspection path marking module, configured to mark the inspection path corresponding to the inspection image when the quality score is lower than a preset threshold value;
所述巡检路径生成单元包括复检路径生成模块，用于在所述巡检无人机完成所述巡检路径对应的摄录巡检之后，根据标记的所述巡检路径对应的所述电塔以及线路坐标生成复检路径；The inspection path generation unit includes a re-inspection path generation module, which is used to, after the inspection UAV completes the shooting inspection corresponding to the inspection path, according to the marked inspection path corresponding to the Electric tower and line coordinates generate a re-inspection path;
所述巡检控制单元进一步用于根据所述复检路径以及所述巡检无人机的巡检坐标控制所述巡检无人机对所述复检路径对应的电塔和线路进行再次进行摄录巡检。The inspection control unit is further used to control the inspection UAV to re-inspect the electric tower and line corresponding to the re-inspection path according to the re-inspection path and the inspection coordinates of the inspection UAV. Video inspection.
另一方面，本文实施例还提供了一种包括本文实施例所述的基于数字孪生的电力巡检装置的基于数字孪生的电力巡检系统，包括，On the other hand, the embodiments herein also provide a digital twin-based power inspection system including the digital twin-based power inspection device described in the embodiments herein, including:
数据收发装置，用于获取多个电塔以及相邻两个所述电塔之间的线路的定位数据，获取巡检无人机的巡检定位数据，将所述定位数据转换为坐标，将所述巡检定位数据转换为巡检坐标，并将所述坐标和巡检坐标发送给基于数字孪生的电力巡检装置；The data transceiving device is used to obtain the positioning data of a plurality of electric towers and the lines between two adjacent electric towers, obtain the inspection positioning data of the inspection drone, convert the positioning data into coordinates, and convert the positioning data into coordinates. The inspection positioning data is converted into inspection coordinates, and the coordinates and inspection coordinates are sent to a digital twin-based power inspection device;
所述基于数字孪生的电力巡检装置用于根据所述坐标以及巡检坐标控制所述巡检无人机对所述电塔以及线路进行摄录巡检；The digital twin-based power inspection device is used to control the inspection drone to record and inspect the electric tower and the line according to the coordinates and inspection coordinates;
巡检图像处理装置，用于处理所述巡检无人机拍摄的图像，得到所述电塔以及线路的巡检结果。The inspection image processing device is used to process the image taken by the inspection UAV to obtain the inspection results of the electric tower and the line.
进一步地，所述数据收发装置包括信号收发器、云端处理器和信号基站；Further, the data transceiving device includes a signal transceiver, a cloud processor and a signal base station;
所述收发器用于获取多个电塔以及相邻两个所述电塔之间的线路的定位数据，获取巡检无人机的巡检定位数据，并将所述定位数据和巡检定位数据发送给所述云端处理器；The transceiver is used to obtain the positioning data of a plurality of electric towers and the lines between two adjacent electric towers, obtain the inspection positioning data of the inspection drone, and combine the positioning data and the inspection positioning data send to the cloud processor;
所述云端处理器用于将所述定位数据转换为坐标，将所述巡检定位数据转换为巡检坐标，将所述坐标和巡检坐标发送给所述信号基站；The cloud processor is used to convert the positioning data into coordinates, convert the inspection positioning data into inspection coordinates, and send the coordinates and inspection coordinates to the signal base station;
所述信号基站用于将所述坐标和巡检坐标发送给所述基于数字孪生的电力巡检装置，所述基于数字孪生的电力巡检装置部署在卫星上。The signal base station is used to send the coordinates and inspection coordinates to the digital twin-based power inspection device, and the digital twin-based power inspection device is deployed on a satellite.
另一方面，本文实施例还提供了一种计算机设备，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现上述所述方法。On the other hand, the embodiments of this document also provide a computer device, including a memory, a processor, and a computer program stored on the memory and operable on the processor. When the processor executes the computer program, the above-mentioned method.
最后，本文实施例还提供了一种计算机存储介质，其上存储有计算机程序，所述计算机程序被计算机设备的处理器运行时，执行上述所述的方法。Finally, the embodiments of this document also provide a computer storage medium, on which a computer program is stored, and when the computer program is run by a processor of a computer device, the above-mentioned method is executed.
利用本文实施例，实现了按照预先构建的电塔三维模型和电力巡检需求生成巡检路径，根据巡检路径以及巡检无人机的巡检锁表控制巡检无人机对电塔以及线路进行摄录巡检，实现了自动控制巡检无人机精准地对电塔以及线路进行巡检，提高了电力巡检的效率，解决了现有技术中电力巡检效率低的问题。Using the embodiment of this paper, the inspection path is generated according to the pre-built three-dimensional model of the electric tower and the power inspection requirements, and the inspection UAV is controlled according to the inspection path and the inspection lock table of the inspection UAV to the electric tower and The line is video-recorded and inspected, which realizes the automatic control inspection UAV to accurately inspect the electric tower and the line, improves the efficiency of electric power inspection, and solves the problem of low efficiency of electric power inspection in the prior art.
附图说明Description of drawings
为了更清楚地说明本文实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本文的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of this paper or the prior art, the accompanying drawings that need to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description are only For some embodiments herein, those skilled in the art can also obtain other drawings based on these drawings without creative effort.
