CN111609855A - Method for generating refined routing inspection routes in batch based on tower shapes - Google Patents
Method for generating refined routing inspection routes in batch based on tower shapes Download PDFInfo
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- CN111609855A CN111609855A CN201911382704.9A CN201911382704A CN111609855A CN 111609855 A CN111609855 A CN 111609855A CN 201911382704 A CN201911382704 A CN 201911382704A CN 111609855 A CN111609855 A CN 111609855A
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
Abstract
The invention provides a method for generating refined routing inspection routes in batch based on tower shapes, which comprises the steps of establishing a standard route model, firstly generating routes for a plurality of continuous tower bodies of the same type on a hybrid power transmission line to form a special route segment; the method comprises the following steps of dividing a hybrid power transmission line into a plurality of route sections, wherein each adjacent route section is of a different tower body type; then, a plurality of routes on the whole hybrid power transmission line are connected in series in sections to form a route of the hybrid power transmission line; therefore, the method for generating the refined routing inspection routes in batches based on the tower type can generate the routes in batches, and is very high in efficiency.
Description
Technical Field
The invention relates to the technical field of power inspection, in particular to a method for generating refined inspection routes in batch based on tower shapes.
Background
High-precision point cloud data and rich image information on a power transmission line channel can be collected dynamically in a large amount in real time based on an unmanned aerial vehicle platform by utilizing a laser radar scanning system.
However, researchers have also found in the research process that there are various inspection task requirements in the specific inspection process, such as: the method has the tasks of laser scanning terrain analysis and laser radar scanning and photographing for the photographing points of the tower body and the accessory equipment (such as key components of hanging points, insulators, ground wires, vibration dampers and the like) on the inspection line. However, the automatic inspection of the unmanned aerial vehicle equipment in the prior art has low identification precision, generally, the unmanned aerial vehicle equipment sequentially flies through the upper part of the tower body on the inspection line one by one to perform extensive inspection work, and the auxiliary equipment on each tower body and the tower body cannot be used for performing fine inspection of a photographing point and fine route path planning.
Meanwhile, a plurality of tower types may exist on a certain transmission line, and how to ensure that the route planning is rapidly performed on the disordered transmission line with the mixed plurality of tower types is a technical problem which needs to be solved urgently by technical personnel in the field.
Disclosure of Invention
The invention aims to provide a method for generating a refined routing inspection route in batch based on tower shapes, so as to solve the problems.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
the invention discloses a method for generating refined routing inspection routes in batches based on tower shapes, which comprises the following operation steps:
classifying pole tower bodies, and establishing a standard route model for the same type of pole tower bodies;
on a hybrid power transmission line mixed with a plurality of tower types, identifying a plurality of tower bodies of the same type which are continuously arranged on the hybrid power transmission line; carrying out batch generation of a route on a plurality of continuously arranged tower bodies of the same type, and splicing the routes of the continuously arranged tower bodies of the same type to form a route section;
and finally, identifying different route sections on the hybrid power transmission line one by one from the starting pole tower body and splicing the sections in sequence to form the route of the hybrid power transmission line.
Preferably, as one possible embodiment; the standard route model building operation, namely the standard route model building operation, specifically comprises the following operation steps:
firstly, collecting all three-dimensional point cloud data related to a standard tower body and accessory equipment, identifying the three-dimensional point cloud data of the standard tower body and the accessory equipment, and then selecting and marking a photographing point of the accessory equipment on the standard tower body in the three-dimensional point cloud data;
when the photographing points of the auxiliary equipment on the standard tower body are selected and marked, subdividing the standard tower body and the route paths of the auxiliary equipment on the standard tower body to obtain a plurality of subdivided regions, and then calculating the route points in each subdivided region to generate subdivided region routes;
splicing the standard tower body and the routes generated by different subdivided areas to finally obtain the route of the standard tower body;
safety verification is carried out on the air route of the standard tower body;
and after the standard route model is verified to be qualified, exporting the generated route of the standard tower body into a general format, and further finishing the standard route model.
Preferably, as one possible embodiment; the standard route model comprises the following forms: the model comprises a standard route model of a cat-head tower, a standard route model of a goblet tower, a standard route model of a portal tower, a standard route model of a T-shaped tower and a standard route model of a claw tower.
