CN115933750B - Power inspection method and power inspection system based on data processing - Google Patents
Power inspection method and power inspection system based on data processing Download PDFInfo
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Abstract
The invention provides a data processing-based power inspection method and a data processing-based power inspection system, wherein the method comprises the following steps: determining the patrol attribute of all the power equipment in the power patrol area; generating a primary flight inspection path and/or a primary walking inspection path corresponding to the first flight inspection equipment set and/or the first walking inspection equipment set according to the position information of each power equipment; obtaining combination detection information corresponding to each power device, and generating a first inspection result of the corresponding power device according to video information and/or temperature information in the combination detection information; and screening the first flight inspection equipment set and/or the power equipment in the first walking inspection equipment set according to the first inspection result to obtain a second flight inspection equipment set and/or a second walking inspection equipment set, and controlling the flight device and/or the walking device to inspect again to obtain a corresponding second inspection result.
Description
Technical Field
The invention relates to the technical field of data processing, in particular to a power inspection method and a power inspection system based on data processing.
Background
In order to ensure the safe operation of the power system, the power equipment in the power system needs to be periodically inspected, the problems of the power system are timely found and diagnosed, the occurrence of serious power accidents is reduced, and the stability of the power system is ensured.
At present, the inspection of the power system generally comprises three modes, namely manual inspection, inspection by adopting an aircraft, and inspection by adopting an inspection robot. Aiming at the mode of carrying out inspection on the aircraft or the inspection robot, the aircraft has the advantages of high-low altitude inspection and high inspection efficiency, but has higher inspection cost and inconvenient maintenance of the aircraft; the inspection robot can realize the low-altitude inspection of the power equipment, and has low inspection efficiency although the inspection cost is relatively low and the maintenance is convenient.
Therefore, how to combine the power equipment attribute, adopt the mode of patrolling and examining that aircraft and walking robot fuse, improve the efficiency of patrolling and examining when reducing the cost of patrolling and examining has become the urgent problem that need to solve.
Disclosure of Invention
The embodiment of the invention provides a data processing-based power inspection method and a data processing-based power inspection system, which can combine the attribute of power equipment, adopt an integrated inspection mode of an aircraft and a walking robot, reduce inspection cost and improve inspection efficiency.
In a first aspect of an embodiment of the present invention, a method for power inspection based on data processing is provided, including:
s1, an administrator sends inspection data to a server in advance, the server divides an electric power inspection area according to the inspection data, and all electric power equipment in the electric power inspection area and inspection attributes of each electric power equipment are determined, wherein the inspection attributes comprise flight inspection attributes and/or walking inspection attributes;
s2, dividing all the power equipment according to the inspection attribute to obtain a first flight inspection equipment set and/or a first walking inspection equipment set, and generating a primary flight inspection path and/or a primary walking inspection path corresponding to the first flight inspection equipment set and/or the first walking inspection equipment set according to the position information of each power equipment;
s3, controlling the flight device and/or the traveling device to acquire flight detection information and/or traveling detection information and equipment identity labels by data acquisition of the electric equipment according to the primary flight inspection path and/or the primary traveling inspection path respectively;
s4, combining the flight detection information and/or the walking detection information according to the equipment identity tag to obtain combined detection information corresponding to each piece of power equipment, and generating a first inspection result of the corresponding piece of power equipment according to video information and/or temperature information in the combined detection information;
S5, screening the first flight inspection equipment set and/or the power equipment in the first walking inspection equipment set according to the first inspection result to obtain a second flight inspection equipment set and/or a second walking inspection equipment set, a secondary flight inspection path and/or a secondary walking inspection path, and controlling the flight device and/or the walking device to inspect again to obtain a corresponding second inspection result.
Optionally, in a possible implementation manner of the first aspect, the S1 includes:
extracting all power equipment serving as a patrol target and position information of each power equipment in patrol data, and generating a corresponding patrol area topological graph according to the position information of the power equipment, wherein each node in the patrol area topological graph corresponds to one power equipment;
and extracting the equipment type in the equipment identity tag of each piece of electric equipment, and comparing the equipment type with a preset attribute corresponding table to determine the routing inspection attribute corresponding to each piece of electric equipment, wherein the preset attribute corresponding table has the routing inspection attribute corresponding to each piece of equipment type.
Optionally, in a possible implementation manner of the first aspect, the S2 includes:
Counting all the power equipment with the flight inspection attribute in the inspection area topological graph to obtain a first flight inspection equipment set, and counting all the power equipment with the walking inspection attribute in the inspection area topological graph to obtain a first walking inspection equipment set;
obtaining first flight position information according to the position information of each power device in a first flight inspection device set, and connecting all adjacent first flight position information in the inspection area topological graph to obtain a one-time flight inspection path;
obtaining first walking position information according to the position information of each power device in a first walking inspection device set, and connecting all adjacent first walking position information in the inspection area topological graph to obtain a primary walking inspection path;
determining the flight inspection time length and the walking inspection time length respectively corresponding to the one-time flight inspection path and the one-time walking inspection path, and if the flight inspection time length is smaller than the walking inspection time length, the absolute value of the time length difference between the flight inspection time length and the walking inspection time length is larger than a preset difference value;
at least one conversion power device in the first walking inspection device set is determined, and the conversion power device is converted from the first walking inspection device set to the first flying inspection device set.
Optionally, in one possible implementation manner of the first aspect, the determining a flight routing inspection duration and a walking routing inspection duration that correspond to the first flight routing inspection path and the first walking routing inspection path respectively includes:
acquiring a primary flight inspection path, the flight sub-path length and the travel sub-path length of each two connected nodes in the primary travel inspection path, and acquiring the flight inspection time and/or the travel inspection time of the power equipment corresponding to each node;
determining a preset flight speed and a preset walking speed according to the flight device and the walking device, and calculating according to the flight sub-path length, the walking sub-path length, the acquisition time during flight inspection, the acquisition time during walking inspection, the preset flight speed and the preset walking speed to obtain flight inspection duration and walking inspection duration;
calculating the flight inspection time length, the walking inspection time length and the time length difference value through the following formulas,
wherein ,
for the duration of the flight inspection period,
is the first one in the inspection path of one flight 
The length of the sub-path of the flight,nfor an upper limit value of the number of flight sub-path lengths in a flight patrol path,
in order to set the speed of flight to be a preset value,
is the firstlThe collection time of the power equipment corresponding to each node during the flight inspection,mfor an upper limit value of the number of electrical devices in the path of a flight patrol,
in order to walk for the duration of the inspection,
is the first one in the path of one-time walking inspection
The length of the path of the individual walking sub-paths,
for the upper limit value of the number of walking sub-path lengths in the one-time walking inspection path,
in order to preset the walking speed of the robot,
the acquisition time is the walking inspection time of the power equipment corresponding to the r node,
for the upper limit value of the number of the power equipment in the one-time walking inspection path,
is the difference of the duration;
and comparing the time length difference value with a preset difference value.
Optionally, in a possible implementation manner of the first aspect, the determining at least one conversion power device in the first walking inspection device set, converting the conversion power device from the first walking inspection device set to the first flying inspection device set includes:
taking the electric equipment with the same equipment identity label in the first walking inspection equipment set and the first flying inspection equipment set as the electric equipment to be selected;
Locking all the power equipment to be selected in a primary walking inspection path, determining the saved path time of each power equipment to be selected after being removed, and sorting all the power equipment to be selected in a descending order according to the saved path time to obtain a sequence to be selected;
extracting the low-altitude flight inspection time acquisition time corresponding to each electric device in the sequence to be selected, wherein the type of each electric device has the low-altitude flight inspection time acquisition time preset by the electric device;
determining at least one power device in the sequence to be selected as a conversion power device according to the time length difference value and the acquisition time during low-altitude flight inspection;
deleting the converted power equipment from the first walking inspection equipment set, and adding a low-altitude flight inspection tag to the power equipment corresponding to the converted power equipment in the first flight inspection equipment set.
