CN113050696A - Method, device and equipment for determining routing inspection route of power transmission line and storage medium - Google Patents
Method, device and equipment for determining routing inspection route of power transmission line and storage medium Download PDFInfo
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- G—PHYSICS
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- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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Abstract
The embodiment of the invention discloses a method, a device, equipment and a storage medium for determining a routing inspection route of a power transmission line. The routing inspection route determining method of the power transmission line comprises the following steps: acquiring line information corresponding to a target power transmission line in a target area; the line information comprises a coordinate set of towers on the target power transmission line and contour space parameter values of the towers, and the coordinates in the coordinate set are ordered according to the arrangement mode of the towers on the target power transmission line; and determining the patrol track control parameters of the target power transmission line based on the patrol planning rules in the patrol target by using the line information of the target power transmission line. The embodiment of the invention can realize that the unmanned aerial vehicle determines the routing inspection route based on the determined routing inspection track control parameters so as to autonomously inspect the power transmission line, thereby saving the cost and reducing the energy consumption while improving the inspection efficiency and the inspection accuracy.
Description
Technical Field
The embodiment of the invention relates to the field of meteorology, in particular to a method, a device, equipment and a storage medium for determining a routing inspection route of a power transmission line.
Background
Transmission lines are used to supply electrical energy, which plays a crucial role in establishing a reliable energy supply infrastructure. With the increasing role of renewable resources in the power grid, the role of transmission lines is also more and more important. The transmission line is subject to equipment aging and environmental corrosion as the service life increases. In order to ensure reliable power supply, the transmission line needs to be regularly inspected and maintained to determine the operating condition of the transmission line.
At present, the inspection of the power transmission line is usually carried out by two modes of manual inspection or helicopter inspection. In the manual inspection mode, an inspector inspects a line and a tower by experience. In the helicopter inspection mode, an inspector controls the helicopter to inspect lines and towers.
However, the manual inspection method is long in time consumption, low in efficiency and prone to missing inspection. The helicopter inspection mode has high cost and energy consumption, and the two inspection modes have low sustainable development.
Disclosure of Invention
The embodiment of the invention provides a method, a device, equipment and a storage medium for determining a routing inspection route of a power transmission line, so that an unmanned aerial vehicle can autonomously inspect the power transmission line based on determined inspection track control parameters, the inspection efficiency and the inspection accuracy are improved, and the cost and the energy consumption are reduced.
In a first aspect, an embodiment of the present invention provides a method for determining an inspection route of a power transmission line, where the method includes:
acquiring line information of a target power transmission line in a target area; the line information comprises a coordinate set of towers on the target power transmission line and contour space parameter values of the towers, and the coordinates in the coordinate set are sorted according to the arrangement mode of the towers on the target power transmission line;
and determining routing inspection track control parameters of the target power transmission line based on routing inspection planning rules in the routing inspection target by using the line information of the target power transmission line.
In a second aspect, an embodiment of the present invention provides an apparatus for determining an inspection route of a power transmission line, where the apparatus includes:
the acquisition module is used for acquiring the line information of the target power transmission line in the target area; the line information comprises a coordinate set of towers on the target power transmission line and contour space parameter values of the towers, and the coordinates in the coordinate set are sorted according to the arrangement mode of the towers on the target power transmission line;
the first determining module is used for determining the routing inspection track control parameters of the target power transmission line based on the routing inspection planning rules in the routing inspection target by using the line information of the target power transmission line.
In a third aspect, an embodiment of the present invention provides a computer device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the method for determining an inspection route of a power transmission line according to any one of the first aspect when executing the program.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the method for determining an inspection route of a power transmission line according to any one of the first aspect.
According to the embodiment of the invention, the route information of the target power transmission line in the target area is obtained, the route information of the target power transmission line is utilized, the routing inspection track control parameter of the target power transmission line is determined based on the routing inspection planning rule in the routing inspection target, and the routing inspection route can be determined according to the routing inspection track control parameter, so that the unmanned aerial vehicle can carry out routing inspection on the target power transmission line according to the determined routing inspection route. Through adopting above-mentioned technical scheme, can realize unmanned aerial vehicle and independently patrol and examine transmission line, it is consuming time longer to have solved the artifical mode of patrolling and examining among the correlation technique, and efficiency is lower, and appears leaking the problem of examining easily to and the helicopter mode cost of patrolling and examining and the higher problem of energy consumption, thereby when having improved efficiency of patrolling and examining and patrolling and examining the degree of accuracy, cost and energy consumption have been reduced, sustainable development nature is higher.
Drawings
Fig. 1 is a schematic flow chart of a method for determining an inspection route of a power transmission line according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of another method for determining an inspection route of a power transmission line according to an embodiment of the present invention;
fig. 3 is a schematic flow chart of a method for determining inspection track control parameters of a target power transmission line according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a routing inspection route formed by a plurality of routing inspection points according to an embodiment of the present invention;
fig. 5 is a schematic diagram of another inspection route composed of a plurality of inspection points according to an embodiment of the present invention;
fig. 6 is a schematic flowchart of another method for determining inspection track control parameters of a target power transmission line according to an embodiment of the present invention;
fig. 7 is a schematic diagram of an inspection route formed by a plurality of inspection points according to another embodiment of the present invention;
fig. 8 is a block diagram of an inspection route determination device for a power transmission line according to an embodiment of the present invention;
fig. 9 is a block diagram of another inspection route determination device for a power transmission line according to an embodiment of the present invention;
fig. 10 is a block diagram of another routing inspection route determination device for a power transmission line according to an embodiment of the present invention;
fig. 11 is a block diagram of another routing inspection route determination device for a power transmission line according to an embodiment of the present invention;
fig. 12 is a block diagram of another routing inspection route determination device for a power transmission line according to an embodiment of the present invention;
fig. 13 is a schematic structural diagram of a computer device according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Transmission lines (such as high-voltage transmission lines) are important components of power grids, play an important role in large-capacity and long-distance transmission, and the safe and reliable operation of the transmission lines is related to the stable development of economy. The distribution region of transmission line is extensive, and whole erects at the high altitude, and the convenience of daily patrolling and examining is relatively poor. The current inspection mode comprises: manual inspection, helicopter inspection and unmanned aerial vehicle inspection.