图1所示为本文实施例一种基于数字孪生的电力巡检方法的流程图；Fig. 1 shows the flow chart of a kind of electric power inspection method based on digital twin according to the embodiment of this paper;
图2所示为本文实施例根据所述电塔三维模型以及电力巡检需求生成巡检线路的步骤；Fig. 2 shows the steps of generating the inspection line according to the three-dimensional model of the electric tower and the power inspection requirements according to the embodiment of this paper;
图3所示为本文实施例根据所述目标电塔的坐标以及相邻的所述目标电塔之间的线路的坐标生成所述巡检线路的步骤；Fig. 3 shows the step of generating the inspection line according to the coordinates of the target electric tower and the coordinates of the lines between the adjacent target electric towers according to the embodiment of this paper;
图4所示为本文实施例根据所述巡检路径以及巡检无人机的巡检坐标控制所述巡检无人机对所述电塔以及线路进行摄录巡检的步骤；Fig. 4 shows the steps of controlling the inspection drone to record and inspect the electric tower and the line according to the inspection path and the inspection coordinates of the inspection drone according to the embodiment of this paper;
图5所示为本发明实施例一种基于数字孪生的电力巡检装置的结构示意图；FIG. 5 is a schematic structural diagram of a digital twin-based power inspection device according to an embodiment of the present invention;
图6所示为本发明实施例一种基于数字孪生的电力巡检装置的详细结构图；FIG. 6 is a detailed structural diagram of a digital twin-based power inspection device according to an embodiment of the present invention;
图7所示为本发明实施例一种基于数字孪生的电力巡检系统的结构示意图；FIG. 7 is a schematic structural diagram of a digital twin-based power inspection system according to an embodiment of the present invention;
图8所示为本发明实施例一种基于数字孪生的电力巡检系统的详细结构图；FIG. 8 is a detailed structural diagram of a digital twin-based power inspection system according to an embodiment of the present invention;
图9所示为本文实施例计算机设备的结构示意图。FIG. 9 is a schematic structural diagram of a computer device according to an embodiment of the present invention.
【附图标记说明】：[Description of Reference Signs]:
501、电塔三维模型构建单元；501. The building unit of the three-dimensional model of the electric tower;
502、巡检路径生成单元；502. The inspection path generation unit;
5021、复检路径生成模块；5021. Re-inspection path generation module;
503、巡检控制单元；503. Inspection control unit;
5031、巡检图像的质量得分获取模块；5031. The quality score acquisition module of the inspection image;
5032、巡检路径标记模块；5032. Inspection path marking module;
701、数据收发装置；701. Data transceiver device;
7011、信号收发器；7011. Signal transceiver;
7012、云端处理器；7012, cloud processor;
7013、信号基站；7013. Signal base station;
702、基于数字孪生的电力巡检装置；702. Electric power inspection device based on digital twin;
703、巡检图像处理装置；703. Inspection image processing device;
902、计算机设备；902. Computer equipment;
904、处理设备；904. Processing equipment;
906、存储资源；906. Storage resources;
908、驱动机构；908. Driving mechanism;
910、输入/输出模块；910. Input/output module;
912、输入设备；912. Input device;
914、输出设备；914. Output device;
916、呈现设备；916. Presentation equipment;
918、图形用户接口；918. Graphical user interface;
920、网络接口；920. Network interface;
922、通信链路；922. Communication link;
924、通信总线。924. Communication bus.
具体实施方式Detailed ways
下面将结合本文实施例中的附图，对本文实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本文一部分实施例，而不是全部的实施例。基于本文中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本文保护的范围。The following will clearly and completely describe the technical solutions in the embodiments herein in conjunction with the accompanying drawings in the embodiments herein. Obviously, the described embodiments are only some of the embodiments herein, not all of them. Based on the embodiments herein, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts fall within the scope of protection herein.
需要说明的是，本文的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本文的实施例能够以除了在这里图示或描述的那些以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、装置、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。It should be noted that the terms "first" and "second" in the description and claims herein and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific order or sequence. It is to be understood that the data so used are interchangeable under appropriate circumstances such that the embodiments herein described herein can be practiced in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" and "having", as well as any variations thereof, are intended to cover a non-exclusive inclusion, for example, a process, method, means, product or equipment comprising a series of steps or elements need not be limited to the expressly listed instead, may include other steps or elements not explicitly listed or inherent to the process, method, product or apparatus.
需要说明的是，在附图的流程图示出的步骤可以在诸如一组计算机可执行指令的计算机系统中执行，并且，虽然在流程图中示出了逻辑顺序，但是在某些情况下，可以以不同于此处的顺序执行所示出或描述的步骤。It should be noted that the steps shown in the flowcharts of the accompanying drawings may be performed in a computer system, such as a set of computer-executable instructions, and that although a logical order is shown in the flowcharts, in some cases, The steps shown or described may be performed in an order different than here.
为了解决现有技术中存在的问题，本文实施例提供了一种基于数字孪生的电力巡检方法，不再需要工作人员在电塔下手持控制设备控制巡检无人机对电塔以及线路进行巡检，实现了巡检无人机的自动巡检。图1所示为本文实施例一种基于数字孪生的电力巡检方法的流程图。在本图中描述了控制巡检无人机对电塔以及线路进行自动巡检的过程，但基于常规或者无创造性的劳动可以包括更多或者更少的操作步骤。实施例中列举的步骤顺序仅仅为众多步骤执行顺序中的一种方式，不代表唯一的执行顺序。在实际中的系统或装置产品执行时，可以按照实施例或者附图所示的方法顺序执行或者并行执行。具体的如图1所示，可以服务器执行，所述方法可以包括：In order to solve the problems existing in the existing technology, the embodiment of this paper provides a power inspection method based on digital twins, which no longer requires the staff to hold the control device under the electric tower to control the inspection drone to inspect the electric tower and the line Inspection, realizing the automatic inspection of inspection drones. FIG. 1 is a flowchart of a digital twin-based power inspection method according to an embodiment of this paper. In this figure, the process of controlling the inspection drone to automatically inspect the tower and the line is described, but more or less operation steps may be included based on routine or non-creative labor. The sequence of steps enumerated in the embodiments is only one of the execution sequences of many steps, and does not represent the only execution sequence. When an actual system or device product is executed, it may be executed sequentially or in parallel according to the methods shown in the embodiments or drawings. Specifically, as shown in Figure 1, it can be executed by a server, and the method can include:
步骤101：预先获取多个电塔以及相邻两个所述电塔之间的线路的坐标，并根据所述坐标建立电塔三维模型；Step 101: Pre-acquire the coordinates of a plurality of electric towers and the lines between two adjacent electric towers, and establish a three-dimensional model of the electric towers according to the coordinates;
步骤102：根据所述电塔三维模型以及电力巡检需求生成巡检路径；Step 102: Generate an inspection path according to the three-dimensional model of the electric tower and the power inspection requirements;
步骤103：根据所述巡检路径以及巡检无人机的巡检坐标控制所述巡检无人机对所述电塔以及线路进行摄录巡检。Step 103: According to the inspection path and the inspection coordinates of the inspection UAV, control the inspection UAV to record and inspect the electric tower and the line.
