CN113377120A

CN113377120A - Inspection method, device, equipment, system and storage medium

Info

Publication number: CN113377120A
Application number: CN202110729483.9A
Authority: CN
Inventors: 韩洪豆; 张昌征; 高海龙; 肖学权; 张潇; 徐志鹏; 谢忠
Original assignee: Xuzhou New Power Hi Tech Electric Co ltd; Xuzhou Power Supply Co of State Grid Jiangsu Electric Power Co Ltd
Current assignee: State Grid Jiangsu Electric Power Co ltd Innovation And Innovation Center; State Grid Xuzhou Power Supply Co; Xuzhou New Power Hi Tech Electric Co ltd; State Grid Jiangsu Electric Power Co Ltd
Priority date: 2021-06-29
Filing date: 2021-06-29
Publication date: 2021-09-10
Anticipated expiration: 2041-06-29
Also published as: CN113377120B

Abstract

The invention discloses a method, a device, equipment, a system and a storage medium for routing inspection, wherein the method comprises the following steps: determining an initial routing inspection route according to the routing inspection plan and the tower data; determining a machine location point and an image acquisition point of each tower according to the initial routing inspection route, tower data and a corner angle between each tower; and sending the machine location points and the image acquisition points to inspection equipment so as to control the inspection equipment to carry out flight inspection on each tower based on each machine location point and acquire image information of each tower based on each image acquisition point. According to the technical scheme, the machine position points and the image acquisition points of the towers are determined according to the corner angles and the tower data between the towers contained in the initial routing inspection line, the machine position points and the image acquisition points are sent to the routing inspection equipment, the routing inspection equipment is controlled to carry out flying routing inspection on the towers based on the machine position points, the image information of the towers is acquired at the image acquisition points, fine routing inspection on the towers contained in the power transmission line is achieved, and the routing inspection accuracy and safety are improved.

Description

Inspection method, device, equipment, system and storage medium

Technical Field

The embodiment of the invention relates to a tower inspection technology, in particular to an inspection method, device, equipment, system and storage medium.

Background

At present, various inspection flying robots gradually become research hotspots in various fields, the inspection flying robots have the advantages of convenience in use, high flying precision, capability of effectively replacing manpower to execute high-difficulty inspection tasks, high intelligence, flexibility and stability in aerial operation and the like, and more inspection flying robots are used for replacing human beings to execute various operations. With the annual growth of Chinese power grid users, more and more high-voltage lines are put into operation, and a power enterprise spends a large amount of manpower and material resources to operate, maintain and overhaul the transmission tower every year. Aiming at the problems of high labor intensity, low efficiency, terrain factor limitation and the like of a manual inspection mode, the inspection of the transmission tower by the inspection flying robot becomes the development direction of the future artificial intelligence era.

In the prior art, the calculated machine location point parameters and the calculated photographing point parameters can be sent to the inspection flying robot, and the inspection flying robot executes an inspection task according to the machine location point parameters and the photographing point parameters, so that the independent inspection of the transmission tower is realized.

However, in the prior art, when the angle of a corner between any two transmission towers in the inspection task is too large, the inspection flying robot inspects the transmission towers according to the initial machine location point and the initial photographing point, which easily causes that the inspection flying robot is too close to an off-line or even hits a line, and causes serious economic loss.

Disclosure of Invention

The invention provides a routing inspection method, a device, equipment, a system and a storage medium, which are used for realizing the fine routing inspection of towers included in a power transmission line and improving the routing inspection accuracy and the routing inspection safety.

In a first aspect, an embodiment of the present invention provides a polling method, including:

determining an initial routing inspection route according to the routing inspection plan and the tower data;

determining a machine location point and an image acquisition point of each tower according to the initial routing inspection route, the tower data and the corner angle between each tower;

and sending the machine location points and the image acquisition points to inspection equipment so as to control the inspection equipment to carry out flight inspection on each tower based on each machine location point and acquire image information of each tower based on each image acquisition point.

Further, the tower data includes physical tower data, logical tower data, tower structure and line information, and accordingly, the initial routing inspection route is determined according to the routing inspection plan and the tower data, and the method includes:

determining the pole tower to be inspected according to the inspection plan;

determining patrol parameters according to the tower data of each tower needing to be patrolled, wherein the patrol parameters comprise flight heights and longitudes and latitudes of each machine location point corresponding to each tower;

and determining the initial routing inspection route according to the routing inspection parameters.

Further, determining a machine location point and an image acquisition point of each tower according to the initial routing inspection route, the tower data and a corner angle between each tower, comprising:

if the corner angle is larger than a preset angle threshold, determining a middle tower in three adjacent towers forming the corner angle as a target tower;

determining a target machine position point and a target image acquisition point of the target tower according to the corner angle and the tower data of the target tower; and determining the machine location points and the image acquisition illumination points of other towers based on the preset routing inspection route.

Further, determining a target machine position point and a target image acquisition point of the target tower according to the corner angle and the tower data of the target tower comprises:

determining the cross arm longitude and latitude of the top point of the longest cross arm contained in the target tower according to the tower data of the target tower and the base point longitude and latitude of the target tower;

determining the machine position longitude and latitude of each target machine position according to the cross arm longitude and latitude;

and determining the image acquisition longitude and latitude and the image acquisition angle of each target image acquisition point according to the longitude and latitude of each machine position.