Optionally, in one possible implementation manner of the first aspect, the locking all the power devices to be selected in the one-time walking inspection path, determining a saved path time of each power device to be selected after being removed, and sorting all the power devices to be selected in a descending order according to the saved path time to obtain a sequence to be selected, including:
Determining nodes to be selected of each power equipment to be selected in a routing inspection area topological graph, and adding the nodes to be selected and the walking sub-path lengths corresponding to the previous node and/or the next node to obtain a first calculated path length corresponding to the nodes to be selected;
if the node to be selected is judged to have only the next node connected with the node to be selected or only the previous node connected with the node to be selected, taking the walking sub-path length of the node to be selected and the previous node connected with the node to be selected or the next node connected with the node to be selected as a saving path;
if the node to be selected is judged to have a previous node and a next node which are connected with the node to be selected, the previous node and the next node are directly connected to obtain a second calculated path length, and the first calculated path length is subtracted from the second calculated path length to obtain a saved path;
and obtaining the saved path time according to the saved path.
Optionally, in a possible implementation manner of the first aspect, the obtaining a saving path time according to the saving path includes:
determining the preset walking speed of the walking device, calculating according to the saved path and the preset walking speed to obtain the saved path time, calculating the saved path time by the following formula,
wherein ,
in order to save the journey time,
for the walking sub-path length of the node to be picked and the previous node connected thereto,
for the travelling sub-path length of the node to be picked and the following node connected thereto,
the path length is calculated for the second.
Optionally, in a possible implementation manner of the first aspect, the determining at least one power device in the sequence to be selected as the conversion power device according to the duration difference value and the acquisition time during low-altitude flight inspection includes:
sequentially extracting the acquisition time of the low-altitude flight inspection corresponding to each power equipment in the sequence to be selected, and continuously extracting and adding to obtain the total acquisition time;
and stopping extracting the power equipment in the sequence to be selected when the total acquisition time is judged to be more than half of the time length difference, and taking the power equipment except the power equipment which is selected last as conversion power equipment.
Optionally, in a possible implementation manner of the first aspect, the S3 includes:
controlling the flying device and/or the traveling device to respectively obtain video information and temperature information of the power equipment according to the primary flying inspection path and/or the primary traveling inspection path and the corresponding power equipment;
And determining corresponding equipment identity labels according to the position information of the video information and the temperature information obtained by the flight device and/or the walking device, wherein different pieces of position information have different equipment identity labels.
Optionally, in a possible implementation manner of the first aspect, the S4 includes:
acquiring flight detection information and/or walking detection information corresponding to each equipment identity tag, if judging that one equipment identity tag corresponds to the flight detection information and the walking detection information at the same time, combining the flight detection information and the walking detection information to obtain combined detection information, and correspondingly storing the combined detection information and one electric equipment;
if the fact that one equipment identity tag only corresponds to the flight detection information or the walking detection information is judged, the corresponding flight detection information or the walking detection information is used as combined detection information to be stored corresponding to one electric equipment;
and analyzing the video information and/or the temperature information to obtain a first inspection result.
Optionally, in a possible implementation manner of the first aspect, the analyzing the video information and/or the temperature information to obtain a first inspection result includes:
If any one of the video information or the temperature information is judged to not meet the preset video requirement or the preset temperature requirement, outputting a first inspection result which does not meet the requirement;
and if the video information or the temperature information respectively meets the preset video requirement or the preset temperature requirement, outputting a first inspection result meeting the requirement.
Optionally, in a possible implementation manner of the first aspect, the S5 includes:
determining power equipment corresponding to a first inspection result which does not meet the requirement in the first flight inspection equipment set and/or the first walking inspection equipment set as secondary inspection equipment;
counting secondary patrol equipment in the first flight patrol equipment set to obtain a second flight patrol equipment set, and counting secondary patrol equipment in the first flight patrol equipment set to obtain a second flight patrol equipment set;
connecting the secondary inspection equipment in the second flight inspection equipment set according to the position information of the secondary inspection equipment to obtain a secondary flight inspection path, and connecting the secondary inspection equipment in the second walking inspection equipment set according to the position information of the secondary inspection equipment to obtain a secondary walking inspection path;
and controlling the flight device and/or the traveling device to carry out inspection again according to the secondary flight inspection path and/or the secondary traveling inspection path to obtain a corresponding second inspection result.
Optionally, in one possible implementation manner of the first aspect, the method further includes:
counting all first inspection results and second inspection results in a preset time period, and determining the first result number of the first inspection results which do not meet the requirements and correspond to each power device and the second result number of the second inspection results which do not meet the requirements and correspond to each power device;
calculating according to the first result number, the second result number and a preset time period to obtain an instability coefficient of the power equipment, and adjusting the acquisition time of each power equipment during flight inspection and the acquisition time of each power equipment during walking inspection according to the instability coefficient;
the instability coefficient of the power equipment is calculated through the following formula, the acquisition time during the flight inspection and the acquisition time during the walking inspection are adjusted,
wherein ,
as a coefficient of instability of the electrical equipment,
for the first number of results,
for the first result weight value,
for the second number of results,
for the value of the second result weight,
in order to set the time period to be a preset time period,
for the adjusted acquisition time during flight inspection,
and A is a preset conversion coefficient value for the acquisition time of the walking inspection after adjustment.
In a second aspect of the embodiment of the present invention, there is provided a data processing-based power inspection system, including:
the system comprises a determining module, a power inspection module and a control module, wherein the determining module is used for enabling an administrator to send inspection data to a server in advance, the server divides a power inspection area according to the inspection data, and determines all power equipment in the power inspection area and inspection attributes of each power equipment, wherein the inspection attributes comprise flight inspection attributes and/or walking inspection attributes;
the generation module is used for dividing all the electric devices according to the inspection attribute to obtain a first flight inspection device set and/or a first walking inspection device set, and generating a primary flight inspection path and/or a primary walking inspection path corresponding to the first flight inspection device set and/or the first walking inspection device set according to the position information of each electric device;
the control module is used for controlling the flight device and/or the traveling device to acquire flight detection information and/or traveling detection information and equipment identity labels according to the primary flight inspection path and/or the primary traveling inspection path respectively;
the combination module is used for combining the flight detection information and/or the walking detection information according to the equipment identity tag to obtain combination detection information corresponding to each piece of power equipment, and generating a first inspection result of the corresponding power equipment according to video information and/or temperature information in the combination detection information;
And the inspection module is used for screening the first flight inspection equipment set and/or the power equipment in the first walking inspection equipment set according to the first inspection result to obtain a second flight inspection equipment set and/or a second walking inspection equipment set, a secondary flight inspection path and/or a secondary walking inspection path, and controlling the flight device and/or the walking device to inspect again to obtain a corresponding second inspection result.
The beneficial effects are that:
1. the scheme can combine the patrol attribute of the power equipment to form a corresponding patrol set and a patrol path, then confirms the combination patrol of the flight patrol and/or the walking patrol corresponding to each power equipment, patrol the power equipment in the power patrol area in a combined patrol mode, combine the power equipment attribute, adopt the patrol mode of the fusion of the aircraft and the walking robot, reduce the patrol cost and improve the patrol efficiency. According to the scheme, the inspection data are analyzed through the video dimension and the temperature dimension, the inspection result is obtained, the secondary planning and the secondary inspection are carried out on the power equipment which does not meet the requirements, and the accurate inspection result is obtained.
2. According to the scheme, when the inspection time length of the aircraft is larger than the inspection time length of the walking robot, the nodes meeting the requirements can be inspected by replacing the walking robot by adopting the inspection mode of the aircraft, the inspection time of the walking robot is shortened, the inspection time difference between the aircraft and the robot is smaller, the inspection efficiency is improved, and the inspection time is reduced under the condition of reducing the inspection cost. In addition, when the replaced power equipment is selected, the saving path time of the corresponding power equipment is calculated, a sequence to be selected is obtained, and the power equipment is selected according to the saving time of the sequence to be selected; in addition, when the scheme is compared, the total acquisition time is compared with the total acquisition time by taking one half of the time difference as a reference, and the low-altitude flight inspection can be utilized to replace about half of the walking inspection time, so that the integral flight inspection time and the walking inspection time are smaller in phase difference, and further the aircraft and the walking robot are more synchronous to finish the inspection task.