通过本文实施例的方法，实现了按照预先构建的电塔三维模型和电力巡检需求生成巡检路径，根据巡检路径以及巡检无人机的巡检锁表控制巡检无人机对电塔以及线路进行摄录巡检，实现了自动控制巡检无人机精准地对电塔以及线路进行巡检，提高了电力巡检的效率，解决了现有技术中电力巡检效率低的问题。Through the method of the embodiment of this paper, the inspection path is generated according to the pre-built three-dimensional model of the electric tower and the power inspection requirements, and the inspection UAV is controlled according to the inspection path and the inspection lock list of the inspection UAV. The tower and the line are video-recorded and inspected, realizing the automatic control inspection UAV to accurately inspect the electric tower and the line, improving the efficiency of the power inspection, and solving the problem of low efficiency of the power inspection in the existing technology .
在本文实施例中，可以预先将定位装置安装在电塔和线路上，然后通过卫星定位系统获取安装在电塔和线路上的定位装置的坐标，然后将坐标输入到三维建模软件中建立电塔三维模型。然后根据电塔三维模型以及电力巡检需求生成巡检路径，电力巡检需求可以包括需要巡检的线路编号，然后根据线路编号以及电塔三维模型确定目标线路的坐标，然后控制巡检无人机按照目标线路的坐标进行摄录巡检。In the embodiment of this paper, the positioning device can be installed on the electric tower and the line in advance, and then the coordinates of the positioning device installed on the electric tower and the line can be obtained through the satellite positioning system, and then the coordinates can be input into the three-dimensional modeling software to establish the electric network. 3D model of the tower. Then generate the inspection path according to the 3D model of the power tower and the power inspection requirements. The power inspection requirements can include the line number that needs to be inspected, and then determine the coordinates of the target line according to the line number and the 3D model of the power tower, and then control the inspection. The machine performs video inspection according to the coordinates of the target line.
在本文实施例中，巡检无人机上可以安装有摄像头，可以通过远程软件控制巡检无人机的拍摄角度，获取到更加精确的电塔和线路的视频图像，然后将电塔和线路的视频图像传输到服务器中，由工作人员人工对视频图像进行分析，确定电塔和线路是否出现异常。另外，服务器中也可以存储预先构建好的视频分析模型，将视频图像输入到视频分析模型中，得出电塔和线路是否出现异常的巡检结果。In the embodiment of this paper, a camera can be installed on the inspection drone, and the shooting angle of the inspection drone can be controlled by remote software to obtain more accurate video images of the tower and the line, and then the tower and the line The video image is transmitted to the server, and the staff manually analyzes the video image to determine whether there is any abnormality in the tower and line. In addition, the pre-built video analysis model can also be stored in the server, and video images can be input into the video analysis model to obtain the inspection results of abnormalities in the towers and lines.
在本文实施例中，巡检无人机可以包括位置控制模块、速度检测模块、高度检测模块和倾角检测模块；In this embodiment, the inspection drone may include a position control module, a speed detection module, a height detection module and an inclination detection module;
所述位置控制模块安装值巡检无人机的内部，所述位置控制模块用于控制无人机的位置，根据所述巡检路径以及巡检无人机的巡检坐标控制所述巡检无人机对所述电塔以及线路进行摄录巡检进一步包括，The installation value of the position control module is used to inspect the inside of the UAV, and the position control module is used to control the position of the UAV, and control the inspection according to the inspection path and the inspection coordinates of the UAV. The video inspection of the electric tower and the line by the unmanned aerial vehicle further includes,
将巡检路径发送给所述位置控制模块，所述位置控制模块根据所述巡检路径改变所述巡检无人机的坐标。The inspection route is sent to the position control module, and the position control module changes the coordinates of the inspection UAV according to the inspection route.
在本文实施例中，位置控制模块可以改变无人机的经纬度数值等，本文实施例不做限制。In this embodiment, the position control module can change the latitude and longitude values of the drone, which is not limited in this embodiment.
在本文是实施例中，所述速度检测模块与所述位置控制模块通过导线连接，所述速度检测模块受所述位置控制模块的影响，控制所述巡检无人机在摄录巡检过程中的速度，防止巡检无人机的速度过快，影响拍摄质量。具体地，可以实时对巡检无人机传回的视频图像进行图像质量分析，得到图像质量得分，在所述图像质量得分低于预定分值的情况下，将调整速度的指令发送给所述位置控制模块，所述位置控制模块根据所述巡检无人机的位置，通过所述速度检测模块调整所述巡检无人机的速度。例如，巡检无人机的高度较高，则调整所述巡检无人机的多个机翼的速度，从而既可以避免巡检无人机的飞行速度过快，又可以抵抗较高的高度的风速对巡检无人机飞行的影响。In the embodiment herein, the speed detection module is connected to the position control module through a wire, and the speed detection module is affected by the position control module to control the inspection drone during the video inspection process. The speed in the middle is to prevent the speed of the inspection drone from being too fast, which will affect the shooting quality. Specifically, the image quality analysis can be performed on the video image returned by the inspection drone in real time to obtain an image quality score, and when the image quality score is lower than a predetermined score, an instruction to adjust the speed is sent to the A position control module, the position control module adjusts the speed of the inspection drone through the speed detection module according to the position of the inspection drone. For example, if the height of the inspection drone is high, adjust the speeds of the multiple wings of the inspection drone, so as to avoid the excessive flying speed of the inspection drone and resist the high flying speed of the inspection drone. The influence of high wind speed on the flight of inspection UAV.