Further, determining the machine location longitude and latitude of each target machine location according to the cross arm longitude and latitude, including:

determining the machine position longitude and latitude of the target machine position point on the same layer according to the cross arm longitude and latitude;

and determining the machine position longitude and latitude of the target machine sites of other layers according to the vertical distance between the cross arms and the machine position longitude and latitude of the target machine sites of the same layer.

Further, controlling the inspection equipment to perform flight inspection on each tower based on each machine location point and to acquire image information of each tower based on each image acquisition point includes:

comparing the current longitude and latitude of the inspection equipment with the machine location point longitude and latitude of the machine location point corresponding to the inspection equipment, and if the current longitude and latitude is consistent with the machine location point longitude and latitude, determining that the inspection equipment reaches the machine location point;

and determining the image acquisition points corresponding to the machine position points, and acquiring the image information of the tower based on the image acquisition points.

Further, determining the image acquisition point corresponding to the machine location point comprises:

determining a yaw angle of the inspection equipment when the inspection equipment is positioned at the machine position point and angle information of an image acquisition device loaded by the inspection equipment;

and determining the longitude and latitude and the angle of the image acquisition point corresponding to the machine position according to the current longitude and latitude, the yaw angle and the angle information.

Further, the method further comprises:

and forming a channel inspection route based on inspection points at preset heights above the towers, and controlling the inspection equipment to inspect the line channel of each tower based on the channel inspection route.

Further, the method further comprises:

and determining a power transmission line inspection route based on the machine sites of each layer of the tower, and controlling the inspection equipment to inspect each power transmission line based on the power transmission line inspection route.

The embodiment of the invention provides a routing inspection method, which comprises the following steps: determining an initial routing inspection route according to the routing inspection plan and the tower data; determining a machine location point and an image acquisition point of each tower according to the initial routing inspection route, the tower data and the corner angle between each tower; and sending the machine location points and the image acquisition points to inspection equipment so as to control the inspection equipment to carry out flight inspection on each tower based on each machine location point and acquire image information of each tower based on each image acquisition point. According to the technical scheme, after the initial inspection line is determined, the machine position point and the image acquisition point of each tower during inspection can be determined according to the corner angle between each tower contained in the initial inspection line and the tower data of each tower, the machine position point and the image acquisition point of each tower are sent to the inspection equipment, the inspection equipment is controlled to carry out flying inspection on each tower based on each machine position point, the image information of each tower is acquired at each image acquisition point, fine inspection of the towers contained in the power transmission line is achieved, and the inspection accuracy and safety are improved.

In a second aspect, an embodiment of the present invention further provides an inspection device, where the inspection device includes:

the initial routing inspection route determining module is used for determining an initial routing inspection route according to the routing inspection plan and the tower data;

the point determining module is used for determining a machine location point and an image acquisition point of each tower according to the initial routing inspection route, the tower data and a corner angle between each tower;

and the control inspection module is used for sending the machine location points and the image acquisition points to inspection equipment so as to control the inspection equipment to carry out flight inspection on the towers based on the machine location points and acquire the image information of the towers based on the image acquisition points.

Further, the tower data includes physical tower data, logical tower data, tower type structure and line information, and accordingly, the initial routing inspection determining module is specifically configured to:

determining the pole tower to be inspected according to the inspection plan;

Further, the point determination module is specifically configured to:

determining a target machine position point and a target image acquisition point of the target tower according to the corner angle and the tower data of the target tower;

and determining the machine location points and the image acquisition illumination points of other towers based on the preset routing inspection route.

Further, control module of patrolling and examining specifically is used for:

In one embodiment, determining the image acquisition points corresponding to the machine location point comprises:

Further, the apparatus further comprises:

and the line channel inspection module is used for forming a channel inspection route based on inspection points at preset heights above the towers and controlling the inspection equipment to inspect the line channel of each tower based on the channel inspection route.

Further, the apparatus further comprises:

and the power transmission line inspection module is used for determining a power transmission line inspection route based on the machine sites of each layer of each tower and controlling the inspection equipment to inspect each power transmission line based on the power transmission line inspection route.

In a third aspect, an embodiment of the present invention further provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor executes the computer program to implement the inspection method according to any one of the first aspects.

In a fourth aspect, an embodiment of the present invention further provides an inspection system, including an inspection device and a computer device in communication connection with the inspection device, where the computer device is configured to execute the inspection method according to any one of the first aspect, and the inspection device is configured to inspect each tower under the control of the computer device.

In a fifth aspect, the present invention further provides a storage medium containing computer-executable instructions, which when executed by a computer processor, are used for executing the inspection method according to any one of the first aspect.

In a sixth aspect, the present application provides a computer program product comprising computer instructions which, when run on a computer, cause the computer to perform the inspection method as provided in the first aspect.

It should be noted that all or part of the computer instructions may be stored on the computer readable storage medium. The computer-readable storage medium may be packaged with the processor of the inspection device, or may be packaged with the processor of the inspection device separately, which is not limited in this application.

For the description of the second, third, fourth, fifth and sixth aspects in this application, reference may be made to the detailed description of the first aspect; in addition, for the beneficial effects described in the second aspect, the third aspect, the fourth aspect, the fifth aspect and the sixth aspect, reference may be made to the beneficial effect analysis of the first aspect, and details are not repeated here.

