CN116824102A - AR equipment-based intelligent equipment inspection method - Google Patents
AR equipment-based intelligent equipment inspection method Download PDFInfo
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- CN116824102A CN116824102A CN202310817546.5A CN202310817546A CN116824102A CN 116824102 A CN116824102 A CN 116824102A CN 202310817546 A CN202310817546 A CN 202310817546A CN 116824102 A CN116824102 A CN 116824102A
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- 238000007689 inspection Methods 0.000 title claims abstract description 135
- 238000000034 method Methods 0.000 title claims abstract description 29
- 238000004891 communication Methods 0.000 claims abstract description 15
- 230000004886 head movement Effects 0.000 claims abstract description 15
- 230000004424 eye movement Effects 0.000 claims abstract description 12
- 238000012423 maintenance Methods 0.000 claims abstract description 6
- 239000011521 glass Substances 0.000 claims description 20
- 210000001508 eye Anatomy 0.000 claims description 6
- 210000001747 pupil Anatomy 0.000 claims description 6
- 239000013598 vector Substances 0.000 claims description 6
- 230000002708 enhancing effect Effects 0.000 claims description 2
- 238000009877 rendering Methods 0.000 claims description 2
- 230000007547 defect Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000036544 posture Effects 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 1
- 230000003190 augmentative effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000005252 bulbus oculi Anatomy 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 210000003128 head Anatomy 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T19/00—Manipulating 3D models or images for computer graphics
- G06T19/006—Mixed reality
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/012—Head tracking input arrangements
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/013—Eye tracking input arrangements
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T15/00—3D [Three Dimensional] image rendering
- G06T15/005—General purpose rendering architectures
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/30—Image reproducers
- H04N13/332—Displays for viewing with the aid of special glasses or head-mounted displays [HMD]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- Engineering & Computer Science (AREA)
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- General Engineering & Computer Science (AREA)
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- General Physics & Mathematics (AREA)
- Computer Graphics (AREA)
- Human Computer Interaction (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Computer Hardware Design (AREA)
- Software Systems (AREA)
- Processing Or Creating Images (AREA)
Abstract
The invention provides an intelligent equipment inspection method based on AR equipment, which comprises the following steps: after wearing the AR equipment, the patrol personnel automatically establishes communication connection with patrol equipment in a surrounding preset range through the AR equipment; the communication connection comprises LET connection, beidou connection, bluetooth connection, wiFi connection and WAPI connection; the AR equipment acquires main inspection equipment in a plurality of inspection equipment in the sight of the inspection personnel according to the azimuth and the angle of the head movement and the eye movement of the inspection personnel; capturing a real-time image of the main inspection equipment through a camera of the AR equipment, and establishing a three-dimensional virtual image according to the real-time image; displaying the main inspection equipment after communication connection on the AR equipment in a three-dimensional virtual image mode; displaying the inspection information of the main inspection equipment through the AR equipment; the inspection information comprises equipment states, inspection items, inspection steps and maintenance records.
Description
Technical Field
The invention relates to the technical field of AR (augmented reality) inspection, in particular to an intelligent equipment inspection method based on AR equipment.
Background
At present, a traditional manual mode is still adopted in the aspect of inspection operation of a converter (transformer) station, and the inspection operation is subject to the knowledge of field operators on a regulation system, the mastering of operation standards and own experience, so that the operation safety and the quality cannot be ensured at all, and the inspection operation process lacks effective prompt on equipment defect abnormality, so that the special inspection quality aiming at equipment defect hidden danger is low.
Disclosure of Invention
In order to overcome the technical defects, the invention aims to provide the intelligent equipment inspection method based on the AR equipment, which is high in inspection efficiency and inspection quality.
The invention discloses an intelligent equipment inspection method based on AR equipment, which comprises the following steps: after wearing the AR equipment, the patrol personnel automatically establishes communication connection with patrol equipment in a surrounding preset range through the AR equipment; the communication connection comprises LET connection, beidou connection, bluetooth connection, wiFi connection and WAPI connection; the AR equipment acquires main inspection equipment in a plurality of inspection equipment in the sight of the inspection personnel according to the azimuth and the angle of the head movement and the eye movement of the inspection personnel; capturing a real-time image of the main inspection equipment through a camera of the AR equipment, and establishing a three-dimensional virtual image according to the real-time image; displaying the main inspection equipment after communication connection on the AR equipment in a three-dimensional virtual image mode; displaying the inspection information of the main inspection equipment through the AR equipment; the inspection information comprises equipment states, inspection items, inspection steps and maintenance records.