在本文实施例中，所述高度检测模块在无人机运行的过程中，实时监控巡检无人机的运行高度，以电塔三维模型为基准，测算巡检无人机相对电塔的垂向高度。工作人员可以在紧急情况下根据测算的高度对巡检无人机进行手动控制。In the embodiment of this paper, the height detection module monitors the operating height of the inspection UAV in real time during the operation of the UAV, and uses the three-dimensional model of the electric tower as a benchmark to measure and calculate the vertical height of the inspection UAV relative to the electric tower. to the height. In an emergency, the staff can manually control the inspection drone according to the calculated altitude.
在本文实施例中，倾角检测模块通过导线与高度检测模块和位置控制模块连接，实时监测巡检无人机运行和悬停时，机身的倾斜角度。进一步地，可以根据机身的倾斜角度控制巡检无人机的飞行，保证巡检无人机的正常工作。In the embodiment of this paper, the inclination detection module is connected with the height detection module and the position control module through wires, and monitors the inclination angle of the fuselage when the inspection drone is running and hovering in real time. Further, the flight of the inspection UAV can be controlled according to the tilt angle of the fuselage, so as to ensure the normal operation of the inspection UAV.
在本文实施例中，巡检无人机上可以安装图像捕捉单元，对巡检的电塔和线路进行摄录。进一步地，图像捕捉单元包括光学拍摄模块、夜视模块、识别模块和反馈模块；In the embodiment of this paper, an image capture unit can be installed on the inspection UAV to record the inspection towers and lines. Further, the image capture unit includes an optical shooting module, a night vision module, an identification module and a feedback module;
所述光学拍摄模块采取摄像机拍摄和录制图像，光学拍摄模块获取待检测的电塔的图像图片信息，光学拍摄模块主要用于白天光线充足环境的检查，将拍摄到的信息传递至识别模块进行识别记录；The optical photographing module adopts a camera to photograph and record images, and the optical photographing module obtains the image information of the electric tower to be detected, and the optical photographing module is mainly used for inspection in a daytime environment with sufficient light, and transmits the photographed information to the identification module for identification Record;
所述夜视模块采取夜视仪，通过探测热辐射，进行热成像，用于黑夜光线不充足环境的使用，当电塔内部仪器过载时，用于温度过高，会向外释放大量的热辐射，热成像图片将无法肉眼直接观测到的高温短路险情输入至识别模块的内部；The night vision module uses a night vision device to detect thermal radiation and perform thermal imaging. It is used in an environment with insufficient light at night. When the internal equipment of the tower is overloaded, it will release a large amount of heat to the outside when the temperature is too high. Radiation and thermal imaging pictures input the high-temperature short-circuit danger that cannot be directly observed by the naked eye into the interior of the identification module;
所述识别模块用于接收光学拍摄模块和夜视模块接收到的电塔的图像状态信息，将每个拍摄巡检的电塔进行识别标记，检测的结果录入系统，便于后续检修时能够及时调出和对比有险情的电塔；The identification module is used to receive the image status information of the electric tower received by the optical shooting module and the night vision module, and identify and mark each electric tower for shooting and inspection, and input the detection result into the system, so that it can be adjusted in time during subsequent maintenance. Find and compare the towers in danger;
所述反馈模块接收识别模块传出的数字信号，识别模块传出的信号无法通过反馈模块的辨别，图像非常模糊，为了提高拍摄质量和巡检的精确度，反馈模块将不合格的拍摄信息反向输送至光学拍摄模块或夜视模块的内部，设备进行重新摄录。The feedback module receives the digital signal from the identification module. The signal from the identification module cannot be identified by the feedback module, and the image is very blurred. The equipment is sent to the inside of the optical shooting module or night vision module for re-recording.
根据本文的一个实施例，如图2所示，根据所述电塔三维模型以及电力巡检需求生成巡检线路进一步包括，According to an embodiment of this paper, as shown in FIG. 2, generating the inspection line according to the three-dimensional model of the electric tower and the power inspection requirements further includes,
步骤201：在所述电塔三维模型中确定所述巡检电塔编号对应的目标电塔；Step 201: Determine the target electric tower corresponding to the inspection tower number in the three-dimensional model of the electric tower;
步骤202：根据所述目标电塔的坐标以及相邻的所述目标电塔之间的线路的坐标生成所述巡检路径。Step 202: Generate the inspection path according to the coordinates of the target electric tower and the coordinates of the lines between adjacent target electric towers.
在本文实施例中，可以在电塔三维模型中确定巡检电塔编号对应的目标电塔，然后根据目标电塔的坐标以及相邻的目标电塔之间的线路的坐标生成巡检路径，巡检目标电塔的项目可以包括电塔上仪器的温度、电塔的结构是否出现扭曲、电塔上是否有异物(例如鸟窝)等，巡检线路的项目可以包括线路上是否挂有异物等。In the embodiment of this paper, the target electric tower corresponding to the inspection tower number can be determined in the three-dimensional model of the electric tower, and then the inspection path is generated according to the coordinates of the target electric tower and the coordinates of the lines between adjacent target electric towers, The inspection items of the target electric tower can include the temperature of the equipment on the electric tower, whether the structure of the electric tower is distorted, whether there are foreign objects (such as bird nests) on the electric tower, etc. The inspection items of the line can include whether there are foreign objects hanging on the line wait.