Preferably, as one possible embodiment; on a hybrid power transmission line mixed with multiple tower types, a plurality of continuously arranged tower bodies of the same type existing on the hybrid power transmission line are firstly identified, a plurality of continuously arranged tower bodies of the same type are subjected to batch generation of route lines, and the route lines of the continuously arranged tower bodies of the same type are spliced to form a route line segment, and the method specifically comprises the following operation steps:
carrying three-dimensional point cloud data on the hybrid power transmission line acquired by a laser radar scanner based on an unmanned aerial vehicle or a helicopter;
carrying out image feature processing on three-dimensional point cloud data of the hybrid power transmission line to identify a plurality of continuously arranged tower bodies of the same type on the hybrid power transmission line, carrying out route generation on the continuously arranged tower bodies of the same type according to the form of the standard route model, and splicing the routes of the continuously arranged tower bodies of the same type to form a route section; the section of the route is provided with a total tower entering point and a total tower exiting point.
Preferably, as one possible embodiment; and finally, identifying different route sections on the hybrid power transmission line one by one from the starting pole tower body and splicing the sections in sequence to form the route of the hybrid power transmission line, wherein the method specifically comprises the following operation steps:
and identifying different route sections on the hybrid power transmission line one by one from the starting pole tower body, and then sequentially splicing the total tower entering points and the total tower exiting points of the different route sections to form the route of the hybrid power transmission line.
Preferably, as one possible embodiment; selecting and marking a photographing point of accessory equipment on a standard tower body in three-dimensional point cloud data, and specifically comprising the following operation steps:
manually selecting and marking a photographing point of accessory equipment on a standard tower body on the target power transmission line in the three-dimensional point cloud data;
meanwhile, shooting control parameters of the shooting points are set, and the number of pictures to be shot and the shooting positions of each accessory device on the standard tower body are specifically set.
Preferably, as one possible embodiment; when selecting and marking a photographing point of the accessory equipment on the standard tower body, subdividing the standard tower body and a route path of the accessory equipment on the standard tower body to obtain a plurality of subdivided regions, calculating a route point in each subdivided region to generate a subdivided region route, and specifically comprising the following operation steps:
marking a standard tower body in the three-dimensional point cloud data as a first color body, marking a power line on the standard tower body in the three-dimensional point cloud data as a second color body, then marking accessory equipment on the standard tower body in the three-dimensional point cloud data as a third color body, and setting the third color body in the three-dimensional point cloud data as a photographing point; then determining the height positions of all photographing points of the standard tower body;
carrying out area subdivision on all photographing points on the standard tower body according to the height positions, wherein the photographing points in the same height range are the same-layer photographing points, and the same subdivided area where the same-layer photographing points are located is a high-degree layered area; in the same-height hierarchical region, arranging the same-layer photographed points to calculate the positions of the waypoints, and connecting the waypoints in the same-height hierarchical region in series to obtain the routes in the same-height hierarchical region; when the positions of the navigation points are calculated, ensuring that each navigation point and a third color body where a photographing point is located are out of a safe distance, ensuring that each navigation point and a first color body where a tower body is located and a second color body where a power line is located are out of the safe distance, ensuring that each navigation point is out of a middle phase region range, determining the navigation points in the same height hierarchical region in series, and finally determining a route in the current height hierarchical region through a spatial shortest path algorithm;
preferably, as one possible embodiment; and ensuring that each navigation point is out of the range of the middle-phase area, and executing the following operation steps: whether the middle position of the current standard tower body has a photographing point or not is judged, if so, the unmanned aerial vehicle needs to calculate the middle phase region range and fly to the middle phase region range for photographing when photographing the photographing point of the middle position of the standard tower body.
Preferably, as one possible embodiment; then splicing the standard tower body and the routes generated by different subdivided areas to finally obtain the route of the standard tower body, and specifically executing the following operation steps: splicing and designing the routes of the high-level hierarchical regions from top to bottom for routes generated by different subdivided regions on the same standard tower body, and finally obtaining the route of the standard tower body;
preferably, as one possible embodiment; the safety verification of the air route of the standard tower body specifically comprises the following operation steps:
carrying out safety verification of verification projects one by one on waypoints marked by the route of the standard tower body; the verification item comprises the steps of judging whether the distance between the waypoint and the point cloud data of the adjacent accessory equipment is beyond the standard safety distance or not and judging whether the distance between the adjacent waypoints meets the standard safety distance relation between the waypoints or not;
for the waypoints which do not meet the requirements, adjusting and correcting the positions of the waypoints which do not meet the requirements until the waypoints meet the requirements, and further completing the global model optimization operation of the route of the standard tower body;
after the route of the standard tower body is optimized, displaying the optimized route track in the three-dimensional data model; displaying system parameter information and waypoint information of the standard tower body;
the system parameter information comprises a safety distance, a tower passing height, a starting tower number, an ending tower number and a photographing area radius of a middle phase area range; the navigation point information of the standard tower body comprises the type of the standard tower body, ID numbers of all navigation points on the standard tower body and actual safety distances corresponding to all the navigation points on the standard tower body.
