CN115297303A

CN115297303A - Image data acquisition and processing method and device suitable for power grid power transmission and transformation equipment

Info

Publication number: CN115297303A
Application number: CN202211200266.1A
Authority: CN
Inventors: 王云烨; 王光增; 方建亮; 陈政波; 刘国良; 周青睐; 孙钢; 姚一杨
Original assignee: State Grid Zhejiang Electric Power Co Ltd
Current assignee: State Grid Zhejiang Electric Power Co Ltd
Priority date: 2022-09-29
Filing date: 2022-09-29
Publication date: 2022-11-04
Anticipated expiration: 2042-09-29
Also published as: CN115297303B

Abstract

The invention discloses an image data acquisition and processing method and device suitable for power transmission and transformation equipment of a power grid, which comprises the following steps: planning a path according to the position point information to generate an image acquisition path, wherein each node in the image acquisition path corresponds to at least one power grid power transmission and transformation device; each type information is provided with an image acquisition strategy which is preset correspondingly, and the image acquisition strategy comprises an image acquisition type and/or an image acquisition mode; controlling the flight device to sequentially fly to each node according to the image acquisition path, determining a corresponding image acquisition device according to the image acquisition type, and determining the acquisition position of the flight device according to the image acquisition mode; and after judging that the flying device reaches the acquisition position, controlling the image acquisition device to acquire images to obtain at least one image acquisition information, adding a node tag and a time tag corresponding to the node to the image acquisition information, and uploading the image acquisition information to a server for storage.

Description

Image data acquisition and processing method and device suitable for power grid power transmission and transformation equipment

Technical Field

The invention relates to the technical field of data processing, in particular to an image data processing method and device suitable for power transmission and transformation equipment of a power grid.

Background

The inspection of the power transmission and transformation equipment in the power transmission and transformation line of the power grid is the core for ensuring the normal work of the power transmission and transformation line of the power grid, and the inspection of the power line is carried out through repeated inspection for many times, so that the problems are found in time, the hidden dangers are eliminated, and the guarantee is provided for the life and the production power utilization of people.

At present, along with the development of automation, the power grid power transmission and transformation line is patrolled and examined often and is adopted unmanned aerial vehicle to patrol and examine, and unmanned aerial vehicle patrols and examines the demand that the technique has catered to the electric wire netting to informationization and automation, uses unmanned aerial vehicle to patrol and examine, has become a trend.

However, unmanned aerial vehicle routing inspection in the prior art is often controlled by manual flight, the flight route is messy, the data acquisition efficiency is low, and meanwhile, the prior art cannot automatically make a corresponding image acquisition strategy by combining the characteristics of a power grid power transmission and transformation line.

Disclosure of Invention

The invention overcomes the defects of the prior art, provides an image data processing method and device suitable for power grid power transmission and transformation equipment, can formulate a corresponding image acquisition strategy by combining the attributes of a power grid power transmission and transformation line, plan a flight route and efficiently realize data acquisition.

In order to solve the technical problems, the technical scheme of the invention is as follows:

the embodiment of the invention provides an image data acquisition and processing method suitable for power grid power transmission and transformation equipment, which comprises the following steps:

the method comprises the steps of S1, obtaining position point information and type information of all power grid power transmission and transformation equipment of images to be collected, planning paths according to the position point information to generate an image collection path, wherein each node in the image collection path corresponds to at least one power grid power transmission and transformation equipment, and determining that the image collection path is a one-way type path or a two-way type path according to the position point information of the power grid power transmission and transformation equipment;

s2, determining an image acquisition strategy corresponding to each node according to type information corresponding to each node, wherein each type information has an image acquisition strategy which is preset correspondingly, and the image acquisition strategy comprises an image acquisition type and/or an image acquisition mode;

s3, controlling the flying device to sequentially reach each node according to the unidirectional type path or the bidirectional type path, determining a corresponding image acquisition device according to the image acquisition type, and determining the acquisition position of the flying device according to the image acquisition mode;

and S4, after judging that the flying device reaches the collecting position, controlling the image collecting device to collect images to obtain at least one image collecting information, adding a node label and a time label corresponding to the node to the image collecting information, and uploading the image collecting information to a server for storage.

Further, the S1 includes:

acquiring first abscissa information and first ordinate information in position point information of each power grid power transmission and transformation device, and second abscissa information and second ordinate information of a regulation and control management center, wherein the regulation and control management center is used for placing a flight device;

calculating according to the first abscissa information, the first ordinate information, the second abscissa information and the second ordinate information to obtain an angle between a straight line formed by each power grid power transmission and transformation device and the regulation and control management center and the Y-axis negative direction;

if the angles between all the straight lines and the Y-axis negative direction are judged to be more than or equal to 0 degree and less than 180 degrees or more than or equal to 180 degrees and less than 360 degrees, generating a one-way type path;

and if the angles between all the straight lines and the Y-axis negative direction are judged to be greater than or equal to 0 degree and less than 180 degrees, and also greater than or equal to 180 degrees and less than 360 degrees, generating the bidirectional type path.

Further, the calculating according to the first abscissa information, the first ordinate information, the second abscissa information, and the second ordinate information to obtain an angle between a straight line formed by each of the power grid power transmission and transformation devices and the regulation and control management center and the negative direction of the Y axis includes:

if the first abscissa information is judged to be larger than or equal to the second abscissa information, judging that the angle between the straight line formed by the power grid power transmission and transformation equipment and the regulation and control management center and the Y-axis negative direction is larger than or equal to 0 degree and smaller than 180 degrees;

and if the first abscissa information is judged to be smaller than the second abscissa information, judging that the angle between the straight line formed by the power grid power transmission and transformation equipment and the regulation and control management center and the Y-axis negative direction is larger than or equal to 180 degrees and smaller than 360 degrees.