The manual inspection mode has low efficiency and is easy to miss inspection. In addition, the work environment of the patrol inspector is a high-risk environment, and the patrol inspector needs to be trained professionally to ensure the safety of the patrol inspector physiologically and psychologically, so that the labor cost of the manual patrol inspection mode is high, and the sustainable development is low. The helicopter inspection mode has the advantages of high cost and energy consumption for using the helicopter, and low sustainable development.
The embodiment of the invention provides a method for determining an inspection route of a power transmission line, which can be executed by an inspection route determination device of the power transmission line, wherein the device can be realized by software and/or hardware and can be generally integrated in computer equipment or an unmanned aerial vehicle. Referring to fig. 1, fig. 1 is a schematic flow chart of a method for determining an inspection route of a power transmission line according to an embodiment of the present invention, where the method includes the following steps:
step 101, obtaining line information of a target power transmission line in a target area; the line information comprises a coordinate set of towers on the target power transmission line and contour space parameter values of the towers, and the coordinates in the coordinate set are sorted according to the arrangement mode of the towers on the target power transmission line.
The target power transmission line may include: the grounding device comprises a lead, a lightning conductor, hardware fittings, insulators, towers, a foundation, a grounding device and the like, wherein the hardware fittings, the insulators and the like are all arranged on the towers. The tower is used for supporting the conducting wire and the lightning conductor; the insulator is used for suspending a wire to ensure that the wire is insulated from a tower and the ground; the hardware fitting is used for connecting a pole tower, an insulator, a conducting wire, a lightning conductor and the like. The foundation refers to the underground part of the tower and is used for stabilizing the tower. The grounding device is buried underground and directly contacted with the ground, and is used for reducing line lightning accidents.
The arrangement mode and the connection mode of each tower can be determined through the coordinate set. The contour space parameter values of the towers may include the size, type, shape, etc. of each tower on the target transmission line.
And 102, determining routing inspection track control parameters of the target power transmission line based on routing inspection planning rules in the routing inspection target by using the line information of the target power transmission line.
The line coordinate between any two adjacent towers in the tower set can be determined based on the coordinates of the two adjacent towers, and then the inspection track control parameters are determined based on the coordinates of the two adjacent towers, the line coordinate and the inspection planning rule. Or the patrol track control parameters can be determined based on the tower type, size and shape of any tower included in the contour space parameter values of the towers. The patrol track control parameters can comprise coordinates of patrol points, and a patrol route of the target power transmission line can be determined based on the patrol track control parameters so that the unmanned aerial vehicle can patrol the target power transmission line according to the determined patrol route.
In summary, the routing inspection route determining method for the power transmission line provided by the embodiment of the invention determines routing inspection track control parameters of the target power transmission line based on the routing inspection planning rule in the routing inspection target by using the acquired line information of the target power transmission line in the target area, and can determine the routing inspection route according to the routing inspection track control parameters, so that the unmanned aerial vehicle can inspect the target power transmission line according to the determined routing inspection route. Through adopting above-mentioned technical scheme, can realize that unmanned aerial vehicle independently patrols and examines to transmission line, when having improved and patrolled and examined efficiency and patrolled and examined the degree of accuracy, cost and energy consumption have been reduced, and sustainable development nature is higher.
An embodiment of the present invention provides another method for determining an inspection route of a power transmission line, please refer to fig. 2, where fig. 2 is a schematic flow diagram of another method for determining an inspection route of a power transmission line according to an embodiment of the present invention, where the method may include the following steps:
The coordinate set of the towers includes coordinates of each tower in the target transmission line, which may include longitude and latitude coordinates. The sorting mode of the coordinates is the same as that of the towers in the target transmission line, and each coordinate corresponds to one tower. For example, the coordinates may include coordinates of a center position of the corresponding tower and/or coordinates of the tower top, and the like.
The dimensions of the tower in the profile space parameter values of the tower may include at least one of: the tower call height, the distance between the wires, the total height of the tower, the vertical distance between the upper cross arm and the lower cross arm, the height of the ground wire bracket, the horizontal distance between the ground wire hanging points of the double ground wires, the buried depth of the electric pole and the like.
The tower type of the tower in the contour space parameter values of the tower can comprise a straight type and a strain resistant type. The shapes of the towers are classified according to different standards, for example, the shapes of the towers can include at least one of the following types: single loop, double loop, and multiple loops, etc.
The inspection target may include at least one of: the system comprises a patrol planning type, a patrol task type, a patrol planning rule and a photographing requirement parameter.
Wherein the routing inspection planning rule may include at least one of: the method comprises the following steps of determining a safe flight axis rule, a safe flight vertical face rule, a safe flight height rule, a track transfer point rule, positioning accuracy and an emergency response rule.
The inspection task category may include at least one of: channel inspection, arc tracking inspection, fine inspection and the like. Different task categories of patrolling and examining can reach the different purpose of patrolling and examining, and the passageway is patrolled and examined the finger and is close to one side (being the circuit below) on ground to the circuit (including wire and overhead ground wire) and patrol and examine, and the purpose does not have other potential safety hazards (for example there are trees or construction hidden danger within the safe distance) within guaranteeing the safe distance of circuit below to avoid the circuit to receive the destruction of external force. The arc tracking inspection refers to the close-range detection of the line, and aims to ensure that potential safety hazards such as strand loosening and the like do not exist in the line. The fine inspection refers to fine inspection of equipment such as hardware fittings and insulators mounted on the tower body and the tower, and aims to ensure that no potential safety hazard exists in the equipment mounted on the tower body and the tower.