3. After the primary inspection and the secondary inspection are completed, the number of the first inspection results and the number of the second inspection results are counted, the first result number and the second result number are obtained, the instability coefficient of the power equipment is calculated, the acquisition time of the power equipment is adjusted, and the inspection quality is improved.
Drawings
FIG. 1 is a schematic view of a scene provided in an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a data processing-based power inspection system according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The terms "first," "second," "third," "fourth" and the like in the description and in the claims and in the above drawings, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein.
It should be understood that, in various embodiments of the present invention, the sequence number of each process does not mean that the execution sequence of each process should be determined by its functions and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.
It should be understood that in the present invention, "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements that are expressly listed or inherent to such process, method, article, or apparatus.
It should be understood that in the present invention, "plurality" means two or more. "and/or" is merely an association relationship describing an association object, meaning that there may be three relationships, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone. The character "/" generally indicates that the context-dependent object is an "or" relationship. "comprising A, B and C", "comprising A, B, C" means that all three of A, B, C comprise, "comprising A, B or C" means that one of the three comprises A, B, C, and "comprising A, B and/or C" means that any 1 or any 2 or 3 of the three comprises A, B, C.
It should be understood that in the present invention, "B corresponding to a", "a corresponding to B", or "B corresponding to a" means that B is associated with a, from which B can be determined. Determining B from a does not mean determining B from a alone, but may also determine B from a and/or other information. The matching of A and B is that the similarity of A and B is larger than or equal to a preset threshold value.
As used herein, "if" may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to detection" depending on the context.
The technical scheme of the invention is described in detail below by specific examples. The following embodiments may be combined with each other, and some embodiments may not be repeated for the same or similar concepts or processes.
Firstly, referring to fig. 1, an application scenario of the present invention is described, where the present solution may utilize a flight inspection device and a walking inspection device to inspect power equipment A, B, C, D, E, F, where the power equipment is different, and the corresponding inspection devices may also be different; the flight inspection equipment can inspect high altitude and low altitude, and the walking inspection equipment can only inspect low altitude and cannot inspect high altitude.
The power equipment A, B, D, F can be independently inspected by using the flight inspection equipment, or can be inspected by using a mode of mutually fusing the walking inspection equipment and the aircraft inspection equipment, for example, aiming at a large power tower; the power equipment C only needs to patrol the upper part of the power equipment by using a flight patrol equipment, and the lower part does not need to patrol, so that a walking robot is not needed to patrol the lower part of the power equipment, for example, the power equipment is aimed at a high-voltage line; the walking inspection equipment can independently finish inspection aiming at the power equipment with lower height, so that the power equipment F only needs to be inspected by the walking inspection equipment, and the upper part of the power equipment is not required to be inspected by an aircraft, for example, aiming at a transformer placed on the ground.
The scheme provides a data processing-based power inspection method, which comprises S1-S5, and specifically comprises the following steps:
s1, an administrator sends inspection data to a server in advance, the server divides an electric power inspection area according to the inspection data, and all electric power equipment in the electric power inspection area and inspection attributes of each electric power equipment are determined, wherein the inspection attributes comprise flight inspection attributes and/or walking inspection attributes.
The server can receive the inspection data sent by the administrator in advance, and after receiving the inspection data, the server analyzes the inspection data and divides the corresponding power inspection area according to the inspection data.
It can be appreciated that the power system is large, the power inspection area is large, the scheme can locate one power inspection area according to the inspection data required by the administrator, and then the scheme can determine all power equipment in the power inspection area and the inspection attribute of each power equipment, wherein the inspection attribute comprises a flight inspection attribute and/or a walking inspection attribute.
The flight inspection attribute refers to inspection by using an aircraft, and the walking inspection attribute can be inspection by using a walking robot. It can be understood that although the aircraft inspection is fast, the high altitude and the low altitude can be inspected, the inspection cost is high compared with the walking robot, and the maintenance is inconvenient; for the corresponding walking robot, the inspection cost is lower, the maintenance is convenient, but the inspection efficiency is low.
In some embodiments, the S1 comprises S11-S12:
s11, extracting all power equipment serving as a patrol target in patrol data and position information of each power equipment, and generating a corresponding patrol area topological graph according to the position information of the power equipment, wherein each node in the patrol area topological graph corresponds to one power equipment, and the patrol area topological graph can be seen in FIG. 1.
According to the scheme, the patrol data can be analyzed, the position information of all power equipment serving as a patrol target in the patrol data and the position information of each power equipment are extracted, the corresponding position information of different power equipment are different, after the position information is obtained, a corresponding patrol area topological graph is generated according to the position information of the power equipment, and each node in the patrol area topological graph corresponds to one power equipment.
S12, extracting the equipment type in the equipment identity label of each piece of electric equipment, and comparing the equipment type with a preset attribute corresponding table to determine the routing inspection attribute corresponding to each piece of electric equipment, wherein the preset attribute corresponding table has the routing inspection attribute corresponding to each piece of equipment type.
The scheme is provided with a preset attribute comparison table in advance, wherein the preset attribute comparison table is provided with the inspection attribute corresponding to each equipment type. Then, the scheme extracts the equipment type in the equipment identity tag of each piece of electric equipment, and compares the equipment type with a preset attribute corresponding table to determine the routing inspection attribute corresponding to each piece of electric equipment.
The equipment types can be divided according to the equipment height, for example, when the equipment height is below 3 meters, the corresponding equipment type is a low-altitude equipment type, and the corresponding inspection attribute can be a walking inspection attribute; when the equipment height is more than 3 meters, the corresponding equipment type is high-altitude equipment type, and the corresponding inspection attribute can be a flight inspection attribute.
S2, dividing all the power equipment according to the inspection attribute to obtain a first flight inspection equipment set and/or a first walking inspection equipment set, and generating a primary flight inspection path and/or a primary walking inspection path corresponding to the first flight inspection equipment set and/or the first walking inspection equipment set according to the position information of each power equipment.
After the inspection attributes of the power equipment are determined, all the power equipment can be divided by utilizing the inspection attributes of the power equipment to obtain a first flight inspection equipment set and/or a first walking inspection equipment set. It can be appreciated that, this scheme can classify the power equipment of flight inspection attribute into first flight inspection equipment set, classify the power equipment of walking inspection attribute into first walking inspection equipment set.
Then, the scheme can generate a primary flight inspection path and/or a primary walking inspection path corresponding to the first flight inspection equipment set and/or the first walking inspection equipment set according to the position information of each piece of power equipment. It can be appreciated that the scheme can generate a one-time flight inspection path and/or a one-time walking inspection path according to the position of the power equipment.
In some embodiments, the S2 comprises S21-S25:
s21, counting all the power equipment with the flight inspection attribute in the inspection area topological graph to obtain a first flight inspection equipment set, and counting all the power equipment with the walking inspection attribute in the inspection area topological graph to obtain a first walking inspection equipment set.
It can be appreciated that the power equipment with the flight inspection attribute is classified into the first flight inspection equipment set, and the power equipment with the walking inspection attribute is classified into the first walking inspection equipment set.
S22, obtaining first flight position information according to the position information of each power device in the first flight inspection device set, and connecting all adjacent first flight position information in the inspection area topological graph to obtain a one-time flight inspection path.
The method can determine the position information of each power device in the first flight inspection device set to obtain first flight position information, wherein the first flight position information is, for example, point A, point B and point C, then all adjacent first flight position information is connected in an inspection area topological graph to obtain a first flight inspection path, for example, point A is adjacent to point B, point B is adjacent to point C, and then the first flight inspection path can be the point A-point B-point C.
S23, obtaining first walking position information according to the position information of each power device in the first walking inspection device set, and connecting all adjacent first walking position information in the inspection area topological graph to obtain a primary walking inspection path.