根据本文的一个实施例，高压线路附近可能会产生高压电场，巡检无人机靠近高压电场时可能出现工作异常等问题，针对上述问题，如图3所示，根据所述目标电塔的坐标以及相邻的所述目标电塔之间的线路的坐标生成所述巡检线路还包括，According to an embodiment of this paper, a high-voltage electric field may be generated near the high-voltage line, and problems such as abnormal operation may occur when the inspection drone is close to the high-voltage electric field. In view of the above problems, as shown in Figure 3, according to the coordinates of the target electric tower And generating the coordinates of the line between the adjacent target electric towers to generate the inspection line also includes,
步骤301：根据所述线路的电压计算所述线路的安全距离；Step 301: Calculate the safety distance of the line according to the voltage of the line;
步骤302：根据所述目标电塔的坐标、线路的坐标以及所述安全距离生成所述巡检路径。Step 302: Generate the inspection route according to the coordinates of the target electric tower, the coordinates of the line and the safety distance.
在本文实施例中，可以根据线路的电压计算线路的安全距离，在该安全距离表示以线路为圆心，安全距离为半径，在该安全距离之外，巡检无人机就不会被高压电场干扰，本文实施例根据目标电塔的坐标、线路的坐标以及安全距离生成巡检路径，可以理解为，该巡检路径在安全距离之外，从而保证了巡检无人机的正常工作。In the embodiment of this paper, the safe distance of the line can be calculated according to the voltage of the line. The safe distance means that the line is the center of the circle and the safe distance is the radius. Interference, the embodiment of this paper generates an inspection path according to the coordinates of the target tower, the coordinates of the line, and the safety distance. It can be understood that the inspection path is outside the safety distance, thereby ensuring the normal operation of the inspection UAV.
根据本文的一个实施例，巡检无人机的巡检过程中，可能出现摄录质量出现不足的情况，因此，为了提高巡检的质量，如图4所示，根据所述巡检路径以及巡检无人机的巡检坐标控制所述巡检无人机对所述电塔以及线路进行摄录巡检还包括，According to an embodiment of this paper, during the inspection process of the inspection UAV, the video quality may be insufficient. Therefore, in order to improve the quality of the inspection, as shown in Figure 4, according to the inspection path and The inspection coordinates of the inspection drone to control the inspection drone to record and inspect the electric tower and the line also include,
步骤401：获取所述巡检无人机拍摄到的巡检图像的质量得分；Step 401: Obtain the quality score of the inspection image captured by the inspection drone;
步骤402：在所述质量得分低于预设门限值的情况下，对所述巡检图像对应的巡检路径进行标记；Step 402: Mark the inspection path corresponding to the inspection image when the quality score is lower than a preset threshold value;
步骤403：在所述巡检无人机完成所述巡检路径对应的摄录巡检之后，根据标记的所述巡检路径对应的所述电塔以及线路坐标生成复检路径，根据所述复检路径以及所述巡检无人机的巡检坐标控制所述巡检无人机对所述复检路径对应的电塔和线路进行再次进行摄录巡检。Step 403: After the inspection UAV completes the video inspection corresponding to the inspection path, a re-inspection path is generated according to the marked electric tower and line coordinates corresponding to the inspection path, and a re-inspection path is generated according to the The re-inspection path and the inspection coordinates of the inspection UAV control the inspection UAV to record and inspect the electric towers and lines corresponding to the re-inspection path again.
在本文实施例中，可以由巡检无人机上的图像捕捉单元计算图像的质量得分，然后巡检无人机将图像质量得分发送给服务器，服务器在质量得分低于预设门限值的情况下，对巡检图像对应的巡检路径进行标记，从而在巡检无人机完成巡检路径对应的摄录巡检之后，对标记的巡检路径再次进行摄录巡检，直至该标记的巡检路径对应的图像质量得分达到预设门限值的要求。In this embodiment, the quality score of the image can be calculated by the image capture unit on the inspection drone, and then the inspection drone sends the image quality score to the server. When the quality score of the server is lower than the preset threshold Next, mark the inspection path corresponding to the inspection image, so that after the inspection UAV completes the recording inspection corresponding to the inspection path, the marked inspection path will be recorded and inspected again until the marked inspection path The image quality score corresponding to the inspection path meets the requirements of the preset threshold.
基于同一发明构思，本文实施例还提供了一种基于数字孪生的电力巡检装置，如图5所示，包括，Based on the same inventive concept, the embodiment of this paper also provides a power inspection device based on digital twins, as shown in Figure 5, including,
电塔三维模型构建单元501，用于预先获取多个电塔的以及每个相邻两个所述电塔之间的线路的坐标，并根据所述坐标建立电塔三维模型；The three-dimensional
巡检路径生成单元502，用于根据所述电塔三维模型以及电力巡检需求生成巡检路径；An inspection
巡检控制单元503，用于根据所述巡检路径以及巡检无人机的巡检坐标控制所述巡检无人机对所述电塔以及线路进行摄录巡检。The
根据本文的一个实施例，如图6所示，所述巡检控制单元503包括巡检图像的质量得分获取模块5031，用于获取所述巡检无人机拍摄到的巡检图像的质量得分；According to an embodiment of this document, as shown in FIG. 6 , the
巡检路径标记模块5032，用于在所述质量得分低于预设门限值的情况下，对所述巡检图像对应的巡检路径进行标记；An inspection
所述巡检路径生成单元502包括复检路径生成模块5021，用于在所述巡检无人机完成所述巡检路径对应的摄录巡检之后，根据标记的所述巡检路径对应的所述电塔以及线路坐标生成复检路径；The inspection
所述巡检控制单元503进一步用于根据所述复检路径以及所述巡检无人机的巡检坐标控制所述巡检无人机对所述复检路径对应的电塔和线路进行再次进行摄录巡检。The
通过上述装置所取得的有益效果与上述方法所取得的有益效果一致，本说明书实施例不做赘述。The beneficial effect obtained by the above device is consistent with the beneficial effect obtained by the above method, and will not be described in detail in the embodiment of this specification.