In the present application, the names of the inspection devices do not limit the devices or the functional modules themselves, and in practical implementations, the devices or the functional modules may be presented by other names. Insofar as the functions of the respective devices or functional modules are similar to those of the present application, they fall within the scope of the claims of the present application and their equivalents.

These and other aspects of the present application will be more readily apparent from the following description.

Drawings

Fig. 1 is a schematic diagram of corner angles of three adjacent towers being greater than a preset angle threshold according to an embodiment of the present invention;

fig. 2 is a flowchart of a polling method according to an embodiment of the present invention;

fig. 3 is a schematic diagram of performing refined inspection on a tower in an inspection method according to an embodiment of the present invention;

fig. 4 is a flowchart of a polling method according to a second embodiment of the present invention;

fig. 5 is a flowchart of step 410 of an inspection method according to a second embodiment of the present invention;

fig. 6 is a flowchart of step 420 in an inspection method according to a second embodiment of the present invention;

fig. 7 is a top view of a cross arm layer where a longest cross arm of a target tower is located in a polling method according to a second embodiment of the present invention;

fig. 8 is a schematic diagram illustrating inspection of the line channel of each tower in the inspection method according to the second embodiment of the present invention;

fig. 9 is a schematic diagram of performing inspection on each power transmission line in the inspection method according to the second embodiment of the present invention;

fig. 10 is a flowchart of an implementation manner of a polling method according to a second embodiment of the present invention;

fig. 11 is a schematic structural diagram of an inspection device according to a third embodiment of the present invention;

fig. 12 is a schematic structural diagram of a computer device according to a fourth embodiment of the present invention;

fig. 13 is a schematic diagram of an inspection system according to a fifth 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.

The term "and/or" herein is merely an association describing an associated object, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone.

The terms "first" and "second" and the like in the description and drawings of the present application are used for distinguishing different objects or for distinguishing different processes for the same object, and are not used for describing a specific order of the objects.

Furthermore, the terms "including" and "having," and any variations thereof, as referred to in the description of the present application, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.

Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like. In addition, the embodiments and features of the embodiments in the present invention may be combined with each other without conflict.

It should be noted that in the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described herein as "exemplary" or "e.g.," is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, use of the word "exemplary" or "such as" is intended to present concepts related in a concrete fashion.

In the description of the present application, the meaning of "a plurality" means two or more unless otherwise specified.

The central server of the power grid system can store basic data such as physical tower data, logical tower data, tower type structure and line information of the towers. The central server can create a patrol plan according to operation needs, and the patrol types can include fine patrol, arc-chasing patrol and channel patrol. The central server can determine the routing inspection route according to each tower and the routing inspection type contained in the routing inspection plan, and control the routing inspection equipment to realize routing inspection of each tower or line based on the routing inspection route. However, in the fine routing inspection, if the corner angles of the three adjacent towers are greater than the preset angle threshold, the fine routing inspection of the routing inspection equipment on the middle tower may cause the routing inspection equipment to touch the power transmission line or the routing inspection equipment to be offline, so that serious economic loss is caused. Fig. 1 is a schematic diagram that the corner angles of three adjacent towers are greater than a preset angle threshold, as shown in fig. 1, towers exist at A, B and C, A, B and C are base points of the three adjacent towers respectively, and B is a vertex, and the corner angle formed by A, B and C is greater than the preset angle threshold, if the middle tower B is subjected to fine routing inspection according to a preset machine position point, routing inspection equipment is easily touched on the transmission line between a and B and/or between B and C, so that the embodiment of the invention provides a routing inspection method to safely and accurately realize fine routing inspection of the towers.

Example one

Fig. 2 is a flowchart of an inspection method according to an embodiment of the present invention, where this embodiment is applicable to a situation where accurate and safe inspection needs to be performed on each tower included in a power transmission line, and the method may be executed by an inspection device, as shown in fig. 2, and specifically includes the following steps:

and step 210, determining an initial routing inspection route according to the routing inspection plan and the tower data.

The inspection plan can comprise a line to be inspected, a tower with inspection and the like, and can also comprise inspection types, such as fine inspection, arc-chasing inspection and channel inspection. The towers can comprise transmission towers, and the transmission towers can be connected through transmission lines to realize electric power transportation.

The tower data can comprise physical tower data, logical tower data, a tower type structure and line information, wherein the physical tower data can comprise the longitude and latitude of a tower; the data of the logic tower can comprise data of the tower, such as height of the tower, number of layers of cross arms, length and width of the cross arms, distance of cross vertex, number of cross arm hanging points, distance between cross arms and the like; the tower type structure may include the structure type of a tower, for example, a double-loop tower, a single-loop tower, and the like; the line information may include information of the transmission lines between the towers, such as the type of transmission line, the number of transmission lines, the length of the transmission lines, etc.

Specifically, the pole tower which needs to be patrolled and examined can be determined according to the patrol and examine plan, the pole tower data can comprise the pole tower data of the pole tower which needs to be patrolled and examined, the patrol and examine type can also be determined according to the patrol and examine plan, when the patrol and examine type is refined patrol and examine, the initial patrol and examine route can be determined, and the refined patrol and examine of the pole tower which needs to be patrolled and examined can be realized based on the initial patrol and examine route.