Preferably, as one possible embodiment; after the standard route model is qualified, exporting the generated route of the standard tower body into a general format, and further completing the standard route model, wherein the method specifically comprises the following operation steps: and after the verification is qualified, storing the generated route of the standard tower body, wherein the storage format is Json format file.
Compared with the prior art, the embodiment of the invention has the advantages that:
the invention provides a method for generating refined routing inspection routes in batch based on tower shapes, which is known by analyzing the main technical contents:
classifying pole tower bodies, and establishing a standard route model for the same type of pole tower bodies; on a hybrid power transmission line mixed with a plurality of tower types, identifying a plurality of tower bodies of the same type which are continuously arranged on the hybrid power transmission line; carrying out batch generation of a route on a plurality of continuously arranged tower bodies of the same type, and splicing the routes of the continuously arranged tower bodies of the same type to form a route section; and finally, identifying different route sections on the hybrid power transmission line one by one from the starting pole tower body and splicing the sections in sequence to form the route of the hybrid power transmission line.
Multiple pole tower bodies may exist in one hybrid power transmission line, and at least two pole tower bodies which are continuously arranged and distributed can certainly appear; a plurality of continuous pole tower bodies of the same type are distributed to form subsections; therefore, the tower body on the hybrid power transmission line can be divided into a plurality of sections, and each adjacent section is of a different tower body type;
the invention provides a method for generating refined routing inspection routes in batch based on tower shapes, which comprises the steps of establishing a standard route model, firstly generating routes for a plurality of continuous tower bodies of the same type on a hybrid power transmission line to form a special route segment; then, a plurality of routes on the whole hybrid power transmission line are connected in series in sections to form a route of the hybrid power transmission line; therefore, the method for generating the refined routing inspection routes in batches based on the tower type can generate the routes in batches, and is very high in efficiency.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic main operation flow diagram of a method for batch generation of a refined inspection route based on tower type according to an embodiment of the present invention;
fig. 2 is a schematic view of a detailed operation flow of step S100 in the method for generating a refined inspection route in batch based on tower type according to the first embodiment of the present invention;
fig. 3 is a schematic view of a detailed operation flow of step S200 in the method for generating a refined inspection route in batch based on tower type according to the first embodiment of the present invention;
fig. 4 is a schematic view of a detailed operation flow of step S110 in the method for generating a refined inspection route in batch based on tower type according to the first embodiment of the present invention;
fig. 5 is a schematic view of a detailed operation flow of step S120 in the method for generating a refined inspection route in batch based on tower type according to the first embodiment of the present invention;
fig. 6 is a schematic view of a detailed operation flow of step S140 in the method for generating a refined inspection route in batch based on tower type according to the first embodiment of the present invention;
fig. 7 is a point cloud data state effect diagram after a standard tower body photographing point mark is generated in batch based on tower types in the method for refining the routing inspection route according to the first embodiment of the present invention;
fig. 8 is a point cloud data state effect diagram generated after a standard tower body photographing point mark is generated and a waypoint and route are generated in the method for generating a refined routing inspection route in batch based on tower types according to the embodiment of the invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that certain terms of orientation or positional relationship are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that "connected" is to be understood broadly, for example, it may be fixed, detachable, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The present invention will be described in further detail below with reference to specific embodiments and with reference to the attached drawings.
Example one
As shown in fig. 1, an embodiment of the present invention provides a method for generating a refined inspection route in batch based on tower types, including the following steps:
step S100: classifying pole tower bodies, and establishing a standard route model for the same type of pole tower bodies;
step S200: on a hybrid power transmission line mixed with a plurality of tower types, identifying a plurality of tower bodies of the same type which are continuously arranged on the hybrid power transmission line; carrying out batch generation of a route on a plurality of continuously arranged tower bodies of the same type, and splicing the routes of the continuously arranged tower bodies of the same type to form a route section;
step S300: and finally, identifying different route sections on the hybrid power transmission line one by one from the starting pole tower body and splicing the sections in sequence to form the route of the hybrid power transmission line. Generally, a plurality of segments formed by distributing the same type of continuously arranged tower bodies exist on one hybrid transmission line, or at least two segments formed by the same type of continuously arranged tower bodies exist; therefore, the tower body on the hybrid power transmission line can be divided into a plurality of sections, and each adjacent section is of a different tower body type after the sections are finished; and then splicing the multiple route segments in step S300 to complete the planning and generation of the routes of the hybrid power transmission line.