Preferably, capturing, by the camera of the AR device, a real-time image of the main inspection device, and creating a three-dimensional virtual image according to the real-time image includes: acquiring equipment image modeling matched with the real-time image in a pre-stored database through the real-time image; analyzing differences between the device image modeling and the real-time image; and integrating the difference into the equipment image modeling to form the three-dimensional virtual image.
Preferably, the method further comprises the steps of after the difference is integrated into the equipment image modeling to form the three-dimensional virtual image: and rendering and enhancing the three-dimensional virtual image to obtain an enhanced three-dimensional virtual image.
Preferably, before the acquiring, by the AR device, the real-time image of the main inspection device further includes: the AR equipment is used for identifying and matching the main inspection equipment so as to identify the uniqueness of the main inspection equipment; the matching recognition comprises two-dimensional image recognition, point cloud recognition, OCR recognition and two-dimensional code recognition.
Preferably, the two-dimensional image recognition includes the steps of: identifying pictures existing in the inspection scene in a mode of matching the image characteristic points; and calculating the spatial attitude of the picture according to the identified characteristic point information of the picture.
Preferably, the point cloud identification includes the steps of: capturing an image of a scene to be identified by a camera of the AR device; acquiring point cloud information of the scene to be identified from the image of the scene to be identified through a point cloud identification algorithm; and confirming the main inspection equipment matched with the point cloud information in a pre-stored database through the point cloud information matching.
Preferably, the AR device is AR glasses.
Preferably, the AR device acquires a main inspection device of a plurality of inspection devices in the line of sight of the inspection person according to the azimuth and the angle of the head movement and the eye movement of the inspection person, and the main inspection device comprises: acquiring the direction and the angle of head movement through the gyroscope of the AR glasses, and determining the sight range of the patrol personnel through the direction and the angle of the head movement; and acquiring pixel coordinates of the pupils of the eyes and pixel coordinates of the gaze point on the display screen of the AR glasses through the eye movement module of the AR glasses, converting the pixel coordinates into coordinates under a world coordinate system, determining binocular vision vectors according to the pixel coordinates of the pupils of the eyes under the world coordinate system and the pixel coordinates of the gaze point on the display screen, wherein the intersection point of the binocular vision vectors is a gaze target in the vision range of the patrol personnel, and calibrating the gaze target as the main patrol equipment.
Preferably, the AR glasses further comprise, after acquiring a main inspection device of the plurality of inspection devices in the line of sight of the inspector according to the azimuth and the angle of the head movement and the eye movement of the inspector: the AR glasses inquire whether the patrol personnel send a main patrol equipment or not; detecting whether the inspection personnel have nodding movement or not through a gyroscope in a preset time period, and if so, confirming the main inspection equipment; if not, inquiring again; and when the number of the inquires exceeds three, the main inspection equipment is reacquired.
Preferably, the method further comprises: and the AR equipment is used for acquiring the positioning of the patrol personnel in real time, and simultaneously combining all the positioning of the patrol personnel in the current patrol process to form a patrol track of the patrol personnel.
After the technical scheme is adopted, compared with the prior art, the method has the following beneficial effects:
1. the inspection personnel can realize inspection environment recognition, personnel positioning and main equipment perception by wearing the AR equipment, so that after the inspection personnel enter an inspection area, the equipment state, inspection items, inspection steps, maintenance records and other information of equipment nearby the current position can be automatically presented by the worn AR equipment along with the travel of the inspection personnel along an inspection route, and the inspection operation is displayed in a holographic and omnibearing manner, so that intelligent guidance is achieved.
Drawings
Fig. 1 is a flowchart of an intelligent device inspection method based on AR devices.
Detailed Description
Advantages of the invention are further illustrated in the following description, taken in conjunction with the accompanying drawings and detailed description.
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as detailed in the accompanying claims.
The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used in this disclosure and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.
It should be understood that although the terms first, second, third, etc. may be used in this disclosure to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present disclosure. The word "if" as used herein may be interpreted as "at … …" or "at … …" or "responsive to a determination", depending on the context.