By taking the inspection task types including channel inspection, fine inspection and arc-tracking inspection as examples, the corresponding inspection planning types can be determined according to the type of the tower in the task to be inspected, wherein the type of the tower comprises a linear type and a strain type. And then determining a routing inspection planning rule as a routing inspection target according to the routing inspection planning category and the routing inspection task category in the task to be routed.
And 203, determining the patrol track control parameters of the target power transmission line based on the patrol planning rules in the patrol target by using the line information of the target power transmission line.
And determining the inspection track control parameters in different modes according to the inspection planning rules determined according to different inspection task categories. In a first case, the inspection task category includes channel inspection and/or arc-pursuing inspection, please refer to fig. 3, where fig. 3 is a schematic flow chart of a method for determining inspection track control parameters of a target power transmission line according to an embodiment of the present invention, where the method includes channel inspection and/or arc-pursuing inspection corresponding to the inspection task category, and the method may include the following steps:
Two adjacent poles and towers form a pole and tower group. For example, the sag between two towers in any tower group can be determined based on the coordinates of the two towers, and then the line coordinates between the two towers can be determined by using the coordinates of the two towers and the sag. Sag refers to the vertical distance between the lowest point of the line between the two towers and the horizontal connecting line between the two towers.
Taking the example that the inspection track control parameters comprise coordinates of inspection points, part of the coordinates can be determined from the coordinates of the line and the coordinates of two towers in any tower group to be coordinates of the inspection points so as to obtain the inspection track control parameters, and further obtain an inspection route consisting of a plurality of inspection points. In addition, after the inspection points are determined, all the inspection points can be sequenced to enable the unmanned aerial vehicle to conduct inspection according to the sequence of the inspection points.
Optionally, before determining the plurality of inspection points, the safety distance corresponding to the inspection task category may be determined, and then the plurality of inspection points may be determined. This safe distance needs to satisfy and patrols and examines planning rule to guarantee that unmanned aerial vehicle can not receive the influence of the electric current of circuit release when carrying out transmission line and patrolling and examining, the circuit can not touched in the swing of flight in-process, and break down to the unmanned aerial vehicle trouble flight of this period of time with unmanned aerial vehicle control can not touch circuit etc..
For example, the safe distance may be determined using a safe distance formula, which may be:
Dr＝K1De+K2Ds+K3Dd
wherein D isrIndicating a safe distance, DeRepresenting the minimum discharge distance, D, of the target transmission line at different voltagessRepresents the maximum swing error distance, D, of the dronedRepresents the maximum displacement distance, K, of the drone within the visual delay of the person1、K2And K3All are custom coefficients greater than 1. For different inspection task categories, K1、K2And K3The values of (b) may be the same or different, respectively, and the embodiment of the present invention does not limit this.
When a plurality of inspection points of a target power transmission line are determined based on the safe distance, the corresponding inspection task category comprises channel inspection and/or arc-chasing inspection, coordinates of a plurality of inspection initial points can be determined from tower top coordinates and line coordinates of two towers in any tower group, and the coordinates of any inspection initial point belong to the tower top coordinates or the line coordinates of the two towers. And then, overlapping the coordinates of the plurality of inspection initial points with the safety distances corresponding to the inspection task categories in the directions corresponding to the inspection task categories respectively to obtain the coordinates of the plurality of inspection points.
Wherein, the passageway is patrolled and examined corresponding direction and is included the direction of keeping away from ground (the top of circuit promptly), can realize unmanned aerial vehicle like this and patrol and examine the circuit below. The direction away from the ground may be at an angle to the horizontal, for example perpendicular to the horizontal. When the direction far away from the ground is vertical to the horizontal plane, the minimum distance between each inspection point and the line between the two towers is equal to the safety distance.
The direction that follows the arc and patrol and examine the correspondence includes the direction (the side of circuit promptly) parallel with the horizontal plane, can realize like this that unmanned aerial vehicle patrols and examines closely to the circuit. The direction parallel to the horizontal plane may be at an angle to the projection of the line in the horizontal plane, e.g. perpendicular to the projection. When the direction parallel to the horizontal plane is perpendicular to the projection, the minimum distance between each inspection point and the line is equal to the safety distance.
It should be noted that, for the channel inspection, there is a case where there is a cross spanning line above the line between two towers in any tower group, and the cross spanning line is located on a power transmission line different from the target power transmission line in the target area. Since the height of the cross-spanning line is greater than the height of the line between the two towers, the spacing of the cross-spanning line from the line between the two towers needs to be considered when determining the safe distance.
Optionally, before determining the safety distance corresponding to the inspection task category, the coordinates of the intersection point of the line between the two towers in any tower group and the cross spanning line may be determined. And determining the spacing distance of the crossed crossing line and the line between the two towers based on the intersection point coordinates and the line coordinates. And then determining an initial safety distance corresponding to the inspection task type, and determining the sum of the initial safety distance and the interval distance as the safety distance corresponding to the inspection task type. For example, a minimum interval between the intersection point and the route may be determined based on the intersection point coordinates and the route coordinates, and the minimum interval may be determined as the interval distance. The process of determining the initial safe distance may refer to the process of determining the safe distance by using the safe distance formula, which is not described herein again in the embodiments of the present invention.
For example, referring to fig. 4 and fig. 5, fig. 4 is a schematic diagram of an inspection route composed of a plurality of inspection points according to an embodiment of the present invention, and fig. 5 is a schematic diagram of another inspection route composed of a plurality of inspection points according to an embodiment of the present invention. The inspection task category corresponding to fig. 4 is channel inspection, and the inspection task category corresponding to fig. 5 is arc-chasing inspection.
