CN117032309A

CN117032309A - Power line inspection method and device

Info

Publication number: CN117032309A
Application number: CN202311082333.9A
Authority: CN
Inventors: 李强; 魏勇; 田密密
Original assignee: Dalian Jinzhou New Area Power Supply Branch Of State Grid Liaoning Electric Power Co ltd
Current assignee: Dalian Jinzhou New Area Power Supply Branch Of State Grid Liaoning Electric Power Co ltd
Priority date: 2023-08-27
Filing date: 2023-08-27
Publication date: 2023-11-10

Abstract

The application discloses a power line inspection method and device, and relates to the technical field of data processing. The power line inspection method comprises the following steps: acquiring line information to be inspected; acquiring weather information; acquiring position information of each unmanned aerial vehicle nest, and model and electric quantity information of unmanned aerial vehicles in the unmanned aerial vehicle nest; selecting an unmanned aerial vehicle nest as an initial nest according to the line information to be patrolled and examined, the weather information and the unmanned aerial vehicle nest position information; generating a routing inspection route by taking the initial machine nest as a starting point; generating a patrol strategy according to the patrol route; and sending the inspection strategy to the unmanned aerial vehicle which is positioned in the initial machine nest and is suitable for the inspection strategy, so that the unmanned aerial vehicle can inspect according to the inspection strategy. According to the application, the line information to be inspected, the weather information and the nest position information of the unmanned aerial vehicle are fully considered, and the unmanned aerial vehicle at the most suitable position is selected for inspection according to the line information, the weather information and the nest position information, so that the problem that the inspection departure point and the inspection route are determined only according to the position in the prior art is solved.

Description

Power line inspection method and device

Technical Field

The application relates to the technical field of data processing, in particular to a power line inspection method and a power line inspection device.

Background

At present, when the power line inspection is performed, an unmanned aerial vehicle is generally adopted for inspection, for example, for a certain longer power line, whether an insulator on the way in the line is damaged or not can be inspected in an image recognition mode through the unmanned aerial vehicle, and whether the wire has overlarge bending, deflection and the like or not is detected.

However, in the unmanned aerial vehicle power inspection in the prior art, the problem of short battery life of the unmanned aerial vehicle exists, the power lines are very long, and some power lines are located in mountain forests, so that unmanned aerial vehicle operators cannot be arranged everywhere to inspect the power lines nearby.

In order to solve the problem, the prior art carries out the continuation of the journey through setting up the mode of a plurality of unmanned aerial vehicle nests, however, current unmanned aerial vehicle full power continuation of journey mileage does not exceed 7 kilometers, still needs to reserve half electric power and returns the nest, and electric power line often is very long. This results in a need to arrange a large number of nests and drones. The prior art has the problem that the electric power inspection line unmanned aerial vehicle is high in price, and if all unmanned aerial vehicles and corresponding nests are arranged on each electric transmission line, the infrastructure cost can be huge.

In addition, the prior art also has no way to select a suitable solution for the unmanned aerial vehicle nest according to the position of the unmanned aerial vehicle nest and the weather condition of the inspection day, because in different weather conditions, the solution may be suitable for different nests, for example, when no wind or a small wind speed is present, the nest closest to the two end points of the line to be inspected is theoretically selected to be most suitable, but if the wind speed is relatively large, whether the nest closest to the line to be inspected is upwind in the whole flight process is considered, and if the nest is upwind in the whole flight process, the solution may not be the optimal nest.

Disclosure of Invention

The present invention is directed to a power line inspection method, which solves at least one of the above-mentioned problems.

In one aspect of the present invention, there is provided a power line inspection method including:

acquiring line information to be inspected;

acquiring weather information;

acquiring position information of each unmanned aerial vehicle nest, and model and electric quantity information of unmanned aerial vehicles in each unmanned aerial vehicle nest;

selecting one unmanned aerial vehicle nest in each unmanned aerial vehicle nest as an initial unmanned aerial vehicle nest according to the line information to be patrolled and examined, the weather information and the position information of each unmanned aerial vehicle nest;

generating a routing inspection route by taking the initial machine nest as a starting point;

generating a patrol strategy according to the patrol route, the unmanned aerial vehicle model number of the initial aircraft nest and the electric quantity information of each unmanned aerial vehicle;

and sending the inspection strategy to the unmanned aerial vehicle which is positioned in the initial machine nest and is suitable for the inspection strategy, so that the unmanned aerial vehicle can inspect according to the inspection strategy.

Optionally, the line information to be inspected includes inspection necessary point coordinate information;

the weather information comprises the wind speed information of a patrol area of the patrol necessary point coordinate information, the wind direction information of each patrol necessary point coordinate information and the rainfall information of the patrol area of each patrol necessary point coordinate information;

The selecting one of the unmanned aerial vehicle nests as the initial unmanned aerial vehicle nest according to the line information to be patrolled and examined, the weather information and the position information of each unmanned aerial vehicle nest includes:

acquiring distance information of the routing inspection passing point coordinate information, which is nearest to each unmanned aerial vehicle nest, according to the unmanned aerial vehicle nest position information and the routing inspection passing point coordinate information;

acquiring an unmanned aerial vehicle nest with distance information smaller than a preset first distance threshold;

when the number of the unmanned aerial vehicle nests with the distance smaller than the preset distance threshold exceeds two, the following operation is carried out for each unmanned aerial vehicle nest:

acquiring an unmanned aerial vehicle nest scoring database, wherein the unmanned aerial vehicle nest scoring database comprises a wind direction scoring database, a wind speed scoring database and a rainfall scoring database, the wind direction scoring database comprises wind direction triples, and one wind direction triplet comprises preset coordinate information, preset wind direction information and preset wind direction scores; the wind speed scoring database comprises wind speed triples, wherein one wind speed triplet comprises preset coordinate information, preset wind speed interval information and a preset wind speed score; the rainfall scoring database comprises at least one rainfall triplet, wherein the rainfall triplet comprises preset coordinate information, preset rainfall interval information and a preset rainfall score;