The processing method comprises the steps of firstly classifying pole tower bodies, and establishing a standard route model for the same type of pole tower bodies;
traversing the whole hybrid transmission line on the hybrid transmission line mixed with a plurality of tower types, and firstly identifying a plurality of tower bodies of the same type which are continuously arranged on the hybrid transmission line; carrying out batch generation of a route on a plurality of continuously arranged tower bodies of the same type, and splicing the routes of the continuously arranged tower bodies of the same type to form a route section; and finally, identifying different route sections on the hybrid power transmission line one by one from the starting pole tower body and splicing the sections in sequence to form the route of the hybrid power transmission line.
The invention provides a method for generating refined routing inspection routes in batch based on tower shapes, which comprises the steps of establishing a standard route model, firstly generating routes for a plurality of continuous tower bodies of the same type on a hybrid power transmission line to form a special route segment; the method comprises the following steps of dividing a hybrid power transmission line into a plurality of route sections, wherein each adjacent route section is of a different tower body type; then, a plurality of routes on the whole hybrid power transmission line are connected in series in sections to form a route of the hybrid power transmission line; therefore, the method for generating the refined routing inspection routes in batches based on the tower type can generate the routes in batches, and is very high in efficiency.
For example, for a type in which there are 100 towers on a certain hybrid transmission line, there may be multiple tower types, for example, approximately 4 to 5 types of towers (assuming that the towers are classified into A, B, C, D, E five tower body types), a route segment may be first performed, then routes are rapidly generated in batches on the same route segment, and then multiple route segments are spliced to form the whole transmission line; the method comprises the following steps that (1) AAAABABBBBCAAABBBBBD may be arranged in the type arrangement of the mixed towers of the whole power transmission line, firstly, the current tower body is judged and identified to be the route section of which type and the continuous same type tower body, and the identification result is the route sections of AAAA, B, A, BBBB, C, AAA, BBBBB and D; in the above case, a plurality of continuous a-type tower bodies (i.e., "AAAA" and "AAA") may be subjected to batch fast route generation (when generating, a plurality of a-type tower bodies are automatically generated according to the route of a-type standard tower body, then a tower entry point and a tower exit point of each a-type tower body are set to be spliced to form a route segment, and a total tower entry point and a total tower exit point of the route segment are set); then, a plurality of continuous pole tower bodies of BBBB and BBBBBBB are used for generating a batch rapid air route; and then respectively identifying and automatically generating routes B, A and C, and finally splicing routes of a total tower entry point and a total tower exit point of a plurality of route segments in the whole hybrid power transmission line to form the routes of the hybrid power transmission line.
Obviously, establishing a standard route model is the most important technical operation; as shown in fig. 2, in step S100, the building operation of the standard route model, that is, the standard route model, specifically includes the following operation steps:
step S110: firstly, collecting all three-dimensional point cloud data related to a standard tower body and accessory equipment, identifying the three-dimensional point cloud data of the standard tower body and the accessory equipment (or called photographing points), and then selecting and marking the photographing points (the photographing points of key components such as hanging points, insulators, ground wires, vibration dampers and the like) of the accessory equipment on the standard tower body in the three-dimensional point cloud data; it should be noted that the above-mentioned selective marking work is manually completed, that is, the three-dimensional point cloud data model is presented in a three-dimensional manner when the file is opened, so that the technician can easily find the photographing point in the three-dimensional point cloud data model, and then manually select and mark the photographing point;
step S120: when the photographing points of the auxiliary equipment on the standard tower body are selected and marked, subdividing the standard tower body and the route paths of the auxiliary equipment on the standard tower body to obtain a plurality of subdivided regions (namely subdividing the plurality of subdivided regions from top to bottom of one tower body, namely a high-degree layer region), and then calculating the waypoints in each subdivided region to generate the subdivided region routes;
step S130: splicing the standard tower body and the routes generated by different subdivided areas to finally obtain the route of the standard tower body;
step S140: safety verification is carried out on the air route of the standard tower body;
step S150: and after the standard route model is verified to be qualified, exporting the generated route of the standard tower body into a general format, and further finishing the standard route model.
It should be noted that, in the specific technical solution of the embodiment of the present invention, the three-dimensional point cloud data is referred to as laser radar three-dimensional point cloud data for short. The method comprises the steps that an unmanned aerial vehicle is used for collecting three-dimensional point cloud data of a target power transmission line, then the three-dimensional point cloud data is used as a base, the three-dimensional point cloud data is processed, and finally a required air route is generated (namely, a three-dimensional point cloud data model is processed to obtain required air routes, the air routes on a standard tower body are spliced and connected in series to calculate a planned air route, and finally the air route of a standard air route model meeting the requirement is generated); the three-dimensional point cloud data model is processed to obtain a waypoint meeting the requirements, reference factors such as the safety distance between the waypoint and the photographing point, the tower-crossing height, the high-level hierarchical region, the middle-phase region range and the like need to be considered, and finally, a route is automatically generated through a spatial shortest path algorithm (for example, Dijkstra shortest path algorithm and the like are not repeated); then, after safety verification is needed to be carried out on the current standard route model, and the route is qualified after verification, the corrected route is generated and is exported to be in a general format; and then carrying out batch identification on the hybrid power transmission line, and planning the route in batches.