The precise inspection needs to be performed on the tower and specific equipment components on the tower, and related detail information of the tower components is needed. Fig. 3 is a schematic diagram of performing refined inspection on a tower in an inspection method according to an embodiment of the present invention, and as shown in fig. 3, taking a four-layer double-loop linear tower as an example, the refined inspection on the tower is performed from an initiator position 1. The image acquisition point corresponding to the starting machine position 1 can be shot for the whole pole tower, then the inspection equipment can be lifted to a machine position 2 with the same height as the ground wire, and the inspection equipment goes to a machine position 3 on the ground wire immediately because no image acquisition requirement exists, and image acquisition is carried out on the ground wire. After the image acquisition of the ground wire is completed, the height can be reduced in sequence to reach an upper machine position point 4, a middle machine position point 5 and a lower machine position point 6 of the tower so as to complete the image acquisition task corresponding to the corresponding machine position point. After the fine inspection task of the single-side tower is completed, the fine inspection task can be lifted to a tower spanning machine position 7, and the inspection equipment is transversely moved to a tower spanning machine position 8 on the opposite side of the tower. The tower crane spanning site 7 and the tower crane spanning site 8 have no image acquisition task, so that the inspection equipment can span the tower at a safe height to reach the opposite side to execute a refined inspection task on the opposite side of the tower. The height of the inspection equipment on the opposite side of the tower can be sequentially reduced to reach the corresponding machine location point 9, the machine location point 10, the machine location point 11 and the machine location point 12 so as to complete the image acquisition task corresponding to the corresponding machine location point. After the fine inspection task on the opposite side of the tower is completed, the fine inspection task can be lifted to the return point 13 and continuously flies to the starting machine position of the next tower so as to continuously perform fine inspection on the next tower.

In the embodiment of the invention, after the towers needing to be patrolled and examined and the machine location points of the towers are determined, the machine location points of each tower can be determined according to the refined patrolling process of the towers in the description, and then the machine location points are connected according to the flight sequence to determine the initial patrolling route.

And step 220, determining a machine location point and an image acquisition point of each tower according to the initial routing inspection route, the tower data and the corner angle between each tower.

When the corner angle formed by any three adjacent towers is greater than the preset angle threshold, if the intermediate tower is subjected to fine inspection according to the initial machine position contained in the initial inspection route, the inspection equipment may touch the power transmission line, so that the target machine position and the target image acquisition point of the intermediate tower need to be determined according to the corner angle and tower data, and the machine position and the image acquisition point of other towers with the corner angles less than or equal to the preset angle threshold keep the initial machine position and the initial image acquisition point.

It should be noted that the preset angle threshold may be 120 °, and certainly, in practical application, the preset angle threshold may also be determined according to the influence of the inspection equipment on the power transmission line in the historical inspection task, which is not specifically limited herein.

In the embodiment of the invention, the cross arms of the tower can be in a structure similar to a rectangle, and each layer of cross arms respectively corresponds to four machine sites so as to acquire the image information of each layer of cross arms. The method comprises the steps of firstly determining four reference machine sites of a cross arm of an adjacent tower according to a vertex of the longest cross arm and a corner angle determined by a connecting line of the vertex and a vertex of the cross arm of the corresponding layer of the adjacent tower, further determining machine sites of other cross arms according to a height difference between the reference machine sites and the cross arms of each layer so as to determine each machine site of the middle tower, and further determining each image acquisition point according to a pose relation between each machine site and each image acquisition point.

And 230, sending the machine location points and the image acquisition points to inspection equipment so as to control the inspection equipment to perform flight inspection on the towers based on the machine location points and acquire image information of the towers based on the image acquisition points.

The inspection equipment can comprise an unmanned aerial vehicle loaded with an image acquisition device, the image acquisition device can acquire image information of a tower at an image acquisition point, and the image acquisition device can be a high-precision camera. The machine location points may include target machine location points of the middle tower of three adjacent towers with a turning angle larger than a preset angle threshold and initial machine location points of other towers, and the image acquisition points may include target image acquisition points corresponding to the target machine location points and initial image acquisition points corresponding to the initial machine location points.

Specifically, the machine sites required for fine inspection in each tower can be connected in sequence to form the inspection line of each tower, and further the starting machine sites and the return points of two adjacent towers can be connected to connect the inspection lines of each tower to form a complete inspection line. And the complete routing inspection line is sent to the routing inspection equipment, and the routing inspection equipment is controlled to fly according to the complete routing inspection line. In addition, the image acquisition point corresponding to the machine location point can be sent to the inspection equipment so as to control the inspection equipment to pause at the machine location point corresponding to the image acquisition point, so as to acquire the image information of the tower.

Example two

Fig. 4 is a flowchart of an inspection method according to a second embodiment of the present invention, which is embodied on the basis of the second embodiment. As shown in fig. 4, in this embodiment, the method may further include:

and step 410, determining an initial routing inspection route according to the routing inspection plan and the tower data.

Fig. 5 is a flowchart of step 410 in an inspection method according to a second embodiment of the present invention, as shown in fig. 5, in an implementation manner, the tower data includes physical tower data, logical tower data, a tower type structure, and line information, and accordingly, step 410 may specifically include:

and 4110, determining the pole tower to be inspected according to the inspection plan.