In the same way as step S22, the present solution determines that the position information of each power device in the first walking inspection device set obtains first walking position information, where the first walking position information is, for example, point D, point E and point F, and then connects all adjacent first walking position information in the inspection area topology map to obtain a first walking inspection path, for example, point D is adjacent to point E, point E is adjacent to point F, and then the first walking inspection path may be point D-point E-point F.
S24, determining the flight inspection time length and the walking inspection time length respectively corresponding to the one-time flight inspection path and the one-time walking inspection path, and if the flight inspection time length is smaller than the walking inspection time length, the absolute value of the time length difference between the flight inspection time length and the walking inspection time length is larger than a preset difference value.
In some embodiments, S24 (the determining the flight routing inspection duration and the walking routing inspection duration corresponding to the first flight routing inspection path and the first walking routing inspection path respectively, if the flight routing inspection duration is less than the walking routing inspection duration and the absolute value of the duration difference between the flight routing inspection duration and the walking routing inspection duration is greater than the preset difference) includes S241-S243:
S241, acquiring the flight sub-path length and the walking sub-path length of each two connected nodes in the one-time flight inspection path and the one-time walking inspection path, and acquiring the flight inspection time and/or the walking inspection time of the power equipment corresponding to each node.
It can be understood that the flight inspection time length and the walking inspection time length respectively comprise 2 time lengths, one is the time length from one node (for example, node a) to the other node (for example, node B), the other is the time of collecting the power equipment corresponding to each node during the flight inspection and/or the time length of collecting the power equipment during the walking inspection, and the flight inspection time length and the walking inspection time length respectively corresponding to the one-time flight inspection path and the one-time walking inspection path can be obtained by adding the 2 time lengths.
S242, determining a preset flight speed and a preset walking speed according to the flight device and the walking device, and calculating according to the flight sub-path length, the walking sub-path length, the acquisition time during flight inspection, the acquisition time during walking inspection, the preset flight speed and the preset walking speed to obtain a flight inspection duration and a walking inspection duration;
calculating the flight inspection time length, the walking inspection time length and the time length difference value through the following formulas,
wherein ,
for the duration of the flight inspection period,
is the first one in the inspection path of one flightiThe length of the sub-path of the flight,
for an upper limit value of the number of flight sub-path lengths in a flight patrol path,
in order to set the speed of flight to be a preset value,
is the firstlThe collection time of the power equipment corresponding to each node during the flight inspection,mfor an upper limit value of the number of electrical devices in the path of a flight patrol,
in order to walk for the duration of the inspection,
for the length of the u-th walking sub-path in the one-time walking inspection path,efor the upper limit value of the number of walking sub-path lengths in the one-time walking inspection path,
in order to preset the walking speed of the robot,
the acquisition time is the walking inspection time of the power equipment corresponding to the r node,
upper limit value for number of electric equipment in one-time walking inspection path，
Is the difference in duration.
In the above-mentioned formula(s),
representing the total length between nodes in the flight path,
representing the total length of time travelled between nodes in the flight path,
representing total acquisition time length of all nodes corresponding to the power equipment in the flight inspection, and adding the two time lengths to obtain the flight inspection time length
The method comprises the steps of carrying out a first treatment on the surface of the In the same way, the processing method comprises the steps of,
representing the total length between nodes in the walking tour path,
representing the total length of time travelled between nodes in a walk tour path, 
Representing the total acquisition time length of all nodes corresponding to the walking inspection of the power equipment, and adding the two time lengths to obtain the walking inspection time length
。
When (when)
In the course of this, the scheme will be
And
is the difference of (2)
. For example, the flight patrol duration is 5 hours, the walking patrol duration is 20 hours, then the duration difference
15 hours.
S243, comparing the time length difference value with a preset difference value.
The time length difference value is compared with a preset difference value to obtain a comparison result.
S25, at least one conversion power device in the first walking inspection device set is determined, and the conversion power device is converted from the first walking inspection device set to the first flying inspection device set.
It can be understood that if the flight inspection duration is less than the walking inspection duration and the absolute value of the duration difference between the flight inspection duration and the walking inspection duration is greater than the preset difference, the inspection duration of the aircraft is greatly different from the inspection duration of the walking robot, so that the inspection efficiency is improved, the inspection time is reduced, the inspection time of the walking robot can be shortened by adopting the aircraft inspection mode to replace the walking robot at some nodes, the inspection time of the walking robot is shortened, the inspection time difference between the aircraft and the robot is smaller, the inspection efficiency is improved, and the inspection time is reduced under the condition of reducing the inspection cost.
The scheme can determine at least one conversion power device in the first walking inspection device set, and the conversion power device is converted from the first walking inspection device set to the first flying inspection device set.
In some embodiments, S25 (the determining that at least one conversion power device in the first set of walking inspection devices converts the conversion power device from the first set of walking inspection devices to the first set of flying inspection devices) comprises S251-S255:
s251, taking the power equipment with the same equipment identity label in the first walking inspection equipment set and the first flying inspection equipment set as the power equipment to be selected.
It can be appreciated that, before the replacement, the scheme needs to find corresponding electric equipment, and the electric equipment needs to be in line with the electric equipment which can be used for the fusion inspection of the low-altitude inspection of the walking robot and the high-altitude inspection of the aircraft, and the electric equipment can exist in the first flight inspection equipment set and the first walking inspection equipment set, so that the first walking inspection equipment set and the first flight inspection equipment set can have the same equipment identity label.
It should be noted that, the power equipment to be selected is the power equipment which can be removed from the first walking inspection equipment set, i.e. the power equipment for low-altitude inspection by using the aircraft to replace the walking robot can be replaced, so as to improve inspection efficiency.
For example, the first set of walking inspection devices is { A, B, C, D, E, F }, the first set of flying inspection devices is { A, B, D, G }, then the power devices with the same device identity tag are { A, B, D }. According to the scheme, one or more devices corresponding to { A, B, D } can be removed from the one-time walking inspection path, and the aircraft is used for replacing low-altitude inspection.
S252, locking all the power equipment to be selected in the one-time walking inspection path, determining the saved path time of each power equipment to be selected after being removed, and sorting all the power equipment to be selected in descending order according to the saved path time to obtain a sequence to be selected.
Firstly, locking all the power equipment to be selected in a one-time walking inspection path, then determining the saved path time of each power equipment to be selected after being removed, and sorting all the power equipment to be selected in descending order according to the saved path time to obtain a sequence to be selected.
It can be understood that the method calculates the saved path time of each power device to be selected after being removed, and then performs descending order sorting according to the saved path time to obtain a sequence to be selected, wherein the saved path time of the power device ordered in the sequence to be selected before is larger.
In some embodiments, S252 (locking all the power devices to be selected in the one-time walking tour inspection path, determining a saved path time of each power device to be selected after being removed, and sorting all the power devices to be selected in a descending order according to the saved path time to obtain a sequence to be selected) includes S2521-S2524:
s2521, determining nodes to be selected of each power equipment to be selected in the routing inspection area topological graph, and adding the nodes to be selected and the walking sub-path lengths corresponding to the previous node and/or the next node to obtain a first calculated path length corresponding to the nodes to be selected.
Firstly, the scheme adds the node to be selected and the walking sub-path length corresponding to the previous node and/or the next node to obtain a first calculated path length corresponding to the node to be selected.
Illustratively, the node to be selected is a node B in the A-B-C nodes which are sequentially connected, the walking sub-path length between the node B and the node A of the previous node is 1KM, the walking sub-path length between the node B and the node C of the next node is 2KM, and then the first calculated path length is 3KM.
And S2522, if judging that the node to be selected only has the next node connected with the node to be selected or only has the previous node connected with the node to be selected, taking the walking sub-path length of the node to be selected and the previous node connected with the node to be selected or the next node connected with the node to be selected as a saving path.
For example, the node to be selected is an A node in the A-B-C nodes which are sequentially connected, the A node only has a next node B node connected with the A node, and the corresponding previous node does not exist, and the walking sub-path between the A node and the B node is taken as a saving path in the scheme; for example, the node to be selected is a C node in a-B-C nodes connected in turn, the C node only has a previous node B node connected with the C node, and there is no corresponding next node, and the scheme takes the walking sub-path between C and B as the saving path.