Acquiring a wind direction triplet which is the same as the coordinate information of each inspection passing point in each wind direction triplet and the same as the current wind direction information of the inspection passing point coordinate information, wherein the acquired wind direction triplet is called a wind direction triplet to be scored;

acquiring a wind speed triplet which is the same as the coordinate information of each routing inspection passing point in each wind speed triplet and in which the current wind speed information of the routing inspection passing point coordinate information is positioned in the preset wind speed interval information in the wind speed triplet, wherein the acquired wind speed triplet is called a wind speed triplet to be scored;

acquiring a rainfall triplet which is the same as the coordinate information of each inspection passing point in each rainfall triplet and is positioned in the preset rainfall interval information in the rainfall triplet in the current inspection area rainfall information of the inspection passing point coordinate information, wherein the acquired rainfall triplet is called a rainfall triplet to be scored;

acquiring a preset wind direction score in each wind direction triplet to be scored;

acquiring a preset wind speed score in each wind speed triplet to be scored;

acquiring a preset rainfall score in each rainfall triplet to be scored;

when the preset wind direction score of the wind direction triple to be scored of any one routing inspection passing point coordinate information is negative, setting the preset wind speed score in the wind speed triple to be scored which has the same routing inspection passing point coordinate information as the preset wind speed score in the wind speed triple to be scored;

Obtaining the sum of each preset wind direction score, each preset wind speed score and each preset rainfall score as the environmental score of the unmanned aerial vehicle nest;

and acquiring the unmanned aerial vehicle nest with the highest environmental score as an initial nest.

Optionally, the generating the routing inspection route with the initial nest as a starting point includes:

acquiring coordinate information of each inspection passing point;

taking the position information of the initial machine nest as a starting point, taking the coordinate information of the routing inspection passing point farthest from the starting point as an end point, obtaining a path discrete point between any two routing inspection passing point coordinate information by utilizing an RRT algorithm, and processing the discrete point by utilizing a cubic B spline method to obtain a local path;

according to the path length between the two pieces of the inspection necessary point coordinate information, converting the global path planning of the unmanned aerial vehicle into a travel business problem, and solving the model by utilizing an improved whale algorithm to obtain an inspection route passing through all pieces of the inspection necessary point coordinate information.

Optionally, the generating the inspection policy according to the inspection route, the unmanned plane number of the initial aircraft nest and the electric quantity information of each unmanned plane includes:

the following operations are performed for the drones in each starter nest:

Obtaining maximum flight speed information according to the model number of the unmanned aerial vehicle;

acquiring a trained transducer model;

extracting the maximum flying speed characteristics of the maximum flying speed information;

inputting the wind speed characteristics, the rainwater characteristics and the maximum flight speed characteristic information into the trained transducer model, thereby obtaining an estimated energy consumption rate;

acquiring estimated flight time according to the estimated energy consumption rate and the electric quantity information of the unmanned aerial vehicle;

acquiring the distance that the unmanned aerial vehicle can fly according to the estimated flight time and the maximum flight speed information;

acquiring the total distance of the inspection route;

subtracting the distance that the unmanned aerial vehicle can fly according to the total distance of the routing inspection route, thereby obtaining the residual flight distance;

acquiring a linear distance between the unmanned aerial vehicle nest closest to the terminal point and the terminal point;

judging whether the difference between the residual flight distance and the linear distance is larger than a preset second distance threshold value, if so, then

Selecting the unmanned aerial vehicle as an alternative inspection unmanned aerial vehicle;

and obtaining the remaining flight distance and the linear distance of each alternative inspection unmanned aerial vehicle, selecting one alternative inspection unmanned aerial vehicle with the largest difference value, and taking the unmanned aerial vehicle nest which completes the inspection route in the whole course and flies to the nearest unmanned aerial vehicle nest to the terminal point as an inspection strategy.

Optionally, the power line inspection method further includes:

in the inspection flight process of the unmanned aerial vehicle suitable for the inspection strategy, when the electric quantity of the unmanned aerial vehicle is lower than 60% of the total electric quantity, acquiring electric quantity information transmitted by the unmanned aerial vehicle and position information of the unmanned aerial vehicle every preset time.

Optionally, the power line inspection method further includes:

when the electric quantity of the unmanned aerial vehicle is lower than 50% of the total electric quantity, acquiring flight speed information of the unmanned aerial vehicle;

acquiring the wind speed information of the inspection area corresponding to each piece of preset coordinate information of the remaining distance and the rainfall information corresponding to each piece of preset coordinate information when the electric quantity of the unmanned aerial vehicle is lower than 50% of the total electric quantity;

extracting wind speed characteristics of the wind speed information of the inspection area corresponding to each piece of preset coordinate information of the remaining distance when the electric quantity of the unmanned aerial vehicle is lower than 50% of the total electric quantity;

extracting the rainwater characteristics of rainfall information corresponding to each preset coordinate information of the remaining distance when the electric quantity of the unmanned aerial vehicle is lower than 50% of the total electric quantity;

extracting current flight speed characteristics of flight speed information of the unmanned aerial vehicle;

inputting wind speed characteristics of patrol area wind speed information corresponding to each piece of preset coordinate information of the remaining distance when the electric quantity of the unmanned aerial vehicle is lower than 50% of the total electric quantity, rainwater characteristics of rainfall information corresponding to each piece of preset coordinate information of the remaining distance when the electric quantity of the unmanned aerial vehicle is lower than 50% of the total electric quantity and current flying speed characteristics into the trained transducer model, so as to obtain estimated energy consumption rate;

Acquiring the residual flight distance of the unmanned aerial vehicle according to the acquired estimated energy consumption rate;

judging whether the unmanned aerial vehicle can finish the inspection according to the residual flight distance of the unmanned aerial vehicle, if not, then

Generating an auxiliary inspection strategy according to the non-inspection distance, the position information of each unmanned aerial vehicle nest and the model and electric quantity information of the unmanned aerial vehicle in each unmanned aerial vehicle nest; the auxiliary inspection strategy comprises an original unmanned aerial vehicle driving strategy and an auxiliary unmanned aerial vehicle and unmanned vehicle group inspection strategy;

the original unmanned aerial vehicle driving strategy is sent to the unmanned aerial vehicle which is being patrolled and examined, so that the unmanned aerial vehicle which is being patrolled and examined works according to the original unmanned aerial vehicle driving strategy;

and sending the auxiliary unmanned aerial vehicle and unmanned aerial vehicle group inspection strategy to corresponding unmanned aerial vehicles and unmanned aerial vehicles in the unmanned aerial vehicle nest suitable for the auxiliary unmanned aerial vehicle and unmanned aerial vehicle group inspection strategy, so that the corresponding unmanned aerial vehicles and unmanned aerial vehicles in the unmanned aerial vehicle nest suitable for the auxiliary unmanned aerial vehicle and unmanned aerial vehicle group inspection strategy work according to the auxiliary unmanned aerial vehicle and unmanned aerial vehicle group inspection strategy.