Specifically, the inspection plan may include towers that need to be inspected for the current inspection task, and specifically may include position information of towers that need to be inspected for the current inspection task.

Step 4120, determining patrol inspection parameters according to the tower data of each tower to be patrolled.

The inspection parameters comprise flight heights and longitude and latitude of the machine location points corresponding to the towers.

Specifically, the physical tower data may include the longitude and latitude of the tower, that is, the longitude and latitude of the tower base point, and the longitude and latitude of each cross arm vertex of the tower may be determined according to the longitude and latitude of the tower base point, the logical tower data, and the tower type structure. And determining the flying height of the inspection equipment according to the tower height contained in the physical tower data and the preset safety distance.

In practical application, the preset safety distance can be determined according to the flight habit of the inspection equipment and the safety criterion.

Step 4130, determining the initial routing inspection route according to the routing inspection parameters.

Specifically, each machine location point is connected based on the longitude and latitude of each machine location point, and an initial routing inspection route can be obtained.

In the embodiment of the invention, if the corner angle of each tower is smaller than or equal to the preset angle threshold, each tower can be patrolled based on the initial patrolling route; if the corner angle of the corner formed by any three towers is larger than the preset angle threshold value, an accident may occur, and the machine location point and the image acquisition point of the middle tower can be determined again according to the corner angle.

And step 420, determining a machine location point and an image acquisition point of each tower according to the initial routing inspection route, the tower data and the corner angle between each tower.

Fig. 6 is a flowchart of step 420 in an inspection method according to a second embodiment of the present invention, and as shown in fig. 6, step 420 may specifically include:

step 4210, if the corner angle is larger than a preset angle threshold, determining a middle tower of three adjacent towers forming the corner angle as a target tower.

Fig. 7 is a top view of a cross arm layer where the longest cross arm of a target tower is located in the inspection method provided in the second embodiment of the present invention, and as shown in fig. 7, specifically, an angle × O formed by connection lines of base points of three adjacent towers is greater than a preset angle threshold, and then an angle × Q formed by intersection points of connection lines of a cross arm vertex of the tower and a cross arm vertex on the same layer of the adjacent tower is also greater than the preset angle threshold, so that the tower can be determined as the target tower.

Step 4220, determining a target machine position point and a target image acquisition point of the target tower according to the corner angle and the tower data of the target tower.

In one embodiment, step 4220 may specifically include:

determining the cross arm longitude and latitude of the top point of the longest cross arm contained in the target tower according to the tower data of the target tower and the base point longitude and latitude of the target tower; determining the machine position longitude and latitude of each target machine position according to the cross arm longitude and latitude; and determining the image acquisition longitude and latitude and the image acquisition angle of each target image acquisition point according to the longitude and latitude of each machine position.

As shown in fig. 7, point a and point C may be two vertices on the same side of the longest cross-arm of the target tower, and point B and point D may be vertices on the same layer of the two adjacent towers. The method comprises the steps of firstly determining & lt Q according to a line segment BA formed by a point B and a point A and an extension line intersection Q of a line segment DC formed by a point D and a point C, secondly determining a vertical line segment AE of a line segment BQ according to the point A, determining the length of the vertical line segment AE to be 5 meters, further determining a parallel line segment of the line segment BQ according to the point E, and determining a point which is 2.7 meters away from the point E and is opposite to the point B as a machine position point A corresponding to a vertex A. The machine position point B corresponding to the vertex B can be determined based on the same steps, and further, two machine position points on the other side of the cross arm of the layer can be determined based on the same steps.

Specifically, the physical tower data may include the longitude and latitude of a tower base point, and the logical tower data may include the length of each layer of cross arm of the tower, so the cross arm longitude and latitude of the longest cross arm vertex may be determined according to the longitude and latitude of the base point and the length of the longest rung; secondly, four target machine positions corresponding to the longest cross arm layer are determined based on the step of determining the machine positions, and the machine position longitude and latitude of the four target machine positions are determined according to the pose relations between the four target machine positions and the top points of the cross arms; and then after the machine position longitude and latitude of each target machine position point of the machine position are determined, the image acquisition longitude and latitude and the image acquisition angle of each target image acquisition point corresponding to each target machine position point can be determined based on the position and attitude relationship between the target machine position point and the target image acquisition point.

determining the machine position longitude and latitude of the target machine position point on the same layer according to the cross arm longitude and latitude; and determining the machine position longitude and latitude of the target machine sites of other layers according to the vertical distance between the cross arms and the machine position longitude and latitude of the target machine sites of the same layer.

Of course, in practical application, after the machine location longitude and latitude of the four target machine location points of the longest cross arm layer are determined according to the length of the longest cross arm, the machine location longitude and latitude of the target machine location points of other layers can be determined according to the vertical distance between the cross arms of each layer and the machine location longitude and latitude.

4230, determining the machine location points and the image acquisition points of other towers based on the preset routing inspection route.

Specifically, if the corner angle formed by the three adjacent towers is smaller than or equal to the preset angle threshold, the initial machine location point and the initial image acquisition point can be determined as the machine location point and the image acquisition point of the tower, the longitude and the latitude of each machine location point can be determined according to the longitude and the latitude of the base point of the tower, and the longitude and the latitude and the angle of each image acquisition point can be determined according to the pose relationship between each machine location point and the image acquisition point.