In the description of the present invention, it should be understood that the terms "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
In the description of the present invention, unless otherwise specified and defined, it should be noted that the terms "mounted," "connected," and "coupled" are to be construed broadly, and may be, for example, mechanical or electrical, or may be in communication with each other between two elements, directly or indirectly through intermediaries, as would be understood by those skilled in the art, in view of the specific meaning of the terms described above.
In the following description, suffixes such as "module", "component", or "unit" for representing elements are used only for facilitating the description of the present invention, and are not of specific significance per se. Thus, "module" and "component" may be used in combination.
Referring to fig. 1, the invention discloses an intelligent equipment inspection method based on AR equipment, which comprises the following steps:
s100, after wearing the AR equipment, the patrol personnel automatically establishes communication connection with the patrol equipment in a surrounding preset range through the AR equipment; the communication connection comprises LET connection, beidou connection, bluetooth connection, wiFi connection and WAPI connection;
s200, the AR equipment acquires main inspection equipment in a plurality of inspection equipment in the sight of the inspection personnel according to the azimuth and the angle of the head movement and the eye movement of the inspection personnel;
s300, capturing a real-time image of the main inspection equipment through a camera of the AR equipment, and establishing a three-dimensional virtual image according to the real-time image; displaying the main inspection equipment after communication connection on the AR equipment in a three-dimensional virtual image mode;
s400, displaying the inspection information of the main inspection equipment through the AR equipment; the inspection information comprises equipment state, inspection items, inspection steps and maintenance records.
The invention is mainly applicable to substations and converter stations. In the present invention, preferably the AR device is AR glasses.
It should be noted that, the S100-S400 of the present invention is only provided for the purpose of providing an index for the following detailed description, and is not limited to the precedence relationship between the above steps, and may be a precedence relationship or a parallel relationship, and when the precedence relationship is a precedence relationship, the precedence order is not limited by the numbers of the S100-S400.
For step S100, that is, after the inspector enters the inspection area, as the inspector travels along the inspection route, the AR device worn by the inspector can be automatically connected to a device near the current location, and the equipment information can be received through communication connection, so as to obtain information such as a status of the following equipment.
For step S200, before acquiring the device information, it is necessary to confirm which device information is acquired, that is, to determine the main inspection device within the line of sight of the inspector. According to the invention, the main inspection equipment in a plurality of inspection equipment can be determined directly by detecting the head position and angle of the inspection personnel and the eyeball position and angle without manual operation or voice instruction of the inspection personnel, so that the hands of the inspection personnel are liberated, and the main inspection equipment can be selected in other manual operation or voice conversation of the inspection personnel.
For step S300, compared with the prior art that the video of the inspection scene is obtained by direct shooting, the inspection personnel observe the inspection site and the inspection equipment through the actual shot picture, and the invention establishes the three-dimensional virtual image of the inspection equipment, so that the light and the color are better, and the look and feel is better.
For step S400, after confirming the main inspection device, information such as the device status, the inspection item, the inspection step, the maintenance record and the like of the device may be automatically displayed on the AR device, and basic information such as the device account and the like may also be obtained. Furthermore, the equipment knowledge brocade information base such as equipment operation guide, common problems and the like can be obtained.
Preferably, capturing a real-time image of the main inspection device by a camera of the AR device, and establishing a three-dimensional virtual image according to the real-time image includes: acquiring equipment image modeling matched with the real-time image in a pre-stored database through the real-time image; analyzing differences between the device image modeling and the real-time image; and integrating the difference into the equipment image modeling to form a final three-dimensional virtual image.
Furthermore, the three-dimensional virtual image can be rendered and enhanced to obtain an enhanced three-dimensional virtual image, so that the image quality is improved.
Preferably, in order to further ensure that the information (equipment identity) displayed by the connected equipment is consistent with the real information (equipment identity) of the equipment on the basis of communication connection, the invention also carries out identification and matching on the main inspection equipment through the AR equipment so as to carry out unique identification of the main inspection equipment. Matching recognition includes, but is not limited to, two-dimensional image recognition, point cloud recognition, OCR recognition, two-dimensional code recognition.
For two-dimensional image recognition, the method is mainly applicable to scenes without characters and bar codes, and specifically comprises the following steps: the pictures existing in the inspection and overhaul scene, such as transformers of a transformer substation, are identified in an image feature point matching mode, then the spatial postures of the pictures are calculated according to feature point information of the identified pictures, for example, the identified transformers are obliquely placed, the captured pictures are different from the pictures in a conventional placement state, and the fact that the images are the transformers is needed to be identified through spatial posture calculation.