Fig. 4 shows tower a1 and tower a2 in a tower group, and line a3 and patrol route a4 between tower a1 and tower a 2. The patrol route a4 is located above route a3 and the route coordinates include the coordinates of all points on route a 3. The coordinates of the tower tops of the two towers and the coordinates of the part of the line a3 form coordinates of inspection initial points a31 to a36, the inspection line a4 comprises inspection points a41 to a46, and the inspection points a41 to a46 are in one-to-one correspondence with the inspection initial points a31 to a 36. The coordinates of any patrol point (e.g., patrol point a43) are: the corresponding inspection initial point (for example, the inspection initial point a33) is obtained by superimposing a safety distance in a direction away from the ground, and fig. 4 illustrates an example of a direction away from the ground and perpendicular to a horizontal plane. The unmanned aerial vehicle carries out channel routing inspection according to the sequence from the inspection point a41 to the inspection point a 46.
Fig. 5 illustrates an example of projections of the target transmission line and the patrol route on a horizontal plane, and fig. 5 shows tower b1 and tower b2, and a line b3 and a patrol route b4 between tower b1 and tower b 2. The patrol route b4 is located to one side of the route b3, and the route coordinates include the coordinates of all points on the route b 3. Coordinates of tower tops of the two towers and part of coordinates on a line b3 form coordinates of inspection initial points b 31-b 35, an inspection line b4 comprises inspection points b 41-b 45, and inspection points b 41-b 45 are in one-to-one correspondence with the inspection initial points b 31-b 35. The coordinates of any patrol point (e.g., patrol point b43) are: fig. 5 illustrates an example of a direction parallel to the horizontal plane and perpendicular to the projection of the line b3 on the horizontal plane, in which the corresponding patrol initiation points (for example, the patrol initiation point b33) are obtained by superimposing the safety distances in the direction parallel to the horizontal plane. The drone will make an arc pursuit patrol in the order from patrol points b41 to b 45.
In the second case, the inspection task category includes fine inspection. Referring to fig. 6, fig. 6 is a schematic flow chart of another method for determining inspection track control parameters of a target power transmission line according to an embodiment of the present invention, where the method includes refined inspection corresponding to inspection task categories, and the method may include the following steps:
This extreme point is the extreme point of cross arm in the shaft tower usually, confirms the coordinate with the biggest extreme point of central line interval, like this follow-up coordinate based on this extreme point confirms a plurality of patrolling and examining the point after, can avoid unmanned aerial vehicle to patrol and examine the inertial disturbance that the displacement of equidirectional not caused when patrolling and examining the route that a plurality of patrolling and examining the point are constituteed, guarantees to patrol and examine the stability and the accuracy of process. The number of coordinates of the end point may be plural, for example, when it is determined that the plurality of end points are equally and maximally spaced from the center line.
And 2032b, determining a plurality of inspection points based on the inspection planning rule in the inspection target by using the coordinates of the end points, wherein the coordinates of the inspection points form inspection track control parameters.
In addition, after the inspection points are determined, all the inspection points can be sequenced to enable the unmanned aerial vehicle to conduct inspection according to the sequence of the inspection points.
Optionally, before determining the plurality of patrol points of the target power transmission line, the safety distance corresponding to the patrol task category may be determined, and then the plurality of patrol points of the target power transmission line may be determined. The determination method of the safe distance may refer to the determination method of the safe distance in the first case, and is not described herein again in the embodiments of the present invention.
When determining a plurality of inspection points of the target power transmission line based on the safe distances, the safe distances corresponding to the inspection task categories can be superposed on the coordinates of the end points in the direction in which the end points are far away from the central line, so that the coordinates of the initial inspection points are obtained. Then, a patrol point group comprising the initial patrol points is obtained based on the coordinates of the initial patrol points, the patrol point group comprises a plurality of patrol points, and the projections of the plurality of patrol points in one patrol point group on the ground are overlapped.
Alternatively, the number of the patrol point groups may be plural. After determining the coordinates of the initial patrol point, one patrol point group including the initial patrol point may be determined. And then, taking the center line of the tower as a symmetry axis, determining symmetrical inspection points of each inspection point in the inspection point group, and obtaining at least one other inspection point group. The inspection points in any two inspection point groups are respectively symmetrical about the central line, namely the vertical distance between each inspection point in any two inspection point groups and the central line is the same. Therefore, the tower can be patrolled and examined in different directions, and comprehensive and fine patrolling and examining can be realized.
For example, one routing inspection point group including the initial routing inspection point can be determined on a straight line perpendicular to a horizontal plane where the initial routing inspection point is located, and routing inspection points in the same horizontal direction with all cross arms of the tower can be included in the routing inspection point group.
For example, referring to fig. 7, fig. 7 is a schematic diagram of an inspection route formed by a plurality of inspection points according to an embodiment of the present invention, where the inspection task category corresponding to fig. 7 is tower inspection, and the tower shown in fig. 7 is a dual-loop tower. Fig. 7 shows tower c1, endpoints c2 and c3, and inspection point groups c4 and c 5. Inspection point group c4 includes inspection points 1 to 5, and inspection point group c5 includes inspection points 6 to 10. The end points c2 and c3 are spaced at the same and the maximum distance from the center line c11 of the tower c1, and the coordinates of the end points c2 and c3 are determined as the coordinates of the end points. The initial patrol point is obtained by superimposing the coordinates of the end point c2 on the safety distance in the direction in which the end point c2 is far away from the center line c11, and superimposing the coordinates of the end point c3 on the safety distance in the direction in which the end point c3 is far away from the center line c 11.
The inspection points in the inspection point group c4 and the inspection point group c5 are respectively symmetrical with respect to the center line c11, and the vertical distances between the inspection points and the center line are the same, for example, the inspection point 5 and the inspection point 6 are symmetrical with respect to the center line c11, that is, the vertical distances between the inspection point 5 and the inspection point 6 and the center line c11 are the same. The projections of the inspection points in the inspection point group c4 on the ground are overlapped, and the inspection points 1 to 4 are respectively positioned in the same horizontal direction with the four cross arms of the tower c 1. The projections of the inspection points in the inspection point group c5 on the ground are overlapped, and the inspection points 7 to 10 are respectively positioned in the same horizontal direction with the four cross arms of the tower c 1. The unmanned aerial vehicle carries out tower inspection according to the sequence from inspection points 1 to 10.