基于同一发明构思，本文实施例还提供了一种包括本文实施例所述的基于数字孪生的电力巡检装置的基于数字孪生的电力巡检系统，如图7所示，包括，Based on the same inventive concept, the embodiment of this paper also provides a digital twin-based power inspection system including the digital twin-based power inspection device described in the embodiment of this paper, as shown in Figure 7, including:
数据收发装置701，用于获取多个电塔以及相邻两个所述电塔之间的线路的定位数据，获取巡检无人机的巡检定位数据，将所述定位数据转换为坐标，将所述巡检定位数据转换为巡检坐标，并将所述坐标和巡检坐标发送给基于数字孪生的电力巡检装置702；The data transmitting and receiving
所述基于数字孪生的电力巡检装置702用于根据所述坐标以及巡检坐标控制所述巡检无人机对所述电塔以及线路进行摄录巡检；The digital twin-based
巡检图像处理装置703，用于处理所述巡检无人机拍摄的图像，得到所述电塔以及线路的巡检结果。The inspection
根据本文的一个实施例，如图8所示，所述数据收发装置701包括信号收发器7011、云端处理器7012和信号基站7013；According to an embodiment of this document, as shown in FIG. 8, the
所述信号收发器7011用于获取多个电塔以及相邻两个所述电塔之间的线路的定位数据，获取巡检无人机的巡检定位数据，并将所述定位数据和巡检定位数据发送给所述云端处理器7012；The
所述云端处理器7012用于将所述定位数据转换为坐标，将所述巡检定位数据转换为巡检坐标，将所述坐标和巡检坐标发送给所述信号基站；The
所述信号基站7013用于将所述坐标和巡检坐标发送给所述基于数字孪生的电力巡检装置，所述基于数字孪生的电力巡检装置部署在卫星上。The
在本文的一些其他实施例中，信号收发器7011还可以部署在工作人员的移动操作终端、云端处理器的内部和信号基站的内部，由于远距离信息的传输和交互具有较强的实时性和稳定性，云端处理器位于远程终端、将巡检无人机的输出的信号接收、编码、解码和存储，再将分析完毕的信息通过无线电传输至工作人员的移动操作终端，似的工作人员能够进行人机交互。云端处理器的目的是将信息进行解码编译，在收发的同时，将接收和发送的信息进行云端存储。直接发送给移动操作终端的方法只适用于短距离，在远距离信息收发时，云端处理器作为信息传递和处理的中间跳板，在传输信息的同时，将传输的信息保存，防止丢失，便于后续调取。In some other embodiments of this paper, the
在本文实施例中，基于数字孪生的电力巡检装置部署在卫星上，具体地，卫星可以为北斗卫星，卫星可以包括经纬度识别模块和海拔高度检测模块，北斗卫星位于近地轨道，离地距离较远，由于处于外层空间，设备能够实现大区域的信息传输；卫星用于接收和传输无人机的位置坐标信息，通过对比巡检无人机和电塔的位置坐标，确保巡检的安全系数。In the embodiment of this paper, the digital twin-based power inspection device is deployed on a satellite. Specifically, the satellite can be a Beidou satellite. The satellite can include a longitude and latitude identification module and an altitude detection module. The Beidou satellite is located in a low-earth orbit. Farther away, because it is in outer space, the equipment can realize information transmission in a large area; the satellite is used to receive and transmit the position coordinate information of the UAV, and by comparing the position coordinates of the inspection UAV and the electric tower, the accuracy of the inspection is ensured. Safety factor.
经纬度识别模块位于北斗卫星的内部，用于检测无人机相对高压电塔的平面X、Y坐标，对巡检无人机进行实时跟踪定点；海拔高度检测模块位于北斗卫星的内部，用于接收巡检无人机的海拔高度，检测无人机的Z轴坐标。The longitude and latitude identification module is located inside the Beidou satellite, which is used to detect the plane X and Y coordinates of the UAV relative to the high-voltage electric tower, and to track and fix the inspection UAV in real time; the altitude detection module is located inside the Beidou satellite, which is used for Receive the altitude of the inspection drone and detect the Z-axis coordinate of the drone.
巡检路径的建立过程还可以包括：The establishment process of the inspection path may also include:
S1：工作人员随机选定一个高压电塔作为基准；S1: The staff randomly selects a high-voltage electricity tower as a benchmark;
S2：以该电塔为起始点位，巡检无人机通过卫星定位，建立对应的三维空间坐标，辅以平面地图和海拔高度线，建立三维空间地图，巡检无人机在移动时的位置坐标记为地图模型水平面的X、Y坐标，巡检无人机的海拔高度坐标记为地图模型的Z坐标，建立三维空间地图的目的是，在无人机巡检的过程中，记录巡检无人机的飞行轨迹，与电塔的位置坐标进行比对，后续巡检完毕后，可通过三维模拟的地图模型，将巡检无人机的飞行方向和速度输入，进行模拟飞行巡检，为后续自动化巡检提供练习模型；S2: Taking the electric tower as the starting point, the inspection UAV establishes the corresponding three-dimensional space coordinates through satellite positioning, supplemented by a plane map and an altitude line to establish a three-dimensional space map, and inspects the UAV when it is moving. The position coordinates are marked as the X and Y coordinates of the horizontal plane of the map model, and the altitude coordinates of the inspection UAV are marked as the Z coordinates of the map model. Check the flight trajectory of the drone and compare it with the position coordinates of the electric tower. After the follow-up inspection is completed, the flight direction and speed of the inspection drone can be input through the 3D simulated map model to perform a simulated flight inspection , to provide a practice model for subsequent automated inspections;