S2523, if judging that the node to be selected has the previous node and the next node connected with the node to be selected, directly connecting the previous node and the next node to obtain a second calculated path length, and subtracting the second calculated path length from the first calculated path length to obtain a saved path.
For example, the node to be selected is a node B in the A-B-C nodes which are sequentially connected, the walking sub-path length between the node B and the node A of the previous node is 1KM, the walking sub-path length between the node B and the node C of the next node is 2KM, and then the first calculated path length is 3KM. After the node B is removed, the inspection path of the walking robot can be directly inspected from the node A to the node C, the length between the node A and the node C is 1.5KM, and then the length of the second calculated path is 1.5KM. The final calculated savings path is 3KM minus 1.5KM to 1.5KM.
S2524, obtaining the saved distance time according to the saved path.
After the saved path is obtained, the scheme can calculate the saved path time according to the saved path.
In some embodiments, S2524 (which results in saved route time from the saved route) includes:
determining the preset walking speed of the walking device, calculating according to the saved path and the preset walking speed to obtain the saved path time, calculating the saved path time by the following formula,
wherein ,
in order to save the journey time,
for the walking sub-path length of the node to be picked and the previous node connected thereto,
for the travelling sub-path length of the node to be picked and the following node connected thereto,
the path length is calculated for the second.
In the above-mentioned formula(s),
representing the corresponding saving path time when the node to be selected only has the next node connected with the node to be selected;
representing the corresponding saving path time when the node to be selected only has the previous node connected with the node to be selected;
representing the corresponding saved path time when the node to be selected has the previous node and the next node connected with the node to be selected.
S253, extracting the acquisition time during low-altitude flight inspection corresponding to each electric device in the sequence to be selected, wherein the type of each electric device has the acquisition time during low-altitude flight inspection preset by the electric device.
Because the walking inspection mode of each power equipment in the sequence to be selected can be replaced by the flight inspection mode for inspection, the scheme can extract the acquisition time of the low-altitude flight inspection corresponding to each power equipment in the sequence to be selected, and the type of each power equipment has the acquisition time of the low-altitude flight inspection preset by the power equipment.
For example, for the power equipment B, for high-altitude inspection, an aircraft is adopted for inspection, and the acquisition time length corresponding to the flight inspection is 1 hour; for low-altitude inspection, the walking robot is adopted for inspection, and the inspection speed of the walking inspection robot is low, so that the corresponding acquisition time is 3 hours, and the low-altitude flight inspection mode of the aircraft is adopted to replace the walking inspection, so that the corresponding acquisition time only needs 1 hour, namely, the acquisition time is 1 hour when the low-altitude flight inspection is carried out. It should be noted that, the type of each power equipment in the scheme has the acquisition time of the low-altitude flight inspection preset by the power equipment.
S254, determining at least one power device in the sequence to be selected as a conversion power device according to the time length difference value and the acquisition time during low-altitude flight inspection.
According to the scheme, after acquiring the acquisition time during low-altitude flight inspection, at least one power device is determined in the sequence to be selected as the conversion power device according to the time length difference value and the acquisition time during low-altitude flight inspection.
In some embodiments, S254 (the determining at least one power device in the sequence to be selected as a conversion power device according to the duration difference and the acquisition time during low-altitude flight inspection) includes S2541-S2542:
s2541, sequentially extracting the acquisition time during low-altitude flight inspection corresponding to each power equipment in the sequence to be selected, and continuously extracting and adding to obtain the total acquisition time.
For example, the sequence to be selected is { A, B, D, F }, the scheme sequentially extracts the acquisition time during low-altitude flight inspection corresponding to each power device in the sequence to be selected, and continuously extracts and adds the acquisition time to obtain the total acquisition time. For example, the collection time of the low-altitude flight inspection corresponding to A is 10 minutes, and then the total collection time is 10 minutes; the acquisition time of the low-altitude flight inspection corresponding to the step B is 40 minutes, and the corresponding total acquisition time is 50 minutes; and D, the acquisition time during low-altitude flight inspection is 20 minutes, and then the corresponding total acquisition time is 70 minutes.
And S2542, stopping extracting the power equipment in the sequence to be selected when the total acquisition time is judged to be more than half of the duration difference, and taking the power equipment except the power equipment which is selected last as conversion power equipment.
For example, the difference in time length is 60 minutes, the difference in time length is half of 30 minutes, and when the total collection time (50 minutes in the above example) is determined to be greater than the difference in time length (30 minutes), the extraction of the power devices in the sequence to be selected is stopped, and the power devices other than the power device selected last are used as conversion power devices. For example, the power device is converted to { A, B }.
It should be noted that, this scheme uses the half of duration difference as the benchmark, compares total acquisition time with it, can utilize low altitude flight to patrol and examine and replace the walking and patrol and examine about half time of duration to can make holistic flight patrol and examine duration and walk and patrol and examine duration and differ less, and then make aircraft and walking robot comparatively synchronous completion patrol and examine the task. For example, if the aircraft is finished in 5 hours and the walking robot is finished in 20 hours, the aircraft is preferably finished in 9 hours (4 hours are added to replace walking inspection), the walking robot is also finished in 11 hours (9 hours are reduced and replaced by aircraft low-altitude inspection), and the inspection time of the two can be kept synchronous within a certain range. The scheme can improve the inspection efficiency while reducing the inspection cost by integrating the inspection mode of the aircraft and the walking robot.
S255, deleting the converted power equipment from the first walking inspection equipment set, and adding a low-altitude flight inspection tag to the power equipment corresponding to the converted power equipment in the first flight inspection equipment set.
It can be appreciated that after the conversion power equipment is determined, the conversion power equipment is deleted from the first travel inspection equipment set, and a low-altitude flight inspection tag is added to the power equipment corresponding to the conversion power equipment in the first flight inspection equipment set. Namely, the walking inspection is replaced by a low-altitude flight mode.
And S3, controlling the flight device and/or the traveling device to acquire the flight detection information and/or the traveling detection information and the equipment identity label by data acquisition of the electric equipment according to the primary flight inspection path and/or the primary traveling inspection path.
It can be understood that after the primary flight inspection path and/or the primary walking inspection path are obtained, the flight device and/or the walking device are controlled to acquire the flight detection information and/or the walking detection information and the equipment identity label according to the primary flight inspection path and/or the primary walking inspection path respectively.
In some embodiments, the S3 includes S31-S32:
s31, controlling the flying device and/or the traveling device to respectively obtain video information and temperature information of the power equipment according to the white light camera and the temperature monitoring device of the flying device and/or the traveling device according to the primary flying inspection path and/or the primary traveling inspection path to the corresponding power equipment.
The inspection content of the scheme can utilize the white light acquisition camera and the temperature monitoring device to acquire video information and temperature information of the power equipment respectively.
S32, corresponding equipment identity labels are determined according to the position information of the video information and the temperature information obtained by the flight device and/or the traveling device, and different equipment identity labels are arranged on different position information.
It can be understood that the video information and the position information of the temperature information are obtained, and the corresponding equipment identity tag is determined according to the position information, wherein different pieces of position information have different equipment identity tags, that is, one piece of equipment corresponds to one piece of position information.
And S4, combining the flight detection information and/or the walking detection information according to the equipment identity tag to obtain combined detection information corresponding to each piece of power equipment, and generating a first inspection result of the corresponding power equipment according to video information and/or temperature information in the combined detection information.
It can be understood that the scheme can combine the flight detection information and/or the walking detection information by taking the equipment identity tag as a reference to obtain the combined detection information corresponding to each piece of electric equipment. Then, the scheme analyzes the video information and/or the temperature information in the combined detection information, and then generates a first inspection result of the corresponding power equipment.
In some embodiments, the S4 includes S41-S43:
s41, acquiring flight detection information and/or walking detection information corresponding to each equipment identity label, if judging that one equipment identity label corresponds to the flight detection information and the walking detection information at the same time, combining the flight detection information and the walking detection information to obtain combined detection information, and storing the combined detection information and one electric equipment.