Furthermore, after the plurality of inspection points of the target power transmission line are determined, camera sites on an inspection route formed by the plurality of inspection points can be determined so that the unmanned aerial vehicle can take pictures at the camera sites. In one example, a plurality of camera sites may be determined on the tour route; in another example, some or all of the plurality of inspection points may be used as camera sites, which is not limited in the embodiment of the present invention.
In the embodiment of the present invention, the routing inspection route determination device of the power transmission line may be integrated in a computer device, a server, an unmanned aerial vehicle, or the like, which is not limited in the embodiment of the present invention.
When the routing inspection route determination device of the power transmission line is integrated in the unmanned aerial vehicle, the unmanned aerial vehicle can directly determine a plurality of routing inspection points based on the routing inspection track control parameters, further determine routing inspection routes formed by the plurality of routing inspection points, and execute routing inspection tasks according to the determined routing inspection routes. When the routing inspection route determination device of the power transmission line is not integrated in the unmanned aerial vehicle, the routing inspection route determination device of the power transmission line determines a plurality of routing inspection points based on the routing inspection track control parameters, and then after determining the routing inspection route formed by the plurality of routing inspection points, the determined routing inspection route needs to be sent to the unmanned aerial vehicle, and the unmanned aerial vehicle executes routing inspection tasks according to the received routing inspection route. For example, the routing inspection route determination device of the power transmission line may establish a communication connection with the unmanned aerial vehicle, and the communication connection may include: hypertext transfer Protocol over secure Layer (https) or Transmission Control Protocol (TCP).
Taking the case that the routing inspection route determining device of the power transmission line is not integrated in the unmanned aerial vehicle, in practice, a no-fly area of the unmanned aerial vehicle exists, and for the no-fly area, in one implementation mode, the routing inspection route determining device of the power transmission line can acquire coordinates of the no-fly area after determining the routing inspection route. And when part or all of the routing inspection routes are located in the no-fly area, replanning the routing inspection routes. In another implementation manner, before the unmanned aerial vehicle executes the routing inspection task according to the received routing inspection route, the coordinates of the no-fly area can be acquired first, and then whether part or all of the routing inspection route is located in the no-fly area is judged. When a part or all of the routing in the routing inspection route is located in the no-fly area, the unmanned aerial vehicle cancels the execution of the routing inspection task. Further, the unmanned aerial vehicle can send warning information to the routing inspection route determination device of the power transmission line, and the routing inspection route determination device of the power transmission line replans the routing inspection route based on the received warning information.
In addition, the unmanned aerial vehicle can include positioner, when positioner instructed that unmanned aerial vehicle deviates from patrolling and examining the route in the in-process of carrying out the task of patrolling and examining, unmanned aerial vehicle can be based on the received switching instruction and switch into manual flight mode by automatic flight mode. The switching instruction may be sent by an operator to the drone when it is determined based on the positioning device that the drone deviates from the routing inspection route. Then the unmanned aerial vehicle can adjust to patrolling and examining the route or return the departure point based on received control command, stops carrying out and patrols and examines the task to effectively prevent the emergence of incident. Alternatively, the positioning device may determine the position of the drone using Real Time Kinematic (RTK) carrier-phase differential techniques.
In summary, the routing inspection route determining method for the power transmission line provided by the embodiment of the invention determines the routing inspection planning rule according to the acquired routing inspection target, determines the routing inspection track control parameter of the target power transmission line based on the routing inspection planning rule in the routing inspection target by using the acquired line information of the target power transmission line in the target area, and can determine the routing inspection route according to the routing inspection track control parameter, so as to realize that the unmanned aerial vehicle inspects the target power transmission line according to the determined routing inspection route. Through adopting above-mentioned technical scheme, can realize that unmanned aerial vehicle independently patrols and examines to transmission line, when having improved and patrolled and examined efficiency and patrolled and examined the degree of accuracy, cost and energy consumption have been reduced to utilize unmanned aerial vehicle to patrol and examine transmission line and avoided the region restriction, reduced and patrolled and examined transmission line's intensity of labour and risk coefficient, sustainable development nature is higher.
In addition, can patrol and examine the route according to the difference of target intelligent determination that patrols and examines of difference, can make unmanned aerial vehicle accomplish the target of patrolling and examining of different scenes and different modes, improve the flexibility and the accuracy of patrolling and examining, strengthened unmanned aerial vehicle and patrolled and examined information ization and the degree of automation of transmission line.
And before confirming a plurality of points of patrolling and examining, confirm earlier that patrol and examine the safe distance that task category corresponds in the target, later confirm a plurality of points of patrolling and examining based on safe distance to guarantee that unmanned aerial vehicle when carrying out transmission line and patrolling and examining, can not receive the influence of the electric current of circuit release, the circuit can not touched in the swing of flight in-process, and break down to the operating personnel with unmanned aerial vehicle control this period unmanned aerial vehicle trouble flight can not touch the circuit etc..
The sequence of the method provided by the above embodiment can be properly adjusted, and the steps can be correspondingly increased or decreased according to the situation. The embodiment of the present invention is not limited thereto.
Optionally, in the above embodiment, the method for determining the routing inspection route of the power transmission line performed by the routing inspection route determining device of the power transmission line is described as an example. In one example, different steps in the method for determining a routing inspection route of a power transmission line may be performed by different modules. The different modules may be located in one device or in different devices. The embodiment of the invention does not limit the device for executing the method for determining the routing inspection route of the power transmission line.
Unmanned aerial vehicles currently have wide application in various fields (e.g., geographic information acquisition, security control, equipment detection, power transmission line inspection, and the like). The mode that unmanned aerial vehicle patrolled and examined transmission line can reduce the influence of factors such as the length of circuit, shaft tower quantity, meteorological condition and the land structure of circuit among the transmission line, and the convenience, security and the accuracy are all higher in comparing in other modes of patrolling and examining, and consuming time shorter cost is lower. For example, in the region of the vehicles that cannot pass through or the dangerous region where wild animals usually appear, the unmanned aerial vehicle can realize the inspection of the power transmission line, so that the inspection efficiency can be improved, and the inspection task that the manual work cannot be completed can be completed.