Optionally, the generating the auxiliary inspection policy according to the non-inspected distance, the position information of each unmanned aerial vehicle nest, and the unmanned aerial vehicle model and the electric quantity information in each unmanned aerial vehicle nest includes:

The following operations are performed for each unmanned aerial vehicle nest:

acquiring coordinate information of each patrol passing point in the non-patrol path;

generating unmanned vehicle route information from the unmanned vehicle nest to the point coordinate information of each inspection necessary;

acquiring the maximum running speed of the unmanned aerial vehicle and route information of each unmanned aerial vehicle, so as to select one time-consuming shortest route information, time-consuming information of the time-consuming shortest route information and routing inspection necessary point coordinate information corresponding to the time-consuming shortest route information for each unmanned aerial vehicle nest;

respectively obtaining estimated time of the point coordinate information of the inspection necessary corresponding to the shortest route information of each time of the unmanned aerial vehicle which is being inspected;

acquiring a difference value between the estimated time and the time information of each time-consuming shortest route information;

acquiring the coordinate information of the routing inspection necessary point corresponding to the shortest route information with the minimum difference value, wherein the coordinate information of the routing inspection necessary point is used as a middle routing stop point;

acquiring estimated residual electric quantity information when the unmanned aerial vehicle which is being patrolled and examined passes through a stopover point;

if the estimated remaining capacity information exceeds a preset remaining capacity threshold value, then

Generating an original unmanned aerial vehicle driving strategy, wherein the original unmanned aerial vehicle driving strategy comprises: enabling the unmanned aerial vehicle which is being patrolled and examined to travel to the transit stop point;

Generating an auxiliary unmanned aerial vehicle and unmanned aerial vehicle group inspection strategy, wherein the auxiliary unmanned aerial vehicle and unmanned aerial vehicle group inspection strategy comprises: the unmanned aerial vehicle in the unmanned aerial vehicle nest which can reach the halfway stop point fastest carries the unmanned aerial vehicle to the halfway stop point, an auxiliary routing inspection route is generated for the unmanned aerial vehicle carried by the unmanned aerial vehicle by taking the halfway stop point as a starting point, the end point is taken as a starting point, and a return route is generated by taking the unmanned aerial vehicle nest closest to the end point as an end point.

Optionally, the power line inspection method further includes:

when the unmanned aerial vehicle under inspection runs to the middle passing stop point and the unmanned aerial vehicle runs to the middle passing stop point, the unmanned aerial vehicle under inspection drops to the unmanned aerial vehicle.

The application also provides a power line inspection device, which comprises:

the line information acquisition module to be inspected, the line information acquisition module to be inspected is used for acquiring line information to be inspected;

the weather information acquisition module is used for acquiring weather information;

the unmanned aerial vehicle nest information acquisition module is used for acquiring position information of each unmanned aerial vehicle nest and model and electric quantity information of the unmanned aerial vehicle in each unmanned aerial vehicle nest;

The starting machine nest determining module is used for selecting one unmanned plane nest in each unmanned plane nest as a starting machine nest according to the line information to be patrolled and examined, the weather information and the position information of each unmanned plane nest;

the inspection route generation module is used for generating an inspection route by taking the initial machine nest as a starting point;

the inspection strategy generation module is used for generating an inspection strategy according to the inspection route, the unmanned aerial vehicle model number of the starting aircraft nest and the electric quantity information of each unmanned aerial vehicle;

and the inspection strategy sending module is used for sending the inspection strategy to the unmanned aerial vehicle which is positioned in the initial machine nest and is suitable for the inspection strategy, so that the unmanned aerial vehicle can inspect according to the inspection strategy.

Advantageous effects

The power line inspection method fully considers the line information to be inspected, the weather information and the position information of the unmanned aerial vehicle nest, and the unmanned aerial vehicle at the most suitable position is selected for inspection according to the line information, the weather information and the position information, so that the problem that an inspection departure point and an inspection route are determined only according to the position in the prior art is solved.

Drawings

Fig. 1 is a flow chart of a power line inspection method according to an embodiment of the application.

Fig. 2 is a schematic diagram of an electronic device for implementing the power line inspection method shown in fig. 1.

Fig. 3 is a schematic diagram of a line to be inspected and a nest distribution of an unmanned aerial vehicle according to an embodiment of the application.

FIG. 4 is a schematic diagram of wind direction and direction in an embodiment of the application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application become more apparent, the technical solutions in the embodiments of the present application will be described in more detail below with reference to the accompanying drawings in the embodiments of the present application. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all, embodiments of the application. The embodiments described below by referring to the drawings are illustrative and intended to explain the present application and should not be construed as limiting the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application. Embodiments of the present application will be described in detail below with reference to the accompanying drawings.

The power line inspection method shown in fig. 1 comprises the following steps:

step 1: acquiring line information to be inspected;

step 2: acquiring weather information;

step 3: acquiring position information of each unmanned aerial vehicle nest, and model and electric quantity information of unmanned aerial vehicles in each unmanned aerial vehicle nest;

step 4: selecting one unmanned aerial vehicle nest in each unmanned aerial vehicle nest as an initial unmanned aerial vehicle nest according to the line information to be patrolled and examined, the weather information and the position information of each unmanned aerial vehicle nest;

step 5: generating a routing inspection route by taking the initial machine nest as a starting point;

step 6: generating a patrol strategy according to the patrol route, the unmanned aerial vehicle model number of the initial aircraft nest and the electric quantity information of each unmanned aerial vehicle;

step 7: and sending the inspection strategy to the unmanned aerial vehicle which is positioned in the initial machine nest and is suitable for the inspection strategy, so that the unmanned aerial vehicle can inspect according to the inspection strategy.