In step S150, the standard route model includes the following form: the standard course model of the cat-head tower, the standard course model of the wine glass tower, the standard course model of the portal tower, the standard course model of the T-shaped tower, the standard course model of the claw tower and the like, and the embodiment of the invention is not repeated.
As shown in fig. 3, in step S200: on a hybrid power transmission line mixed with multiple tower types, a plurality of continuously arranged tower bodies of the same type existing on the hybrid power transmission line are firstly identified, a plurality of continuously arranged tower bodies of the same type are subjected to batch generation of route lines, and the route lines of the continuously arranged tower bodies of the same type are spliced to form a route line segment, and the method specifically comprises the following operation steps:
step S210: carrying three-dimensional point cloud data on the hybrid power transmission line acquired by a laser radar scanner based on an unmanned aerial vehicle or a helicopter;
step S220: carrying out image feature processing on three-dimensional point cloud data of the hybrid power transmission line to identify a plurality of continuously arranged tower bodies of the same type on the hybrid power transmission line, carrying out route generation on the continuously arranged tower bodies of the same type according to the form of the standard route model, and splicing the routes of the continuously arranged tower bodies of the same type to form a route section; the section of the route is provided with a total tower entering point and a total tower exiting point (in addition, the tower entering point and the tower exiting point of each tower body of the section of the route are freely arranged). Namely, a plurality of continuously arranged tower bodies of the same type existing on the whole hybrid transmission line can be automatically identified through an image processing technology according to the current tower body image compared with the standard tower image; then, the route of the batch of continuously arranged tower bodies of the same type is generated to form a route section.
In step S300, finally, from the starting pole tower body, identifying different route segments on the hybrid power transmission line one by one and sequentially splicing the segments to form a route of the hybrid power transmission line, specifically including the following operation steps:
step S310: the method comprises the steps that different route sections on the hybrid power transmission line are identified one by one from a starting pole tower body, and then total tower entering points and total tower exiting points of the different route sections are sequentially spliced to form a route of the hybrid power transmission line; the total tower inlet point and the total tower outlet point can be freely distributed, and can also be distributed according to a certain sequence.
As shown in fig. 4, in the step S110, selecting and marking a photographing point of an accessory device on the standard tower body in the three-dimensional point cloud data specifically includes the following operation steps:
step S1110: manually selecting and marking a photographing point of accessory equipment on a standard tower body on the target power transmission line in the three-dimensional point cloud data;
step S1120: meanwhile, shooting control parameters of the shooting points are set, and the number of pictures to be shot and the shooting positions of each accessory device on the standard tower body are specifically set.
It should be noted that, in the specific technical solution of this embodiment, the first step of processing the three-dimensional point cloud data is to manually perform a selective marking of a photographed point; the selection marking work is manually finished, the three-dimensional point cloud data model is presented in a three-dimensional mode when the file is opened, technicians can easily find a photographing point in the three-dimensional point cloud data model, and then the photographing point is manually selected and marked; as shown in fig. 7 and 8, reference numerals 1 to 6 in fig. 7 and 8 are positions of hanging points of insulators, and reference numerals 7 and 8 are positions of connecting points of a ground wire and a standard tower body; the number of photos and the photographing position required by each accessory device can be uniformly set by being used as system parameters, and can also be individually set for different accessory devices.
