1. A method for acquiring routing inspection data is applied to a monitoring terminal, and comprises the following steps:

after detecting that the unmanned aerial vehicle enters a preset area, establishing communication connection with the unmanned aerial vehicle;

sending routing inspection indication information to the unmanned aerial vehicle; the inspection indicating information is generated by the monitoring terminal in advance according to the surrounding environment of the power transmission network, comprises a target inspection object and is used for indicating the unmanned aerial vehicle to inspect the target inspection object;

and acquiring patrol data obtained by the unmanned aerial vehicle in patrolling the target patrol object, and sending the patrol data to a server.

2. The method of claim 1, wherein prior to the sending the routing inspection indication information to the drone, the method further comprises:

acquiring a plurality of environment images; the plurality of environment images comprise environment images acquired by at least one image acquisition device at different moments;

and determining the target inspection object according to the difference among the plurality of environment images.

3. The method of claim 2, wherein determining the target inspection object from differences between the plurality of environmental images comprises:

inputting the plurality of environment images into a difference detection model trained in advance to obtain differences among the plurality of environment images output by the difference detection model;

determining an object indicated by a difference between the plurality of environmental images as the target patrol object.

4. The method of claim 2, further comprising:

generating routing inspection environment information according to the plurality of environment images;

after communication connection with the unmanned aerial vehicle is established, the inspection environment information is sent to the unmanned aerial vehicle; and the patrol environment information is used for supplying the unmanned aerial vehicle to avoid obstacles.

5. The method of claim 1, wherein establishing the communication connection with the drone comprises:

sending a communication connection request to the unmanned aerial vehicle;

receiving authentication information sent by the unmanned aerial vehicle according to the communication connection request;

performing identity authentication on the unmanned aerial vehicle according to the authentication information;

and if the identity authentication of the unmanned aerial vehicle passes, establishing communication connection with the unmanned aerial vehicle.

6. The method of claim 1, wherein the obtaining patrol data obtained by the unmanned aerial vehicle patrolling the target patrol object and sending the patrol data to a server comprises:

receiving a first encrypted data packet sent by the unmanned aerial vehicle, and decrypting the first encrypted data packet to obtain the routing inspection data;

and encrypting the routing inspection data to obtain a second encrypted data packet, and sending the second encrypted data packet to the server.

7. The method of claim 6, wherein encrypting the patrol data to obtain a second encrypted data packet comprises:

and encrypting the routing inspection data and the position information of the monitoring terminal to obtain the second encrypted data packet.

8. The utility model provides a data acquisition device patrols and examines which characterized in that is applied to monitor terminal, the device includes:

the connection establishing module is used for establishing communication connection with the unmanned aerial vehicle after the unmanned aerial vehicle is detected to enter a preset area;

the first information sending module is used for sending inspection indication information to the unmanned aerial vehicle; the inspection indicating information is generated by the monitoring terminal in advance according to the surrounding environment of the power transmission network, comprises a target inspection object and is used for indicating the unmanned aerial vehicle to inspect the target inspection object;

and the data acquisition module is used for acquiring the inspection data obtained by the unmanned aerial vehicle inspecting the target inspection object and sending the inspection data to the server.

9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 7.

10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.

Background

With the development of drone technology, more and more tasks can be performed by drones. For example, transmission network line and shaft tower direct exposure are in the open air environment, because the condition such as circuit length, pole tower height, shaft tower part are many, open air environment complicacy, patrol and examine for daily electric wire netting and cause very big difficulty, and adopt unmanned aerial vehicle then can solve above-mentioned problem.

At present, adopt unmanned aerial vehicle to carry out the electric wire netting and patrol and examine, there are several kinds of modes usually, one kind is to control unmanned aerial vehicle by the personnel of patrolling and examining and patrol and examine, one kind is to control unmanned aerial vehicle and patrol and examine according to the route of patrolling and examining that plans in advance is automatic.

However, the above methods are all to patrol conventional items, and if special conditions are not to be patrolled, the abnormality is not removed in time, so that the safety of the power transmission network is damaged.

Disclosure of Invention

Based on this, it is necessary to provide a method, an apparatus, a computer device and a storage medium for routing inspection data, which enable an unmanned aerial vehicle to route inspection to a special situation, thereby ensuring the safety of a power transmission network.

A method for acquiring routing inspection data is applied to a monitoring terminal and comprises the following steps:

after the unmanned aerial vehicle is detected to enter a preset area, establishing communication connection with the unmanned aerial vehicle;

sending inspection indication information to the unmanned aerial vehicle; the inspection instruction information is generated by the monitoring terminal in advance according to the surrounding environment of the power transmission network, and comprises a target inspection object, and the inspection instruction information is used for instructing the unmanned aerial vehicle to inspect the target inspection object;

and acquiring patrol data obtained by the unmanned aerial vehicle in patrolling the target patrol object, and sending the patrol data to the server.