In this embodiment, the line information to be inspected includes inspection necessary point coordinate information;

acquiring a preset wind speed score in each wind speed triplet to be scored;

acquiring a preset rainfall score in each rainfall triplet to be scored;

By adopting the mode, the scores can be set according to the knowledge of the user on the wind speed, the wind direction and the rainfall from the behavior wind speed, the wind direction and the rainfall, so that the scores of the whole environment are more humanized, and the judgment knowledge of the user on specific conditions is met.

In this embodiment, the generating the routing inspection route with the starting nest as a starting point includes:

acquiring coordinate information of each inspection passing point;

In this embodiment, the generating the inspection policy according to the inspection route, the unmanned plane number of the starting nest, and the electric quantity information of each unmanned plane includes:

the following operations are performed for the drones in each starter nest:

acquiring a trained transducer model;

acquiring the total distance of the inspection route;

By adopting the mode, the most suitable unmanned aerial vehicle can be selected from all unmanned aerial vehicles to carry out the inspection task.

In this embodiment, the power line inspection method further includes:

In this embodiment, the generating the auxiliary inspection policy according to the non-inspected distance, the position information of each unmanned aerial vehicle nest, and the unmanned aerial vehicle model and the electric quantity information in each unmanned aerial vehicle nest includes:

the following operations are performed for each unmanned aerial vehicle nest:

In the actual inspection process, the original inspection task can not be actually completed due to the reasons of the unmanned aerial vehicle (such as inaccurate electric quantity information caused by aging of a battery or more actual electric power consumption than theoretical electric power consumption) or due to the reasons of external environment (such as sudden increase of wind speed, sudden decrease of wind speed, change of wind direction, large rainfall and the like), namely, the residual electric quantity of the unmanned aerial vehicle is insufficient to complete the current inspection task.

The application is further illustrated by way of example below, it being understood that this example does not constitute any limitation of the application.

Referring to fig. 3, fig. 3 is a schematic diagram illustrating a line to be inspected and a nest distribution of a drone according to an embodiment of the application.

In fig. 3, three circles represent three unmanned aerial vehicle nests, respectively, unmanned aerial vehicle nest a, unmanned aerial vehicle nest B, and unmanned aerial vehicle nest C.

In each aircraft nest, a plurality of unmanned aerial vehicles and unmanned aerial vehicles capable of bearing the unmanned aerial vehicles are owned.

In this embodiment, the unmanned aerial vehicle may carry a plurality of unmanned aerial vehicles or may carry only one unmanned aerial vehicle.

Step 1: the line information to be inspected is acquired, in this embodiment, the line information to be inspected includes the point coordinate information to be inspected, in this embodiment, the point coordinate information to be inspected may be set for every meter, or may be set based on some markers to be inspected, for example, the main inspection task is an insulator, and each insulator is the point coordinate information to be inspected. If the task is to patrol the insulators and patrol each section or a plurality of sections of wires, on one hand, each insulator can be used as the patrol passing point coordinate information, and the patrol passing point coordinate information can be selected in a mode of each plurality of meters near the wires to be patrol.

Step 2: acquiring weather information; in this embodiment, the weather information includes the patrol area wind speed information of the patrol necessary point coordinate information, the wind direction information of each patrol necessary point coordinate information, and the patrol area rainfall information of each patrol necessary point coordinate information; in this embodiment, the wind speed information and wind direction information of the inspection area can be obtained by using anemometers, and the anemometers can be arranged at different positions according to the needs, for example, on a telegraph pole or on a building near the point coordinate information of a certain inspection, it can be understood how to arrange the anemometers and specifically where the anemometers can be set by themselves according to the needs, the set density of the anemometers can also be set by themselves according to the needs, and one or every other one of the anemometers near the point coordinate information of each inspection is needed, because in most cases, the wind speed condition of a certain area is approximately the same.

In this embodiment, the rainfall information of the inspection area may be obtained by a rainfall detection instrument (such as a rainfall cup, a rainfall cylinder) or the like, and as described above, the setting density of the rainfall detection instrument may also be set by itself as needed.

Step 3: the unmanned aerial vehicle nest a may have a plurality of unmanned aerial vehicles, and parameters such as a maximum flying speed of each unmanned aerial vehicle are different, and the corresponding unmanned aerial vehicle parameters can be found out through the unmanned aerial vehicle model, and the electric quantity information refers to the current residual electric quantity when the task is executed, not the maximum electric quantity.

Step 4: according to the line information to be inspected, the weather information and the position information of each unmanned aerial vehicle nest, one unmanned aerial vehicle nest in each unmanned aerial vehicle nest is selected as an initial unmanned aerial vehicle nest, in the embodiment, one unmanned aerial vehicle nest is selected as the initial unmanned aerial vehicle nest, and in the embodiment, the distance information of the nearest inspection passing point coordinate information of each unmanned aerial vehicle nest is obtained according to the position information of the unmanned aerial vehicle nest and the inspection passing point coordinate information;

taking the example shown in fig. 3 as an example, assume that the distance information between the unmanned aerial vehicle nest a and the point coordinate information which is the nearest to the unmanned aerial vehicle nest a in fig. 3 is 500 meters, the distance information between the unmanned aerial vehicle nest B and the point coordinate information which is the nearest to the unmanned aerial vehicle nest B is 1300 meters, the distance information between the unmanned aerial vehicle nest C and the point coordinate information which is the nearest to the unmanned aerial vehicle nest C is 300 meters, and assuming that the preset first distance threshold is 1000 meters, the unmanned aerial vehicle nest a and the unmanned aerial vehicle nest C meet the requirement, and the distance between the unmanned aerial vehicle nest C is closer, so that the unmanned aerial vehicle taking off theoretically can save more power and time, and at this time, if in the prior art, the unmanned aerial vehicle nest B is considered to be closer to the point coordinate information which is the nearest to the unmanned aerial vehicle nest B is selected as the starting vehicle nest.

However, since the present application considers wind direction, wind speed and rainfall at the same time, different results may be obtained.