Because of the 3D space characteristic position, the three-dimensional space has a specific orientation, and the point cloud characteristics of the space are different, so that the site can be uniquely judged. For point cloud identification, the method specifically comprises the following steps: capturing an image of a scene to be identified by a camera of the AR device; acquiring point cloud information of a scene to be identified from an image of the scene to be identified through a point cloud identification algorithm; and confirming the main inspection equipment matched with the point cloud information in the pre-stored database through the point cloud information matching.
OCR recognition is mainly used for inspecting and overhauling equipment parts such as field equipment nameplates and text labels. And identifying the number corresponding to the equipment through the AR glasses in real time, and calling the related information in the background through the number to the AR glasses for display.
The two-dimensional code identification is an economical means and is mainly used for equipment bar code identification of inspection and overhaul sites. The method is mainly suitable for scenes in which two-dimensional codes exist on the equipment or one-dimensional codes are posted, so that the real-time state of the equipment and the one-to-one corresponding acquisition of related information are realized.
Preferably, for step 200, the ar device obtains a main inspection device of several inspection devices in the line of sight of the inspector according to the azimuth and the angle of the head movement and the eye movement of the inspector, including two steps of determining the line of sight range and determining the gaze target.
Specifically, the direction and angle of head movement are obtained through the gyroscopes of the AR glasses, and the sight line range of the patrol personnel is determined through the direction and angle of head movement.
Then, the pixel coordinates of the pupils of the eyes and the pixel coordinates of the gaze point on the display screen of the AR glasses are obtained through the eye movement module of the AR glasses and are converted into coordinates under a world coordinate system, binocular vision vectors are determined according to the pixel coordinates of the pupils of the eyes and the pixel coordinates of the gaze point on the display screen under the world coordinate system, and the intersection point of the binocular vision vectors is a gaze target in the vision range of the patrol personnel, and the gaze target is regarded as the main patrol equipment.
Further, in order to ensure that the detected and identified main inspection equipment is consistent with the inspection equipment actually watched by the inspection personnel, the inspection personnel needs to confirm after the AR glasses identify the main inspection equipment.
Specific: the AR glasses inquire whether the patrol personnel send a confirmation main patrol equipment; detecting whether the inspection personnel have nodding movement or not through a gyroscope in a preset time period (for example, five seconds), and if so, confirming the main inspection equipment; if not, the inquiry is made again. And when the number of the inquires exceeds three, the main inspection equipment is reacquired.
Preferably, the invention can also acquire the positioning of the patrol personnel in real time through the AR equipment, and simultaneously combine all the positioning of the patrol personnel in the current patrol process to form the patrol track of the patrol personnel and record.
It should be noted that the embodiments of the present invention are preferred and not limited in any way, and any person skilled in the art may make use of the above-disclosed technical content to change or modify the same into equivalent effective embodiments without departing from the technical scope of the present invention, and any modification or equivalent change and modification of the above-described embodiments according to the technical substance of the present invention still falls within the scope of the technical scope of the present invention.
Claims (10)
1. An intelligent equipment inspection method based on AR equipment is characterized by comprising the following steps:
after wearing the AR equipment, the patrol personnel automatically establishes communication connection with patrol equipment in a surrounding preset range through the AR equipment; the communication connection comprises LET connection, beidou connection, bluetooth connection, wiFi connection and WAPI connection;
the AR equipment acquires main inspection equipment in a plurality of inspection equipment in the sight of the inspection personnel according to the azimuth and the angle of the head movement and the eye movement of the inspection personnel;
capturing a real-time image of the main inspection equipment through a camera of the AR equipment, and establishing a three-dimensional virtual image according to the real-time image; displaying the main inspection equipment after communication connection on the AR equipment in a three-dimensional virtual image mode;
displaying the inspection information of the main inspection equipment through the AR equipment; the inspection information comprises equipment states, inspection items, inspection steps and maintenance records.
2. The AR device-based intelligent inspection method of claim 1, wherein capturing, by a camera of the AR device, a real-time image of the primary inspection device, and creating a three-dimensional virtual image from the real-time image comprises:
acquiring equipment image modeling matched with the real-time image in a pre-stored database through the real-time image;
analyzing differences between the device image modeling and the real-time image;
and integrating the difference into the equipment image modeling to form the three-dimensional virtual image.
3. The intelligent device inspection method based on AR device according to claim 2, wherein the integrating the difference into the device image modeling to form the three-dimensional virtual image further comprises:
and rendering and enhancing the three-dimensional virtual image to obtain an enhanced three-dimensional virtual image.
4. The AR device-based intelligent patrol method according to claim 1, wherein before the acquiring, by the AR device, the real-time image of the main patrol device further comprises:
the AR equipment is used for identifying and matching the main inspection equipment so as to identify the uniqueness of the main inspection equipment;
the matching recognition comprises two-dimensional image recognition, point cloud recognition, OCR recognition and two-dimensional code recognition.
5. The AR device-based intelligent patrol method according to claim 4, wherein said two-dimensional image recognition comprises the steps of:
identifying pictures existing in the inspection scene in a mode of matching the image characteristic points;
and calculating the spatial attitude of the picture according to the identified characteristic point information of the picture.
6. The AR device-based intelligent patrol method according to claim 4, wherein the point cloud identification comprises the steps of:
capturing an image of a scene to be identified by a camera of the AR device;
acquiring point cloud information of the scene to be identified from the image of the scene to be identified through a point cloud identification algorithm;
and confirming the main inspection equipment matched with the point cloud information in a pre-stored database through the point cloud information matching.
7. The intelligent patrol method for the equipment based on the AR equipment according to claim 1, wherein the AR equipment is AR glasses.
8. The AR device-based intelligent inspection method according to claim 7, wherein the AR device acquiring a main inspection device of a plurality of inspection devices within a line of sight of an inspector according to the azimuth and angle of head movement and eye movement of the inspector comprises:
acquiring the direction and the angle of head movement through the gyroscope of the AR glasses, and determining the sight range of the patrol personnel through the direction and the angle of the head movement;
and acquiring pixel coordinates of the pupils of the eyes and pixel coordinates of the gaze point on the display screen of the AR glasses through the eye movement module of the AR glasses, converting the pixel coordinates into coordinates under a world coordinate system, determining binocular vision vectors according to the pixel coordinates of the pupils of the eyes under the world coordinate system and the pixel coordinates of the gaze point on the display screen, wherein the intersection point of the binocular vision vectors is a gaze target in the vision range of the patrol personnel, and calibrating the gaze target as the main patrol equipment.
9. The AR device-based intelligent inspection method according to claim 8, wherein the AR glasses further comprises, after acquiring a main inspection device of the plurality of inspection devices in the line of sight of the inspector according to the azimuth and the angle of the head movement and the eye movement of the inspector:
the AR glasses inquire whether the patrol personnel send a main patrol equipment or not;
detecting whether the inspection personnel have nodding movement or not through a gyroscope in a preset time period, and if so, confirming the main inspection equipment; if not, inquiring again;
and when the number of the inquires exceeds three, the main inspection equipment is reacquired.
10. The AR device-based intelligent patrol method according to claim 1, further comprising: and the AR equipment is used for acquiring the positioning of the patrol personnel in real time, and simultaneously combining all the positioning of the patrol personnel in the current patrol process to form a patrol track of the patrol personnel.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310817546.5A CN116824102A (en) | 2023-07-05 | 2023-07-05 | AR equipment-based intelligent equipment inspection method |
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| CN202310817546.5A CN116824102A (en) | 2023-07-05 | 2023-07-05 | AR equipment-based intelligent equipment inspection method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117213468A (en) * | 2023-11-02 | 2023-12-12 | 北京亮亮视野科技有限公司 | Method and device for inspecting outside of airplane and electronic equipment |
| CN117253019A (en) * | 2023-10-17 | 2023-12-19 | 广东电网有限责任公司 | AR operation and maintenance system and method for power network |
-
2023
- 2023-07-05 CN CN202310817546.5A patent/CN116824102A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117253019A (en) * | 2023-10-17 | 2023-12-19 | 广东电网有限责任公司 | AR operation and maintenance system and method for power network |
| CN117213468A (en) * | 2023-11-02 | 2023-12-12 | 北京亮亮视野科技有限公司 | Method and device for inspecting outside of airplane and electronic equipment |
| CN117213468B (en) * | 2023-11-02 | 2024-04-05 | 北京亮亮视野科技有限公司 | Method and device for inspecting outside of airplane and electronic equipment |
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