Further, if it is determined that all the angles between the straight lines and the negative direction of the Y axis are greater than or equal to 0 degree and less than 180 degrees, or are greater than or equal to 180 degrees and less than 360 degrees, a one-way type path is generated, which includes:

the position point information of the regulation and control management center is used as an initial node, the position point information of the power grid power transmission and transformation equipment closest to the regulation and control management center is selected as a first intermediate node, and the initial node is connected with the first intermediate node;

using the position point information of the power grid power transmission and transformation equipment closest to the first intermediate node as a second intermediate node, connecting the first intermediate node with the second intermediate node, using the first intermediate node as a connected node, and updating the second intermediate node into a first intermediate node;

and acquiring the position point information of the power grid power transmission and transformation equipment closest to the updated first intermediate node as a second intermediate node again, and generating a one-way type path until all the power grid power transmission and transformation equipment are acquired.

Further, if it is determined that there are greater than or equal to 0 degree and less than 180 degrees, and also greater than or equal to 180 degrees and less than 360 degrees in the angles between all the straight lines and the negative direction of the Y axis, a bidirectional type path is generated, including:

classifying the power grid power transmission and transformation equipment of the straight line corresponding to the angle greater than or equal to 0 degree and less than 180 degrees, and classifying the angle greater than or equal to 180 degrees and less than 360 degrees to obtain a first classification set in different directions;

calculating first distances between all power grid power transmission and transformation equipment in the first classification set and a regulation and control management center, and performing ascending sequencing on all power grid power transmission and transformation equipment in the first classification set according to the first distances to obtain ascending sequencing results;

connecting the position point information corresponding to each power grid power transmission and transformation equipment station in the ascending sequence;

and connecting the initial node with the position point information corresponding to the first power grid power transmission and transformation equipment in the ascending sequencing result to obtain a first direction sub-path and a second direction sub-path corresponding to different first classification sets, and forming a bidirectional type path according to the first direction sub-path and the second direction sub-path.

Further, the S3 includes:

if the image acquisition paths are unidirectional paths and the number of the flight devices is multiple, dividing the image acquisition paths according to the number of the flight devices to obtain multiple unidirectional acquisition sub-paths;

if the image acquisition path is a bidirectional type path and the number of the flying devices is multiple, comparing the first direction sub-path with the second direction sub-path, and dividing a first number of flying devices for the first direction sub-path and a second number of flying devices for the second direction sub-path;

obtaining a first bidirectional acquisition sub-path according to the first direction sub-path and the first quantity, and obtaining a second bidirectional acquisition sub-path according to the second direction sub-path and the second quantity;

controlling each flying device to fly to each node according to the corresponding one-way acquisition sub-path, the first two-way acquisition sub-path and the second two-way acquisition sub-path;

after judging that the flight position of the flight device corresponds to the position point information of the corresponding node, determining the image acquisition type of the power grid power transmission and transformation equipment corresponding to the corresponding node, and starting the corresponding image acquisition device according to the image acquisition type;

and determining the acquisition position of the flight device according to the image acquisition mode.

Further, if the image capturing path is a bidirectional type path and the number of the flight devices is multiple, comparing the first direction sub-path with the second direction sub-path, and dividing the first number of flight devices for the first direction sub-path and the second number of flight devices for the second direction sub-path, the method includes:

acquiring first path length information of a first-direction sub-path and a first equipment number of a node corresponding to each type of power grid power transmission and transformation equipment of the first-direction sub-path, and calculating according to the weight corresponding to each power grid power transmission and transformation equipment, the first equipment number and the first path length information to obtain a first-direction sub-path evaluation coefficient;

acquiring second path length information of a second direction sub-path, and second equipment number of corresponding nodes of each type of power grid power transmission and transformation equipment of the second direction sub-path, and calculating according to the weight corresponding to each power grid power transmission and transformation equipment, the second equipment number and the second path length information to obtain a second direction sub-path evaluation coefficient;

and obtaining a first number of the first direction sub-paths and a second number of the second direction sub-paths according to the first direction sub-path evaluation coefficient, the second direction sub-path evaluation coefficient and the total number of the flight devices.

Further, the obtaining a first number of the first-direction sub-paths and a second number of the second-direction sub-paths according to the first-direction sub-path evaluation coefficient, the second-direction sub-path evaluation coefficient, and the total number of the flight devices includes:

the calculation is made by the following formula,

wherein the content of the first and second substances,

the coefficients are evaluated for the first direction sub-path,

first path length information for the first direction sub-path,

in order to be a length weight value,

is the first direction within the sub-path

The first equipment number of the corresponding nodes of the power transmission and transformation equipment of the power grid of each kind,

is as follows

The weight values of the individual kinds of power grid transmission and transformation equipment,

is the upper limit value of the number of the types of the power grid electric transmission and transformation equipment in the first direction sub-path,

the coefficients are evaluated for the second direction sub-paths,

second path length information for a second direction sub-path,

is the first direction within the sub-path

The number of the second devices of the corresponding nodes of the electric transmission and transformation devices of the electric network of each kind,

is a first

is the upper limit value of the number of the types of the power transmission and transformation equipment of the power grid in the second direction sub-path,

in order to be the first number of,

in order to be able to carry out the second number,

is the total number.

Further, the determining the acquisition position of the flight device according to the image acquisition mode includes:

after judging that the flying device reaches a corresponding node, acquiring a positioning image for positioning, and extracting the outline of the power grid power transmission and transformation equipment in the positioning image to obtain all outline pixel points of the power grid power transmission and transformation equipment;

extracting positive extreme values of horizontal coordinates, negative extreme values of horizontal coordinates, positive extreme values of vertical coordinates and negative extreme values of vertical coordinates in all contour pixel points;

determining a collection central pixel point according to the abscissa positive extreme value, the abscissa negative extreme value, the ordinate positive extreme value and the ordinate negative value;

and extracting the acquisition height in the image acquisition mode, controlling the flying device to move to an acquisition center pixel point according to the corresponding flying height, and taking the position at the moment as the acquisition position of the flying device.

Further, the determining and collecting central pixel points according to the abscissa positive extreme value, the abscissa negative extreme value, the ordinate positive extreme value and the ordinate negative extreme value includes:

obtaining a central abscissa according to the abscissa positive extreme value and the abscissa negative value, and obtaining a central ordinate according to the ordinate positive extreme value and the ordinate negative value;

and determining a central pixel point to be collected based on the central horizontal coordinate and the central vertical coordinate.

