CN114035608A - Unmanned aerial vehicle-based inspection training method and system, training terminal and storage medium - Google Patents
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Abstract
The invention discloses an inspection training method based on an unmanned aerial vehicle, which is characterized by comprising the following steps: acquiring routing inspection data of historical power transmission line routing inspection, wherein the routing inspection data comprises routing inspection three-dimensional data and routing inspection image data, the routing inspection image data comprises a fault element image and a fault identifier of the fault element image, and the routing inspection three-dimensional data comprises route three-dimensional data and shot three-dimensional data of the fault element image; generating training data according to the routing inspection data, wherein the training data comprises target routing inspection route data and target element image data; the method comprises the steps of obtaining a driving instruction and a shooting instruction input by a target training person, generating test data according to the driving instruction and the shooting instruction, comparing the test data with training data, and obtaining a test result. The invention also discloses an inspection training system, a training terminal and a storage medium based on the unmanned aerial vehicle. The invention can effectively improve the training efficiency and reduce the training cost.
Description
Technical Field
The invention relates to the technical field of depression assessment, in particular to a patrol training method and system based on an unmanned aerial vehicle, a training terminal and a storage medium.
Background
At present, the main mode of inspection of overhead transmission lines is to manually walk along a line or use a telescope, a thermal infrared imager and the like to perform short-distance inspection and detection on line equipment and a channel environment by means of a vehicle. With the continuous increase of the line mileage, the operation and maintenance length per capita increases year by year, the existing inspection mode has low efficiency, and particularly, the defects that personnel are difficult to reach in complicated terrains such as mountains and marshes and disaster conditions such as rain, snow, freezing and earthquake, and the defects of equipment on the upper part of a tower are difficult to find are more prominent.
But unmanned aerial vehicle's current prevalence of patrolling and examining is not very high, and patrols and examines the cost of unmanned aerial vehicle high that uses, if the improper operation probably causes the injury to transmission line and the damage to unmanned aerial vehicle, therefore it is necessary to carry out the training of unmanned aerial vehicle operation to the personnel of patrolling and examining. If adopt real unmanned aerial vehicle to train, probably because unmanned aerial vehicle quantity is less, still need train in addition to undertake daily maintenance task of patrolling, probably cause unmanned aerial vehicle's overload work, cause the injury to unmanned aerial vehicle to training efficiency is lower, can't carry out many people and train simultaneously.
Disclosure of Invention
Based on this, it is necessary to provide a method, a system, a training terminal and a storage medium for tour inspection training based on an unmanned aerial vehicle to solve the above problems.
An inspection training method based on an unmanned aerial vehicle comprises the following steps: acquiring routing inspection data of historical power transmission line routing inspection, wherein the routing inspection data comprises routing inspection three-dimensional data and routing inspection image data, the routing inspection image data comprises a fault element image and a fault identifier of the fault element image, and the routing inspection three-dimensional data comprises route three-dimensional data and shooting three-dimensional data of the fault element image; generating training data according to the routing inspection data, wherein the training data comprises target routing inspection route data and target element image data; the method comprises the steps of obtaining a driving instruction and a shooting instruction input by a target training person, generating test data according to the driving instruction and the shooting instruction, comparing the test data with training data, and obtaining a test result.
An inspection training method based on an unmanned aerial vehicle comprises the following steps: the system comprises an acquisition module, a storage module and a processing module, wherein the acquisition module is used for acquiring routing inspection data of historical transmission line routing inspection, the routing inspection data comprises routing inspection three-dimensional data and routing inspection image data, the routing inspection image data comprises a fault element image and a fault identifier of the fault element image, and the routing inspection three-dimensional data comprises route three-dimensional data and shooting three-dimensional data of the fault element image; the generation module is used for generating training data according to the routing inspection data, and the training data comprises target routing inspection route data and target element image data; the comparison module is used for acquiring a driving instruction and a shooting instruction input by a target training person, generating test data according to the driving instruction and the shooting instruction, and comparing the test data with the training data to acquire a test result.