As shown in fig. 5, in step S120, when selecting and marking the photographing point of the accessory device on the standard tower body, the route paths of the accessory device on the standard tower body and the standard tower body are subdivided to obtain a plurality of subdivided regions, and a waypoint is calculated in each of the subdivided regions to generate a subdivided region route, which specifically includes the following operation steps:
step 1210: marking a standard tower body in three-dimensional point cloud data (or called a three-dimensional point cloud data model) as a first color body (for example, the first color body is blue), marking a power line on the standard tower body in the three-dimensional point cloud data as a second color body (for example, the second color body is yellow), then marking accessory equipment on the standard tower body in the three-dimensional point cloud data as a third color body (for example, the third color body is a green photographing point), and setting the third color body in the three-dimensional point cloud data as a photographing point (namely, a position to be photographed selected in point cloud in a manual interaction manner); as shown in fig. 7 and 8, reference numerals 1 to 6 in fig. 7 and 8 are positions of hanging points of insulators, and reference numerals 7 and 8 are positions of connecting points of a ground wire and a standard tower body;
step S1220: then determining the height positions of all photographing points of the standard tower body;
step S1230: carrying out area subdivision on all photographing points on the standard tower body according to the height positions, wherein the photographing points in the same height range are the same-layer photographing points, and the same subdivided area where the same-layer photographing points are located is a high-degree layered area; in the same-height hierarchical region, arranging the same-layer photographed points to calculate the positions of the waypoints, and connecting the waypoints in the same-height hierarchical region in series to obtain the routes in the same-height hierarchical region; when the positions of the navigation points are calculated, ensuring that each navigation point and a third color body where a photographing point is located are out of a safe distance, ensuring that each navigation point and a first color body where a tower body is located and a second color body where a power line is located are out of the safe distance, ensuring that each navigation point is out of a middle phase region range, determining the navigation points in the same height hierarchical region in series, and finally determining a route in the current height hierarchical region through a spatial shortest path algorithm;
it should be noted that, in the specific technical solution of this embodiment, the safe distance refers to a safe distance from the nearest point of the power transmission line to the unmanned aerial vehicle when the unmanned aerial vehicle takes a picture (waypoint position); the division of the same high-level layer areas is to design and plan the route layer by layer, and it can be seen from fig. 7 that the labels 1 and 6, the labels 2 and 5, and the labels 3 and 4 are respectively at the same height (same layer), and when the route is set, the shooting points of the same layer are shot first, and then the route is moved to other layers to shoot, instead of continuously changing the height to shoot; in fig. 7 and 8, the reference numerals 1 to 8 are all the photo spots, whereas in fig. 8, the reference numerals a1 to a14 indicate waypoints generated by the above-described photo spot calculation. And the A1-A14 waypoints are spliced according to the corresponding sequence to form a route. In the course of designing the route of each tower body, attention needs to be paid to the design of tower entry points and tower exit points on the tower body; a tower entry point (i.e., a waypoint on the flight route of the unmanned aerial vehicle which flies into the top position of the current tower body) and a tower exit point (i.e., a waypoint on the flight route of the unmanned aerial vehicle which flies out from the bottom position of the current tower body); and the high-level hierarchical region at the topmost layer also needs to ensure that the tower-passing height of the air route is qualified, so that the air route is automatically generated in the high-level hierarchical region at the topmost layer through a space shortest path algorithm.
It should be added that, in step S1230, it is ensured that each waypoint is out of the range of the middle-phase region, the following operation steps are performed: whether the middle position of the current standard tower body has a photographing point or not is judged, if so, the unmanned aerial vehicle needs to calculate the middle phase region range and fly to the middle phase region range for photographing when photographing the photographing point of the middle position of the standard tower body. In the specific technical scheme of the embodiment of the invention, the middle phase region range refers to that if the selected photographing point is located in the middle position of the tower body, the unmanned aerial vehicle needs to fly to the middle region for photographing when photographing.
In step S130, splicing the standard tower body and the routes generated by the different subdivided regions, and finally obtaining the route of the standard tower body, specifically including performing the following operation steps:
step 1310: splicing and designing the routes of the high-level hierarchical regions from top to bottom for routes generated by different subdivided regions on the same standard tower body, and finally obtaining the route of the standard tower body; (it should be noted that by splicing the routes of different subdivided regions from top to bottom, the flight sequence of the routes can be realized by firstly photographing the high-level hierarchical region of the top layer, then moving the high-level hierarchical region of other layers to photograph instead of continuously changing the height to photograph or randomly and disorderly photographing, and by subdividing the region of the current pole tower body from top to bottom, and then photographing layer by layer, the photographing sequence is more reasonable in design, and the photographing height is reduced layer by layer, so that the unmanned aerial vehicle can be in a flat flight and descending photographing state for a longer time, on one hand, the power (fuel or electric power) of the unmanned aerial vehicle can be saved, and on the other hand, the rationality of a flight planning path is also ensured.
As shown in fig. 6, in step S140, the safety verification of the route of the standard tower body specifically includes the following operation steps:
step S1410: carrying out safety verification of verification projects one by one on waypoints marked by the route of the standard tower body; the verification item comprises the steps of judging whether the distance between the waypoint and the point cloud data of the adjacent accessory equipment is beyond the standard safety distance or not and judging whether the distance between the adjacent waypoints meets the standard safety distance relation between the waypoints or not;
step S1420: for the waypoints which do not meet the requirements, adjusting and correcting the positions of the waypoints which do not meet the requirements until the waypoints meet the requirements, and further completing the global model optimization operation of the route of the standard tower body;
step S1430: after the route of the standard tower body is optimized, displaying the optimized route track in the three-dimensional data model; displaying system parameter information and waypoint information of the standard tower body;
the system parameter information comprises a safety distance (namely the safety distance between a navigation point and a photographing point), a tower passing height, a starting tower number, an ending tower number and a photographing area radius of a middle phase area range; in addition, some non-core data parameters including insulator height, basic height (i.e. a horizontal reference height) and compensation parameters (i.e. horizontal distance compensation and photographing overlook angle) can be set, which are not described again; the waypoint information of the standard tower body comprises the type of the standard tower body, ID numbers of all waypoints on the standard tower body, and actual safe distances, horizontal distances and vertical distances corresponding to all waypoints on the standard tower body.