In the correlation technique, the unmanned aerial vehicle inspection mode usually includes: and carrying out inspection and autonomous flight inspection under manual operation. In the mode of patrolling and examining under manual operation, unmanned aerial vehicle carries out the flight task under operating personnel's control, utilizes the airborne camera to shoot transmission line at the flight in-process, shoots the data and is used for confirming transmission line's running condition. However, the difficulty of manual operation in this method is high, and the inspection result is affected when the operation is not standardized.
Compared with the related art, the routing inspection route determining method for the power transmission line provided by the embodiment of the invention can determine the routing inspection route in advance so that the unmanned aerial vehicle can inspect according to the routing inspection route.
In the related art, for an autonomous flight inspection mode, in one example, an unmanned aerial vehicle acquires a recorded inspection track of an inspector who inspects a power transmission line, and then inspects the power transmission line according to the inspection track. However, the method needs to record the routing inspection track of the inspector in advance, and is high in cost and low in efficiency. And unmanned aerial vehicle can only patrol and examine according to the orbit of patrolling and examining of gathering, and the flexibility is relatively poor. In another example, a laser radar is used for scanning the power transmission line to obtain a three-dimensional stereo image of the power transmission line, and then a flight track is marked in the three-dimensional stereo image by using computer equipment to obtain the routing inspection route. However, the cost of laser radar scanning is high, and the flexibility of routing inspection is poor.
Compared with the related art, the method for determining the routing inspection route of the power transmission line provided by the embodiment of the invention can determine the routing inspection track control parameters of the power transmission line by using the line information of the power transmission line based on the routing inspection planning rule in the routing inspection target, so as to determine the routing inspection route of the power transmission line by the unmanned aerial vehicle, and the routing inspection trajectory of a routing inspector is not required to be recorded in advance, and the scanning is also not required to be carried out by using a radar, so that the cost is saved and the efficiency is improved. In addition, the corresponding routing inspection route can be determined according to the routing inspection target, and the flexibility of routing inspection is improved.
An embodiment of the present invention provides an inspection route determining device for a power transmission line, and fig. 8 is a block diagram of the inspection route determining device for a power transmission line provided in the embodiment of the present invention, where the inspection route determining device 30 for a power transmission line includes:
a first obtaining module 301, configured to obtain line information of a target power transmission line in a target area; the line information comprises a coordinate set of towers on the target power transmission line and contour space parameter values of the towers, and the coordinates in the coordinate set are sorted according to the arrangement mode of the towers on the target power transmission line.
The first determining module 302 is configured to determine, based on the routing inspection planning rule in the inspection target, inspection track control parameters of the target power transmission line by using the line information of the target power transmission line.
In summary, the routing inspection route determining device for the power transmission line provided in the embodiment of the present invention determines, by using the line information of the target power transmission line in the target area acquired by the first acquiring module through the first determining module, a routing inspection track control parameter of the target power transmission line based on the routing inspection planning rule in the routing inspection target, and determines the routing inspection route according to the routing inspection track control parameter, so as to implement that the unmanned aerial vehicle inspects the target power transmission line according to the determined routing inspection route. Through adopting above-mentioned technical scheme, can realize that unmanned aerial vehicle independently patrols and examines to transmission line, when having improved and patrolled and examined efficiency and patrolled and examined the degree of accuracy, cost and energy consumption have been reduced, and sustainable development nature is higher.
Optionally, referring to fig. 9, fig. 9 is a block diagram of another inspection route determining device for an electric transmission line according to an embodiment of the present invention, and on the basis of fig. 8, the inspection route determining device 30 for an electric transmission line further includes:
and a second obtaining module 303, configured to obtain the inspection target, and determine an inspection planning rule according to the inspection target.
Wherein, the inspection target comprises at least one of the following items: the system comprises a patrol planning type, a patrol task type, a patrol planning rule and a photographing requirement parameter.
Optionally, the tour planning rule includes at least one of: the method comprises the following steps of determining a safe flight axis rule, a safe flight vertical face rule, a safe flight height rule, a track transfer point rule, positioning accuracy and an emergency response rule.
Optionally, the second obtaining module 303 is configured to:
determining a corresponding inspection planning type according to the type of the tower in the task to be inspected; the tower types include linear type and strain-resistant type.
Determining a routing inspection planning rule according to the routing inspection planning category and the routing inspection task category in the tasks to be routed, and using the routing inspection planning rule as a routing inspection target; the inspection task category comprises channel inspection, fine inspection and arc-chasing inspection.
Optionally, the inspection task category includes channel inspection and/or arc-tracking inspection, two adjacent towers form a tower group, and the first determining module 302 is configured to:
and determining the line coordinate between the two towers in any tower group based on the coordinates of the two towers in any tower group.
The coordinates and the line coordinates of two towers in any tower group are utilized, a plurality of inspection points are determined based on an inspection planning rule in an inspection target, and the coordinates of the inspection points form inspection track control parameters.
Optionally, referring to fig. 10, fig. 10 is a block diagram of another inspection route determining device for an electric transmission line according to an embodiment of the present invention, and on the basis of fig. 9, the inspection route determining device 30 for an electric transmission line further includes:
and a second determining module 304, configured to determine a safety distance corresponding to the inspection task category.
A first determining module 302 configured to:
and determining coordinates of a plurality of inspection initial points from tower top coordinates and line coordinates of two towers in any tower group.
And overlapping the coordinates of the plurality of inspection initial points with the safety distances corresponding to the inspection task categories in the directions corresponding to the inspection task categories respectively to obtain the coordinates of the plurality of inspection points.