In one embodiment, before the sending the inspection instruction information to the drone, the method further includes:

acquiring a plurality of environment images; the plurality of environment images comprise environment images acquired by at least one image acquisition device at different moments;

and determining the target inspection object according to the difference among the plurality of environment images.

In one embodiment, the determining the target inspection object according to the difference between the plurality of environment images includes:

inputting a plurality of environment images into a difference detection model trained in advance to obtain the difference between the plurality of environment images output by the difference detection model;

an object indicated by a difference between the plurality of environment images is determined as a target patrol object.

In one embodiment, the method further comprises:

generating routing inspection environment information according to the plurality of environment images;

after establishing communication connection with the unmanned aerial vehicle, sending routing inspection environment information to the unmanned aerial vehicle; the patrol and examine environmental information is used for supplying unmanned aerial vehicle to keep away the barrier.

In one embodiment, the above-mentioned establishing a communication connection with a drone includes:

sending a communication connection request to the unmanned aerial vehicle;

receiving authentication information sent by the unmanned aerial vehicle according to the communication connection request;

performing identity authentication on the unmanned aerial vehicle according to the authentication information;

and if the identity authentication of the unmanned aerial vehicle passes, establishing communication connection with the unmanned aerial vehicle.

In one embodiment, the above-mentioned data of patrolling and examining that obtains unmanned aerial vehicle and patrol and examine the target object to will patrol and examine data transmission to server includes:

receiving a first encrypted data packet sent by the unmanned aerial vehicle, and decrypting the first encrypted data packet to obtain routing inspection data;

and encrypting the routing inspection data to obtain a second encrypted data packet, and sending the second encrypted data packet to the server.

In one embodiment, the encrypting the inspection data to obtain the second encrypted data packet includes:

and encrypting the routing inspection data and the position information of the monitoring terminal to obtain a second encrypted data packet.

The utility model provides a data acquisition device patrols and examines, is applied to monitor terminal, and the device includes:

the connection establishing module is used for establishing communication connection with the unmanned aerial vehicle after detecting that the unmanned aerial vehicle enters a preset area;

the first information sending module is used for sending the inspection indication information to the unmanned aerial vehicle; the inspection instruction information is generated by the monitoring terminal in advance according to the surrounding environment of the power transmission network, and comprises a target inspection object, and the inspection instruction information is used for instructing the unmanned aerial vehicle to inspect the target inspection object;

and the data acquisition module is used for acquiring the inspection data obtained by inspecting the target inspection object by the unmanned aerial vehicle and sending the inspection data to the server.

In one embodiment, the apparatus further comprises:

the image acquisition module is used for acquiring a plurality of environment images; the plurality of environment images comprise environment images acquired by at least one image acquisition device at different moments;

and the object determining module is used for determining the target routing inspection object according to the difference among the plurality of environment images.

In one embodiment, the object determining module is specifically configured to input a plurality of environment images into a difference detection model trained in advance, so as to obtain a difference between the plurality of environment images output by the difference detection model; an object indicated by a difference between the plurality of environment images is determined as a target patrol object.

In one embodiment, the apparatus further comprises:

the information generation module is used for generating routing inspection environment information according to the plurality of environment images;

the second information sending module is used for sending the inspection environment information to the unmanned aerial vehicle after establishing communication connection with the unmanned aerial vehicle; the patrol and examine environmental information is used for supplying unmanned aerial vehicle to keep away the barrier.

In one embodiment, the connection establishing module is specifically configured to send a communication connection request to the drone; receiving authentication information sent by the unmanned aerial vehicle according to the communication connection request; performing identity authentication on the unmanned aerial vehicle according to the authentication information; and if the identity authentication of the unmanned aerial vehicle passes, establishing communication connection with the unmanned aerial vehicle.

In one embodiment, the data obtaining module includes:

the data acquisition submodule is used for receiving a first encrypted data packet sent by the unmanned aerial vehicle and decrypting the first encrypted data packet to obtain routing inspection data;

and the data sending submodule is used for encrypting the routing inspection data to obtain a second encrypted data packet and sending the second encrypted data packet to the server.

In one embodiment, the data sending sub-module is specifically configured to encrypt the inspection data and the location information of the monitoring terminal to obtain a second encrypted data packet.