A training terminal, comprising: a processor coupled to the memory, a memory having a computer program stored therein, the processor executing the computer program to implement the method as described above.
A storage medium storing a computer program executable by a processor to implement a method as described above.
The embodiment of the invention has the following beneficial effects:
data generation training data patrols and examines through historical transmission line patrols and examines obtains the instruction of traveling and shoot the instruction of target training personnel input, according to the instruction of traveling with shoot the instruction and generate test data, will test data with training data contrasts, acquires the test result, can realize many people and train simultaneously, has effectively promoted training efficiency, and need not to use real unmanned aerial vehicle to train, has effectively reduced the training cost.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Wherein:
fig. 1 is a schematic flow chart of a first embodiment of the unmanned aerial vehicle-based patrol training method provided by the invention;
FIG. 2 is a schematic flow chart of a second embodiment of the unmanned aerial vehicle-based patrol training method provided by the invention;
FIG. 3 is a schematic structural diagram of an embodiment of the unmanned aerial vehicle-based patrol training system provided by the invention;
FIG. 4 is a schematic diagram illustrating an exemplary training terminal according to the present invention;
fig. 5 is a schematic structural diagram of an embodiment of a storage medium provided in the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a schematic flowchart of a first embodiment of a method for training patrol based on an unmanned aerial vehicle according to the present invention. The invention provides an inspection training method based on an unmanned aerial vehicle, which comprises the following steps:
s101: the method comprises the steps of obtaining routing inspection data of historical power transmission line routing inspection, wherein the routing inspection data comprises routing inspection three-dimensional data and routing inspection image data, the routing inspection image data comprises a fault element image and a fault identification of the fault element image, and the routing inspection three-dimensional data comprises route three-dimensional data and shooting three-dimensional data of the fault element image.
In a specific implementation scenario, inspection data of historical power transmission line inspection is obtained. The inspection data is inspection data collected when an inspection person controls the unmanned aerial vehicle to inspect different power transmission lines. The inspection data comprises inspection three-dimensional data and inspection image data, the inspection image data comprises a fault element image and a fault identifier of the fault element image, wherein the fault element image is an image which is acquired by an inspector when the inspector finds a fault power transmission element during inspection, the acquired image comprises the fault power transmission element, and the fault identifier is an image identifier which is added to the fault element image by the inspector when the fault element image is acquired and is used for indicating the content of image shooting of the fault element, such as a B element with a fault A. The inspection three-dimensional data comprises route three-dimensional data and shot three-dimensional data of a fault element image; wherein, route three dimensional data is including patrolling and examining when personnel drive unmanned aerial vehicle patrols and examines, unmanned aerial vehicle is at three-dimensional space's orbit to and speed, acceleration, angular velocity etc. of a plurality of key points in the orbit, when the shooting three dimensional data of trouble component image is patrolling and examining personnel drive unmanned aerial vehicle and gathering trouble component image, unmanned aerial vehicle for the shooting angle of trouble component, shoot the position relatively, shoot distance etc. relatively.
S102: and generating training data according to the routing inspection data, wherein the training data comprises target routing inspection route data and target element image data.
In one particular implementation scenario, training data is generated based on the inspection data. For example, extracted parts of the routing inspection data of the plurality of historical power transmission lines can be combined and spliced to generate training data, or routing inspection data of one historical power transmission line can be selected as the training data at will, at least part of the routing inspection data of the plurality of historical power transmission lines can be deformed (including perspective transformation, stretching, noise addition and the like), and the deformed routing inspection data can be combined and spliced to generate the training data.
The training data includes target patrol route data and target element image data. If the routing inspection data of one historical power transmission line is selected as the training data, routing inspection three-dimensional data and routing inspection image data in the routing inspection data of the historical power transmission line are target routing inspection route data and target element image data, or proper range expansion can be performed on the routing inspection three-dimensional data and the routing inspection image data, for example, if the routing inspection three-dimensional data is a, the target routing inspection route data is [ a-b, a + b ]. And if the extracted parts of the routing inspection data of the plurality of historical power transmission lines are combined and spliced to generate training data, taking the routing inspection three-dimensional data and the routing inspection image data corresponding to the extracted parts as target routing inspection route data and target element image data. And if at least part of the routing inspection data of the plurality of historical power transmission lines is deformed, combining and splicing the deformed routing inspection data to generate training data. And performing data transformation corresponding to the deformation on the inspection three-dimensional data and the inspection image data of each extracted part, and taking the transformed data as target inspection route data and target element image data.
S103: the method comprises the steps of obtaining a driving instruction and a shooting instruction input by a target training person, generating test data according to the driving instruction and the shooting instruction, comparing the test data with training data, and obtaining a test result.
In a specific implementation scene, a driving instruction and a shooting instruction input by a target training person are obtained, the driving instruction is a driving instruction input by the target training person and used for driving a virtual training unmanned aerial vehicle to run, when the training unmanned aerial vehicle is driven to run according to the driving instruction, a test routing inspection image is displayed according to target routing inspection route data and target element image data, and the shooting instruction is input when the target training person finds a faulty element in a training picture and used for acquiring test element image data of the faulty element. Recording the flight track of the training unmanned aerial vehicle corresponding to the driving instruction and the fault element corresponding to the shooting instruction, acquiring test data, comparing the test data with the training data, and acquiring a test result.
For example, whether the difference between the flight trajectory corresponding to the driving instruction and the flight trajectory corresponding to the target maintenance-cruising route data is larger than a preset trajectory threshold value or not is judged, and if not, the driving score corresponding to the driving instruction is judged to be qualified. And for example, judging whether the difference between the fault element corresponding to the shooting instruction and the fault element corresponding to the target element image element data is larger than a preset element threshold value, and if not, judging that the shooting score corresponding to the shooting instruction is qualified.
According to the above description, in the embodiment, the patrol data generated by the historical power transmission line patrol generates the training data, the driving instruction and the shooting instruction input by the target training personnel are acquired, the test data is generated according to the driving instruction and the shooting instruction, the test data is compared with the training data, the test result is acquired, the simultaneous training of multiple persons can be realized, the training efficiency is effectively improved, the real unmanned aerial vehicle is not required to be used for training, and the training cost is effectively reduced.
Referring to fig. 2, fig. 2 is a schematic flowchart of a second embodiment of the inspection training method based on the unmanned aerial vehicle according to the present invention. The invention provides an inspection training method based on an unmanned aerial vehicle, which comprises the following steps:
s201: the method comprises the steps of obtaining routing inspection data of historical power transmission line routing inspection, wherein the routing inspection data comprises routing inspection three-dimensional data and routing inspection image data, the routing inspection image data comprises a fault element image and a fault identification of the fault element image, and the routing inspection three-dimensional data comprises route three-dimensional data and shooting three-dimensional data of the fault element image.
In a specific implementation scenario, step S201 is substantially the same as step S101 in the first embodiment of the unmanned aerial vehicle-based inspection training method provided by the present invention.
S202: and performing at least one of transverse telescopic transformation, longitudinal telescopic transformation and lateral telescopic transformation on the three-dimensional route data to generate target maintenance route data.
In a specific implementation scenario, the route three-dimensional data is subjected to at least one of transverse expansion transformation, longitudinal expansion transformation and lateral expansion transformation to generate target patrol route data. For example, selecting routing inspection data from a point M to a point N in a historical power transmission line routing inspection, and if the length from the point M to the point N is 500M, performing longitudinal expansion and contraction transformation on the routing inspection data to shorten the routing inspection data to 300M, and correspondingly, performing corresponding shortening operation on routing inspection three-dimensional data in the routing inspection data from the point M to the point N to generate target routing inspection route data. Or the original routing inspection route from the point M to the point N is an arc line with the radian of M, the arc line is subjected to lateral telescopic transformation and is changed into an arc line with the radian of N, and the routing inspection three-dimensional data in the routing inspection data from the point M to the point N is also subjected to corresponding transformation operation to generate target routing inspection route data. Or, the original height from the point M to the point N is 20M, the horizontal expansion transformation is performed on the original height from the point M to the point N, so that the transformed height is 30M, and the inspection three-dimensional data in the inspection data from the point M to the point N is also subjected to corresponding height lifting operation, so as to generate the target inspection route data.
S203: and performing at least one operation of enlargement, reduction, perspective transformation, affine transformation, shading transformation, noise addition and image superposition on the fault element image to generate target element image data.
In a specific implementation scenario, the target component image data is generated by performing at least one of zooming in, zooming out, perspective transformation, affine transformation, shading transformation, noise addition, and image superposition on the faulty component image. Specifically, the image of the faulty component can be transformed in combination with the transformation of the three-dimensional data of the route. For example, when three-dimensional route data is laterally converted, a defective component image may be subjected to perspective conversion, affine conversion, or the like in accordance with the angle of the lateral conversion. When the three-dimensional route data is subjected to transverse stretching or longitudinal stretching transformation, corresponding enlarging or reducing operation can be carried out on the fault element image. Meanwhile, in consideration of the problems of blurring, ghosting, shielding and the like in the actual image acquisition, at least one of brightness conversion, noise addition and image superposition is carried out on the image of the fault element to generate the image data of the target element.
And combining the target patrol route data and the target element image data to generate training data.
S204: generating a test patrol image according to the driving instruction, and generating test driving data according to the driving instruction; acquiring test shooting data according to the shooting instruction, wherein the test shooting data comprises test element image data; and generating test data according to the test driving data and the test shooting data.
In a specific implementation scene, the virtual training unmanned aerial vehicle is driven to run according to the running instruction, the running visual angle corresponding to the running instruction is obtained, and the test patrol inspection image is generated according to the running visual angle, so that the target training personnel can timely adjust/update the running instruction with the test patrol inspection image to simulate a real patrol inspection scene. Specifically, the running height and the running angle are obtained according to the running instruction, and the test patrol image is obtained according to the running height and the running angle. Generating test driving data according to the driving instruction, wherein the test driving data comprise a track of the training unmanned aerial vehicle, the speed, the acceleration, the angular speed and the like of a plurality of key points in the track, and the relative distance, the relative position relation, the shooting angle and the like of the training unmanned aerial vehicle and the target shooting element when the shooting instruction is input.
Test photographing data is acquired according to the photographing instruction, the test photographing data includes test photographing data acquired by photographing the target photographing element according to the photographing instruction, the test photographing data further includes a reason identifier of the test element image data, the reason identifier is used for indicating a reason that the target photographing element is photographed, for example, a D element with a C fault, and the reason identifier may be input by a user at the same time when the photographing instruction is input or after the test photographing data is acquired.
And integrating the test driving data and the test shooting data to obtain test data.
S205: and comparing the test driving data and the test shooting data with the target maintenance route data and the target element image data to obtain a test result.
In a specific implementation scenario, the test driving data and the test shooting data are compared with the target maintenance route data and the target element image data to obtain a test result. For example, the test result may be calculated by calculating data such as the degree of coincidence and similarity between the target maintenance route data and the test travel data, and calculating data such as the degree of coincidence between the test shot data and the target component image data. And if the data such as the contact ratio, the similarity and the like meet the preset requirements, the test result is qualified. If the preset requirement is not met, the test result is unqualified.
Further, when the test result is not qualified, the difference between the target patrol route data and the test travel data, the test shot data and the target component image data is displayed to prompt the user of the place where improvement is needed, thereby helping the user to learn better.
And further, new training data can be generated according to the acquired difference so as to help the target training personnel to further review and consolidate.
As can be seen from the above description, in this embodiment, the image of the faulty component is transformed to generate image data of the target component, the three-dimensional data of the route is transformed to generate data of the target maintenance-patrol route, the test driving data is generated according to the driving instruction, the test shooting data is obtained according to the shooting instruction, the test driving data and the test shooting data are compared with the data of the target maintenance-patrol route and the image data of the target component, and the test result is obtained.
Referring to fig. 3, fig. 3 is a schematic structural diagram of an embodiment of the inspection training system based on the unmanned aerial vehicle according to the present invention. The unmanned aerial vehicle-based patrol training system 10 comprises an acquisition module 11, a generation module 12 and a comparison module 13. The acquisition module 11 is configured to acquire patrol data of historical transmission line patrol, where the patrol data includes patrol three-dimensional data and patrol image data, the patrol image data includes a fault element image and a fault identifier of the fault element image, and the patrol three-dimensional data includes route three-dimensional data and shot three-dimensional data of the fault element image; the generation module 12 is configured to generate training data according to the inspection data, where the training data includes target inspection route data and target element image data; the comparison module 13 is used for acquiring a driving instruction and a shooting instruction input by a target training person, generating test data according to the driving instruction and the shooting instruction, and comparing the test data with the training data to acquire a test result.
The generation module 12 is further configured to perform at least one of enlargement, reduction, perspective transformation, affine transformation, shading transformation, noise addition, and image superposition on the faulty component image to generate target component image data.
The generating module 12 is further configured to perform at least one of transverse expansion transformation, longitudinal expansion transformation, and lateral expansion transformation on the three-dimensional route data to generate target patrol route data.
The comparison module 13 is also used for generating a test patrol image according to the driving instruction and generating test driving data according to the driving instruction; acquiring test shooting data according to the shooting instruction, wherein the test shooting data comprises test element image data; and generating test data according to the test driving data and the test shooting data.
The comparison module 13 is further configured to compare the test driving data and the test shooting data with the target maintenance-patrolling route data and the target element image data, and obtain a test result.
The comparison module 13 is also used for acquiring the running height and the running angle according to the running instruction, and acquiring the test patrol image according to the running height and the running angle.
The test shot data also includes an identification of a reason for the test element image data.
According to the above description, in this embodiment, the inspection training system based on the unmanned aerial vehicle generates target element image data by performing transformation operation on a fault element image, generates target inspection route data by performing transformation operation on route three-dimensional data, generates test driving data according to a driving instruction, acquires test shooting data according to the shooting instruction, compares the test driving data and the test shooting data with the target inspection route data and the target element image data, and acquires a test result.
Referring to fig. 4, fig. 4 is a schematic structural diagram of a training terminal according to an embodiment of the present invention. The prediction terminal 20 includes a processor 21 and a memory 22. The processor 21 is coupled to a memory 22. The memory 22 has stored therein a computer program which is executed by the processor 21 in operation to implement the method as shown in fig. 1-2. The detailed methods can be referred to above and are not described herein.
According to the above description, in this embodiment, the training terminal performs transformation operation on the image of the fault element to generate image data of the target element, performs transformation operation on three-dimensional data of the route to generate target maintenance-patrol route data, generates test driving data according to a driving instruction, acquires test shooting data according to the shooting instruction, compares the test driving data and the test shooting data with the target maintenance-patrol route data and the image data of the target element, and acquires a test result.
Referring to fig. 5, fig. 5 is a schematic structural diagram of a storage medium according to an embodiment of the present invention. The storage medium 30 stores at least one computer program 31, and the computer program 31 is used for being executed by a processor to implement the method shown in fig. 1-2, and the detailed method can be referred to above and is not described herein again. In one embodiment, the computer readable storage medium 30 may be a memory chip in a terminal, a hard disk, or other readable and writable storage tool such as a removable hard disk, a flash disk, an optical disk, or the like, and may also be a server or the like.
As can be seen from the above description, in this embodiment, the computer program in the storage medium may be configured to perform transformation operation on the image of the faulty component to generate image data of the target component, perform transformation operation on three-dimensional data of the route to generate target dimensional data of the route, generate test driving data according to the driving instruction, acquire test shooting data according to the shooting instruction, compare the test driving data and the test shooting data with the target dimensional data of the route and the image data of the target component, and acquire a test result.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims. Please enter the implementation content part.
Claims (10)
1. The utility model provides a patrol and examine training method based on unmanned aerial vehicle which characterized in that includes:
acquiring routing inspection data of historical power transmission line routing inspection, wherein the routing inspection data comprises routing inspection three-dimensional data and routing inspection image data, the routing inspection image data comprises a fault element image and a fault identifier of the fault element image, and the routing inspection three-dimensional data comprises route three-dimensional data and shooting three-dimensional data of the fault element image;
generating training data according to the routing inspection data, wherein the training data comprises target routing inspection route data and target element image data;
the method comprises the steps of obtaining a driving instruction and a shooting instruction input by a target training person, generating test data according to the driving instruction and the shooting instruction, comparing the test data with training data, and obtaining a test result.
2. The unmanned aerial vehicle-based inspection training method according to claim 1, wherein the step of generating training data according to the inspection data, the training data including target inspection route data and target element image data, includes:
and performing at least one operation of enlargement, reduction, perspective transformation, affine transformation, shading transformation, noise addition and image superposition on the fault element image to generate the target element image data.
3. The unmanned aerial vehicle-based inspection training method according to claim 1, wherein the step of generating training data according to the inspection data, the training data including target inspection route data and target element image data, includes:
and performing at least one of transverse telescopic transformation, longitudinal telescopic transformation and lateral telescopic transformation on the three-dimensional route data to generate the target maintenance-patrolling route data.
4. The inspection training method based on the unmanned aerial vehicle according to claim 1, wherein the step of generating test data according to the driving instruction and the shooting instruction comprises:
generating a test patrol image according to the driving instruction, and generating test driving data according to the driving instruction;
acquiring test shooting data according to the shooting instruction, wherein the test shooting data comprises test element image data;
and generating the test data according to the test driving data and the test shooting data.
5. The inspection training method based on the unmanned aerial vehicle according to claim 4, wherein the step of comparing the test data with the training data to obtain a test result comprises:
and comparing the test driving data and the test shooting data with the target maintenance route data and the target element image data to obtain the test result.
6. The unmanned aerial vehicle-based inspection training method according to claim 4, wherein the step of generating test inspection images according to the driving instructions includes:
and acquiring a running height and a running angle according to the running instruction, and acquiring the test patrol image according to the running height and the running angle.
7. The unmanned aerial vehicle-based inspection training method of claim 4, wherein the test shot data further includes a reason identification of the test element image data.
8. The utility model provides a training system patrols and examines based on unmanned aerial vehicle which characterized in that includes:
the system comprises an acquisition module, a storage module and a processing module, wherein the acquisition module is used for acquiring routing inspection data of historical transmission line routing inspection, the routing inspection data comprises routing inspection three-dimensional data and routing inspection image data, the routing inspection image data comprises a fault element image and a fault identifier of the fault element image, and the routing inspection three-dimensional data comprises route three-dimensional data and shooting three-dimensional data of the fault element image;
the generation module is used for generating training data according to the routing inspection data, and the training data comprises target routing inspection route data and target element image data;
the comparison module is used for acquiring a driving instruction and a shooting instruction input by a target training person, generating test data according to the driving instruction and the shooting instruction, and comparing the test data with the training data to acquire a test result.
9. A training terminal, comprising: a processor, a memory and a communication circuit, the processor coupled to the memory and the communication circuit, the memory having stored therein a computer program, the processor executing the computer program to implement the method of any of claims 1-7.
10. A storage medium, characterized in that a computer program is stored, which computer program is executable by a processor to implement the method according to any of claims 1-7.
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| CN114937040A (en) * | 2022-07-22 | 2022-08-23 | 珠海优特电力科技股份有限公司 | Train inspection method, device and system for rail transit vehicle section and storage medium |
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