It can be understood that some electric devices only have flight detection information, some electric devices only have walking detection information, and some electric devices have both the flight detection information and the walking detection information; when an equipment identity tag corresponds to the flight detection information and the walking detection information at the same time, the scheme can combine the flight detection information and the walking detection information to obtain combined detection information, and then the combined detection information is stored corresponding to one piece of electric equipment.
And S42, if judging that one equipment identity label only corresponds to the flight detection information or the walking detection information, storing the corresponding flight detection information or the walking detection information as combined detection information corresponding to one electric equipment.
It can be understood that if it is determined that one equipment identity tag corresponds to only the flight detection information or the walk detection information, the present embodiment stores the corresponding flight detection information or walk detection information as combined detection information corresponding to one electric equipment.
S43, analyzing the video information and/or the temperature information to obtain a first inspection result.
According to the scheme, the video information and/or the temperature information can be analyzed to obtain a first inspection result.
For the analysis of the video information, the analysis may be performed in an image comparison manner, for example, whether a foreign object is suspended on the high-voltage line may be judged, or the analysis may be performed in an artificial manner, and finally, a first inspection result may be obtained; for the analysis of the temperature information, the analysis can be performed in a mode of comparing with a preset temperature, for example, whether the temperature is greater than a preset value or not is judged, and finally a first inspection result is obtained.
S5, screening the first flight inspection equipment set and/or the power equipment in the first walking inspection equipment set according to the first inspection result to obtain a second flight inspection equipment set and/or a second walking inspection equipment set, a secondary flight inspection path and/or a secondary walking inspection path, and controlling the flight device and/or the walking device to inspect again to obtain a corresponding second inspection result.
It can be appreciated that after the first inspection result is obtained, the first flight inspection device set and/or the power devices in the first walking inspection device set can be screened based on the first inspection result, abnormal power devices are screened, then the second flight inspection device set and/or the second walking inspection device set, the secondary flight inspection path and/or the secondary walking inspection path are obtained, and the flight device and/or the walking device are controlled to inspect the abnormal power devices again, so that the corresponding second inspection result is obtained.
According to the scheme, through the mode, the abnormal power equipment can be subjected to secondary inspection, confirmation is carried out, and a second inspection result is obtained.
In some embodiments, the S5 includes S51-S54:
s51, determining power equipment corresponding to a first inspection result which does not meet the requirements in the first flight inspection equipment set and/or the first walking inspection equipment set as secondary inspection equipment.
It can be understood that the first inspection result which does not meet the requirement can be that foreign matters exist outside the equipment or the equipment temperature is larger than a preset value, and the scheme can determine that the first flight inspection equipment set and/or the first walking inspection equipment set are used as the secondary inspection equipment by the power equipment corresponding to the first inspection result which does not meet the requirement.
S52, counting secondary inspection equipment in the first flight inspection equipment set to obtain a second flight inspection equipment set, and counting secondary inspection equipment in the first travel inspection equipment set to obtain a second travel inspection equipment set.
It can be appreciated that the scheme can add the secondary inspection equipment in the first flight inspection equipment set to the second flight inspection equipment set, and add the secondary inspection equipment in the first walking inspection equipment set to the second walking inspection equipment set.
And S53, connecting the secondary inspection equipment in the second flight inspection equipment set according to the position information of the secondary inspection equipment to obtain a secondary flight inspection path, and connecting the secondary inspection equipment in the second walking inspection equipment set according to the position information of the secondary inspection equipment to obtain a secondary walking inspection path.
According to the scheme, the position information is used as a reference, the secondary inspection equipment in the second flight inspection equipment set is connected according to the position information, a secondary flight inspection path is obtained, and the secondary inspection equipment in the second walking inspection equipment set is connected according to the position information, so that a secondary walking inspection path is obtained.
S54, controlling the flying device and/or the traveling device to carry out inspection again according to the secondary flying inspection path and/or the secondary traveling inspection path, and obtaining a corresponding second inspection result.
After the secondary flight inspection path and/or the secondary walking inspection path are obtained, the scheme can control the flight device and/or the walking device to inspect again according to the secondary flight inspection path and/or the secondary walking inspection path, so as to obtain a corresponding second inspection result.
On the basis of the above embodiment, after the first inspection result and the second inspection result are obtained, the solution further includes S61-S62:
s61, counting all first inspection results and second inspection results in a preset time period, and determining the first result number of the first inspection results which do not meet the requirements and correspond to each power device and the second result number of the second inspection results which do not meet the requirements and correspond to each power device.
The preset time period is, for example, 1 month, 1 year, etc., and the scheme counts all the first inspection results and the second inspection results in the preset time period, and then determines the first result number of the first inspection results which do not meet the requirements and correspond to each power device, and the second result number of the second inspection results which do not meet the requirements and correspond to each power device.
And S62, calculating according to the first result number, the second result number and the preset time period to obtain an instability coefficient of the power equipment, and adjusting the acquisition time of each power equipment during flight inspection and the acquisition time during walking inspection according to the instability coefficient.
According to the scheme, after the first result number and the second result number are obtained, the first result number, the second result number and a preset time period are calculated, the instability coefficient of the power equipment is obtained, and then the acquisition time of each power equipment during flight inspection and the acquisition time during walking inspection are adjusted according to the instability coefficient.
It can be understood that the larger the number of the first results and the number of the second results, the larger the number of the abnormal times of the power equipment, the larger the instability coefficient of the corresponding power equipment, and the longer the acquisition time is required to carry out inspection.
The instability coefficient of the power equipment is calculated through the following formula, the acquisition time during the flight inspection and the acquisition time during the walking inspection are adjusted,
wherein ,
as a coefficient of instability of the electrical equipment,
for the first number of results,
for the first result weight value,
for the second number of results,
for the value of the second result weight,
in order to set the time period to be a preset time period,
for the adjusted acquisition time during flight inspection,
and A is a preset conversion coefficient value for the acquisition time of the walking inspection after adjustment.
In the above-mentioned formula(s),
the larger the number of anomalies of the power equipment is, the larger the instability coefficient of the corresponding power equipment is, wherein the second result weight value is 
Greater than the first result weight value
To increase the second result number
Is the ratio of (2); representing the acquisition time required to be increased, the instability coefficient
The larger the corresponding acquisition time that needs to be increased.
According to the scheme, the number of the first inspection results and the number of the second inspection results can be counted, the first result number and the second result number are obtained, the instability coefficient of the power equipment is calculated, the acquisition time of the power equipment is adjusted, and the inspection quality is improved.
Referring to fig. 2, a schematic structural diagram of a data processing-based power inspection system according to an embodiment of the present invention includes:
the system comprises a determining module, a power inspection module and a control module, wherein the determining module is used for enabling an administrator to send inspection data to a server in advance, the server divides a power inspection area according to the inspection data, and determines all power equipment in the power inspection area and inspection attributes of each power equipment, wherein the inspection attributes comprise flight inspection attributes and/or walking inspection attributes;
the generation module is used for dividing all the electric devices according to the inspection attribute to obtain a first flight inspection device set and/or a first walking inspection device set, and generating a primary flight inspection path and/or a primary walking inspection path corresponding to the first flight inspection device set and/or the first walking inspection device set according to the position information of each electric device;
The control module is used for controlling the flight device and/or the traveling device to acquire flight detection information and/or traveling detection information and equipment identity labels according to the primary flight inspection path and/or the primary traveling inspection path respectively;
the combination module is used for combining the flight detection information and/or the walking detection information according to the equipment identity tag to obtain combination detection information corresponding to each piece of power equipment, and generating a first inspection result of the corresponding power equipment according to video information and/or temperature information in the combination detection information;
and the inspection module is used for screening the first flight inspection equipment set and/or the power equipment in the first walking inspection equipment set according to the first inspection result to obtain a second flight inspection equipment set and/or a second walking inspection equipment set, a secondary flight inspection path and/or a secondary walking inspection path, and controlling the flight device and/or the walking device to inspect again to obtain a corresponding second inspection result.
The present invention also provides a storage medium having stored therein a computer program for implementing the methods provided by the various embodiments described above when executed by a processor.
The storage medium may be a computer storage medium or a communication medium. Communication media includes any medium that facilitates transfer of a computer program from one place to another. Computer storage media can be any available media that can be accessed by a general purpose or special purpose computer. For example, a storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an application specific integrated circuit (Application Specific Integrated Circuits, ASIC for short). In addition, the ASIC may reside in a user device. The processor and the storage medium may reside as discrete components in a communication device. The storage medium may be read-only memory (ROM), random-access memory (RAM), CD-ROMs, magnetic tape, floppy disk, optical data storage device, etc.
The present invention also provides a program product comprising execution instructions stored in a storage medium. The at least one processor of the device may read the execution instructions from the storage medium, the execution instructions being executed by the at least one processor to cause the device to implement the methods provided by the various embodiments described above.
In the above embodiments of the terminal or the server, it should be understood that the processor may be a central processing unit (english: central Processing Unit, abbreviated as CPU), or may be other general purpose processors, digital signal processors (english: digital Signal Processor, abbreviated as DSP), application specific integrated circuits (english: application Specific Integrated Circuit, abbreviated as ASIC), or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present invention may be embodied directly in a hardware processor for execution, or in a combination of hardware and software modules in a processor for execution.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (12)
1. The power inspection method based on data processing is characterized by comprising the following steps of:
s1, an administrator sends inspection data to a server in advance, the server divides an electric power inspection area according to the inspection data, and all electric power equipment in the electric power inspection area and inspection attributes of each electric power equipment are determined, wherein the inspection attributes comprise flight inspection attributes and/or walking inspection attributes;
s2, dividing all the power equipment according to the inspection attribute to obtain a first flight inspection equipment set and/or a first walking inspection equipment set, and generating a primary flight inspection path and/or a primary walking inspection path corresponding to the first flight inspection equipment set and/or the first walking inspection equipment set according to the position information of each power equipment;
s3, controlling the flight device and/or the traveling device to acquire flight detection information and/or traveling detection information and equipment identity labels by data acquisition of the electric equipment according to the primary flight inspection path and/or the primary traveling inspection path respectively;
s4, combining the flight detection information and/or the walking detection information according to the equipment identity tag to obtain combined detection information corresponding to each piece of power equipment, and generating a first inspection result of the corresponding piece of power equipment according to video information and/or temperature information in the combined detection information;
S5, screening the first flight inspection equipment set and/or the power equipment in the first walking inspection equipment set according to the first inspection result to obtain a second flight inspection equipment set and/or a second walking inspection equipment set, a secondary flight inspection path and/or a secondary walking inspection path, and controlling a flight device and/or a walking device to inspect again to obtain a corresponding second inspection result;
the S1 comprises the following steps:
extracting all power equipment serving as a patrol target and position information of each power equipment in patrol data, and generating a corresponding patrol area topological graph according to the position information of the power equipment, wherein each node in the patrol area topological graph corresponds to one power equipment;
extracting the equipment type in the equipment identity tag of each piece of electric equipment, and comparing the equipment type with a preset attribute corresponding table to determine the routing inspection attribute corresponding to each piece of electric equipment, wherein the preset attribute corresponding table has the routing inspection attribute corresponding to each piece of equipment type;
the step S2 comprises the following steps:
counting all the power equipment with the flight inspection attribute in the inspection area topological graph to obtain a first flight inspection equipment set, and counting all the power equipment with the walking inspection attribute in the inspection area topological graph to obtain a first walking inspection equipment set;
Obtaining first flight position information according to the position information of each power device in a first flight inspection device set, and connecting all adjacent first flight position information in the inspection area topological graph to obtain a one-time flight inspection path;
obtaining first walking position information according to the position information of each power device in a first walking inspection device set, and connecting all adjacent first walking position information in the inspection area topological graph to obtain a primary walking inspection path;
determining the flight inspection time length and the walking inspection time length respectively corresponding to the one-time flight inspection path and the one-time walking inspection path, and if the flight inspection time length is smaller than the walking inspection time length, the absolute value of the time length difference between the flight inspection time length and the walking inspection time length is larger than a preset difference value;
at least one conversion power device in the first walking inspection device set is determined, and the conversion power device is converted from the first walking inspection device set to the first flying inspection device set.
2. The data processing-based power inspection method of claim 1, wherein,
the determining the flight inspection time length and the walking inspection time length respectively corresponding to the one-time flight inspection path and the one-time walking inspection path, if the flight inspection time length is smaller than the walking inspection time length, and the absolute value of the time length difference between the flight inspection time length and the walking inspection time length is larger than a preset difference value, the method comprises the following steps:
Acquiring a primary flight inspection path, the flight sub-path length and the travel sub-path length of each two connected nodes in the primary travel inspection path, and acquiring the flight inspection time and/or the travel inspection time of the power equipment corresponding to each node;
determining a preset flight speed and a preset walking speed according to the flight device and the walking device, and calculating according to the flight sub-path length, the walking sub-path length, the acquisition time during flight inspection, the acquisition time during walking inspection, the preset flight speed and the preset walking speed to obtain flight inspection duration and walking inspection duration;
calculating the flight inspection time length, the walking inspection time length and the time length difference value through the following formulas,
wherein ,
for the duration of flight inspection->
Is the first +.>
The length of the sub-path of the flight,
for the upper limit value of the number of flight sub-path lengths in the one-flight patrol path, +.>
In order to set the speed of flight to be a preset value,
is->
Collecting time of power equipment corresponding to each node during flight inspection>
For the upper limit value of the number of the power equipment in the inspection path of one flight, < >>
For walking inspection time length->
Is the first one in the path of one-time walking inspection 
Length of walking sub-path->
For the upper limit value of the number of walking sub-path lengths in the one-time walking inspection path,
for presetting walking speed, < >>
Is->
The collection time of the power equipment corresponding to each node during walking inspection,
for the upper limit value of the number of the power equipment in the one-time walking inspection path, < >>
Is the difference of the duration;
and comparing the time length difference value with a preset difference value.
3. The data processing-based power inspection method of claim 2, wherein,
determining at least one conversion power device in the first walking inspection device set, converting the conversion power device from the first walking inspection device set to the first flying inspection device set, and comprising:
taking the electric equipment with the same equipment identity label in the first walking inspection equipment set and the first flying inspection equipment set as the electric equipment to be selected;
locking all the power equipment to be selected in a primary walking inspection path, determining the saved path time of each power equipment to be selected after being removed, and sorting all the power equipment to be selected in a descending order according to the saved path time to obtain a sequence to be selected;
Extracting the low-altitude flight inspection time acquisition time corresponding to each electric device in the sequence to be selected, wherein the type of each electric device has the low-altitude flight inspection time acquisition time preset by the electric device;
determining at least one power device in the sequence to be selected as a conversion power device according to the time length difference value and the acquisition time during low-altitude flight inspection;
deleting the converted power equipment from the first walking inspection equipment set, and adding a low-altitude flight inspection tag to the power equipment corresponding to the converted power equipment in the first flight inspection equipment set.
4. The data processing-based power inspection method of claim 3, wherein,
locking all the power equipment to be selected in the primary walking inspection path, determining the saved path time of each power equipment to be selected after being removed, and sorting all the power equipment to be selected in a descending order according to the saved path time to obtain a sequence to be selected, wherein the method comprises the following steps:
determining nodes to be selected of each power equipment to be selected in a routing inspection area topological graph, and adding the nodes to be selected and the walking sub-path lengths corresponding to the previous node and/or the next node to obtain a first calculated path length corresponding to the nodes to be selected;
If the node to be selected is judged to have only the next node connected with the node to be selected or only the previous node connected with the node to be selected, taking the walking sub-path length of the node to be selected and the previous node connected with the node to be selected or the next node connected with the node to be selected as a saving path;
if the node to be selected is judged to have a previous node and a next node which are connected with the node to be selected, the previous node and the next node are directly connected to obtain a second calculated path length, and the first calculated path length is subtracted from the second calculated path length to obtain a saved path;
and obtaining the saved path time according to the saved path.