A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:

after the unmanned aerial vehicle is detected to enter a preset area, establishing communication connection with the unmanned aerial vehicle;

sending inspection indication information to the unmanned aerial vehicle; the inspection instruction information is generated by the monitoring terminal in advance according to the surrounding environment of the power transmission network, and comprises a target inspection object, and the inspection instruction information is used for instructing the unmanned aerial vehicle to inspect the target inspection object;

and acquiring patrol data obtained by the unmanned aerial vehicle in patrolling the target patrol object, and sending the patrol data to the server.

A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:

after the unmanned aerial vehicle is detected to enter a preset area, establishing communication connection with the unmanned aerial vehicle;

sending inspection indication information to the unmanned aerial vehicle; the inspection instruction information is generated by the monitoring terminal in advance according to the surrounding environment of the power transmission network, and comprises a target inspection object, and the inspection instruction information is used for instructing the unmanned aerial vehicle to inspect the target inspection object;

and acquiring patrol data obtained by the unmanned aerial vehicle in patrolling the target patrol object, and sending the patrol data to the server.

According to the inspection data acquisition method and device, the computer equipment and the storage medium, the monitoring terminal establishes communication connection with the unmanned aerial vehicle after detecting that the unmanned aerial vehicle enters the preset area; sending inspection indication information to the unmanned aerial vehicle; and acquiring patrol data obtained by the unmanned aerial vehicle in patrolling the target patrol object, and sending the patrol data to the server. In the embodiment of the disclosure, the patrol inspection indication information sent by the monitoring terminal to the unmanned aerial vehicle is generated by the monitoring terminal according to the surrounding environment of the power transmission network in advance, and contains the target patrol inspection object, and the unmanned aerial vehicle can patrol the target patrol inspection object to obtain patrol inspection data after receiving the patrol inspection indication information. Therefore, the unmanned aerial vehicle can patrol special conditions around the power transmission network, and the safety of the power transmission network is ensured.

Drawings

FIG. 1 is a diagram of an application environment of a method for routing inspection data acquisition in one embodiment;

FIG. 2 is a schematic flow chart of a method for acquiring inspection data according to an embodiment;

FIG. 3 is a flow diagram illustrating the steps of determining a target inspection object in one embodiment;

fig. 4 is a schematic flow chart of a step of sending the patrol environment information to the unmanned aerial vehicle in one embodiment;

fig. 5 is a schematic flow chart illustrating a step of establishing a communication connection with a drone according to an embodiment;

FIG. 6 is a flow diagram illustrating the steps of sending routing inspection data to a server in one embodiment;

fig. 7 is a block diagram of the patrol data acquiring apparatus according to the embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

The inspection data acquisition method can be applied to the application environment shown in fig. 1. The application environment comprises a monitoring device 101, a monitoring terminal 102 and a drone 103. The monitoring device 101 and the monitoring terminal 102 are installed around the power transmission network, the monitoring device 101 monitors the surrounding environment of the power transmission network, the monitoring terminal 102 communicates with the monitoring device 101 through the network, and monitoring data are obtained from the monitoring device 101. For example, the monitoring device 101 includes a camera, and the monitoring terminal 102 acquires an environmental image of the power transmission network from the camera. After establishing communication connection with the unmanned aerial vehicle 103, the monitoring terminal 102 may acquire the inspection data from the unmanned aerial vehicle 103. The application environment may further include a server 104, and after the monitoring terminal 102 acquires the monitoring data and the inspection data, the monitoring data and the inspection data may be sent to the server 104.

The monitoring devices 101 include, but are not limited to, various cameras, radars, temperature sensors, infrared sensors, and humidity sensors.

The monitoring terminal 102 may include a processor, memory, and a communication interface connected by a system bus. Wherein, the processor of the monitoring terminal is used for providing calculation and control capability. For example, the processor performs data screening on the monitoring data and eliminates abnormal monitoring data; determining a target inspection object of the unmanned aerial vehicle according to the monitoring data; and carrying out encryption processing and decryption processing on the monitoring data, carrying out identity authentication on the unmanned aerial vehicle and the like. The memory of the monitoring terminal comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program; the internal memory provides an environment for the operation of an operating system and a computer program in the nonvolatile storage medium, and may also store monitoring data, polling data, and the like. The communication interface of the monitoring terminal is used for communicating with external monitoring equipment, an unmanned aerial vehicle, a server and the like in a wired or wireless mode, and the wireless mode can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The monitoring terminal 102 may further include a display screen and an input device, the display screen of the monitoring terminal may be a liquid crystal display screen or an electronic ink display screen, and the input device of the monitoring terminal may be a touch layer covered on the display screen, a button, a trackball or a touch pad arranged on a housing of the monitoring terminal, or an external keyboard, a touch pad or a mouse, etc. The monitoring terminal 102 may further include a positioning device, the positioning device may perform positioning processing on the monitoring data and the inspection data, and the positioning device of the monitoring terminal may be a Beidou positioning module, a GPS positioning module, or the like.