For example, in this embodiment, when the number of unmanned aerial vehicle nests whose distance is smaller than the preset distance threshold exceeds two, the following operations are performed for each unmanned aerial vehicle nest, respectively:

in this embodiment, the unmanned aerial vehicle nest a has an unmanned aerial vehicle nest scoring database a, and the unmanned aerial vehicle nest C has an unmanned aerial vehicle nest scoring database C.

The method comprises the steps of obtaining a wind direction triplet which is the same as the point coordinate information of each inspection necessary and the current wind direction information of the point coordinate information of each inspection necessary in each wind direction triplet, wherein the obtained wind direction triplet is called a wind direction triplet to be scored, taking the wind direction triplet of the unmanned aerial vehicle nest A as an example, and the wind direction triplet may be as follows (wind direction classification is shown in fig. 4):

(first preset coordinate information, southeast wind, 5 points), (first preset coordinate information, northwest wind, -5 points), (first preset coordinate information, southward wind, 9 points), (first preset coordinate information, northwest wind, -9 points), (second preset coordinate information, southeast wind, 5 points), and the like.

When the first preset coordinate information is the same as one of the inspection passing point coordinate information and the current wind direction information of the inspection passing point coordinate information (for example, the inspection passing point coordinate information is obtained through the step 2 to be northwest wind), the triad (the first preset coordinate information, the northwest wind and the minus 5 points) is obtained as the wind direction triad to be scored.

When the second preset coordinate information is the same as one of the point coordinate information of each inspection passing point and the current wind direction information of the point coordinate information of the inspection passing point (for example, the point coordinate information of the inspection passing point is obtained through the step 2 is southeast wind), the triad (the second preset coordinate information, southeast wind and 5 minutes) is obtained as the wind direction triad to be scored.

Acquiring a wind speed triplet which is the same as the coordinate information of each routing inspection passing point in each wind speed triplet and in which the current wind speed information of the routing inspection passing point coordinate information is positioned in the preset wind speed interval information in the wind speed triplet, wherein the acquired wind speed triplet is called a wind speed triplet to be scored; taking the wind speed triplet of the unmanned aerial vehicle nest a as an example, the wind speed triplet may be as follows:

(first preset coordinate information, less than 1 km/h, 1 minute), (first preset coordinate information, 1-5 km/h, 2 minutes), (first preset coordinate information, 5-11 km/h, 3 minutes), (first preset coordinate information, 20-28 km/h, 4 minutes), and the like.

When the first preset coordinate information is the same as one of the point coordinate information of each inspection necessity, and the current inspection area wind speed information is located in the preset wind speed interval information in the wind speed triplet, for example, when the first preset coordinate information is the same as one of the point coordinate information of each inspection necessity, and the current wind speed information of the point coordinate information of each inspection necessity is 5 km/h, the triplet (the first preset coordinate information, 5-11 km/h, 3 minutes) is used as the wind speed triplet to be scored.

Acquiring a rainfall triplet which is the same as the coordinate information of each inspection passing point in each rainfall triplet and is positioned in the preset rainfall interval information in the rainfall triplet in the current inspection area rainfall information of the inspection passing point coordinate information, wherein the acquired rainfall triplet is called a rainfall triplet to be scored; taking the rainfall triplet of the unmanned aerial vehicle nest a as an example, the rainfall triplet may be as follows:

(first preset coordinate information, rainfall within 12 hours of less than 0.1 mm, 1 minute), (first preset coordinate information, rainfall within 12 hours of 0.1-4.9 mm, 2 minutes) and the like.

When the first preset coordinate information is the same as one of the point coordinate information of each inspection necessity, and the rainfall information of the current inspection area is positioned in the preset rainfall interval information in the rainfall triplet, for example, when the first preset coordinate information is the same as one of the point coordinate information of each inspection necessity, and the current rainfall information of the point coordinate information of each inspection necessity is 4 mm, the triplet (the first preset coordinate information, the rainfall within 12 hours of 0.1-4.9 mm and 2 minutes) is used as the rainfall triplet to be scored.

In this embodiment, a preset wind direction score in each wind direction triplet to be scored is obtained; for example, score-5 of (first preset coordinate information, northwest wind, -5 of) and score-5 of (second preset coordinate information, southeast wind, 5 of) are obtained, and of course, if there are other to-be-scored using wind direction triples, scores in other to-be-scored using wind direction triples are also obtained.

The method for obtaining the preset wind speed score in each to-be-scored wind speed triplet is the same as the method for obtaining the preset wind direction score, and is not described herein.

The method for obtaining the preset rainfall score in each rainfall triplet to be scored is the same as the method for obtaining the preset wind direction score, and is not described herein.

When the preset wind direction score of the wind direction triple to be scored of any one routing inspection passing point coordinate information is negative, setting the preset wind speed score in the wind speed triple to be scored which has the same routing inspection passing point coordinate information as the preset wind speed score in the wind speed triple to be scored; for example, the negative number is given as-5 points in the (first preset coordinate information, northwest wind and-5 points), and when the negative number is given, the wind speed triplet to be scored, which has the same inspection necessary point coordinate information, is given as the wind speed triplet to be scored (first preset coordinate information, 5-11 km/h and 3 points), and the wind speed triplet to be scored is given as-3 points.

Obtaining the sum of each preset wind direction score, each preset wind speed score and each preset rainfall score as the environmental score of the unmanned aerial vehicle nest, assuming that in one embodiment, the wind direction triples to be scored of the unmanned aerial vehicle nest a are:

(first preset coordinate information, northwest wind, -5 minutes);

the wind speed triplets to be scored of the unmanned aerial vehicle nest A are as follows:

(first preset coordinate information, 5-11 km/h, 3 minutes);

the to-be-scored rainfall triplet of the unmanned aerial vehicle nest A is as follows:

(the first preset coordinate information, the rainfall within 12 hours is 0.1-4.9 mm, 2 minutes);

then, since the score in wind direction is negative, the score in wind speed is changed to-3, and the final environmental score is:

-5+ (-3) +2= -6 minutes.

Other unmanned aerial vehicle nests can also obtain the final score through the algorithm.