Wherein, the passageway is patrolled and examined corresponding direction and is included the direction of keeping away from ground, follows closely the arc and patrol and examine corresponding direction and include the direction parallel with the horizontal plane.
Optionally, the inspection task category includes channel inspection, please refer to fig. 11, where fig. 11 is a block diagram of another inspection route determining device for an electric transmission line according to an embodiment of the present invention, and on the basis of fig. 10, the inspection route determining device 30 for an electric transmission line further includes: a third determining module 305 for:
when a cross spanning line exists above a line between two towers in any tower group, determining the intersection point coordinates of the line between the two towers in any tower group and the cross spanning line, wherein the cross spanning line is positioned in a target area and is different from the power transmission line of the target power transmission line.
And the method is used for determining the spacing distance between the crossed crossing line and the line between two towers in any tower group based on the intersection point coordinate and the line coordinate.
A second determining module 304 for:
and determining an initial safety distance corresponding to the inspection task type.
And determining the sum of the initial safe distance and the spacing distance as the safe distance corresponding to the inspection task category.
Optionally, the inspection task category includes a refined inspection, and the first determining module 302 is configured to:
and determining a target tower, and determining the coordinates of an endpoint with the maximum distance from the central line of the target tower.
And determining a plurality of inspection points based on an inspection planning rule in the inspection target by using the coordinates of the end points, wherein the coordinates of the inspection points form the inspection track control parameters.
Optionally, referring to fig. 12, fig. 12 is a block diagram of another inspection route determining device for an electric transmission line according to an embodiment of the present invention, and on the basis of fig. 9, the inspection route determining device 30 for an electric transmission line further includes:
and a fourth determining module 306, configured to determine a safety distance corresponding to the inspection task category.
A first determining module 302 configured to:
and overlapping the coordinates of the end points with the safety distance corresponding to the inspection task category in the direction in which the end points are far away from the central line to obtain the coordinates of the initial inspection point.
The method comprises the steps that a patrol point group comprising initial patrol points is obtained based on coordinates of the initial patrol points, the patrol point group comprises a plurality of patrol points, and projections of the plurality of patrol points in one patrol point group on the ground are overlapped.
In summary, the routing inspection route determining device for the power transmission line provided in the embodiment of the present invention determines a routing inspection planning rule according to the acquired routing inspection target through the second acquiring module, determines a routing inspection track control parameter of the target power transmission line based on the routing inspection planning rule in the routing inspection target by using the line information of the target power transmission line in the target area acquired through the first acquiring module through the first determining module, and determines the routing inspection route according to the routing inspection track control parameter, so as to implement that the unmanned aerial vehicle inspects the target power transmission line according to the determined routing inspection route. Through adopting above-mentioned technical scheme, can realize that unmanned aerial vehicle independently patrols and examines to transmission line, when having improved and patrolled and examined efficiency and patrolled and examined the degree of accuracy, cost and energy consumption have been reduced to utilize unmanned aerial vehicle to patrol and examine transmission line and avoided the region restriction, reduced and patrolled and examined transmission line's intensity of labour and risk coefficient, sustainable development nature is higher.
In addition, can patrol and examine the route according to the difference of target intelligent determination that patrols and examines of difference, can make unmanned aerial vehicle accomplish the target of patrolling and examining of different scenes and different modes, improve the flexibility and the accuracy of patrolling and examining, strengthened unmanned aerial vehicle and patrolled and examined information ization and the degree of automation of transmission line.
And before confirming a plurality of points of patrolling and examining, confirm the safe distance that patrols and examines task classification and correspond in the target through second confirming module or fourth confirming module earlier, later confirm a plurality of points of patrolling and examining based on safe distance to guarantee that unmanned aerial vehicle when carrying out transmission line and patrolling and examining, can not receive the influence of the electric current of circuit release, the circuit can not touched in the swing of flight in-process, and break down to the unmanned aerial vehicle trouble flight of this section of time with unmanned aerial vehicle control line etc. can not touched.
The routing inspection route determining device for the power transmission line provided by the embodiment of the invention can execute the flow of the routing inspection route determining method for the power transmission line provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the executing method.
The embodiment of the invention provides computer equipment which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein when the processor executes the program, the routing inspection route determining method of the power transmission line provided by the embodiment of the invention is realized.
Fig. 13 is a schematic structural diagram of a computer apparatus according to an embodiment of the present invention, as shown in fig. 13, the computer apparatus includes a processor 40, a memory 41, an input device 42, and an output device 43; the number of processors 40 in the computer device may be one or more, and one processor 40 is taken as an example in fig. 13; the processor 40, the memory 41, the input device 42 and the output device 43 in the computer apparatus may be connected by a bus or other means, and the connection by the bus is exemplified in fig. 13.
The memory 41 is a computer-readable storage medium, and can be used for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the routing inspection route determination method for the power transmission line in the embodiment of the present invention (for example, the first obtaining module 301 and the first determining module 302 in the routing inspection route determination apparatus 30 for the power transmission line). The processor 40 executes various functional applications of the computer device and determines the routing inspection route of the power transmission line by running software programs, instructions and modules stored in the memory 41, that is, implements any of the above-described routing inspection route determination methods of the power transmission line.
The memory 41 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 required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 41 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, memory 41 may further include memory located remotely from processor 40, which may be connected to a computer device over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 42 may be used to receive input numeric or character information (e.g., wiring information) and to generate key signal inputs relating to analyst settings and function control of the computer device. The output device 43 may include a display device such as a display screen.
The embodiment of the invention also provides a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and when the computer program is executed by a processor, the computer readable storage medium realizes any one of the methods for determining the routing inspection route of the power transmission line provided by the embodiment of the invention.