And 430, sending the machine location points and the image acquisition points to inspection equipment so as to control the inspection equipment to perform flight inspection on the towers based on the machine location points and acquire image information of the towers based on the image acquisition points.

In one embodiment, controlling the inspection equipment to perform flight inspection on each tower based on each machine location and to acquire image information of each tower based on each image acquisition point includes:

comparing the current longitude and latitude of the inspection equipment with the machine location point longitude and latitude of the machine location point corresponding to the inspection equipment, and if the current longitude and latitude is consistent with the machine location point longitude and latitude, determining that the inspection equipment reaches the machine location point; and determining the image acquisition points corresponding to the machine position points, and acquiring the image information of the tower based on the image acquisition points.

determining a yaw angle of the inspection equipment when the inspection equipment is positioned at the machine position point and angle information of an image acquisition device loaded by the inspection equipment; and determining the longitude and latitude and the angle of the image acquisition point corresponding to the machine position according to the current longitude and latitude, the yaw angle and the angle information.

Specifically, the current longitude and latitude and the longitude and latitude of the machine location point can be matched, if the current longitude and latitude is consistent with the longitude and latitude of the machine location point, the inspection equipment is determined to reach the machine location point, the longitude and latitude and the angle of each image acquisition point can be further determined based on the pose relationship between the machine location point and the image acquisition point, the yaw angle of the inspection equipment at the machine location point and the angle information of an image acquisition device loaded on the inspection equipment can be specifically determined, and the longitude and latitude and the angle of the image acquisition point are determined according to the current longitude and latitude, the yaw angle and the angle information.

Step 440, forming a channel inspection route based on inspection points at preset heights above the towers, and controlling the inspection equipment to inspect the line channel of each tower based on the channel inspection route.

Overhead pole tower lines are generally over dozens of kilometers in length, and the lower parts of the pole tower lines are difficult to avoid the occurrence of illegal planting, illegal buildings, new line racks, new buildings, construction, large-scale equipment moving or stealing and the like. If the whole pole tower line channel is patrolled by driving by workers, the consumption of time and money is very large, and the patrol efficiency cannot be improved. Therefore, the inspection equipment can be adopted to inspect the line channel of each tower.

Fig. 8 is a schematic diagram of polling the line channel of each tower in the polling method according to the second embodiment of the present invention, and as shown in fig. 8, specifically, a starting point of polling the line channel of each tower is located at a preset height right above the starting tower, and when the starting point 1 is reached, an image acquisition device loaded by the polling equipment may start to work to take a picture of the line channel below. Meanwhile, the inspection equipment can fly to a second machine position 2, namely a preset height position right above a second tower. And after the second machine location point 2 is reached, the system can continuously fly to a subsequent machine location point 3 until the last back-navigation point 4 is reached, the image acquisition device stops working, and the inspection of the line channel of each tower is completed.

It should be noted that the preset height may be a safe distance, and in the embodiment of the present invention, the safe distance may be 5 meters.

And 450, determining a power transmission line inspection route based on the machine position points of each layer of the tower, and controlling the inspection equipment to inspect each power transmission line based on the power transmission line inspection route.

Fig. 9 is a schematic diagram of performing inspection on each power transmission line in the inspection method according to the second embodiment of the present invention, and as shown in fig. 9, specifically, the inspection content is mainly the power transmission line between two towers when performing inspection on each power transmission line. The starting point position 1 is located at a preset height above one side of the first tower, and the point position does not have a photographing requirement, so that after the inspection equipment reaches the point position, the inspection equipment can descend to reach the upper conductor machine position 2 of the first tower, and the pitching angle of the image acquisition device is controlled to photograph the power transmission line. And then the inspection equipment flies to the upper conductor machine position 3 of the second tower at a preset speed, and simultaneously, the inspection is carried out on the upper conductor. After the position 3 of the upper conductor machine of the second tower is reached, the image acquisition device can pause working at the moment because the position does not correspond to a photographing point, and the image acquisition device descends to the position 4 of the middle conductor machine of the second tower, then the image acquisition device is started and flies to the position 5 of the middle conductor machine of the first tower, meanwhile, the middle conductor is patrolled and examined to continue executing the same actions, and the patrol and examination of the lower conductor between the position 6 of the lower conductor machine of the first tower and the position 7 of the lower conductor machine of the second tower is completed. When the inspection equipment reaches the lower wire guide machine point 7 of the second tower, the inspection equipment can be lifted to the return point 8, and inspection of each power transmission line between the two towers is completed.

Of course, the preset height may also be a safe distance, and in the embodiment of the present invention, the safe distance may be 5 meters.

The second embodiment of the invention provides a routing inspection method, which comprises the following steps: determining an initial routing inspection route according to the routing inspection plan and the tower data; determining a machine location point and an image acquisition point of each tower according to the initial routing inspection route, the tower data and the corner angle between each tower; and sending the machine location points and the image acquisition points to inspection equipment so as to control the inspection equipment to carry out flight inspection on each tower based on each machine location point and acquire image information of each tower based on each image acquisition point. According to the technical scheme, after the initial inspection line is determined, the machine position point and the image acquisition point of each tower during inspection can be determined according to the corner angle between each tower contained in the initial inspection line and the tower data of each tower, the machine position point and the image acquisition point of each tower are sent to the inspection equipment, the inspection equipment is controlled to carry out flying inspection on each tower based on each machine position point, the image information of each tower is acquired at each image acquisition point, fine inspection of the towers contained in the power transmission line is achieved, and the inspection accuracy and safety are improved.