Assuming that in the embodiment illustrated in fig. 3, the unmanned aerial vehicle nest with the highest environmental score is unmanned aerial vehicle nest a, unmanned aerial vehicle nest a is taken as the initial nest.

Step 5: generating a routing inspection route by taking the initial machine nest as a starting point, specifically, generating the routing inspection route by taking the initial machine nest as the starting point comprises:

acquiring coordinate information of each inspection passing point;

It can be understood that if the initial nest is in the middle part of the whole line or other parts, for example, the position of the unmanned aerial vehicle nest B in fig. 3, the position information of the initial nest can be used as a starting point by two unmanned aerial vehicles, one unmanned aerial vehicle uses one end of the line as an end point, the other unmanned aerial vehicle uses the other end of the line as an end point, the algorithm is respectively performed, that is, the line is respectively inspected by two unmanned aerial vehicles in a way of inspecting, that is, the whole line is divided into two parts to respectively generate inspection routes, and the parts which should be inspected are respectively sent to the corresponding unmanned aerial vehicles.

Step 6: generating a patrol strategy according to the patrol route, the unmanned aerial vehicle model number of the starting aircraft nest and the electric quantity information of each unmanned aerial vehicle, specifically, generating the patrol strategy according to the patrol route, the unmanned aerial vehicle model number of the starting aircraft nest and the electric quantity information of each unmanned aerial vehicle comprises:

the following operations are performed for the drones in each starter nest:

acquiring a trained transducer model;

acquiring the total distance of the inspection route;

In this embodiment, the test may be performed under different weather conditions (for example, different wind directions, different wind speeds, and different precipitation amounts) by a test method or an actual flight manner, so as to obtain a training set and a test set, so as to train and test the transducer model, which is understood that training the transducer model belongs to the prior art and is not described herein again.

When the estimated energy consumption rate is obtained, the power loss per minute can be known, at the moment, the time of the current unmanned aerial vehicle which can fly under the current power can be known, and the distance of the current unmanned aerial vehicle which can fly under the maximum flying speed can be known according to the maximum flying speed.

Assuming that in one embodiment, the flight distance of a certain unmanned aerial vehicle is 100 km, and the total distance of a routing inspection route is 60 km, subtracting the flight distance of the unmanned aerial vehicle according to the total distance of the routing inspection route, so as to obtain the remaining flight distance, namely 40 km;

and acquiring a linear distance between the unmanned aerial vehicle nest closest to the terminal point and the terminal point, for example, 20 km for the example, wherein the difference between the residual flight distance and the linear distance is 20 km, and if the preset second distance threshold is 10 km, judging whether the difference between the residual flight distance and the linear distance is greater than the preset second distance threshold, and selecting the unmanned aerial vehicle as an alternative inspection unmanned aerial vehicle.

It can be appreciated that through such a selection, it is possible to select a plurality of unmanned aerial vehicles to meet the conditions, at this time, select an alternative inspection unmanned aerial vehicle with the largest difference, and use the alternative inspection unmanned aerial vehicle to complete the inspection route in the whole course and fly to the unmanned aerial vehicle nest closest to the destination as the inspection strategy.

By adopting the mode, on one hand, the unmanned aerial vehicle can theoretically complete the whole inspection, and on the other hand, the unmanned aerial vehicle can also fly to the nearest unmanned aerial vehicle nest for landing under the condition of finishing the inspection.

In addition, some electric quantity can be reserved for the unmanned aerial vehicle by further setting a preset second distance threshold value, so that the actual electric quantity consumption caused by some accidents or calculation errors is prevented from being larger than the theoretical electric quantity consumption.

In this embodiment, the power line inspection method further includes:

It can be appreciated that before the power of the unmanned aerial vehicle is lower than 60% of the total power, the power information and the position information of the unmanned aerial vehicle do not need to be acquired in real time, so that the power of the transmission loss can be reduced.

When the electric quantity of the unmanned aerial vehicle is lower than 60% of the total electric quantity, real-time electric quantity information and position information of the unmanned aerial vehicle are required to be transmitted, so that preparation is made for subsequent judgment.

In this embodiment, the power line inspection method further includes:

In actual flight, weather conditions may change at any time, and the power consumption of the unmanned aerial vehicle in actual flight may exceed the expected power consumption due to the battery of the unmanned aerial vehicle or other reasons, so when the power consumption of the unmanned aerial vehicle exceeds 50% of the total power consumption, a further estimated method is needed to judge whether the unmanned aerial vehicle can successfully complete the task and fly into the unmanned aerial vehicle nest.

Through the judgment, whether the unmanned aerial vehicle can finish the inspection or not can be further determined, and when the unmanned aerial vehicle cannot finish the task, an auxiliary inspection strategy is required to be generated according to the non-inspection path, the position information of each unmanned aerial vehicle nest and the unmanned aerial vehicle model and electric quantity information in each unmanned aerial vehicle nest; the auxiliary inspection strategy comprises an original unmanned aerial vehicle driving strategy and an auxiliary unmanned aerial vehicle and unmanned vehicle group inspection strategy;

In this embodiment, generating the auxiliary inspection policy according to the non-inspected distance, the position information of each unmanned aerial vehicle nest, and the unmanned aerial vehicle model and the electric quantity information in each unmanned aerial vehicle nest includes:

the following operations are performed for each unmanned aerial vehicle nest:

acquiring coordinate information of each patrol passing point in the non-patrol path; referring to fig. 3, it is assumed that the triangle position in fig. 3 represents the current position of the unmanned aerial vehicle, and at this time, the electric quantity of the unmanned aerial vehicle is already less than 50%, and it is found that the unmanned aerial vehicle cannot complete the entire task through the above calculation.

Generating unmanned vehicle route information from the unmanned vehicle nest to the point coordinate information of each inspection necessary; in one embodiment, the tour inspection must pass point coordinate information that the current drone has passed may not be calculated.