The drones 103 may include, but are not limited to, rotary wing drones, multi-rotor drones, fixed wing drones, unmanned helicopters, parasol drones, and ornithopters.

The server 104 may be implemented as a stand-alone server or a server cluster composed of a plurality of servers.

In an embodiment, as shown in fig. 2, a method for acquiring inspection data is provided, which is described by taking an example that the method is applied to the monitoring terminal in fig. 1, and includes the following steps:

step 201, after detecting that the unmanned aerial vehicle enters a preset area, establishing communication connection with the unmanned aerial vehicle.

Monitoring terminal can follow monitoring facilities and acquire monitoring data, detects whether unmanned aerial vehicle gets into preset the region according to monitoring data. For example, the monitoring terminal acquires an environment image from the camera, and detects whether the unmanned aerial vehicle enters a preset area according to the environment image. Or the monitoring terminal acquires point cloud data from the radar and detects whether the unmanned aerial vehicle enters a preset area according to the point cloud data. Or, the monitoring terminal detects whether the unmanned aerial vehicle enters a preset area through a wireless network. The embodiment of the present disclosure does not limit the detection mode and the preset region.

After detecting that unmanned aerial vehicle gets into and predetermineeing the region, monitoring terminal can establish communication connection through wireless network and unmanned aerial vehicle, also can establish communication connection through other modes such as bluetooth, NFC and unmanned aerial vehicle. The embodiment of the present disclosure does not limit the manner of communication connection.

Step 202, routing inspection indication information is sent to the unmanned aerial vehicle.

The inspection instruction information is generated by the monitoring terminal in advance according to the surrounding environment of the power transmission network and comprises a target inspection object; the inspection indication information is used for indicating the unmanned aerial vehicle to inspect the target inspection object.

When the unmanned aerial vehicle is used for inspecting the power transmission network, the inspection path of the unmanned aerial vehicle is planned mostly. Like this, unmanned aerial vehicle patrols and examines according to patrolling and examining the route, can patrol and examine the project to the conventionality and cover. However, the surrounding environment of the transmission network may change, for example, trees near the tower may grow high, the mountain where the tower is erected may crack, bird nests may occur on the transmission line, and so on. If the unmanned aerial vehicle only patrols and examines according to patrolling and examining the route, these special circumstances may be missed to examine.

The embodiment of the present disclosure addresses this situation in the following manner: the monitoring terminal acquires monitoring data from the monitoring equipment in real time or at regular time, judges whether special conditions occur or not according to the monitoring data, and determines a target inspection object and generates inspection indication information if the special conditions occur. Therefore, after the communication connection with the unmanned aerial vehicle is established, the monitoring terminal sends the pre-generated inspection indication information to the unmanned aerial vehicle. The unmanned aerial vehicle receives the inspection indication information sent by the monitoring terminal, determines a target inspection object according to the inspection indication information, and inspects the target inspection object.

For example, the target inspection object is a mountain body on which a pole tower is erected, and the unmanned aerial vehicle inspects the mountain body on which the pole tower is erected. The target inspection object is a bird nest appearing on the power transmission line, and then the unmanned aerial vehicle inspects the power transmission line.

In one embodiment, if the unmanned aerial vehicle has completed the inspection of the target inspection object once in the process of performing the inspection according to the inspection path, after receiving the inspection indication information, the unmanned aerial vehicle can not inspect the target inspection object according to the inspection indication information any more, and can inspect the target inspection object again. Understandably, the unmanned aerial vehicle patrols again and can ensure the accuracy of data patrolling.

And 203, acquiring patrol data obtained by the unmanned aerial vehicle in patrolling the target patrol object, and sending the patrol data to the server.

After the monitoring terminal sends the inspection indication information to the unmanned aerial vehicle, a data acquisition request can be sent to the unmanned aerial vehicle; after receiving the data acquisition request, the unmanned aerial vehicle sends inspection data obtained by inspecting the target inspection object to the monitoring terminal. Or, after the monitoring terminal sends the patrol inspection indication information to the unmanned aerial vehicle, the patrol inspection data sent by the unmanned aerial vehicle can be received in real time or at regular time. The embodiment of the disclosure does not limit the acquisition mode of the routing inspection data.

The monitoring terminal sends the inspection data to the server after acquiring the inspection data from the unmanned aerial vehicle; the server can generate alarm information according to the routing inspection data, so that maintenance personnel are informed to maintain the power transmission network.