In addition, the inspection equipment can be controlled to inspect the line channel of each tower and each power transmission line between two towers, and the inspection accuracy and safety are further improved.

Fig. 10 is a flowchart of an implementation manner of a polling method according to a second embodiment of the present invention, and as shown in fig. 10, the implementation manner includes:

and step 1010, determining the pole tower to be inspected according to the inspection plan.

And 1020, determining inspection parameters according to the tower data of each tower to be inspected.

And 1030, determining the initial routing inspection route according to the routing inspection parameters.

Step 1040, if the turning angle is larger than a preset angle threshold, determining a middle tower of three adjacent towers forming the turning angle as a target tower.

And 1050, determining a target machine position point and a target image acquisition point of the target tower according to the corner angle and the tower data of the target tower.

Step 1060, determining the machine location points and the image acquisition points of other towers based on the preset routing inspection route.

And 1070, sending the machine location points and the image acquisition points to inspection equipment to control the inspection equipment to perform flight inspection on the towers based on the machine location points and acquire image information of the towers based on the image acquisition points.

And 1080, forming a channel inspection route based on inspection points at preset heights above the towers, and controlling the inspection equipment to inspect the line channel of the towers based on the channel inspection route.

Step 1090, determining a power transmission line inspection route based on the machine position points of all the towers, and controlling the inspection equipment to inspect all the power transmission lines based on the power transmission line inspection route.

According to the implementation mode of the inspection method provided by the embodiment II of the invention, the pole tower needing to be inspected is determined according to the inspection plan; determining inspection parameters according to the tower data of each tower to be inspected; determining the initial routing inspection route according to the routing inspection parameters; if the corner angle is larger than a preset angle threshold, determining a middle tower in three adjacent towers forming the corner angle as a target tower; determining a target machine position point and a target image acquisition point of the target tower according to the corner angle and the tower data of the target tower; determining the machine location points and the image acquisition points of other towers based on the preset routing inspection route; sending the machine location points and the image acquisition points to inspection equipment so as to control the inspection equipment to carry out flight inspection on each tower based on each machine location point and acquire image information of each tower based on each image acquisition point; forming a channel inspection route based on inspection points at preset heights above the towers, and controlling the inspection equipment to inspect the line channel of each tower based on the channel inspection route; and determining a power transmission line inspection route based on the machine sites of each layer of the tower, and controlling the inspection equipment to inspect each power transmission line based on the power transmission line inspection route. According to the technical scheme, after the initial inspection line is determined, the machine position point and the image acquisition point of each tower during inspection can be determined according to the corner angle between each tower contained in the initial inspection line and the tower data of each tower, the machine position point and the image acquisition point of each tower are sent to the inspection equipment, the inspection equipment is controlled to carry out flying inspection on each tower based on each machine position point, the image information of each tower is acquired at each image acquisition point, fine inspection of the towers contained in the power transmission line is achieved, and the inspection accuracy and safety are improved.

EXAMPLE III

Fig. 11 is a schematic structural diagram of an inspection device according to a third embodiment of the present invention, where the inspection device is applicable to a situation where accurate and safe inspection needs to be performed on each tower included in a power transmission line, so as to improve accuracy and safety of inspection. The apparatus may be implemented by software and/or hardware and is typically integrated in a computer device.

As shown in fig. 11, the apparatus includes:

the initial routing inspection route determining module 1110 is used for determining an initial routing inspection route according to the routing inspection plan and the tower data;

the point determining module 1120 is configured to determine a machine location point and an image acquisition point of each tower according to the initial routing inspection route, the tower data and a corner angle between each tower;

the control inspection module 1130 is configured to send the machine location point and the image acquisition point to inspection equipment, so as to control the inspection equipment to perform flight inspection on each tower based on each machine location point and acquire image information of each tower based on each image acquisition point.

In the inspection device provided by the third embodiment, an initial inspection route is determined according to the inspection plan and tower data; determining a machine location point and an image acquisition point of each tower according to the initial routing inspection route, the tower data and the corner angle between each tower; and sending the machine location points and the image acquisition points to inspection equipment so as to control the inspection equipment to carry out flight inspection on each tower based on each machine location point and acquire image information of each tower based on each image acquisition point. According to the technical scheme, after the initial inspection line is determined, the machine position point and the image acquisition point of each tower during inspection can be determined according to the corner angle between each tower contained in the initial inspection line and the tower data of each tower, the machine position point and the image acquisition point of each tower are sent to the inspection equipment, the inspection equipment is controlled to carry out flying inspection on each tower based on each machine position point, the image information of each tower is acquired at each image acquisition point, fine inspection of the towers contained in the power transmission line is achieved, and the inspection accuracy and safety are improved.