In step S150, after the standard tower body is qualified, the generated route of the standard tower body is exported to a general format, and the standard route model is completed, which specifically includes the following operation steps:
step S1510: and after the verification is qualified, storing the generated route of the standard tower body, wherein the storage format is Json format file.
The invention provides a method for generating refined routing inspection routes in batches based on tower types, which is characterized in that corresponding standard route models are constructed according to different tower types, the relative position relation between a navigation point and a component point is recorded in a model file, the route of the whole route can be quickly generated based on the route model, and meanwhile, the route can be stored in a model library for repeated use, so that the production efficiency is greatly improved and the manual workload is reduced while the route precision is ensured. When the route planning of a certain hybrid power transmission line is specifically realized, a refined routing inspection route planning scheme can be quickly generated in batches only by traversing the whole hybrid power transmission line; and the route models are generated based on different tower types, so that the routes of the whole route are generated rapidly in batches, and the processing efficiency is obviously improved.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (11)
1. A method for generating refined routing inspection routes in batches based on tower shapes comprises the following operation steps:
classifying pole tower bodies, and establishing a standard route model for the same type of pole tower bodies;
on a hybrid power transmission line mixed with a plurality of tower types, identifying a plurality of tower bodies of the same type which are continuously arranged on the hybrid power transmission line; carrying out batch generation of a route on a plurality of continuously arranged tower bodies of the same type, and splicing the routes of the continuously arranged tower bodies of the same type to form a route section;
and finally, identifying different route sections on the hybrid power transmission line one by one from the starting pole tower body and splicing the sections in sequence to form the route of the hybrid power transmission line.
2. The method for generating the refined inspection route in batch based on the tower type according to claim 1, wherein the establishing of the standard route model specifically comprises the following operation steps:
firstly, collecting all three-dimensional point cloud data related to a standard tower body and accessory equipment, identifying the three-dimensional point cloud data of the standard tower body and the accessory equipment, and then selecting and marking a photographing point of the accessory equipment on the standard tower body in the three-dimensional point cloud data;
when the photographing points of the auxiliary equipment on the standard tower body are selected and marked, subdividing the standard tower body and the route paths of the auxiliary equipment on the standard tower body to obtain a plurality of subdivided regions, and then calculating the route points in each subdivided region to generate subdivided region routes;
splicing the standard tower body and the routes generated by different subdivided areas to finally obtain the route of the standard tower body;
safety verification is carried out on the air route of the standard tower body;
and after the standard route model is verified to be qualified, exporting the generated route of the standard tower body into a general format, and further finishing the standard route model.
3. The tower-based batch generation method for refining inspection routes according to claim 1, wherein the standard route model comprises the form: the model comprises a standard route model of a cat-head tower, a standard route model of a goblet tower, a standard route model of a portal tower, a standard route model of a T-shaped tower and a standard route model of a claw tower.
4. The method for generating the refined inspection route in batch based on the tower types according to claim 2, wherein on the hybrid transmission line mixed with a plurality of tower types, a plurality of tower bodies of the same type which are continuously arranged on the hybrid transmission line are firstly identified; the method comprises the following steps of carrying out batch generation of a route on a plurality of continuously arranged pole tower bodies of the same type, splicing the routes of the continuously arranged pole tower bodies of the same type to form a route section, and specifically comprises the following operation steps:
carrying three-dimensional point cloud data on the hybrid power transmission line acquired by a laser radar scanner based on an unmanned aerial vehicle or a helicopter;
carrying out image feature processing on three-dimensional point cloud data of the hybrid power transmission line to identify a plurality of continuously arranged tower bodies of the same type on the hybrid power transmission line, carrying out route generation on the continuously arranged tower bodies of the same type according to the form of the standard route model, and splicing the routes of the continuously arranged tower bodies of the same type to form a route section;
and the route is provided with a total tower entering point and a total tower exiting point in a subsection mode.
