CN114637321A - Cable monitoring system based on image data optimization path - Google Patents
Cable monitoring system based on image data optimization path Download PDFInfo
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Abstract
The embodiment of the invention discloses a cable monitoring system based on an image data optimized path, which comprises: the image acquisition module is configured to acquire cable area images shot and returned by each dispersed monitoring point; the priority determining module is configured to determine the routing inspection priority of the corresponding cable area according to the cable area image; the initial path generation module is configured to perform initial path planning based on the inspection priority to obtain an initial path and control the inspection unmanned aerial vehicle to perform inspection according to the initial path; the corrected path generating module is configured to transmit a patrol image back in real time in the patrol process of the patrol unmanned aerial vehicle, and correct the initial path according to the patrol image to obtain a corrected real-time control path; and the inspection control module is configured to control the inspection unmanned aerial vehicle to inspect according to the real-time control path. According to the scheme, the equipment inspection efficiency is improved, and the fault hidden danger can be found in the shortest time.
Description
Technical Field
The embodiment of the application relates to the technical field of cables, in particular to a cable monitoring system based on an image data optimization path.
Background
With the widespread use of cables, more and more cable devices are used in various fields. As one of important power transportation devices, cables are mainly studied to monitor the power transportation devices efficiently.
Among the correlation technique, be provided with unmanned vehicle or unmanned aerial vehicle and carry out automatic cable and patrol and examine, but the path planning who patrols and examines the in-process is reasonable inadequately, for simple route setting of carrying on usually, controlgear patrols and examines according to the route that sets up again, and it is not high to patrol and examine efficiency.
Disclosure of Invention
The embodiment of the invention provides a cable monitoring system based on an image data optimized path, which solves the problems of low cable inspection efficiency, poor flexibility and weak pertinence in the prior art, improves the equipment inspection efficiency, can efficiently inspect cables, and finds out hidden troubles of faults in the shortest time.
In a first aspect, an embodiment of the present invention provides a cable monitoring system based on an image data optimized path, where the intelligent cable includes:
the image acquisition module is configured to acquire cable area images shot and returned by each dispersed monitoring point, and different monitoring points correspond to cable lines in different areas;
the priority determining module is configured to determine the routing inspection priority of the corresponding cable area according to the cable area image;
the initial path generation module is configured to perform initial path planning based on the inspection priority to obtain an initial path and control the inspection unmanned aerial vehicle to perform inspection according to the initial path;
the corrected path generating module is configured to transmit a patrol image back in real time in the patrol process of the patrol unmanned aerial vehicle, and correct the initial path according to the patrol image to obtain a corrected real-time control path;
and the inspection control module is configured to control the inspection unmanned aerial vehicle to inspect according to the real-time control path.
Optionally, the cable region image is a large-range low-precision image, the return inspection image is a small-range high-precision image, and the priority determining module is configured to:
and determining inspection priorities according to the cable form parameters obtained by recognition in the cable area image, wherein different cable form parameters correspond to different inspection priorities, and the cable form parameters comprise cable deformation and cable-related foreign object quantity.
Optionally, the initial path generating module is configured to:
forming a continuous path with a high inspection priority in a front-ranked mode according to the inspection priority;
according to the principle of the shortest path, all continuous paths are sequentially connected according to the priority level to form an initial path.
Optionally, the revised path generating module is configured to:
in the routing inspection process of the routing inspection unmanned aerial vehicle, routing inspection images in real time, and determining the change condition of routing inspection priority according to the received routed inspection images, wherein the change condition comprises the change condition of cable form parameters;
and correcting the initial path according to the change condition to obtain a corrected real-time control path, wherein the method comprises the following steps: and determining a sub-path needing to be added or deleted in the initial path according to the change condition, and correcting the initial path by the sub-path needing to be added or deleted to obtain a corrected real-time control path.
In a second aspect, an embodiment of the present invention further provides a cable monitoring method based on an image data optimized path, where the method includes:
acquiring cable area images shot and returned by each dispersed monitoring point, wherein different monitoring points correspond to cable lines in different areas;
determining the routing inspection priority of the corresponding cable area according to the cable area image;
planning an initial path based on the routing inspection priority to obtain an initial path, and controlling the routing inspection unmanned aerial vehicle to perform routing inspection according to the initial path;
in the inspection process of the inspection unmanned aerial vehicle, an inspection image is transmitted back in real time, and the initial path is corrected according to the inspection image to obtain a corrected real-time control path;
and controlling the inspection unmanned aerial vehicle to inspect according to the real-time control path.
Optionally, the cable region image is a large-range low-precision image, the return inspection image is a small-range high-precision image, and the inspection priority of the corresponding cable region is determined according to the cable region image, including:
and determining inspection priorities according to the cable form parameters obtained by recognition in the cable area image, wherein different cable form parameters correspond to different inspection priorities, and the cable form parameters comprise cable deformation and cable-related foreign object quantity.
Optionally, the planning the initial path based on the inspection priority to obtain the initial path includes:
forming a continuous path with a high inspection priority in a front-ranked mode according to the inspection priority;
and according to a shortest path principle, sequentially connecting all the continuous paths according to the priority level to form an initial path.
Optionally, in the process of routing inspection by the unmanned aerial vehicle, a routing inspection image is returned in real time, and the initial path is corrected according to the routing inspection image to obtain a corrected real-time control path, including:
in the routing inspection process of the routing inspection unmanned aerial vehicle, routing inspection images in real time, and determining the change condition of routing inspection priority according to the received routed inspection images, wherein the change condition comprises the change condition of cable form parameters;
and correcting the initial path according to the change condition to obtain a corrected real-time control path, wherein the method comprises the following steps: and determining a sub-path needing to be added or deleted in the initial path according to the change condition, and correcting the initial path by the sub-path needing to be added or deleted to obtain a corrected real-time control path.
In a third aspect, an embodiment of the present invention further provides a cable monitoring system device based on an image data optimized path, where the device includes:
one or more processors;
a storage device for storing one or more programs,
when the one or more programs are executed by the one or more processors, the one or more processors implement the method for cable monitoring based on the image data optimized path according to the embodiment of the present invention.
In a fourth aspect, the present invention further provides a storage medium storing computer-executable instructions, which when executed by a computer processor, are configured to perform the cable monitoring method based on an image data optimized path according to the present invention.
In the embodiment of the invention, an image acquisition module is configured to acquire cable area images shot and returned by each dispersed monitoring point, and different monitoring points correspond to cable lines in different areas; the priority determining module is configured to determine the routing inspection priority of the corresponding cable area according to the cable area image; the initial path generation module is configured to perform initial path planning based on the inspection priority to obtain an initial path and control the inspection unmanned aerial vehicle to perform inspection according to the initial path; the corrected path generating module is configured to transmit a patrol image back in real time in the patrol process of the patrol unmanned aerial vehicle, and correct the initial path according to the patrol image to obtain a corrected real-time control path; patrol and examine control module, the configuration is that control patrols and examines the unmanned aerial vehicle foundation the real time control route is patrolled and examined, has solved prior art, and the cable is patrolled and examined inefficiency, flexibility poor, the characteristics that pertinence is not strong, has improved equipment and has patrolled and examined efficiency, can the efficient carry out the cable and patrol and examine to discover trouble hidden danger in the shortest time.
Drawings
Fig. 1 is a flowchart of a cable monitoring method based on an image data optimized path according to an embodiment of the present invention;
fig. 1a is a schematic diagram of determining an initial path according to an embodiment of the present invention;
FIG. 1b is a schematic diagram of a modified path from the initial path shown in FIG. 1a according to an embodiment of the present invention;
FIG. 2 is a flow chart of another cable monitoring method based on an image data optimized path according to an embodiment of the present invention;
fig. 3 is a block diagram of a module structure of a cable monitoring system based on an image data optimized path according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a cable monitoring system device based on an image data optimized path according to an embodiment of the present invention.
Detailed Description
The embodiments of the present invention will be described in further detail with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of and not restrictive on the broad invention. It should be further noted that, for convenience of description, only some structures, not all structures, relating to the embodiments of the present invention are shown in the drawings.
Fig. 1 is a flowchart of a cable monitoring method based on an image data optimized path according to an embodiment of the present invention, which can be executed by an intelligent cable monitoring platform, and specifically includes the following steps:
step S101, acquiring cable area images shot and returned by each dispersed monitoring point, wherein different monitoring points correspond to cable lines in different areas.
In which a plurality of decentralized monitoring points, such as camera devices, are arranged in the cable path of the smart cable. And the camera devices of all the distributed monitoring points shoot images of corresponding areas to obtain cable area images and transmit the cable area images back, such as the cable area images are transmitted back to a system platform of the server. Wherein different monitoring points correspond to one line section or to the entire line section of the cable line in different regions. Wherein the cable region image is a wide-range low-precision image.
And S102, determining the routing inspection priority of the corresponding cable area according to the cable area image, planning an initial path based on the routing inspection priority to obtain an initial path, and controlling the routing inspection unmanned aerial vehicle to perform routing inspection according to the initial path.
In one embodiment, the patrol priority of the corresponding cable region is obtained by performing manual or machine identification analysis on the returned cable region image. Illustratively, through the identification of the cable area image, the condition that a cable fault is likely or potentially prone to occur is determined, and the cable area routing inspection priority is divided.
Optionally, the determining the routing inspection priority of the corresponding cable area according to the cable area image includes: and determining inspection priorities according to the cable form parameters obtained by recognition in the cable area image, wherein different cable form parameters correspond to different inspection priorities, and the cable form parameters comprise cable deformation and cable-related foreign object quantity. Wherein the cable deformation amount refers to the size of deformation generated relative to a standard cable form; the foreign object refers to an object which is accidental by the cable, such as snow, mountain stone and the like. Specifically, the larger the deformation amount is, the larger the foreign object number is, the higher the inspection priority is, and otherwise, the lower the inspection priority is. Illustratively, routing inspection priority levels corresponding to different deformation quantities and foreign object quantities can be set, and then the priority levels of the cable areas are obtained comprehensively according to the routing inspection priority levels. Illustratively, the patrol priority sub-level and the patrol priority level may be divided into three levels, i.e., high, medium, and low, respectively. When the patrol priority is determined according to the patrol priority sub-level, the level with the higher patrol priority sub-level can be determined as the final patrol priority level. For a cable area, if the patrol priority sub-level corresponding to the cable deformation quantity is medium, and the patrol priority sub-level corresponding to the foreign object quantity is low, the final patrol priority level is medium.
In one embodiment, the initial path is obtained by performing initial path planning after the routing inspection priority is determined. Optionally, the method includes: forming a continuous path with a high inspection priority in a front-ranked mode according to the inspection priority; and according to a shortest path principle, sequentially connecting all the continuous paths according to the priority level to form an initial path. As shown in fig. 1a, fig. 1a is a schematic diagram of determining an initial path according to an embodiment of the present invention, where, assuming that the patrol priority of paths 1-4 is high, a determined initial path is a path obtained by sequentially connecting path 1, path 2, path 3, and path 4. Path 5, path 6 and path 7 are another initial path.
In one embodiment, controlling the patrol unmanned aerial vehicle to patrol according to the initial path comprises patrolling the initial path with the patrol priority level being high for a shorter patrol period than the patrol period for patrolling the initial path with the patrol priority level being medium, and patrolling the initial path with the patrol priority level being medium for a shorter patrol period than the patrol period for patrolling the initial path with the patrol priority level being low. Illustratively, at the same time interval, three times of routing inspection are performed on the initial path with the high routing inspection priority, two times of routing inspection are performed on the initial path with the medium routing inspection priority, and one time of routing inspection is performed on the initial path with the low routing inspection priority.
In one embodiment, after the initial path is generated, the inspection unmanned aerial vehicle is controlled to perform inspection according to the initial path. Wherein, to the route of patrolling and examining of different priority of patrolling and examining, adopt different acquisition parameters when control unmanned aerial vehicle flies. Specifically, the acquisition parameters include the accuracy of the captured image, the flying height and the flying speed. The lower the flight height is, the slower the flight speed is, and the higher the accuracy of the photographed image is, for the path with the high patrol priority.
And S103, returning a patrol inspection image in real time in the patrol inspection process of the patrol inspection unmanned aerial vehicle, correcting the initial path according to the patrol inspection image to obtain a corrected real-time control path, and controlling the patrol inspection unmanned aerial vehicle to patrol according to the real-time control path.