For example, the black dots in fig. 3 represent the necessary patrol point coordinate information, and the necessary patrol point coordinate information 1, the necessary patrol point coordinate information 2, the necessary patrol point coordinate information 3, the necessary patrol point coordinate information 4, and the necessary patrol point coordinate information 5 are respectively called by the nearest unmanned aerial vehicle nest a to the nearest unmanned aerial vehicle nest C, wherein the current unmanned aerial vehicle has already patrol the necessary patrol point coordinate information 1, the necessary patrol point coordinate information 2, and no calculation is required for the unmanned aerial vehicle route information from the unmanned aerial vehicle to the necessary patrol point coordinate information 1, the necessary patrol point coordinate information 2 in any unmanned aerial vehicle nest, and only the unmanned aerial vehicle route information from the unmanned aerial vehicle to the necessary patrol point coordinate information 3, the unmanned vehicle route information to the necessary patrol point coordinate information 4, and the unmanned vehicle route information to the necessary patrol point coordinate information 5 need to be calculated.

It can be appreciated that the generation of the navigation route of the unmanned vehicle belongs to the prior art, and is not described herein.

Acquiring the maximum running speed of the unmanned vehicle and route information of each unmanned vehicle, thereby acquiring the time-consuming shortest route information, the time-consuming information of the time-consuming shortest route information and the routing inspection necessary point coordinate information corresponding to the time-consuming shortest route information from the route information of each unmanned vehicle; for example, assuming that the unmanned vehicle route information from the unmanned vehicle to the point coordinate information 3 necessary for inspection in the unmanned vehicle nest B is used for 20 minutes, the unmanned vehicle route information from the point coordinate information 4 necessary for inspection is used for 18 minutes, the unmanned vehicle route information from the point coordinate information 5 necessary for inspection is used for 25 minutes, the unmanned vehicle route information from the unmanned vehicle to the point coordinate information 3 necessary for inspection in the unmanned vehicle nest C is used for 31 minutes, the unmanned vehicle route information from the point coordinate information 4 necessary for inspection is used for 25 minutes, and the unmanned vehicle route information from the point coordinate information 5 necessary for inspection is used for 10 minutes, at this time, one shortest route information for each unmanned vehicle nest, and the shortest route information for the use and the point coordinate information for inspection corresponding to the shortest route information for use are selected as follows:

The unmanned vehicle route information of the point coordinate information 4 necessary for inspection is selected for the unmanned aerial vehicle nest B to serve as the time-consuming shortest route information of the unmanned aerial vehicle nest B, the time-consuming information of the time-consuming shortest route information is 18 minutes, and the point coordinate information necessary for inspection corresponding to the time-consuming shortest route information is the point coordinate information 4 necessary for inspection.

The unmanned vehicle route information of the point coordinate information 5 which is necessary to the inspection is selected for the unmanned plane nest C to serve as the time-consuming shortest route information of the unmanned plane nest C, the time-consuming information of the time-consuming shortest route information is 10 minutes, and the point coordinate information which corresponds to the time-consuming shortest route information and is necessary to the inspection is the point coordinate information 5 which is necessary to the inspection.

The estimated time of the inspection passing point coordinate information corresponding to the shortest route information of each time of use of the unmanned aerial vehicle in inspection is respectively obtained, namely, the current flight speed, the current electric quantity, the estimated energy consumption rate obtained before and the route distance to the inspection passing point coordinate information are obtained through the unmanned aerial vehicle (it can be understood that the inspection passing point coordinate information of the unmanned aerial vehicle which has flown through can not be calculated), and if the unmanned aerial vehicle can calculate the estimated time, the unmanned aerial vehicle can fly to the inspection passing point coordinate information.

Obtaining a difference value between the estimated time and the time information of the shortest route information of each time, and assuming that the time from the unmanned aerial vehicle to the inspection passing point coordinate information 4 is 15 minutes and the time from the unmanned aerial vehicle to the inspection passing point coordinate information 5 is 30 minutes, obtaining the difference value between the estimated time and the time information of the shortest route information of each time, namely:

the difference between the time from the flight of the unmanned aerial vehicle to the inspection of the necessary passing point coordinate information 4 and the time of the shortest route information of the time of the unmanned aerial vehicle nest B is 15 minutes and 18 minutes, namely 3 minutes;

the difference between the time from the flight of the unmanned aerial vehicle to the inspection of the necessary passing point coordinate information 5 and the time of the shortest route information of the unmanned aerial vehicle nest C is 30 minutes and the difference between 10 minutes is 20 minutes;

and acquiring the coordinate information of the routing inspection necessary point corresponding to the shortest route information with the minimum difference value, wherein the coordinate information of the routing inspection necessary point is used as a middle routing stop point, namely acquiring the coordinate information 4 of the routing inspection necessary point as a middle routing stop point.

The estimated remaining capacity information when the unmanned aerial vehicle is on inspection to the halfway transit stop point is obtained, namely the estimated remaining capacity information when the unmanned aerial vehicle arrives at the halfway transit stop point is obtained through the flight time to the halfway transit stop point, the current electric quantity and the estimated energy consumption rate, whether the estimated remaining capacity information exceeds a preset remaining capacity threshold value or not is judged, for example, the preset remaining capacity threshold value is 10, the estimated remaining capacity information when the unmanned aerial vehicle arrives at the halfway transit stop point is 20, and the preset remaining capacity threshold value is exceeded.

If the preset residual electric quantity threshold value is not exceeded, other routing inspection necessary passing point coordinate information which is closer to the unmanned aerial vehicle is required to be selected as a middle routing stop point.

If no suitable midway transit stop point exists, the unmanned aerial vehicle is landed to a suitable place, the unmanned aerial vehicle is excluded from the nearest unmanned aerial vehicle nest to be close to the unmanned aerial vehicle, and then the unmanned aerial vehicle is landed to the unmanned aerial vehicle in a cooperative landing mode of the unmanned aerial vehicle and the unmanned aerial vehicle.

By adopting the mode, the inspection strategy can be dynamically adjusted according to the real-time condition of the unmanned aerial vehicle which is originally inspected, the unmanned aerial vehicle which is originally inspected can be assisted to inspect through the optimal auxiliary strategy, and the problems of crash, loss and the like of the unmanned aerial vehicle under the condition of completing the inspection task can be solved.