5. The method for generating the refined inspection route in batch based on the tower type according to claim 4, wherein different route segments on the hybrid transmission line are identified one by one and sequentially spliced from an initial tower body to form the route of the hybrid transmission line, and the method specifically comprises the following operation steps:
and identifying different route sections on the hybrid power transmission line one by one from the starting pole tower body, and then sequentially splicing the total tower entering points and the total tower exiting points of the different route sections to form the route of the hybrid power transmission line.
6. The method for generating the refined inspection route in batch based on the tower type according to claim 4, wherein the method for selecting and marking the photographing points of the auxiliary equipment on the standard tower body in the three-dimensional point cloud data specifically comprises the following operation steps:
manually selecting and marking a photographing point of accessory equipment on a standard tower body on the target power transmission line in the three-dimensional point cloud data;
meanwhile, shooting control parameters of the shooting points are set, and the number of pictures to be shot and the shooting positions of each accessory device on the standard tower body are specifically set.
7. The method for generating the refined inspection route in batch based on the tower type according to claim 5, wherein when the photographing points of the auxiliary equipment on the standard tower body are selected and marked, the route paths of the auxiliary equipment on the standard tower body and the standard tower body are firstly subdivided to obtain a plurality of subdivided areas, and the route points are calculated in each subdivided area to generate the subdivided area route, which specifically comprises the following operation steps:
marking a standard tower body in the three-dimensional point cloud data as a first color body, marking a power line on the standard tower body in the three-dimensional point cloud data as a second color body, then marking accessory equipment on the standard tower body in the three-dimensional point cloud data as a third color body, and setting the third color body in the three-dimensional point cloud data as a photographing point; then determining the height positions of all photographing points of the standard tower body;
carrying out area subdivision on all photographing points on the standard tower body according to the height positions, wherein the photographing points in the same height range are the same-layer photographing points, and the same subdivided area where the same-layer photographing points are located is a high-degree layered area; in the same-height hierarchical region, arranging the same-layer photographed points to calculate the positions of the waypoints, and connecting the waypoints in the same-height hierarchical region in series to obtain the routes in the same-height hierarchical region; when the positions of the navigation points are calculated, it is ensured that each navigation point and a third color body where the photographing point is located are located out of a safe distance, it is ensured that each navigation point and a first color body where the tower body is located and a second color body where the power line is located are located out of safe distances, it is ensured that each navigation point is located out of a middle phase region range, then the navigation points in the same height hierarchical region in series connection can be determined, and finally the route in the current height hierarchical region is determined through a spatial shortest path algorithm.
8. The method for generating refined inspection routes based on tower type batches according to claim 6, wherein each route point is ensured to be out of the middle phase area range, the following operation steps are carried out: whether the middle position of the current standard tower body has a photographing point or not is judged, if so, the unmanned aerial vehicle needs to calculate the middle phase region range and fly to the middle phase region range for photographing when photographing the photographing point of the middle position of the standard tower body.
9. The method for generating the refined inspection route in batch based on the tower type according to claim 7, wherein the standard tower body and the route generated by different subdivided areas are spliced to obtain the route of the standard tower body, and the method specifically comprises the following operation steps:
and splicing and designing the routes of the high-level hierarchical regions from top to bottom for routes generated by different subdivided regions on the same standard tower body, and finally obtaining the route of the standard tower body.
10. The method for generating the refined inspection route in batch based on the tower type according to claim 8, wherein the safety verification of the route of the standard tower body specifically comprises the following operation steps:
carrying out safety verification of verification projects one by one on waypoints marked by the route of the standard tower body; the verification item comprises the steps of judging whether the distance between the waypoint and the point cloud data of the adjacent accessory equipment is beyond the standard safety distance or not and judging whether the distance between the adjacent waypoints meets the standard safety distance relation between the waypoints or not;
for the waypoints which do not meet the requirements, adjusting and correcting the positions of the waypoints which do not meet the requirements until the waypoints meet the requirements, and further completing the global model optimization operation of the route of the standard tower body;
after the route of the standard tower body is optimized, displaying the optimized route track in the three-dimensional data model; displaying system parameter information and waypoint information of the standard tower body;
the system parameter information comprises a safety distance, a tower passing height, a starting tower number, an ending tower number and a photographing area radius of a middle phase area range; the navigation point information of the standard tower body comprises the type of the standard tower body, ID numbers of all navigation points on the standard tower body and actual safety distances corresponding to all the navigation points on the standard tower body.
11. The method for generating the refined inspection route in batch based on the tower type according to claim 9, wherein after the verification is qualified, the generated route of the standard tower body is exported to a general format, and then the standard route model is completed, which specifically comprises the following operation steps: and after the verification is qualified, storing the generated route of the standard tower body, wherein the storage format is Json format file.
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