5. The data processing-based power inspection method of claim 4, wherein,
the obtaining the saved path time according to the saved path includes:
determining the preset walking speed of the walking device, calculating according to the saved path and the preset walking speed to obtain the saved path time, calculating the saved path time by the following formula,
wherein ,
to save journey time +.>
For the walking sub-path length of the node to be selected and the previous node connected thereto, +.>
For the walking sub-path length of the node to be selected and the following node connected thereto, +. >
The path length is calculated for the second.
6. The data processing-based power inspection method of claim 5, wherein,
the step of determining at least one power device as a conversion power device in a sequence to be selected according to the time length difference value and the acquisition time during low-altitude flight inspection comprises the following steps:
sequentially extracting the acquisition time of the low-altitude flight inspection corresponding to each power equipment in the sequence to be selected, and continuously extracting and adding to obtain the total acquisition time;
and stopping extracting the power equipment in the sequence to be selected when the total acquisition time is judged to be more than half of the time length difference, and taking the power equipment except the power equipment which is selected last as conversion power equipment.
7. The data processing-based power inspection method of claim 6, wherein,
the step S3 comprises the following steps:
controlling the flying device and/or the traveling device to respectively obtain video information and temperature information of the power equipment according to the primary flying inspection path and/or the primary traveling inspection path and the corresponding power equipment;
and determining corresponding equipment identity labels according to the position information of the video information and the temperature information obtained by the flight device and/or the walking device, wherein different pieces of position information have different equipment identity labels.
8. The data processing based power inspection method of claim 7, wherein,
the step S4 comprises the following steps:
acquiring flight detection information and/or walking detection information corresponding to each equipment identity tag, if judging that one equipment identity tag corresponds to the flight detection information and the walking detection information at the same time, combining the flight detection information and the walking detection information to obtain combined detection information, and correspondingly storing the combined detection information and one electric equipment;
if the fact that one equipment identity tag only corresponds to the flight detection information or the walking detection information is judged, the corresponding flight detection information or the walking detection information is used as combined detection information to be stored corresponding to one electric equipment;
and analyzing the video information and/or the temperature information to obtain a first inspection result.
9. The data processing based power inspection method of claim 8, wherein,
the analyzing the video information and/or the temperature information to obtain a first inspection result includes:
if any one of the video information or the temperature information is judged to not meet the preset video requirement or the preset temperature requirement, outputting a first inspection result which does not meet the requirement;
And if the video information or the temperature information is judged to meet the preset video requirement or the preset temperature requirement respectively, outputting a first inspection result meeting the requirement.
10. The data processing based power inspection method of claim 9, wherein,
the step S5 comprises the following steps:
determining power equipment corresponding to a first inspection result which does not meet the requirement in the first flight inspection equipment set and/or the first walking inspection equipment set as secondary inspection equipment;
counting secondary patrol equipment in the first flight patrol equipment set to obtain a second flight patrol equipment set, and counting secondary patrol equipment in the first flight patrol equipment set to obtain a second flight patrol equipment set;
connecting the secondary inspection equipment in the second flight inspection equipment set according to the position information of the secondary inspection equipment to obtain a secondary flight inspection path, and connecting the secondary inspection equipment in the second walking inspection equipment set according to the position information of the secondary inspection equipment to obtain a secondary walking inspection path;
and controlling the flight device and/or the traveling device to carry out inspection again according to the secondary flight inspection path and/or the secondary traveling inspection path to obtain a corresponding second inspection result.
11. The data processing-based power inspection method of claim 10, further comprising:
counting all first inspection results and second inspection results in a preset time period, and determining the first result number of the first inspection results which do not meet the requirements and correspond to each power device and the second result number of the second inspection results which do not meet the requirements and correspond to each power device;
calculating according to the first result number, the second result number and a preset time period to obtain an instability coefficient of the power equipment, and adjusting the acquisition time of each power equipment during flight inspection and the acquisition time of each power equipment during walking inspection according to the instability coefficient;
the instability coefficient of the power equipment is calculated through the following formula, the acquisition time during the flight inspection and the acquisition time during the walking inspection are adjusted,
wherein ,
for the instability factor of the electrical equipment, +.>
For the first number of results, +.>
For the first result weight value, < >>
For the second number of results, +.>
For the second result weight value, +.>
For a preset period of time, < > is->
For the adjusted acquisition time during flight inspection, <' > for the time of flight inspection>
For the adjusted acquisition time during walking inspection, <' > for walking inspection >
The conversion coefficient value is preset.
12. Electric power inspection system based on data processing, characterized by comprising:
the system comprises a determining module, a power inspection module and a control module, wherein the determining module is used for enabling an administrator to send inspection data to a server in advance, the server divides a power inspection area according to the inspection data, and determines all power equipment in the power inspection area and inspection attributes of each power equipment, wherein the inspection attributes comprise flight inspection attributes and/or walking inspection attributes;
the generation module is used for dividing all the electric devices according to the inspection attribute to obtain a first flight inspection device set and/or a first walking inspection device set, and generating a primary flight inspection path and/or a primary walking inspection path corresponding to the first flight inspection device set and/or the first walking inspection device set according to the position information of each electric device;
the control module is used for controlling the flight device and/or the traveling device to acquire flight detection information and/or traveling detection information and equipment identity labels according to the primary flight inspection path and/or the primary traveling inspection path respectively;
the combination module is used for combining the flight detection information and/or the walking detection information according to the equipment identity tag to obtain combination detection information corresponding to each piece of power equipment, and generating a first inspection result of the corresponding power equipment according to video information and/or temperature information in the combination detection information;
The inspection module is used for screening the first flight inspection equipment set and/or the power equipment in the first walking inspection equipment set according to the first inspection result to obtain a second flight inspection equipment set and/or a second walking inspection equipment set, a secondary flight inspection path and/or a secondary walking inspection path, and controlling the flight device and/or the walking device to inspect again to obtain a corresponding second inspection result;
the method comprises the steps that an administrator sends patrol data to a server in advance, the server divides an electric power patrol area according to the patrol data, and determines all electric power equipment in the electric power patrol area and patrol attributes of each electric power equipment, wherein the patrol attributes comprise flight patrol attributes and/or walking patrol attributes and comprise:
extracting all power equipment serving as a patrol target and position information of each power equipment in patrol data, and generating a corresponding patrol area topological graph according to the position information of the power equipment, wherein each node in the patrol area topological graph corresponds to one power equipment;
extracting the equipment type in the equipment identity tag of each piece of electric equipment, and comparing the equipment type with a preset attribute corresponding table to determine the routing inspection attribute corresponding to each piece of electric equipment, wherein the preset attribute corresponding table has the routing inspection attribute corresponding to each piece of equipment type;
Dividing all the power equipment according to the inspection attribute to obtain a first flight inspection equipment set and/or a first walking inspection equipment set, and generating a primary flight inspection path and/or a primary walking inspection path corresponding to the first flight inspection equipment set and/or the first walking inspection equipment set according to the position information of each power equipment comprises the following steps:
counting all the power equipment with the flight inspection attribute in the inspection area topological graph to obtain a first flight inspection equipment set, and counting all the power equipment with the walking inspection attribute in the inspection area topological graph to obtain a first walking inspection equipment set;
obtaining first flight position information according to the position information of each power device in a first flight inspection device set, and connecting all adjacent first flight position information in the inspection area topological graph to obtain a one-time flight inspection path;
obtaining first walking position information according to the position information of each power device in a first walking inspection device set, and connecting all adjacent first walking position information in the inspection area topological graph to obtain a primary walking inspection path;
determining the flight inspection time length and the walking inspection time length respectively corresponding to the one-time flight inspection path and the one-time walking inspection path, and if the flight inspection time length is smaller than the walking inspection time length, the absolute value of the time length difference between the flight inspection time length and the walking inspection time length is larger than a preset difference value;
At least one conversion power device in the first walking inspection device set is determined, and the conversion power device is converted from the first walking inspection device set to the first flying inspection device set.
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