Further, extract collection height in the image acquisition mode, control flying device moves to gathering central pixel according to corresponding flying height, regard the position this moment as flying device's collection position, include:

taking a pixel point at the central position in the positioning image as a current central pixel point, and forming a flight calibration direction according to the current central pixel point and a connecting line of the collection central pixel point;

and controlling the flying device to fly according to the flying calibration direction, continuously acquiring a new positioning image, and judging that the flying device moves to the acquisition center pixel point according to the corresponding flying height after judging that the current center pixel point corresponds to the acquisition center pixel point.

Further, the S4 includes:

after judging that the flying device reaches the acquisition position, determining at least one corresponding image acquisition device according to the image acquisition type;

and controlling the image acquisition device to acquire images to obtain at least one image acquisition information, adding a node tag and a time tag corresponding to the node to the image acquisition information, and uploading the image acquisition information to a server for storage.

The embodiment of the present invention further provides an image data acquisition and processing device suitable for a power grid power transmission and transformation device, including:

the acquisition module is used for acquiring position point information and type information of all power grid power transmission and transformation equipment of images to be acquired, planning a path according to the position point information to generate an image acquisition path, wherein each node in the image acquisition path corresponds to at least one power grid power transmission and transformation equipment, and determining that the image acquisition path is a unidirectional type path or a bidirectional type path according to the position point information of the power grid power transmission and transformation equipment;

the determining module is used for determining an image acquisition strategy corresponding to each node according to type information corresponding to each node, each type information has an image acquisition strategy which is preset correspondingly, and the image acquisition strategy comprises an image acquisition type and/or an image acquisition mode;

the control module is used for controlling the flight device to sequentially fly to each node according to the unidirectional type path or the bidirectional type path, determining a corresponding image acquisition device according to the image acquisition type, and determining the acquisition position of the flight device according to the image acquisition mode;

and the acquisition module is used for controlling the image acquisition device to acquire images after the flight device judges that the flight device reaches the acquisition position, acquiring at least one image acquisition information, adding a node tag and a time tag corresponding to the node to the image acquisition information, and uploading the image acquisition information to a server for storage.

The beneficial effects of the invention are:

1. according to the scheme, better image acquisition paths are automatically generated according to different equipment positions on the power transmission and transformation line of the power grid and different positions of the regulation and control management center, the number of the flight devices on each image acquisition path is determined, the flight devices are controlled to carry out efficient data acquisition according to the established image acquisition paths, and the data acquisition efficiency is improved; meanwhile, the scheme can be combined with an image acquisition mode to determine the more appropriate data acquisition position of the flight device, so that more complete image data can be acquired. According to the scheme, the corresponding image acquisition strategy can be formulated by combining the attributes of the power grid power transmission and transformation line, the flight route is planned, and data acquisition is efficiently realized.

2. According to the scheme, in the process of generating the image acquisition path, the unidirectional type path and the bidirectional type path of the flight device can be determined according to the relative position between the power transformation equipment and the regulation and control management center, the flight device executes tasks along the unidirectional type path and the bidirectional type path, and data can be acquired quickly and efficiently; the optimal number of the flight devices on each flight path can be determined by combining the length of the path, the number of the devices and the total number of the flight devices, so that the corresponding tasks can be executed by utilizing the more proper number of the flight devices, excessive or insufficient flight devices cannot be caused, and the flight devices are controlled to efficiently acquire data.

3. According to the scheme, a better acquisition point can be determined by combining the outline of the power transmission equipment, a better acquisition position is provided for the flight device, the real-time position of the flight device is obtained by combining the positioning image of the flight device, a calibration route is formed, the position of the flight device is calibrated, the integrity of the image acquired by the flight device is improved, and the quality of image acquisition data is ensured.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a schematic diagram of a power transmission and transformation line of a power grid according to the present invention;

fig. 2 is a schematic diagram of another power transmission and transformation line of the power grid provided by the invention;

fig. 3 is a schematic diagram of another power transmission and transformation line of the power grid provided by the invention;

fig. 4 is a schematic structural diagram of an image data acquisition and processing device suitable for power grid power transmission and transformation equipment provided by the invention.

Detailed Description

In order that the manner in which the present invention is attained and can be more readily understood, a more particular description of the invention briefly summarized above may be had by reference to the embodiments thereof which are illustrated in the appended drawings.

The embodiment of the invention provides an image data acquisition and processing method suitable for power grid power transmission and transformation equipment, which comprises the following steps of S1-S4:

the method comprises the steps of S1, obtaining position point information and type information of all power grid power transmission and transformation equipment of images to be collected, planning paths according to the position point information to generate an image collecting path, enabling each node in the image collecting path to correspond to at least one power grid power transmission and transformation equipment, and determining that the image collecting path is a one-way type path or a two-way type path according to the position point information of the power grid power transmission and transformation equipment.

It will be appreciated that a plurality of grid power transmission and transformation devices, including for example transformers, transmission towers, etc., are typically provided on the grid power transmission and transformation line, each grid power transmission and transformation device having a corresponding location and type.

According to the scheme, the position point information and the type information of all the power grid power transmission and transformation equipment to be subjected to image acquisition are acquired, then path planning is carried out by utilizing the position point information to generate an image acquisition path, and each node in the image acquisition path corresponds to at least one power grid power transmission and transformation equipment. Wherein, the image acquisition path can be the route that unmanned aerial vehicle patrolled and examined the collection image.

In some embodiments, the S1 includes S11-S14:

s11, acquiring first abscissa information and first ordinate information in the position point information of each power grid power transmission and transformation device, and second abscissa information and second ordinate information of a regulation and control management center, wherein the regulation and control management center is used for placing a flying device.

It can be understood that the control management center is provided with the flying device, and the control management center can control the flying device so as to control the flying device to patrol and collect images along the image collection path.

It should be noted that each power grid power transmission and transformation device and the control center have corresponding position point information, and the position point information may be coordinate information.

And S12, calculating according to the first abscissa information, the first ordinate information, the second abscissa information and the second ordinate information to obtain an angle between a straight line formed by each power grid power transmission and transformation device and the regulation and control management center and the Y-axis negative direction.

According to the scheme, the obtained first abscissa information and first ordinate information of the power grid power transmission and transformation equipment, and the second abscissa information and second ordinate information of the regulation and control management center are calculated, and the angle between the straight line formed by each power grid power transmission and transformation equipment and the regulation and control management center and the Y-axis negative direction is obtained.

In some embodiments, S12 (obtaining an angle between a straight line formed by each power grid electric transmission and transformation device and the regulation and control management center and the negative direction of the Y axis by performing calculation according to the first abscissa information, the first ordinate information, the second abscissa information, and the second ordinate information) includes S121 to S122:

and S121, if the first abscissa information is judged to be larger than or equal to the second abscissa information, judging that the angle between the straight line formed by the power grid power transmission and transformation equipment and the regulation and control management center and the Y-axis negative direction is larger than or equal to 0 degree and smaller than 180 degrees.

For example, referring to fig. 1, a coordinate axis is established with a regulation and control management center as a center, after the coordinate axis is established, the coordinate axis is marked as 0 degree with a position right below the coordinate axis (a negative half axis of a Y axis in fig. 1) as a starting point, and 90 degrees on the coordinate axis (a positive half axis of an X axis in fig. 1), 180 degrees on the coordinate axis (a positive half axis of a Y axis in fig. 1), 270 degrees on the coordinate axis (a negative half axis of an X axis in fig. 1), and 360 degrees on the coordinate axis (a negative half axis of a Y axis in fig. 1) are respectively determined in an anticlockwise manner, first abscissa information of a transformer C and a transformer D is greater than or equal to second abscissa information of the regulation and control management center, and the scheme determines that an angle between a straight line formed by a power transmission and transformation equipment and the regulation and control management center and a negative direction of the Y axis is greater than or equal to 0 degree and less than or equal to 180 degrees. In fig. 1, a straight line between the transformer C and the regulation and control management center is located at 90 degrees, and a straight line between the transformer D and the regulation and control management center is located between 90 degrees and 180 degrees.

It can be understood that, according to the present embodiment, it can be determined that the transformer C and the transformer D are located on the same side (the right side in fig. 1) of the regulation and control management center in the above manner.

And S122, if the first abscissa information is judged to be smaller than the second abscissa information, judging that the angle between the straight line formed by the power grid power transmission and transformation equipment and the regulation and control management center and the Y-axis negative direction is greater than or equal to 180 degrees and smaller than 360 degrees.

For example, referring to fig. 1, the first abscissa information of the transformer a and the transformer B is smaller than the second abscissa information of the regulation and control management center, and it is determined that the angle between the straight line formed by the power grid transmission and transformation equipment and the regulation and control management center is greater than or equal to 180 degrees and less than 360 degrees. In fig. 1, the angle between the straight line between the transformer a and the regulation and control center and the negative direction of the Y axis is 180-270 degrees, and the straight line between the transformer B and the regulation and control center is 270 degrees.

It can be understood that, according to the scheme, it can be determined that the transformer a and the transformer B are located on the same side (the left side in fig. 1) of the regulation and control management center in the manner described above.

And S13, if the angles between all the straight lines and the negative direction of the Y axis are judged to be more than or equal to 0 degree and less than 180 degrees or more than or equal to 180 degrees and less than 360 degrees, generating a one-way type path.

For example, referring to fig. 2, all angles between straight lines of all (the transformer a and the transformer B) and the negative direction of the Y axis are greater than or equal to 180 degrees and smaller than 360 degrees, which means that all the power transformation devices are located on the same side of the regulation and control management center.

For another example, referring to fig. 3, all angles between straight lines of all (the transformer C and the transformer D) and the negative direction of the Y axis are greater than or equal to 0 degree and less than 180 degrees, which indicates that all the power transformation devices are located on the same side of the regulation and control management center, in the scheme, a unidirectional type path is generated, and the unmanned aerial vehicle only needs to fly to one side along the unidirectional type path.

In some embodiments, S13 (if it is determined that all the straight lines have an angle greater than or equal to 0 degrees and less than 180 degrees or equal to 180 degrees and less than 360 degrees with respect to the negative direction of the Y axis, a one-way type path is generated) includes S131 to S133:

and S131, using the position point information of the regulation and control management center as an initial node, selecting the position point information of the power grid power transmission and transformation equipment closest to the regulation and control management center as a first intermediate node, and connecting the initial node with the first intermediate node.

Referring to fig. 2, in the scheme, the position point information of the regulation and control management center is used as an initial node, the position point information of the power grid power transmission and transformation equipment (transformer B) closest to the regulation and control management center is selected as a first intermediate node, and the initial node is connected with the first intermediate node (transformer B).

And S132, using the position point information of the power grid power transmission and transformation equipment closest to the first intermediate node as a second intermediate node, connecting the first intermediate node with the second intermediate node, using the first intermediate node as a connected node, and updating the second intermediate node into the first intermediate node.

Referring to fig. 2, in the present scheme, the position point information of the grid power transmission and transformation device (transformer a) closest to the first intermediate node (transformer B) is used as the second intermediate node, and then after the first intermediate node (transformer a) is connected to the second intermediate node (transformer B), the first intermediate node is used as the connected node, and the second intermediate node (transformer B) is updated to the first intermediate node.

And S133, position point information of the power grid power transmission and transformation equipment closest to the updated first intermediate node is obtained again to serve as a second intermediate node, and a one-way type path is generated until all the power grid power transmission and transformation equipment are obtained.

According to the scheme, the position point information of the power grid power transmission and transformation equipment closest to the updated first intermediate node is obtained again to serve as the second intermediate node, and the one-way type path is generated until all the power grid power transmission and transformation equipment are obtained. For example, the unidirectional type path may be regulation management center-transformer B-transformer a.

And S14, if the angles between all the straight lines and the Y-axis negative direction are judged to be more than or equal to 0 degree and less than 180 degrees, and are also judged to be more than or equal to 180 degrees and less than 360 degrees, generating a bidirectional type path.

Referring to fig. 1, angles between all straight lines and the negative direction of the Y axis are greater than or equal to 0 degree and less than 180 degrees (for example, a transformer C and a transformer D), and angles between all straight lines and the negative direction of the Y axis are also greater than or equal to 180 degrees and less than 360 degrees (for example, a transformer a and a transformer B), which indicates that there are power transformation devices to acquire data on both sides of the regulation and control management center, and at this time, the scheme generates a bidirectional type path.

In some embodiments, S14 (if it is determined that there are 0 degree or more and less than 180 degrees, and there are 180 degrees or more and less than 360 degrees in angles between all the straight lines and the negative direction of the Y axis, a bidirectional type path is generated) includes S141 to S144:

and S141, classifying the power grid power transmission and transformation equipment of the straight line corresponding to the angle greater than or equal to 0 and less than 180 degrees, and classifying the angle greater than or equal to 180 degrees and less than 360 degrees to obtain a first classification set in different directions.

For example, the grid power transmission and transformation equipment of the straight line corresponding to the angle greater than or equal to 0 degrees and less than 180 degrees is classified, the obtained first classification set 1 is { transformer C, transformer D }, the grid power transmission and transformation equipment of the straight line corresponding to the angle greater than or equal to 180 degrees and less than 360 degrees is classified, and the obtained first classification set 2 is { transformer a, transformer B }. Wherein the first set of classifications 1 and the first set of classifications 2 have different flight directions.

And S142, calculating first distances between all the power grid power transmission and transformation equipment in the first classification set and the regulation and control management center, and performing ascending sequencing on all the power grid power transmission and transformation equipment in the first classification set according to the first distances to obtain ascending sequencing results.

After the first classification set is obtained, the scheme calculates first distances between all power grid power transmission and transformation equipment (such as a transformer A and a transformer B) in the first classification set and a regulation and control management center, and then performs ascending sequencing on all the power grid power transmission and transformation equipment in the first classification set by using the first distances to obtain ascending sequencing results.

Illustratively, the first distance between the transformer a and the regulation and control management center is 3 kilometers, the first distance between the transformer B and the regulation and control management center is 1 kilometer, and a set obtained by performing ascending sequencing on all power grid power transmission and transformation equipment in the first classification set by using the first distances is { transformer B, transformer a }. It can be understood that the power grid power transmission and transformation equipment which is ranked more front is closer to the regulation and control management center.

And S143, connecting the position point information corresponding to each power grid power transmission and transformation equipment substation in the ascending sequence.

After sequencing, the scheme can connect the position point information corresponding to each power grid power transmission and transformation equipment station in ascending sequencing. For example, transformer B is connected to transformer a.

And S144, taking the position point information of the regulation and control management center as an initial node, connecting the initial node with the position point information corresponding to the first power grid power transmission and transformation equipment in the ascending sequencing result to obtain a first direction sub-path and a second direction sub-path corresponding to different first classification sets, and forming a bidirectional type path according to the first direction sub-path and the second direction sub-path.

According to the scheme, the position point information of the regulation and control management center is used as an initial node, the initial node is connected with the position point information corresponding to the first power grid power transmission and transformation equipment (transformer B or transformer C) in the ascending sorting result to obtain a first direction sub-path and a second direction sub-path corresponding to different first classification sets, and then a bidirectional type path is formed according to the first direction sub-path and the second direction sub-path.

Illustratively, the first directional sub-path is regulation management center-transformer B-transformer a and the second directional sub-path is regulation management center-transformer C-transformer D, forming a bi-directional type path.

And S2, determining an image acquisition strategy corresponding to each node according to the type information corresponding to each node, wherein each type information has an image acquisition strategy which is preset correspondingly, and the image acquisition strategy comprises an image acquisition type and/or an image acquisition mode.

According to the scheme, the image acquisition strategy corresponding to each node is determined according to the type information corresponding to each node, each type information has the image acquisition strategy which is preset correspondingly, and the image acquisition strategy comprises the image acquisition type and/or the image acquisition mode.

The image acquisition type includes, for example, acquiring a white light image type, acquiring an infrared image type, and the image acquisition mode includes, for example, acquiring a 5S video, acquiring a picture, and the like.

And S3, controlling the flight device to sequentially fly to each node according to the unidirectional type path or the bidirectional type path, determining a corresponding image acquisition device according to the image acquisition type, and determining the acquisition position of the flight device according to the image acquisition mode.

The method can be used for controlling the flight device to sequentially reach each node according to the image acquisition path after the image acquisition path is obtained, determining the corresponding image acquisition device according to the image acquisition type, and determining the acquisition position of the flight device according to the image acquisition mode.

The S3 comprises S31-S36:

and S31, if the image acquisition paths are unidirectional paths and the number of the flight devices is multiple, dividing the image acquisition paths according to the number of the flight devices to obtain multiple unidirectional acquisition sub-paths.

Because image acquisition needs the flight device to carry out, consequently, this scheme can carry out image acquisition for every image acquisition route distribution corresponding flight device.

If the image acquisition path is a unidirectional type path (such as a regulation and control management center-transformer B-transformer A) and the number of the flight devices is multiple, the scheme divides the image acquisition path according to the number of the flight devices to obtain a plurality of unidirectional acquisition sub-paths.

Exemplarily, the flying device has 2, and then one of them unidirectional acquisition subpassages can be regulation and control management center-transformer B, and another unidirectional acquisition subpassage can be regulation and control management center-transformer a, and through the above-mentioned mode, this scheme can ensure the efficiency of image acquisition.

S32, if the image acquisition path is a bidirectional type path and the number of the flight devices is multiple, comparing the first direction sub-path with the second direction sub-path, and dividing a first number of flight devices for the first direction sub-path and a second number of flight devices for the second direction sub-path;

if the image acquisition path is a bidirectional type path (for example, a regulation and control center-transformer B-transformer A and a regulation and control center-transformer C-transformer D), and the number of the flying devices is multiple, the scheme compares the first direction sub-path with the second direction sub-path, and divides the first number of flying devices for the first direction sub-path and the second number of flying devices for the second direction sub-path.

It will be appreciated that different numbers of devices, different path lengths, different acquisition times, etc. on the first direction sub-path and the second direction sub-path will result in different numbers of required flying means.

In some embodiments, S32 (if the image capturing path is a bidirectional type path and the number of flight devices is multiple, the first direction sub-path and the second direction sub-path are compared, and the first number of flight devices is divided for the first direction sub-path and the second number of flight devices is divided for the second direction sub-path) includes S321 to S323:

s321, obtaining first path length information of the first-direction sub-path and first equipment number of nodes corresponding to each type of power grid power transmission and transformation equipment of the first-direction sub-path, and calculating according to the weight corresponding to each power grid power transmission and transformation equipment, the first equipment number and the first path length information to obtain a first-direction sub-path evaluation coefficient.

According to the scheme, the first path length information of the first-direction sub-path is obtained, the first path length information is 5 kilometers for example, meanwhile, the first equipment number of the corresponding node of each type of power grid power transmission and transformation equipment of the first-direction sub-path is obtained, the first equipment number is 5 for example, and then the weight, the first equipment number and the first path length information corresponding to each power grid power transmission and transformation equipment are used for calculation to obtain the first-direction sub-path evaluation coefficient.

And S322, obtaining second path length information of the second direction sub-path and second equipment number of the corresponding node of each type of power grid power transmission and transformation equipment of the second direction sub-path, and calculating according to the weight corresponding to each power grid power transmission and transformation equipment, the second equipment number and the second path length information to obtain a second direction sub-path evaluation coefficient.

Similarly to step S321, the present solution may obtain second path length information of the second direction sub-path, where the second path length information is, for example, 10 kilometers, and meanwhile, the present solution may obtain a second device number of the node corresponding to each type of power grid power transmission and transformation device of the second direction sub-path, where the second device number is, for example, 10, and then perform calculation by using the weight corresponding to each power grid power transmission and transformation device, the second device number, and the second path length information, so as to obtain a second direction sub-path evaluation coefficient.

And S323, obtaining a first number of the first direction sub-paths and a second number of the second direction sub-paths according to the first direction sub-path evaluation coefficient, the second direction sub-path evaluation coefficient and the total number of the flight devices.

After the first direction sub-path evaluation coefficient and the second direction sub-path evaluation coefficient are obtained, the first number of the first direction sub-paths and the second number of the second direction sub-paths can be obtained through calculation by combining the total number of the flight devices.

In some embodiments, the step S323 (obtaining a first number of the first direction sub-paths and a second number of the second direction sub-paths according to the first direction sub-path evaluation coefficient, the second direction sub-path evaluation coefficient, and the total number of the flying devices) includes:

the calculation is made by the following formula,

wherein the content of the first and second substances,

the coefficients are evaluated for the first direction sub-path,

first path length information for the first direction sub-path,

in order to be a length weight value,

is the first direction within the sub-path

The first equipment number of the corresponding node of the power grid power transmission and transformation equipment of each kind,

is as follows

The weight values of the electric transmission and transformation equipment of each kind of electric network,

the coefficients are evaluated for the second direction sub-paths,

second path length information for a second direction sub-path,

is the first direction within the sub-path

is as follows

in the form of a first number of bits,

in order to be the second number of,

is the total number.

In the above-mentioned formula,

represents a path length evaluation coefficient, the longer the path length, the larger the corresponding path length evaluation coefficient,

the evaluation coefficient represents the first equipment number, and the larger the equipment number is, the larger the corresponding evaluation coefficient of the first equipment number is;

represents a path length evaluation coefficient, and the longer the path length is, the larger the corresponding path length evaluation coefficient is,

representing a second equipment number evaluation coefficient, wherein the larger the equipment number is, the larger the corresponding second equipment number evaluation coefficient is; wherein the length weight value

Weighted value of power transmission and transformation equipment of power grid

And weighted value of power transmission and transformation equipment of power grid

The weight value of the power transmission and transformation equipment of the power grid can be preset by the staff

Is less than the length weight value

And the ratio of path dimensions is improved.

The evaluation coefficient of the first direction sub-path is obtained through calculation

And a second direction sub-path evaluation coefficient

Then, the scheme will be based on

Calculating the ratio and then combining the total amount

Calculating a first quantity

And a second amount

(ii) a Wherein, this scheme has adopted the mode of getting to the top to handle first quantity and second quantity for guaranteeing that the quantity of flying device is the integer.

S33, obtaining a first bidirectional acquisition sub-path according to the first direction sub-path and the first quantity, and obtaining a second bidirectional acquisition sub-path according to the second direction sub-path and the second quantity.

It can be understood that, after the first number and the second number are obtained through calculation, the first bidirectional sub-path and the first number may be combined to obtain a first bidirectional sub-path, and the second bidirectional sub-path and the second number may be combined to obtain a second bidirectional sub-path.

And S34, controlling each flying device to fly to each node according to the corresponding one-way acquisition sub-path, the first two-way acquisition sub-path and the second two-way acquisition sub-path.

After the unidirectional acquisition sub-path, the first bidirectional acquisition sub-path and the second bidirectional acquisition sub-path are obtained, each flying device is controlled to fly to each node according to the corresponding unidirectional acquisition sub-path, the first bidirectional acquisition sub-path and the second bidirectional acquisition sub-path, and image data is acquired.

And S35, after judging that the flight position of the flight device corresponds to the position point information of the corresponding node, determining the image acquisition type of the power transmission and transformation equipment of the power grid corresponding to the corresponding node, and starting the corresponding image acquisition device according to the image acquisition type.

According to the scheme, after the flight position of the flight device is judged to correspond to the position point information of the corresponding node, namely the flight device reaches the corresponding position of the power grid power transmission and transformation equipment, the image acquisition type (such as a mode of acquiring a white light image or an infrared image) of the power grid power transmission and transformation equipment corresponding to the corresponding node is determined, and the corresponding image acquisition device (such as a white light image acquisition device or an infrared image acquisition device) is started according to the image acquisition type.

And S36, determining the acquisition position of the flight device according to the image acquisition mode.

It should be noted that, the image acquisition modes are different, and the acquisition positions of the flight device are also different, and the acquisition positions of the flight device can be determined according to the image acquisition modes in the scheme.

In some embodiments, S36 (determining the acquisition position of the flying apparatus according to the image acquisition mode) includes S361-S364:

and S361, after judging that the flying device reaches the corresponding node, acquiring a positioning image for positioning, and extracting the outline of the power grid power transmission and transformation equipment in the positioning image to obtain all outline pixel points of the power grid power transmission and transformation equipment.

For example, after the flying device reaches the transformer B, an image for positioning is acquired to obtain a positioning image, and then the contour of the power grid power transmission and transformation equipment in the positioning image is extracted to obtain all contour pixel points of the power grid power transmission and transformation equipment. The contour pixel is, for example, a rectangle corresponding to the transformer B.

And S362, extracting the abscissa positive extreme value, the abscissa negative extreme value, the ordinate positive extreme value and the ordinate negative extreme value in all the contour pixel points.

After the contour pixel points are obtained, the abscissa positive extreme value, the abscissa negative extreme value, the ordinate positive extreme value and the ordinate negative extreme value of all the contour pixel points are extracted. The positive extreme value of the abscissa is the maximum value of the abscissa in all the contour pixels, the negative extreme value of the abscissa is the minimum value of the abscissa in all the contour pixels, the positive extreme value of the ordinate is the maximum value of the ordinate in all the contour pixels, and the negative extreme value of the ordinate is the minimum value of the ordinate in all the contour pixels.

And S363, determining a collection center pixel point according to the abscissa positive extreme value, the abscissa negative extreme value, the ordinate positive extreme value and the ordinate negative extreme value.

After the positive extreme value of the abscissa, the negative extreme value of the abscissa, the positive extreme value of the ordinate and the negative extreme value of the ordinate are obtained, the scheme can determine the collection central pixel point by utilizing the positive extreme value of the abscissa, the negative extreme value of the abscissa, the positive extreme value of the ordinate and the negative extreme value of the ordinate.

In some embodiments, S363 (said determining the collection center pixel point according to said positive abscissa extremum, negative abscissa extremum, positive ordinate extremum, and negative ordinate extremum) includes S3631-S3632:

s3631, a central abscissa is obtained according to the abscissa positive extreme value and the abscissa negative value, and a central ordinate is obtained according to the ordinate positive extreme value and the ordinate negative value.

S3632, determining and collecting central pixel points based on the central abscissa and the central ordinate.

It can be understood that the scheme can calculate the intermediate value of the positive extreme value of the abscissa and the negative extreme value of the abscissa to obtain the central abscissa, then calculate the intermediate value of the positive extreme value of the ordinate and the negative extreme value of the ordinate to obtain the central ordinate, and finally synthesize the central abscissa and the central ordinate to obtain the collection central pixel point.

It should be noted that in the scheme, a better acquisition point can be determined by combining the outline of the power transmission equipment, a better acquisition position is provided for the flight device, and the images acquired by the flight device are prevented from being incomplete.

And S364, extracting the acquisition height in the image acquisition mode, controlling the flight device to move to an acquisition center pixel point according to the corresponding flight height, and taking the position at the moment as the acquisition position of the flight device.

After obtaining gathering center pixel, this scheme still can draw the collection height in the image acquisition mode, and control flight device moves to gathering center pixel according to corresponding flying height, regards the position this moment as flight device's collection position.

In some embodiments, S364 (the extracting of the acquisition height in the image acquisition mode, controlling the flying apparatus to move to the acquisition center pixel point according to the corresponding flying height, and taking the position at this time as the acquisition position of the flying apparatus) includes S3641 to S3642:

s3641, taking the pixel point at the central position in the positioning image as a current central pixel point, and forming a flight calibration direction according to the current central pixel point and a connecting line of the collection central pixel point.

It can be understood that the current image that the location image was shot for flight device is real-time, therefore current center pixel can embody the real-time position of flight device for power transmission and transformation equipment, owing to need remove the flight device to gather center pixel and carry out image acquisition, consequently, this scheme can form the flight calibration direction according to current center pixel, the connecting wire of gathering center pixel.

S3642, controlling the flying device to fly according to the flying calibration direction, continuously acquiring a new positioning image, and judging that the flying device moves to the acquisition center pixel point according to the corresponding flying height after judging that the current center pixel point corresponds to the acquisition center pixel point.

After the flight calibration direction is obtained, the flying device can be controlled to fly according to the flight calibration direction according to the scheme, new positioning images are continuously collected, after the current central pixel point is judged to be corresponding to the collection central pixel point, the flying device is judged to move to the collection central pixel point according to the corresponding flying height, and at the moment, the flying device is located at the better image collection position.

And S4, after judging that the flying device reaches the acquisition position, controlling the image acquisition device to acquire an image to obtain at least one image acquisition information, adding a node tag and a time tag corresponding to the node to the image acquisition information, and uploading the image acquisition information to a server for storage.

In some embodiments, said S4 comprises S41-S42:

s41, after the flying device judges that the flying device reaches the acquisition position, determining at least one corresponding image acquisition device according to the image acquisition type.

For example, when a white light image needs to be shot, the image acquisition device of the scheme can be a camera for acquiring the white light image; when the infrared image needs to be shot, the image acquisition device of the scheme can be a camera for acquiring the infrared image.

And S42, controlling the image acquisition device to acquire an image to obtain at least one image acquisition information, adding a node tag and a time tag corresponding to the node to the image acquisition information, and uploading the image acquisition information to a server for storage.

It can be understood that, after the flying device determines that the flying device reaches the collecting position, the flying device may control the image collecting device to collect an image to obtain at least one piece of image collecting information, and then add a node tag (for example, a device name) and a time tag (for example, shooting time) corresponding to the node to the image collecting information, and upload the image collecting information to the server for storage.

Referring to fig. 4, which is a schematic structural diagram of an image data acquisition and processing device suitable for a power transmission and transformation device of a power grid according to an embodiment of the present invention, the image data acquisition and processing device suitable for a power transmission and transformation device of a power grid includes:

the acquisition module is used for acquiring the position point information and the type information of all power grid power transmission and transformation equipment of the image to be acquired, planning a path according to the position point information and generating an image acquisition path, wherein each node in the image acquisition path corresponds to at least one power grid power transmission and transformation equipment;

the determining module is used for determining an image acquisition strategy corresponding to each node according to type information corresponding to each node, each type information has an image acquisition strategy which is preset correspondingly, and the image acquisition strategies comprise image acquisition types and/or image acquisition modes;

the control module is used for controlling the flying device to sequentially reach each node according to the image acquisition path, determining a corresponding image acquisition device according to the image acquisition type, and determining the acquisition position of the flying device according to the image acquisition mode;

In addition to the above embodiments, the present invention may have other embodiments; all technical solutions formed by adopting equivalent substitutions or equivalent transformations fall within the protection scope of the claims of the present invention.

Claims

1. The image data acquisition and processing method suitable for the power grid power transmission and transformation equipment is characterized by comprising the following steps of:

s3, controlling a flying device to sequentially fly to each node according to the unidirectional type path or the bidirectional type path, determining a corresponding image acquisition device according to the image acquisition type, and determining the acquisition position of the flying device according to the image acquisition mode;

2. The image data acquisition and processing method suitable for the power grid power transmission and transformation equipment according to claim 1,

the S1 comprises:

establishing a coordinate system by taking a regulation and control management center as a center, and acquiring first abscissa information and first ordinate information in position point information of each power grid power transmission and transformation device and second abscissa information and second ordinate information of the regulation and control management center, wherein the regulation and control management center is used for placing a flying device;

3. The image data acquisition and processing method suitable for the power grid transmission and transformation equipment according to claim 2,

the calculating according to the first abscissa information, the first ordinate information, the second abscissa information and the second ordinate information to obtain the angle between the straight line formed by each power grid power transmission and transformation device and the regulation and control management center and the Y-axis negative direction includes:

and if the first abscissa information is judged to be smaller than the second abscissa information, judging that the angle between the straight line formed by the power grid power transmission and transformation equipment and the regulation and control management center and the Y-axis negative direction is greater than or equal to 180 degrees and smaller than 360 degrees.

4. The image data acquisition and processing method suitable for the power grid transmission and transformation equipment according to claim 3,

if it is determined that all the angles between the straight lines and the negative direction of the Y axis are greater than or equal to 0 degree and less than 180 degrees, or are greater than or equal to 180 degrees and less than 360 degrees, generating a one-way type path, including:

5. The method for collecting and processing the image data of the power transmission and transformation equipment of the power grid according to claim 4,

if it is determined that angles between all straight lines and the negative direction of the Y axis are greater than or equal to 0 degree and less than 180 degrees, and also greater than or equal to 180 degrees and less than 360 degrees, a bidirectional type path is generated, including:

calculating first distances between all power grid power transmission and transformation equipment in the first classification set and a regulation and control management center, and performing ascending sequencing on all the power grid power transmission and transformation equipment in the first classification set according to the first distances to obtain ascending sequencing results;

6. The image data acquisition and processing method suitable for the power grid power transmission and transformation equipment according to claim 5,

the S3 comprises the following steps:

7. The image data acquisition and processing method suitable for the power grid power transmission and transformation equipment according to claim 6,

if the image acquisition path is a bidirectional type path and the number of the flight devices is multiple, comparing the first direction sub-path with the second direction sub-path, and dividing a first number of flight devices for the first direction sub-path and a second number of flight devices for the second direction sub-path, the method comprises the following steps:

acquiring first path length information of a first-direction sub-path and first equipment number of nodes corresponding to each type of power grid power transmission and transformation equipment of the first-direction sub-path, and calculating according to the weight corresponding to each power grid power transmission and transformation equipment, the first equipment number and the first path length information to obtain a first-direction sub-path evaluation coefficient;

acquiring second path length information of a second direction sub-path and second equipment number of nodes corresponding to each type of power grid power transmission and transformation equipment of the second direction sub-path, and calculating according to the weight corresponding to each power grid power transmission and transformation equipment, the second equipment number and the second path length information to obtain a second direction sub-path evaluation coefficient;

8. The method for processing and acquiring image data of power transmission and transformation equipment of power grid according to claim 7,

the obtaining a first number of the first direction sub-paths and a second number of the second direction sub-paths according to the first direction sub-path evaluation coefficient, the second direction sub-path evaluation coefficient and the total number of the flight devices includes:

the calculation is made by the following formula,

wherein, the first and the second end of the pipe are connected with each other,

the coefficients are evaluated for the first direction sub-path,

first path length information for a first direction sub-path,

in order to be a length weight value,

is the first direction within the sub-path

is a first

is the upper limit value of the number of the types of the power transmission and transformation equipment of the power grid in the first direction sub-path,

the coefficients are evaluated for the second direction sub-paths,

second path length information for a second direction sub-path,

is the first direction within the sub-path

is a first

in the form of a first number of bits,

in order to be able to carry out the second number,

is the total number.

9. The image data acquisition and processing method suitable for the power grid power transmission and transformation equipment according to claim 6,

the determining the acquisition position of the flight device according to the image acquisition mode comprises the following steps:

after judging that the flying device reaches a corresponding node, acquiring a positioning image for positioning, and acquiring the positioning image for positioning to extract the outline of the power grid power transmission and transformation equipment in the positioning image to obtain all outline pixel points of the power grid power transmission and transformation equipment;

extracting a positive extreme value of a horizontal coordinate, a negative extreme value of the horizontal coordinate, a positive extreme value of a vertical coordinate and a negative extreme value of the vertical coordinate in all the contour pixel points;

determining a collection center pixel point according to the positive extreme value of the abscissa, the negative extreme value of the abscissa, the positive extreme value of the ordinate and the negative value of the ordinate;

10. The method for processing and acquiring image data of power transmission and transformation equipment of power grid according to claim 9,

the method for determining the collection center pixel point according to the positive extreme value of the abscissa, the negative extreme value of the abscissa, the positive extreme value of the ordinate and the negative extreme value of the ordinate comprises the following steps:

and determining and collecting central pixel points based on the central abscissa and the central ordinate.

11. The method for processing and acquiring image data of power transmission and transformation equipment of power grid according to claim 10,

the extraction the collection height in the image acquisition mode, control flying device moves to gathering central pixel according to corresponding flying height, regard the position this moment as flying device's collection position, include:

12. The method for processing and acquiring image data of power transmission and transformation equipment of power grid according to claim 11,

the S4 comprises the following steps:

13. Image data gathers processing apparatus suitable for electric wire netting power transmission and transformation equipment, its characterized in that includes:

the control module is used for controlling the flying device to fly to each node in sequence according to the unidirectional type path or the bidirectional type path, determining a corresponding image acquisition device according to the image acquisition type, and determining the acquisition position of the flying device according to the image acquisition mode;