On the basis of the above embodiment, the tower data includes physical tower data, logical tower data, a tower type structure, and line information, and accordingly, the initial routing inspection route determining module 1110 is specifically configured to:

determining the pole tower to be inspected according to the inspection plan;

On the basis of the foregoing embodiment, the point determining module 1120 is specifically configured to:

In one embodiment, determining a target machine location point and a target image acquisition point of the target tower according to the angle of rotation and the tower data of the target tower includes:

On the basis of the foregoing embodiments, the control polling module 1130 is specifically configured to:

On the basis of the above embodiment, the apparatus further includes:

The inspection device provided by the embodiment of the invention can execute the inspection method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

Example four

Fig. 12 is a schematic structural diagram of a computer device according to a fourth embodiment of the present invention. FIG. 12 illustrates a block diagram of an exemplary computer device 12 suitable for use in implementing embodiments of the present invention. The computer device 12 shown in fig. 12 is only an example and should not bring any limitations to the function and scope of use of the embodiments of the present invention.

As shown in FIG. 12, computer device 12 is embodied in the form of a general purpose computing electronic device. The components of computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.

Bus 18 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, micro-channel architecture (MAC) bus, enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

Computer device 12 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by computer device 12 and includes both volatile and nonvolatile media, removable and non-removable media.

The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30 and/or cache memory 32. Computer device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 12, and commonly referred to as a "hard drive"). Although not shown in FIG. 12, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. System memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.

A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.

Computer device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), with one or more devices that enable a user to interact with computer device 12, and/or with any devices (e.g., network card, modem, etc.) that enable computer device 12 to communicate with one or more other computing devices. Such communication may be through an input/output (I/O) interface 22. Also, computer device 12 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the Internet) via network adapter 20. As shown in FIG. 12, the network adapter 20 communicates with the other modules of the computer device 12 via the bus 18. It should be appreciated that although not shown in FIG. 12, other hardware and/or software modules may be used in conjunction with computer device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.

The processing unit 16 executes various functional applications and page displays by running a program stored in the system memory 28, for example, to implement the polling method provided by the embodiment of the present invention, which includes:

Of course, those skilled in the art can understand that the processor may also implement the technical solution of the inspection method provided in any embodiment of the present invention.

EXAMPLE five

Fig. 13 is a schematic diagram of an inspection system according to a fifth embodiment of the present invention, and as shown in fig. 13, the inspection system may include an inspection device 1310 and a computer device 1320 communicatively connected to the inspection device, where the computer device 1320 is configured to execute an inspection method, where the inspection method includes:

The inspection equipment 1310 is used for inspecting each tower under the control of the computer equipment.

Wherein, computer equipment 1320 can be the host computer, can be located the computer lab to can patrol and examine equipment 1310 communication connection with each, in order to realize the control to each equipment 1310 of patrolling and examining.

The inspection system provided by the embodiment of the invention can execute the inspection method provided by the embodiment and has corresponding functions and beneficial effects.

EXAMPLE six

An embodiment of the present invention further provides a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform a method for routing inspection, the method including:

The computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a RAM, a ROM, an erasable programmable read-only memory (EPROM), a register, a hard disk, an optical fiber, a CD-ROM, an optical storage device, a magnetic storage device, any suitable combination of the foregoing, or any other form of computer readable storage medium known in the art. An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. Of course, the storage medium may also be integral to the processor. The processor and the storage medium may reside in an Application Specific Integrated Circuit (ASIC). In embodiments of the present application, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

Of course, the storage medium provided by the embodiment of the present invention contains computer-executable instructions, and the computer-executable instructions are not limited to the operations of the method described above, and may also perform related operations in the inspection method provided by any embodiment 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 inspection device, each included unit and module are only divided according to functional logic, but are not limited to the above division as long as the 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.

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

1. A routing inspection method is characterized by comprising the following steps:

2. The inspection method according to claim 1, wherein the tower data includes physical tower data, logical tower data, tower type structure and line information,

correspondingly, according to the patrol and examine plan and shaft tower data confirm the route of patrolling and examining initially, include:

determining the pole tower to be inspected according to the inspection plan;

3. The inspection method according to claim 1, wherein determining the tower location point and the image acquisition point for each tower according to the initial inspection route, the tower data and the corner angle between each tower comprises:

4. The inspection method according to claim 3, wherein determining a target machine location point and a target image acquisition point of the target tower according to the corner angle and the tower data of the target tower comprises:

5. The inspection method according to claim 4, wherein determining the station latitude and longitude of each target station according to the cross arm latitude and longitude includes:

6. The inspection method according to claim 1, wherein controlling the inspection equipment to perform flight inspection on the towers based on the machine locations and to obtain image information of the towers based on the image obtaining points comprises:

7. The inspection method according to claim 6, wherein determining the image acquisition points corresponding to the machine location includes:

8. The inspection method according to claim 1, further comprising:

9. The inspection method according to claim 1, further comprising:

10. An inspection device, comprising:

11. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the inspection method according to any one of claims 1-9 when executing the program.

12. An inspection system comprising inspection equipment and computer equipment in communication connection with the inspection equipment, wherein the computer equipment is used for executing the inspection method according to any one of claims 1 to 9, and the inspection equipment is used for inspecting each tower under the control of the computer equipment.

13. A storage medium containing computer-executable instructions for performing the inspection method according to any one of claims 1-9 when executed by a computer processor.