S3：巡检无人机从初始点位向下一个高压电塔的点位移动，以预先规划好的顺序确定下一个待巡检的电塔，若拍摄质量不过关，巡检无人机原路返回，重新进行巡检，巡检的路径不变，下一个待巡检的电塔的位置通过卫星坐标提供，移动路线的确定靠巡检无人机内部的测距雷达控制，巡检无人机在向下一个电塔移动时，电缆位于其一侧，内部测距雷达接收到反射信号，一个反射信号为一个标记点位，通过多个反射信号将电缆细分为点，倾角检测模块用于克服外部风力对巡检无人机的影响，确保巡检无人机始终水平移动，提高稳定性，位置控制模块和速度检测模块通过巡检无人机内部的电机和转轴控制旋叶的转速和倾角，转速和倾角越大，巡检无人机速度越快，高度越高，此过程完成相邻两个电塔及电塔间电缆的巡检；S3: The inspection drone moves from the initial point to the point of the next high-voltage electric tower, and determines the next electric tower to be inspected in a pre-planned order. If the shooting quality is not good enough, the inspection drone Return to the original road and perform inspection again. The path of the inspection remains unchanged. The position of the next tower to be inspected is provided by satellite coordinates. The determination of the moving route is controlled by the ranging radar inside the inspection drone. When the UAV is moving to the next electric tower, the cable is on its side, and the internal ranging radar receives the reflected signal. One reflected signal is a marked point, and the cable is subdivided into points by multiple reflected signals, and the inclination angle is detected. The module is used to overcome the influence of external wind on the inspection UAV, ensure that the inspection UAV always moves horizontally, and improve stability. The position control module and speed detection module control the rotor through the internal motor and shaft of the inspection UAV The higher the speed and inclination, the faster the speed and the higher the height of the inspection drone. This process completes the inspection of the two adjacent towers and the cables between the towers;
S4：待移动至下一电塔时，巡检无人机的坐标信号与下一电塔的坐标信号重合，再以下一个电塔为基准，重复上述步骤，如此反复，直至巡检完毕。S4: When moving to the next tower, the coordinate signal of the inspection drone coincides with the coordinate signal of the next tower, and then the next tower is used as the reference, and the above steps are repeated until the inspection is completed.
当设备使用时，各高压电塔上的信号收发器通过信号基站向云端处理器传输位置坐标，云端处理器向北斗卫星发送位置坐标，北斗卫星再通过信号收发器将各电塔的坐标传输至工作人员的移动控制终端，移动控制终端将坐标信息输送至巡检无人机，巡检无人机接收到坐标信息，向指定电塔飞去，待飞至指定位置后，巡检无人机内部坐标清零，巡检无人机以初始电塔的位置为基准，在经纬度识别模块和海拔高度检测模块的引导下，通过北斗卫星进行实时定位检测，巡检无人机向待检测的电塔移动，在此过程中，巡检无人机对两塔之间的高压电线进行摄录巡检，巡检至待检测电塔后，系统对巡检完毕的高压电塔进行标记，在巡检前，根据各电塔的坐标，计算机内部建立模型，为巡检无人机计算出最优的巡检路线，当外界环境适宜，阻挡较少时，巡检无人机可根据自动化推荐的路线进行自动化巡检，当外部阻挡较多，移动控制端的工作人员可切换手动模式，通过自动化和手动切换，降低巡检的工作强度，系统通过将大量的高压电塔进行分段、分点检测，将原本大量的检测范围分段逐段监测，检测完毕的阶段与未被检测的阶段分别标记，后续再次检测时，系统直接排除以检测完毕的电塔，将未检测的电塔进行二次路径规划，减小巡检压力。通过安装现有的长焦和广角镜头即可解决巡检无人机的拍摄距离问题。When the equipment is in use, the signal transceiver on each high-voltage electric tower transmits the position coordinates to the cloud processor through the signal base station, and the cloud processor sends the position coordinates to the Beidou satellite, and the Beidou satellite transmits the coordinates of each electric tower through the signal transceiver To the mobile control terminal of the staff, the mobile control terminal transmits the coordinate information to the inspection UAV, and the inspection UAV receives the coordinate information and flies to the designated tower. The internal coordinates of the aircraft are cleared, and the inspection UAV takes the initial position of the electric tower as the reference. The tower moves. During this process, the inspection drone will record and inspect the high-voltage wires between the two towers. After the inspection reaches the tower to be inspected, the system will mark the high-voltage electricity tower that has been inspected. Before the inspection, according to the coordinates of each tower, the computer builds a model to calculate the optimal inspection route for the inspection drone. When the external environment is suitable and there are few obstacles, the inspection drone can The recommended route is automatically inspected. When there are many external obstacles, the staff at the mobile control terminal can switch to the manual mode. Through automatic and manual switching, the work intensity of the inspection is reduced. The system divides a large number of high-voltage towers into sections, Point-by-point detection, the original large amount of detection range is monitored segment by segment, and the stages that have been detected and the stages that have not been detected are marked separately. Carry out secondary path planning to reduce inspection pressure. The problem of the shooting distance of the inspection drone can be solved by installing the existing telephoto and wide-angle lenses.
如图9所示为本发明实施例计算机设备的结构示意图，本发明中的装置可以为本实施例中的计算机设备，执行上述本发明的方法。计算机设备902可以包括一个或多个处理设备904，诸如一个或多个中央处理单元(CPU)，每个处理单元可以实现一个或多个硬件线程。计算机设备902还可以包括任何存储资源906，其用于存储诸如代码、设置、数据等之类的任何种类的信息。非限制性的，比如，存储资源906可以包括以下任一项或多种组合：任何类型的RAM，任何类型的ROM，闪存设备，硬盘，光盘等。更一般地，任何存储资源都可以使用任何技术来存储信息。进一步地，任何存储资源可以提供信息的易失性或非易失性保留。进一步地，任何存储资源可以表示计算机设备902的固定或可移除部件。在一种情况下，当处理设备904执行被存储在任何存储资源或存储资源的组合中的相关联的指令时，计算机设备902可以执行相关联指令的任一操作。计算机设备902还包括用于与任何存储资源交互的一个或多个驱动机构908，诸如硬盘驱动机构、光盘驱动机构等。FIG. 9 is a schematic structural diagram of a computer device in an embodiment of the present invention. The apparatus in the present invention may be the computer device in this embodiment, and executes the above-mentioned method of the present invention.
计算机设备902还可以包括输入/输出模块910(I/O)，其用于接收各种输入(经由输入设备912)和用于提供各种输出(经由输出设备914)。一个具体输出机构可以包括呈现设备916和相关联的图形用户接口(GUI)918。在其他实施例中，还可以不包括输入/输出模块910(I/O)、输入设备912以及输出设备914，仅作为网络中的一台计算机设备。计算机设备902还可以包括一个或多个网络接口920，其用于经由一个或多个通信链路922与其他设备交换数据。一个或多个通信总线924将上文所描述的部件耦合在一起。
通信链路922可以以任何方式实现，例如，通过局域网、广域网(例如，因特网)、点对点连接等、或其任何组合。通信链路922可以包括由任何协议或协议组合支配的硬连线链路、无线链路、路由器、网关功能、名称服务器等的任何组合。
本文实施例还提供一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时实现上述方法。The embodiment of this document also provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the foregoing method is implemented.
本文实施例还提供一种计算机可读指令，其中当处理器执行所述指令时，其中的程序使得处理器执行上述方法。The embodiments herein also provide a computer-readable instruction, wherein when the processor executes the instruction, the program therein causes the processor to execute the above method.
应理解，在本文的各种实施例中，上述各过程的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本文实施例的实施过程构成任何限定。It should be understood that in the various embodiments herein, the sequence numbers of the above-mentioned processes do not mean the order of execution, and the execution order of the processes should be determined by their functions and internal logic, and should not be used in the implementation of the embodiments herein. process constitutes any qualification.
还应理解，在本文实施例中，术语“和/或”仅仅是一种描述关联对象的关联关系，表示可以存在三种关系。例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系。It should also be understood that in the embodiments herein, the term "and/or" is merely an association relationship describing associated objects, indicating that there may be three relationships. For example, A and/or B may mean that A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" in this article generally indicates that the contextual objects are an "or" relationship.
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、计算机软件或者二者的结合来实现，为了清楚地说明硬件和软件的可互换性，在上述说明中已经按照功能一般性地描述了各示例的组成及步骤。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本文的范围。Those of ordinary skill in the art can realize that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the relationship between hardware and software Interchangeability. In the above description, the composition and steps of each example have been generally described according to their functions. Whether these functions are executed by hardware or software depends on the specific application and design constraints of the technical solution. A skilled artisan may implement the described functionality using different methods for each particular application, but such implementation should not be considered beyond the scope of this document.
所属领域的技术人员可以清楚地了解到，为了描述的方便和简洁，上述描述的系统、装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。Those skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the above-described system, device and unit can refer to the corresponding process in the foregoing method embodiment, and will not be repeated here.
在本文所提供的几个实施例中，应该理解到，所揭露的系统、装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另外，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口、装置或单元的间接耦合或通信连接，也可以是电的，机械的或其它的形式连接。In the several embodiments provided herein, it should be understood that the disclosed systems, devices and methods may be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or May be integrated into another system, or some features may be ignored, or not implemented. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices or units, and may also be electrical, mechanical or other forms of connection.
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本文实施例方案的目的。The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solutions in the embodiments herein.
另外，在本文各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以是两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。In addition, each functional unit in each of the embodiments herein may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本文的技术方案本质上或者说对现有技术做出贡献的部分，或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本文各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。If the integrated unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution in this article is essentially or part of the contribution to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , including several instructions to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the various embodiments herein. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes. .
本文中应用了具体实施例对本文的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本文的方法及其核心思想；同时，对于本领域的一般技术人员，依据本文的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本文的限制。In this paper, specific examples have been used to illustrate the principles and implementation methods of this paper. The description of the above embodiments is only used to help understand the method and core ideas of this paper; meanwhile, for those of ordinary skill in the art, according to the ideas of this paper , there will be changes in specific implementation methods and application ranges. In summary, the contents of this specification should not be construed as limiting this text.
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| CN116658828A (en)* | 2023-05-04 | 2023-08-29 | 中国矿业大学 | Unmanned aerial vehicle inspection system and method for gas pipe network based on CIM digital twin technology |
| CN116667531A (en)* | 2023-05-19 | 2023-08-29 | 国网江苏省电力有限公司泰州供电分公司 | Acousto-optic-electric collaborative inspection method and device based on digital twin transformer substation |
| CN117541757A (en)* | 2023-10-20 | 2024-02-09 | 中铁第一勘察设计院集团有限公司 | Inspection method, device and system based on fusion map and storage medium |
| CN119597008A (en)* | 2024-12-05 | 2025-03-11 | 国网安徽省电力有限公司淮南供电公司 | A distribution network drone inspection system based on front-end AI visual recognition |
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| CN103135550A (en)* | 2013-01-31 | 2013-06-05 | 南京航空航天大学 | Multiple obstacle-avoidance control method of unmanned plane used for electric wire inspection |
| CN111931832A (en)* | 2020-07-30 | 2020-11-13 | 国网智能科技股份有限公司 | Optimal data acquisition method and system for substation inspection equipment |
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| CN116658828A (en)* | 2023-05-04 | 2023-08-29 | 中国矿业大学 | Unmanned aerial vehicle inspection system and method for gas pipe network based on CIM digital twin technology |
| CN116667531A (en)* | 2023-05-19 | 2023-08-29 | 国网江苏省电力有限公司泰州供电分公司 | Acousto-optic-electric collaborative inspection method and device based on digital twin transformer substation |
| CN117541757A (en)* | 2023-10-20 | 2024-02-09 | 中铁第一勘察设计院集团有限公司 | Inspection method, device and system based on fusion map and storage medium |
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