In the inspection data acquisition method, the monitoring terminal establishes communication connection with the unmanned aerial vehicle after detecting that the unmanned aerial vehicle enters a preset area; sending inspection indication information to the unmanned aerial vehicle; and acquiring patrol data obtained by the unmanned aerial vehicle in patrolling the target patrol object, and sending the patrol data to the server. In the embodiment of the disclosure, the patrol inspection indication information sent by the monitoring terminal to the unmanned aerial vehicle is generated by the monitoring terminal according to the surrounding environment of the power transmission network in advance, and contains the target patrol inspection object, and the unmanned aerial vehicle can patrol the target patrol inspection object to obtain patrol inspection data after receiving the patrol inspection indication information. Therefore, the unmanned aerial vehicle can patrol and examine special conditions around the power transmission network, and then maintenance personnel can timely know the special conditions from the server, so that the power transmission network is timely maintained, and the safety of the power transmission network is guaranteed.

In an embodiment, as shown in fig. 3, on the basis of the above embodiment, the method may further include:

step 301, a plurality of environment images are acquired.

The plurality of environment images comprise environment images acquired by at least one image acquisition device at different moments.

In the surrounding environment of the power transmission network, image acquisition equipment can be erected at different positions. The monitoring terminal is communicated with the image acquisition devices through a network, and the environment image of the power transmission network is acquired from the image acquisition devices.

For example, two cameras capable of rotating 360 degrees are respectively erected on two adjacent towers, the two cameras can acquire the environmental images of the power transmission network in real time or at regular time, and the monitoring terminal acquires the environmental images of the power transmission network from the cameras.

Step 302, determining a target inspection object according to the difference between the plurality of environment images.

The monitoring terminal can compare the plurality of environment images to obtain the difference between the plurality of environment images, and then determines the target inspection object according to the difference between the plurality of environment images.

In one embodiment, a plurality of environment images are input into a difference detection model trained in advance, and differences among the plurality of environment images output by the difference detection model are obtained; an object indicated by a difference between the plurality of environment images is determined as a target patrol object.

For example, a plurality of environment images are input into a difference detection model, the difference detection model identifies differences such as bird nests, broken wires, bent poles and towers, vegetation touching and the like from the plurality of environment images, and then the monitoring terminal determines the bird nests, the wires, the poles and the towers and the vegetation as target routing inspection objects.

In practical application, the monitoring equipment can further comprise an infrared sensor, the monitoring terminal can acquire infrared data from the infrared sensor, and the target inspection object is determined according to the change of the infrared data. For example, the monitoring terminal determines mountain fire, electric shock, fire light and the like according to the change of the infrared data. The method for determining the target inspection object and the target inspection object are not limited.

In the above embodiment, the monitoring terminal acquires a plurality of environment images; and determining the target inspection object according to the difference among the plurality of environment images. Through this disclosed embodiment, monitor terminal confirms the target according to the environment image and patrols and examines the object after, can make unmanned aerial vehicle patrol and examine the object and carry out special patrol and examine to the target to confirm the special circumstances, in time discover unusually, in time maintain transmission network.

In an embodiment, as shown in fig. 4, on the basis of the above embodiment, the method may further include:

step 401, generating routing inspection environment information according to the plurality of environment images.

The inspection environment information comprises the position of a wire and the position of a tower of the power transmission network, and the vegetation state, the animal state, the mountain state and the like around the power transmission network. The embodiment of the disclosure does not limit the patrol environment information.

After the monitoring terminal acquires the plurality of environment images, the target inspection object is determined according to the plurality of environment images, and the surrounding environment of the power transmission network can be modeled to generate inspection environment information.

For example, the monitoring terminal acquires environment images acquired by two cameras at different positions, obtains an environment model of the power transmission network by using a cross vision technology, and generates routing inspection environment information according to the environment model.

Step 402, after establishing communication connection with the unmanned aerial vehicle, sending routing inspection environment information to the unmanned aerial vehicle.

Wherein, it keeps away the barrier to patrol and examine environmental information and be used for supplying unmanned aerial vehicle to keep away the barrier according to patrolling and examining the environment.

The unmanned aerial vehicle usually avoids obstacles according to images collected by a camera carried by the unmanned aerial vehicle and/or point cloud data collected by a radar. The obstacle avoidance mode has higher requirements on a camera and a radar and has higher requirements on the data processing speed.

And in this disclosed embodiment, monitor terminal generates in advance and patrols and examines environmental information to patrol and examine environmental information and send for unmanned aerial vehicle. After the unmanned aerial vehicle receives the patrol and examine environmental information, the surrounding environment of the power transmission network can be determined according to the patrol and examine environmental information, and therefore the surrounding environment of the power transmission network is combined with the images collected by the camera and the point cloud data collected by the radar to avoid obstacles.

In the embodiment, the monitoring terminal generates the patrol environment information according to the plurality of environment images; after establishing communication connection with the unmanned aerial vehicle, the routing inspection environment information is sent to the unmanned aerial vehicle. Through this disclosed embodiment, utilize the environmental information that patrols and examines that monitor terminal pre-generated to assist unmanned aerial vehicle to keep away the barrier, not only can improve unmanned aerial vehicle and keep away barrier efficiency, can also suitably reduce unmanned aerial vehicle to camera, radar and data processing speed's requirement.

In an embodiment, as shown in fig. 5, the step of establishing a communication connection with the drone may include:

step 2011, send a communication connection request to the drone.

Step 2012, receiving the authentication information sent by the drone according to the communication connection request.

After receiving the communication connection request, the unmanned aerial vehicle sends authentication information to the monitoring terminal, and correspondingly, the monitoring terminal receives the authentication information sent by the unmanned aerial vehicle.

The authentication information may include an identity of the drone, a communication connection key, and the like. The authentication information is not limited in the embodiments of the present disclosure.

And 2013, authenticating the identity of the unmanned aerial vehicle according to the authentication information.

And after receiving the authentication information, the monitoring terminal performs identity authentication on the unmanned aerial vehicle according to the authentication information. For example, the monitoring terminal prestores an identity list allowing communication connection establishment, and if the identity of the unmanned aerial vehicle is found in the identity list, the identity authentication of the unmanned aerial vehicle is determined to be passed; and if the identity of the unmanned aerial vehicle is not found in the identity list, determining that the identity authentication of the unmanned aerial vehicle fails. Or, the monitoring terminal prestores a key list allowing the establishment of communication connection, and if the communication connection key of the unmanned aerial vehicle is found in the key list, the identity authentication of the unmanned aerial vehicle is determined to be passed; and if the communication connection key of the unmanned aerial vehicle is not found in the key list, determining that the identity authentication of the unmanned aerial vehicle fails. In practical application, other identity authentication methods such as biological characteristics may also be adopted, which is not limited in the embodiments of the present disclosure.

Step 2014, if the identity authentication of the unmanned aerial vehicle passes, establishing a communication connection with the unmanned aerial vehicle.

After the identity authentication of the unmanned aerial vehicle is confirmed to pass, the unmanned aerial vehicle is allowed to be connected to a network where the monitoring terminal is located, and the monitoring terminal is in communication connection with the unmanned aerial vehicle.

In practical application, a mixed networking technology of a private network and a public network can be adopted, the private network can be a private network formed by the monitoring terminal, the monitoring equipment and the unmanned aerial vehicle, and the public network can be a public network formed by the monitoring terminal and the external Internet. The networking mode is not limited in the embodiment of the disclosure.

In the process of establishing communication connection with the unmanned aerial vehicle, the monitoring terminal sends a communication connection request to the unmanned aerial vehicle; receiving authentication information sent by the unmanned aerial vehicle according to the communication connection request; performing identity authentication on the unmanned aerial vehicle according to the authentication information; and if the identity authentication of the unmanned aerial vehicle passes, establishing communication connection with the unmanned aerial vehicle. In the embodiment of the disclosure, the monitoring terminal authenticates the identity of the unmanned aerial vehicle, and can avoid an illegal communication device or an illegal unmanned aerial vehicle from accessing a network where the monitoring terminal is located, thereby protecting data security.

In an embodiment, as shown in fig. 6, the step of obtaining the inspection data obtained by the unmanned aerial vehicle inspecting the target inspection object and sending the inspection data to the server may include:

step 501, receiving a first encrypted data packet sent by the unmanned aerial vehicle, and decrypting the first encrypted data packet to obtain routing inspection data.

The unmanned aerial vehicle obtains the data of patrolling and examining after patrolling and examining the object to the target, and then, the unmanned aerial vehicle encrypts the data of patrolling and examining earlier and obtains first encryption data package, then, sends first encryption data package to monitor terminal. Correspondingly, the monitoring terminal receives a first encrypted data packet sent by the unmanned aerial vehicle. And then, the monitoring terminal decrypts the first encrypted data packet to obtain the routing inspection data.

Above-mentioned unmanned aerial vehicle encrypts patrolling and examining data, and monitoring terminal decrypts first encryption data package, can adopt shared key, also can adopt other encryption algorithms, and this embodiment of this disclosure does not limit to this.

Step 502, the routing inspection data is encrypted to obtain a second encrypted data packet, and the second encrypted data packet is sent to the server.

After the monitoring terminal decrypts the first encrypted data packet to obtain the inspection data, the inspection data can be encrypted by adopting an encryption mode different from that of the unmanned aerial vehicle to obtain a second encrypted data packet, and then the second encrypted data packet is sent to the server. The embodiment of the present disclosure does not limit the encryption manner of the monitoring terminal.

In one embodiment, encrypting the patrol data to obtain a second encrypted data packet includes: and encrypting the routing inspection data and the position information of the monitoring terminal to obtain a second encrypted data packet.

In practical application, the monitoring terminal can encrypt the routing inspection data and the position information of the monitoring terminal together to obtain a second encrypted data packet. In this way, after receiving the second encrypted data packet, the server can determine the geographic position corresponding to the routing inspection data according to the position information.

The position information of the monitoring terminal may include a terminal identifier of the monitoring terminal, GPS positioning information, and the like. If the position information of the monitoring terminal is the terminal identification of the monitoring terminal, the server needs to establish the corresponding relation between the terminal identification and the geographic position in advance, so that the server analyzes the terminal identification of the monitoring terminal from the second encrypted data packet after receiving the second encrypted data packet, and then determines the geographic position corresponding to the routing inspection data according to the pre-established corresponding relation and the terminal identification of the monitoring terminal. The embodiment of the disclosure does not limit the position information of the monitoring terminal.

The server determines the geographical position corresponding to the routing inspection data, so that maintenance personnel can maintain the corresponding position, and the abnormality can be quickly eliminated.

The above-mentioned data of patrolling and examining that unmanned aerial vehicle patrols and examines the object and patrol and examine the data that obtains to patrol and examine the in-process that data transmission to the server will be patrolled and examined, receive the first encryption data package that unmanned aerial vehicle sent, and carry out decryption processing to first encryption data package and obtain the data of patrolling and examining. And encrypting the routing inspection data to obtain a second encrypted data packet, and sending the second encrypted data packet to the server. In the embodiment of the disclosure, when the monitoring terminal transmits data with the unmanned aerial vehicle and the server, the data to be inspected are encrypted, so that the safety of the data to be inspected can be ensured, and the risk of data leakage is reduced.

It should be understood that, although the steps in the flowcharts of fig. 2 to 6 are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2 to 6 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least some of the other steps or stages.

In one embodiment, as shown in fig. 7, there is provided a patrol data acquiring apparatus applied to a monitoring terminal, including:

the connection establishing module 601 is configured to establish a communication connection with the unmanned aerial vehicle after detecting that the unmanned aerial vehicle enters a preset area;

a first information sending module 602, configured to send polling indication information to the unmanned aerial vehicle; the inspection instruction information is generated by the monitoring terminal in advance according to the surrounding environment of the power transmission network, and comprises a target inspection object, and the inspection instruction information is used for instructing the unmanned aerial vehicle to inspect the target inspection object;

the data obtaining module 603 is configured to obtain patrol data obtained by polling the target patrol object by the unmanned aerial vehicle, and send the patrol data to the server.

In one embodiment, the apparatus further comprises:

the image acquisition module is used for acquiring a plurality of environment images; the plurality of environment images comprise environment images acquired by at least one image acquisition device at different moments;

and the object determining module is used for determining the target routing inspection object according to the difference among the plurality of environment images.

In one embodiment, the object determining module is specifically configured to input a plurality of environment images into a difference detection model trained in advance, so as to obtain a difference between the plurality of environment images output by the difference detection model; an object indicated by a difference between the plurality of environment images is determined as a target patrol object.

In one embodiment, the apparatus further comprises:

the information generation module is used for generating routing inspection environment information according to the plurality of environment images;

the second information sending module is used for sending the inspection environment information to the unmanned aerial vehicle after establishing communication connection with the unmanned aerial vehicle; the patrol and examine environmental information is used for supplying unmanned aerial vehicle to keep away the barrier.

In one embodiment, the connection establishing module 601 is specifically configured to send a communication connection request to the drone; receiving authentication information sent by the unmanned aerial vehicle according to the communication connection request; performing identity authentication on the unmanned aerial vehicle according to the authentication information; and if the identity authentication of the unmanned aerial vehicle passes, establishing communication connection with the unmanned aerial vehicle.

In one embodiment, the data obtaining module 603 includes:

the data acquisition submodule is used for receiving a first encrypted data packet sent by the unmanned aerial vehicle and decrypting the first encrypted data packet to obtain routing inspection data;

and the data sending submodule is used for encrypting the routing inspection data to obtain a second encrypted data packet and sending the second encrypted data packet to the server.

In one embodiment, the data sending sub-module is specifically configured to encrypt the inspection data and the location information of the monitoring terminal to obtain a second encrypted data packet.

For specific definition of the inspection data acquisition device, reference may be made to the above definition of the inspection data acquisition method, and details are not repeated here. All or part of the modules in the inspection data acquisition device can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.

In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:

after the unmanned aerial vehicle is detected to enter a preset area, establishing communication connection with the unmanned aerial vehicle;

sending inspection indication information to the unmanned aerial vehicle; the inspection instruction information is generated by the monitoring terminal in advance according to the surrounding environment of the power transmission network, and comprises a target inspection object, and the inspection instruction information is used for instructing the unmanned aerial vehicle to inspect the target inspection object;

and acquiring patrol data obtained by the unmanned aerial vehicle in patrolling the target patrol object, and sending the patrol data to the server.

In one embodiment, the processor, when executing the computer program, further performs the steps of:

acquiring a plurality of environment images; the plurality of environment images comprise environment images acquired by at least one image acquisition device at different moments;

and determining the target inspection object according to the difference among the plurality of environment images.

In one embodiment, the processor, when executing the computer program, further performs the steps of:

inputting a plurality of environment images into a difference detection model trained in advance to obtain the difference between the plurality of environment images output by the difference detection model;

an object indicated by a difference between the plurality of environment images is determined as a target patrol object.

In one embodiment, the processor, when executing the computer program, further performs the steps of:

generating routing inspection environment information according to the plurality of environment images;

after establishing communication connection with the unmanned aerial vehicle, sending routing inspection environment information to the unmanned aerial vehicle; the patrol and examine environmental information is used for supplying unmanned aerial vehicle to keep away the barrier.

In one embodiment, the processor, when executing the computer program, further performs the steps of:

sending a communication connection request to the unmanned aerial vehicle;

receiving authentication information sent by the unmanned aerial vehicle according to the communication connection request;

performing identity authentication on the unmanned aerial vehicle according to the authentication information;

and if the identity authentication of the unmanned aerial vehicle passes, establishing communication connection with the unmanned aerial vehicle.

In one embodiment, the processor, when executing the computer program, further performs the steps of:

receiving a first encrypted data packet sent by the unmanned aerial vehicle, and decrypting the first encrypted data packet to obtain routing inspection data;

and encrypting the routing inspection data to obtain a second encrypted data packet, and sending the second encrypted data packet to the server.

In one embodiment, the processor, when executing the computer program, further performs the steps of:

and encrypting the routing inspection data and the position information of the monitoring terminal to obtain a second encrypted data packet.

In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:

after the unmanned aerial vehicle is detected to enter a preset area, establishing communication connection with the unmanned aerial vehicle;

sending inspection indication information to the unmanned aerial vehicle; the inspection instruction information is generated by the monitoring terminal in advance according to the surrounding environment of the power transmission network, and comprises a target inspection object, and the inspection instruction information is used for instructing the unmanned aerial vehicle to inspect the target inspection object;

and acquiring patrol data obtained by the unmanned aerial vehicle in patrolling the target patrol object, and sending the patrol data to the server.

In one embodiment, the computer program when executed by the processor further performs the steps of:

acquiring a plurality of environment images; the plurality of environment images comprise environment images acquired by at least one image acquisition device at different moments;

and determining the target inspection object according to the difference among the plurality of environment images.

In one embodiment, the computer program when executed by the processor further performs the steps of:

inputting a plurality of environment images into a difference detection model trained in advance to obtain the difference between the plurality of environment images output by the difference detection model;

an object indicated by a difference between the plurality of environment images is determined as a target patrol object.

In one embodiment, the computer program when executed by the processor further performs the steps of:

generating routing inspection environment information according to the plurality of environment images;

after establishing communication connection with the unmanned aerial vehicle, sending routing inspection environment information to the unmanned aerial vehicle; the patrol and examine environmental information is used for supplying unmanned aerial vehicle to keep away the barrier.

In one embodiment, the computer program when executed by the processor further performs the steps of:

sending a communication connection request to the unmanned aerial vehicle;

receiving authentication information sent by the unmanned aerial vehicle according to the communication connection request;

performing identity authentication on the unmanned aerial vehicle according to the authentication information;

and if the identity authentication of the unmanned aerial vehicle passes, establishing communication connection with the unmanned aerial vehicle.

In one embodiment, the computer program when executed by the processor further performs the steps of:

receiving a first encrypted data packet sent by the unmanned aerial vehicle, and decrypting the first encrypted data packet to obtain routing inspection data;

and encrypting the routing inspection data to obtain a second encrypted data packet, and sending the second encrypted data packet to the server.

In one embodiment, the computer program when executed by the processor further performs the steps of:

and encrypting the routing inspection data and the position information of the monitoring terminal to obtain a second encrypted data packet.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.