The embodiment of the invention also provides an unmanned aerial vehicle which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein when the processor executes the program, the method for determining the routing inspection route of the power transmission line provided by the embodiment of the invention is realized. The structure of the unmanned aerial vehicle may refer to the structure of the computer device shown in fig. 13, which is not described herein again in the embodiments of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the routing inspection route determining apparatus for the power transmission line, each unit and each module included in the apparatus are only divided according to functional logic, but are not limited to the above division, as long as corresponding functions can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
In the present invention, "at least one" means one or more, "a plurality" means two or more, "and/or" is only one kind of association relation describing an associated object, which means that there may be three kinds of relations, for example, a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. Unless explicitly defined otherwise.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (12)
1. A routing inspection route determining method of a power transmission line is characterized by comprising the following steps:
acquiring line information of a target power transmission line in a target area; the line information comprises a coordinate set of towers on the target power transmission line and contour space parameter values of the towers, and the coordinates in the coordinate set are sorted according to the arrangement mode of the towers on the target power transmission line;
and determining routing inspection track control parameters of the target power transmission line based on routing inspection planning rules in the routing inspection target by using the line information of the target power transmission line.
2. The method of claim 1, further comprising:
acquiring a routing inspection target, and determining a routing inspection planning rule according to the routing inspection target;
wherein, the routing inspection target comprises at least one of the following items: the system comprises a patrol planning type, a patrol task type, a patrol planning rule and a photographing requirement parameter.
3. The method of claim 2, wherein the routing inspection planning rules include at least one of: the method comprises the following steps of determining a safe flight axis rule, a safe flight vertical face rule, a safe flight height rule, a track transfer point rule, positioning accuracy and an emergency response rule.
4. The method of claim 2, wherein obtaining the inspection targets and determining inspection planning rules based on the inspection targets comprises:
determining a corresponding inspection planning type according to the type of the tower in the task to be inspected; the tower types comprise a linear type and a strain resistant type;
determining a routing inspection planning rule as the routing inspection target according to the routing inspection planning category and the routing inspection task category in the task to be routed; the inspection task category comprises channel inspection, fine inspection and arc-chasing inspection.
5. The method according to any one of claims 2 to 4, wherein the inspection task category includes channel inspection and/or arc-pursuing inspection, two adjacent towers form a tower group, and the determining of the inspection track control parameter of the target power transmission line based on the inspection planning rule in the inspection target by using the line information of the target power transmission line comprises:
determining a line coordinate between two towers in any tower group based on the coordinates of the two towers in any tower group;
and determining a plurality of inspection points based on an inspection planning rule in an inspection target by using the coordinates of two towers in any tower group and the line coordinates, wherein the coordinates of the inspection points form the inspection track control parameters.
6. The method of claim 5, wherein prior to determining the plurality of inspection points based on the inspection planning rules in the inspection target using the coordinates of the two towers in any of the tower groups and the line coordinates, the method further comprises:
determining a safety distance corresponding to the inspection task category;
the method for determining a plurality of inspection points based on the inspection planning rule in the inspection target by using the coordinates of two towers in any tower group and the line coordinates comprises the following steps:
determining coordinates of a plurality of inspection initial points from tower top coordinates of two towers in any tower group and the line coordinates;
respectively overlapping the coordinates of the plurality of inspection initial points with the safety distances corresponding to the inspection task categories in the directions corresponding to the inspection task categories to obtain the coordinates of the plurality of inspection points;
wherein, the passageway is patrolled and examined corresponding direction and is included the direction of keeping away from ground, it patrols and examines corresponding direction and include the direction parallel with the horizontal plane to follow the arc.
7. The method of claim 6, wherein the inspection task category includes channel inspection, and before determining the safe distance corresponding to the inspection task category, the method further comprises:
when a cross spanning line exists above a line between two towers in any tower group, determining the intersection point coordinates of the line between the two towers in any tower group and the cross spanning line, wherein the cross spanning line is positioned in the target area and is different from the power transmission line of the target power transmission line;
determining the spacing distance between the crossed crossing line and the line between two towers in any tower group based on the intersection point coordinate and the line coordinate;
the determining the safety distance corresponding to the inspection task category comprises the following steps:
determining an initial safety distance corresponding to the inspection task category;
and determining the sum of the initial safe distance and the spacing distance as the safe distance corresponding to the inspection task category.
8. The method according to any one of claims 2 to 4, wherein the inspection task category includes fine inspection, and the determining the inspection orbit control parameters of the target transmission line based on the inspection planning rules in the inspection target by using the line information of the target transmission line includes:
determining a target tower, and determining the coordinate of an end point with the maximum distance from the center line of the target tower;
and determining a plurality of inspection points based on an inspection planning rule in an inspection target by using the coordinates of the end points, wherein the coordinates of the inspection points form the inspection track control parameters.
9. The method of claim 8, wherein prior to determining the plurality of inspection points based on the inspection planning rules in the inspection target using the coordinates of the endpoints, the method further comprises:
determining a safety distance corresponding to the inspection task category;
determining a plurality of inspection points based on an inspection planning rule in an inspection target by using the coordinates of the end points, including:
superposing the coordinates of the end points on the safety distance corresponding to the inspection task category in the direction of the end points far away from the central line to obtain the coordinates of an initial inspection point;
and obtaining a patrol point group comprising the initial patrol points based on the coordinates of the initial patrol points, wherein the patrol point group comprises a plurality of patrol points, and the projections of a plurality of patrol points in one patrol point group on the ground are overlapped.
10. An inspection route determination device of a power transmission line, characterized in that the device comprises:
the first acquisition module is used for acquiring the line information of a target power transmission line in a target area; the line information comprises a coordinate set of towers on the target power transmission line and contour space parameter values of the towers, and the coordinates in the coordinate set are sorted according to the arrangement mode of the towers on the target power transmission line;
the first determining module is used for determining the routing inspection track control parameters of the target power transmission line based on the routing inspection planning rules in the routing inspection target by using the line information of the target power transmission line.
11. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor, when executing the program, implements a method of routing inspection of an electric transmission line according to any one of claims 1 to 9.
12. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out a method for routing inspection of an electric transmission line according to any one of claims 1 to 9.
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