And on the one hand, the routing inspection unmanned aerial vehicle carries out real-time routing inspection image return, and is used for discovering potential faults of the cable, and on the other hand, the initial path is corrected according to the routing inspection image to obtain a corrected real-time control path. The real-time return inspection image is a high-precision image, and the precision is higher than that of cable area images shot and returned by various scattered monitoring points. Specifically, the method includes the steps of returning an inspection image in real time in the inspection process of the inspection unmanned aerial vehicle, determining the change condition of the inspection priority according to the received returned inspection image, wherein the change condition includes the change condition of the cable form parameters, determining a sub-path needing to be newly added or deleted in an initial path according to the change condition, and correcting the initial path through the sub-path needing to be newly added or deleted to obtain a corrected real-time control path. As shown in fig. 1b, fig. 1b is a schematic diagram of a path obtained by correcting the initial path shown in fig. 1a according to an embodiment of the present invention. Illustratively, when the unmanned aerial vehicle patrols and examines, if the patrolling priority of the path 6 is determined to be high according to the returned image, namely under the condition that the high-priority path cannot be identified by shooting the returned cable area image through the monitoring point, the original initial path of the path 6 is further adjusted to be in the initial path with the high patrolling priority; meanwhile, if the foreign object of the path 3 disappears through the returned image during the routing inspection, and the routing inspection priority is reduced to be in or low from the routing inspection priority, the path 3 is deleted from the original initial path, and the newly generated modified paths with high routing inspection priority are the path 1, the path 2, the path 6 to the path 4. And controlling the unmanned aerial vehicle to correspondingly patrol the path modified in real time according to the condition of the adjusted path in the subsequent patrol process. Namely, the routing inspection path is dynamically adjusted in real time.
According to the method, the cable area images shot and returned by each dispersed monitoring point are obtained, and different monitoring points correspond to cable lines in different areas; determining the routing inspection priority of the corresponding cable area according to the cable area image; planning an initial path based on the inspection priority to obtain an initial path, and controlling the inspection unmanned aerial vehicle to perform inspection according to the initial path; in the inspection process of the inspection unmanned aerial vehicle, an inspection image is transmitted back in real time, and the initial path is corrected according to the inspection image to obtain a corrected real-time control path; control patrols and examines unmanned aerial vehicle basis the real time control route is patrolled and examined, has solved prior art, and the cable is patrolled and examined inefficiency, flexibility poor, the not strong characteristics of pertinence, has improved equipment and has patrolled and examined efficiency, can the efficient carry out the cable and patrol and examine to find trouble hidden danger in the shortest time.
Fig. 2 is a flowchart of another cable monitoring method based on an image data optimized path according to an embodiment of the present invention, and as shown in fig. 2, a specific complete example is given. The method specifically comprises the following steps:
step S201, acquiring cable area images shot and returned by each dispersed monitoring point, wherein different monitoring points correspond to cable lines in different areas, and determining routing inspection priorities according to cable form parameters identified from the cable area images, wherein different cable form parameters correspond to different routing inspection priorities, and the cable form parameters comprise cable deformation and cable-related foreign object quantity.
And S202, according to the routing inspection priority, forming a continuous path with high routing inspection priority in an order of the former path, according to a shortest path principle, sequentially connecting all the continuous paths according to the priority to form an initial path, and controlling the routing inspection unmanned aerial vehicle to carry out routing inspection according to the initial path.
Step S203, in the process of routing inspection of the unmanned aerial vehicle, routing inspection images in real time, determining the change condition of routing inspection priority according to the received routed inspection images, wherein the change condition comprises the change condition of cable form parameters, determining sub-paths needing to be added or deleted in the initial path according to the change condition, correcting the initial path according to the sub-paths needing to be added or deleted to obtain a corrected real-time control path, and controlling the unmanned aerial vehicle to route inspection according to the real-time control path.
According to the method, the cable area images shot and returned by each dispersed monitoring point are obtained, and different monitoring points correspond to cable lines in different areas; determining the routing inspection priority of the corresponding cable area according to the cable area image; planning an initial path based on the routing inspection priority to obtain an initial path, and controlling the routing inspection unmanned aerial vehicle to perform routing inspection according to the initial path; in the inspection process of the inspection unmanned aerial vehicle, an inspection image is transmitted back in real time, and the initial path is corrected according to the inspection image to obtain a corrected real-time control path; control patrols and examines unmanned aerial vehicle basis the real time control route is patrolled and examined, has solved prior art, and the cable is patrolled and examined inefficiency, flexibility poor, the not strong characteristics of pertinence, has improved equipment and has patrolled and examined efficiency, can the efficient carry out the cable and patrol and examine to find trouble hidden danger in the shortest time.
Fig. 3 is a block diagram of a module structure of a cable monitoring system based on an image data optimized path according to an embodiment of the present invention, which is used for executing the cable monitoring method based on the image data optimized path according to the embodiment of the present invention, and has corresponding functional modules and beneficial effects of the execution method. As shown in fig. 3, the apparatus specifically includes: an image acquisition module 101, a priority determination module 102, an initial path generation module 103, a revised path generation module 104, and an inspection control module 105, wherein,
the image acquisition module 101 is configured to acquire cable area images shot and returned by each dispersed monitoring point, and different monitoring points correspond to cable lines in different areas;
a priority determining module 102 configured to determine a patrol priority of a corresponding cable region according to the cable region image;
the initial path generation module 103 is configured to perform initial path planning based on the inspection priority to obtain an initial path, and control the inspection unmanned aerial vehicle to perform inspection according to the initial path;
the corrected path generating module 104 is configured to transmit a patrol image back in real time in the patrol process of the patrol unmanned aerial vehicle, and correct the initial path according to the patrol image to obtain a corrected real-time control path;
and the inspection control module 105 is configured to control the inspection unmanned aerial vehicle to inspect according to the real-time control path.
According to the scheme, the image acquisition module is configured to acquire cable area images shot and returned by each dispersed monitoring point, and different monitoring points correspond to cable lines in different areas; the priority determining module is configured to determine the routing inspection priority of the corresponding cable area according to the cable area image; the initial path generation module is configured to perform initial path planning based on the inspection priority to obtain an initial path and control the inspection unmanned aerial vehicle to perform inspection according to the initial path; the corrected path generating module is configured to transmit a patrol image back in real time in the patrol process of the patrol unmanned aerial vehicle, and correct the initial path according to the patrol image to obtain a corrected real-time control path; patrol and examine control module, configure to control and patrol and examine unmanned aerial vehicle foundation the real-time control route is patrolled and examined, has solved prior art, and the cable is patrolled and examined inefficiency, the flexibility is poor, characteristics that the pertinence is not strong, has improved equipment and has patrolled and examined efficiency, can the efficient carry out the cable and patrol and examine to discover the trouble hidden danger in the shortest time.
In one possible embodiment, the cable region image is a large-range low-precision image, the return inspection image is a small-range high-precision image, and the priority determination module is configured to:
and determining inspection priorities according to the cable form parameters obtained by recognition in the cable area image, wherein different cable form parameters correspond to different inspection priorities, and the cable form parameters comprise cable deformation and cable-related foreign object quantity.
In one possible embodiment, the initial path generating module is configured to:
forming a continuous path with a high inspection priority in a front-ranked mode according to the inspection priority;
and according to a shortest path principle, sequentially connecting all the continuous paths according to the priority level to form an initial path.
In a possible embodiment, the revised path generating module is configured to:
in the routing inspection process of the routing inspection unmanned aerial vehicle, routing inspection images in real time, and determining the change condition of routing inspection priority according to the received routed inspection images, wherein the change condition comprises the change condition of cable form parameters;
and correcting the initial path according to the change condition to obtain a corrected real-time control path, wherein the method comprises the following steps: and determining a sub-path needing to be added or deleted in the initial path according to the change condition, and correcting the initial path by the sub-path needing to be added or deleted to obtain a corrected real-time control path.
Fig. 4 is a schematic structural diagram of a cable monitoring system device for optimizing a path based on image data according to an embodiment of the present invention, as shown in fig. 4, the device includes a processor 201, a memory 202, an input device 203, and an output device 204; the number of the processors 201 in the device may be one or more, and one processor 201 is taken as an example in fig. 4; the processor 201, the memory 202, the input device 203 and the output device 204 in the apparatus may be connected by a bus or other means, for example in fig. 4. The memory 202 is a computer-readable storage medium for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the method for cable monitoring based on image data optimized path in the embodiment of the present invention. The processor 201 executes various functional applications of the device and data processing by running software programs, instructions and modules stored in the memory 202, that is, implements the above-described cable monitoring method based on the image data optimized path. The input device 203 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function controls of the apparatus. The output device 204 may include a display device such as a display screen.
Embodiments of the present invention also provide a storage medium containing computer-executable instructions, which when executed by a computer processor, perform a method for optimizing a path based on image data for cable monitoring, the method comprising:
acquiring cable area images shot and returned by each dispersed monitoring point, wherein different monitoring points correspond to cable lines in different areas;
determining the routing inspection priority of the corresponding cable area according to the cable area image;
planning an initial path based on the routing inspection priority to obtain an initial path, and controlling the routing inspection unmanned aerial vehicle to perform routing inspection according to the initial path;
in the inspection process of the inspection unmanned aerial vehicle, an inspection image is transmitted back in real time, and the initial path is corrected according to the inspection image to obtain a corrected real-time control path;
and controlling the inspection unmanned aerial vehicle to inspect according to the real-time control path.
Optionally, the cable region image is a large-range low-precision image, the return inspection image is a small-range high-precision image, and the inspection priority of the corresponding cable region is determined according to the cable region image, including:
and determining inspection priorities according to the cable form parameters obtained by recognition in the cable area image, wherein different cable form parameters correspond to different inspection priorities, and the cable form parameters comprise cable deformation and cable-related foreign object quantity.
Optionally, the planning the initial path based on the inspection priority to obtain the initial path includes:
forming a continuous path with a high inspection priority in a front-ranked mode according to the inspection priority;
and according to a shortest path principle, sequentially connecting all the continuous paths according to the priority level to form an initial path.
Optionally, in the process of routing inspection by the unmanned aerial vehicle, a routing inspection image is returned in real time, and the initial path is corrected according to the routing inspection image to obtain a corrected real-time control path, including:
in the routing inspection process of the routing inspection unmanned aerial vehicle, routing inspection images in real time, and determining the change condition of routing inspection priority according to the received routed inspection images, wherein the change condition comprises the change condition of cable form parameters;
and correcting the initial path according to the change condition to obtain a corrected real-time control path, wherein the method comprises the following steps: and determining a sub-path needing to be added or deleted in the initial path according to the change condition, and correcting the initial path by the sub-path needing to be added or deleted to obtain a corrected real-time control path.
It should be noted that, in the embodiment of the cable monitoring system device based on the image data optimized path, the included units and modules are only divided according to the functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the embodiment of the invention.
It should be noted that the foregoing is only a preferred embodiment of the present invention and the technical principles applied. Those skilled in the art will appreciate that the embodiments of the present invention are not limited to the specific embodiments described herein, and that various obvious changes, rearrangements and substitutions can be made by those skilled in the art without departing from the scope of the embodiments of the invention. Therefore, although the embodiments of the present invention have been described in more detail through the above embodiments, the embodiments of the present invention are not limited to the above embodiments, and many other equivalent embodiments may be included without departing from the concept of the embodiments of the present invention, and the scope of the embodiments of the present invention is determined by the scope of the appended claims.
Claims (10)
1. Cable monitoring system based on image data optimizes route, characterized by, includes:
the image acquisition module is configured to acquire cable area images shot and returned by each dispersed monitoring point, and different monitoring points correspond to cable lines in different areas;
the priority determining module is configured to determine the routing inspection priority of the corresponding cable area according to the cable area image;
the initial path generation module is configured to perform initial path planning based on the inspection priority to obtain an initial path and control the inspection unmanned aerial vehicle to perform inspection according to the initial path;
the corrected path generating module is configured to transmit a patrol image back in real time in the patrol process of the patrol unmanned aerial vehicle, and correct the initial path according to the patrol image to obtain a corrected real-time control path;
and the inspection control module is configured to control the inspection unmanned aerial vehicle to inspect according to the real-time control path.
2. The image data optimized path-based cable monitoring system of claim 1, wherein the cable region image is a large-scale low-precision image, the return inspection image is a small-scale high-precision image, and the priority determination module is configured to:
and determining inspection priorities according to the cable form parameters obtained by recognition in the cable area image, wherein different cable form parameters correspond to different inspection priorities, and the cable form parameters comprise cable deformation and cable-related foreign object quantity.
3. The image data optimized path-based cable monitoring system of claim 2, wherein the initial path generation module is configured to:
forming a continuous path with high inspection priority according to the inspection priority;
and according to a shortest path principle, sequentially connecting all the continuous paths according to the priority level to form an initial path.
4. The image data optimized path-based cable monitoring system according to any one of claims 1-3, wherein the revised path generation module is configured to:
in the routing inspection process of the routing inspection unmanned aerial vehicle, routing inspection images in real time, and determining the change condition of routing inspection priority according to the received routed inspection images, wherein the change condition comprises the change condition of cable form parameters;
and correcting the initial path according to the change condition to obtain a corrected real-time control path, wherein the method comprises the following steps: and determining a sub-path needing to be added or deleted in the initial path according to the change condition, and correcting the initial path by the sub-path needing to be added or deleted to obtain a corrected real-time control path.
5. The cable monitoring method based on the image data optimized path is characterized by comprising the following steps:
acquiring cable area images shot and returned by each dispersed monitoring point, wherein different monitoring points correspond to cable lines in different areas;
determining the routing inspection priority of the corresponding cable area according to the cable area image;
planning an initial path based on the inspection priority to obtain an initial path, and controlling the inspection unmanned aerial vehicle to perform inspection according to the initial path;
in the inspection process of the inspection unmanned aerial vehicle, an inspection image is transmitted back in real time, and the initial path is corrected according to the inspection image to obtain a corrected real-time control path;
and controlling the inspection unmanned aerial vehicle to inspect according to the real-time control path.
6. The cable monitoring method based on the image data optimized path according to claim 5, wherein the cable region image is a large-range low-precision image, the return inspection image is a small-range high-precision image, and the determining of the inspection priority of the corresponding cable region according to the cable region image includes:
and determining inspection priorities according to the cable form parameters obtained by recognition in the cable area image, wherein different cable form parameters correspond to different inspection priorities, and the cable form parameters comprise cable deformation and cable-related foreign object quantity.
7. The cable monitoring method based on the image data optimized path according to claim 6, wherein the initial path planning based on the inspection priority to obtain the initial path comprises:
forming a continuous path with a high inspection priority in a front-ranked mode according to the inspection priority;
and according to a shortest path principle, sequentially connecting all the continuous paths according to the priority level to form an initial path.
8. The cable monitoring method based on the image data optimized path according to any one of claims 5 to 7, wherein in the inspection process of the inspection unmanned aerial vehicle, an inspection image is returned in real time, and the initial path is corrected according to the inspection image to obtain a corrected real-time control path, and the method comprises the following steps:
in the routing inspection process of the routing inspection unmanned aerial vehicle, routing inspection images in real time, and determining the change condition of routing inspection priority according to the received routed inspection images, wherein the change condition comprises the change condition of cable form parameters;
and correcting the initial path according to the change condition to obtain a corrected real-time control path, wherein the method comprises the following steps: and determining a sub-path needing to be added or deleted in the initial path according to the change condition, and correcting the initial path by the sub-path needing to be added or deleted to obtain a corrected real-time control path.
9. A cable monitoring device that optimizes a path based on image data, the device comprising: one or more processors; a storage device for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement the image data optimized path based cable monitoring method of any one of claims 5-8.
10. A storage medium storing computer executable instructions for performing the image data optimized path based cable monitoring method of any one of claims 5-8 when executed by a computer processor.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116455463A (en) * | 2023-05-05 | 2023-07-18 | 众芯汉创（北京）科技有限公司 | Communication optical cable differential operation and maintenance system based on unmanned aerial vehicle |
| CN116820141A (en) * | 2023-08-31 | 2023-09-29 | 深圳市金泰谊电子有限公司 | Security inspection method and device based on 5G communication, unmanned aerial vehicle and storage medium |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116455463A (en) * | 2023-05-05 | 2023-07-18 | 众芯汉创（北京）科技有限公司 | Communication optical cable differential operation and maintenance system based on unmanned aerial vehicle |
| CN116455463B (en) * | 2023-05-05 | 2024-06-04 | 众芯汉创（北京）科技有限公司 | Communication optical cable differential operation and maintenance system based on unmanned aerial vehicle |
| CN116820141A (en) * | 2023-08-31 | 2023-09-29 | 深圳市金泰谊电子有限公司 | Security inspection method and device based on 5G communication, unmanned aerial vehicle and storage medium |
| CN116820141B (en) * | 2023-08-31 | 2023-12-08 | 深圳市金泰谊电子有限公司 | Security inspection method and device based on 5G communication, unmanned aerial vehicle and storage medium |
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