In this embodiment, the power line inspection method further includes:

In this embodiment, the unmanned aerial vehicle and the unmanned aerial vehicle cooperatively land by adopting the following method:

the unmanned aerial vehicle sends first color spectrum information to the unmanned aerial vehicle;

The unmanned aerial vehicle acquires the first chromatographic information, generates second chromatographic information and third chromatographic information according to the first chromatographic information, and has color difference among the first chromatographic information, the second chromatographic information and the third chromatographic information;

the unmanned aerial vehicle generates identification information according to the second chromatographic information and the third chromatographic information;

the unmanned vehicle acquires first image information in a shooting range;

the unmanned vehicle judges whether the identification information can be identified from the first image information, if so, the unmanned vehicle determines that

The unmanned aerial vehicle acquires the position information and the identification information of the unmanned aerial vehicle according to the identification information;

and the unmanned aerial vehicle guides the unmanned aerial vehicle to fly to the appointed position according to the position information and the unmanned aerial vehicle identification information.

The application also provides a power line inspection device, which comprises a to-be-inspected line information acquisition module, a weather information acquisition module, an unmanned aerial vehicle nest information acquisition module, an initial nest determination module, an inspection route generation module, an inspection strategy generation module and an inspection strategy transmission module,

the line information acquisition module to be inspected is used for acquiring the line information to be inspected;

the inspection strategy generation module is used for generating an inspection strategy according to the inspection route, the unmanned aerial vehicle model number of the initial aircraft nest and the electric quantity information of each unmanned aerial vehicle;

It should be noted that the foregoing explanation of the method embodiment is also applicable to the apparatus of this embodiment, and will not be repeated here.

The application also provides an electronic device, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes the power line inspection method when executing the computer program.

The application also provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program can realize the power line inspection method when being executed by a processor.

Fig. 2 is an exemplary structural diagram of an electronic device capable of implementing the power line inspection method provided according to one embodiment of the present application.

As shown in fig. 2, the electronic device includes an input device 501, an input interface 502, a central processor 503, a memory 504, an output interface 505, and an output device 506. The input interface 502, the central processing unit 503, the memory 504, and the output interface 505 are connected to each other through a bus 507, and the input device 501 and the output device 506 are connected to the bus 507 through the input interface 502 and the output interface 505, respectively, and further connected to other components of the electronic device. Specifically, the input device 504 receives input information from the outside, and transmits the input information to the central processor 503 through the input interface 502; the central processor 503 processes the input information based on computer executable instructions stored in the memory 504 to generate output information, temporarily or permanently stores the output information in the memory 504, and then transmits the output information to the output device 506 through the output interface 505; the output device 506 outputs the output information to the outside of the electronic device for use by the user.

That is, the electronic device shown in fig. 2 may also be implemented to include: a memory storing computer-executable instructions; and one or more processors that, when executing the computer-executable instructions, may implement the power line inspection method described in connection with fig. 1.

In one embodiment, the electronic device shown in FIG. 2 may be implemented to include: a memory 504 configured to store executable program code; the one or more processors 503 are configured to execute the executable program code stored in the memory 504 to perform the power line inspection method in the above embodiment.

In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.

Computer-readable media include both permanent and non-permanent, removable and non-removable media, and the media may be implemented in any method or technology for storage of information. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device.

It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

Furthermore, it is evident that the word "comprising" does not exclude other elements or steps. A plurality of units, modules or means recited in the apparatus claims can also be implemented by means of software or hardware by means of one unit or total means.

The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The processor referred to in this embodiment may be a central processing unit (Central Processing Unit, CPU), or other general purpose processor, digital signal processor (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory may be used to store computer programs and/or modules, and the processor may perform various functions of the apparatus/terminal device by executing or executing the computer programs and/or modules stored in the memory, and invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program (such as a sound playing function, an image playing function, etc.) required for at least one function, and the like; the storage data area may store data (such as audio data, phonebook, etc.) created according to the use of the handset, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, memory, plug-in hard disk, smart Media Card (SMC), secure Digital (SD) Card, flash Card (Flash Card), at least one disk storage device, flash memory device, or other volatile solid-state storage device.

In this embodiment, the modules/units of the apparatus/terminal device integration may be stored in a computer readable storage medium if implemented in the form of software functional units and sold or used as a separate product. Based on such understanding, the present application may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, and the computer program may be stored in a computer readable storage medium, where the computer program, when executed by a processor, may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, executable files or in some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the content of the computer readable medium can be appropriately increased or decreased according to the requirements of the legislation and the practice of the patent in the jurisdiction. While the application has been described in terms of preferred embodiments, it is not intended to limit the application thereto, and any person skilled in the art can make variations and modifications without departing from the spirit and scope of the present application, and therefore the scope of the application is to be determined from the appended claims.

While the application has been described in detail in the foregoing general description and with reference to specific embodiments thereof, it will be apparent to one skilled in the art that modifications and improvements can be made thereto. Accordingly, such modifications or improvements may be made without departing from the spirit of the application and are intended to be within the scope of the application as claimed.

Claims

1. The power line inspection method is characterized by comprising the following steps of:

Acquiring line information to be inspected;

acquiring weather information;

2. The method for inspecting an electric power line unmanned aerial vehicle according to claim 1, wherein the line information to be inspected includes inspection necessary point coordinate information;

acquiring a preset wind speed score in each wind speed triplet to be scored;

acquiring a preset rainfall score in each rainfall triplet to be scored;

3. The power line inspection method according to claim 2, wherein the generating an inspection route with the starting nest as a starting point includes:

acquiring coordinate information of each inspection passing point;

4. The power line inspection method according to claim 3, wherein the generating an inspection policy according to the inspection route, the unmanned aerial vehicle model number of the starting nest and the electricity amount information of each unmanned aerial vehicle comprises:

The following operations are performed for the drones in each starter nest:

acquiring a trained transducer model;

acquiring the total distance of the inspection route;

5. The power line inspection method of claim 4, further comprising:

6. The power line inspection method of claim 5, further comprising:

7. The method of power line inspection according to claim 6, wherein generating the auxiliary inspection policy based on the non-inspected distance, the location information of each unmanned aerial vehicle nest, and the unmanned aerial vehicle model and power information in each unmanned aerial vehicle nest comprises:

the following operations are performed for each unmanned aerial vehicle nest:

8. The power line inspection method of claim 7, further comprising:

9. The utility model provides a power line inspection device which characterized in that, power line inspection device includes: