CN113377120B

CN113377120B - Inspection method, inspection device, inspection equipment, inspection system and storage medium

Info

Publication number: CN113377120B
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: State Grid Jiangsu Electric Power Co ltd Innovation And Innovation Center; Xuzhou New Power Hi Tech Electric Co ltd; State Grid Xuzhou Power Supply Co; 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: 2024-03-26
Anticipated expiration: 2041-06-29
Also published as: CN113377120A

Abstract

The invention discloses a patrol method, a device, equipment, a system and a storage medium, wherein the method comprises the following steps: determining an initial inspection route according to the inspection plan and the tower data; determining the machine position point and the image acquisition point of each tower according to the initial inspection route, the tower data and the corner angle among the towers; and sending the machine points and the image acquisition points to the inspection equipment so as to control the inspection equipment to carry out flight inspection on each tower based on each machine point and acquire the 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 among the towers and the tower data contained in the initial inspection line, and the machine position points and the image acquisition points are sent to the inspection equipment so as to control the inspection equipment to carry out flight inspection on the towers based on the machine position points, and the image information of the towers is acquired at the image acquisition points, so that the refined inspection on the towers contained in the power transmission line is realized, and the inspection accuracy and safety are improved.

Description

Inspection method, inspection device, inspection equipment, inspection system and storage medium

Technical Field

The embodiment of the invention relates to a pole tower inspection technology, in particular to an inspection method, an inspection device, inspection equipment, inspection 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 flight precision, capability of effectively replacing manual work 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. Along with the annual growth of Chinese power grid users, more and more high-voltage lines are put into operation, and power enterprises spend a large amount of manpower and material resources for operation maintenance and overhaul of the power transmission towers every year. Aiming at the problems of high labor intensity, low efficiency, limitation of topography factors and the like of the manual inspection mode, the inspection flying robot is adopted to inspect the transmission tower, so that the development direction of the future artificial intelligence era is already established.

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

However, in the prior art, when the angle of rotation 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 position and the initial photographing point, so that the inspection flying robot is easy to get too close to an offline line or even collide with the line, and serious economic loss is caused.

Disclosure of Invention

The invention provides a patrol method, a device, equipment, a system and a storage medium, which are used for realizing the fine patrol of a pole tower contained in a power transmission line and improving the patrol accuracy and the patrol safety.

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

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

determining a machine point and an image acquisition point of each tower according to the initial inspection route, the tower data and the corner angles among the towers;

and sending the machine site and the image acquisition point to a patrol equipment so as to control the patrol equipment to carry out flight patrol on each tower based on each machine site 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, an initial inspection route is determined according to an inspection plan and the tower data, including:

Determining the towers which need to be inspected according to the inspection plan;

determining inspection parameters according to the tower data of the towers which are required to be inspected, wherein the inspection parameters comprise flying heights and longitude and latitude of each machine site corresponding to each tower;

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

Further, determining a machine point and an image acquisition point of each tower according to the initial inspection route, the tower data and the corner angles among the towers, including:

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

determining a target machine 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 points and the image acquisition points of other towers based on the preset inspection route.

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

Determining the longitude and latitude of a cross arm of the longest cross arm vertex contained in the target tower according to the tower data of the target tower and the longitude and latitude of the foundation point of the target tower;

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

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 longitude and latitude of each target machine site according to the longitude and latitude of the cross arm includes:

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

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

Further, controlling the inspection apparatus to perform flight inspection on each of the towers based on each of the machine sites and acquire image information of each of the towers based on each of the image acquisition points, includes:

comparing the current longitude and latitude of the inspection equipment with the longitude and latitude of the machine location point corresponding to the inspection equipment, and if the current longitude and latitude are consistent with the longitude and latitude of the machine location point, 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 includes:

determining a yaw angle when the inspection equipment is positioned at the machine site 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 point 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 a preset height above each tower, 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 position points of each layer of the towers, 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 patrol method, which comprises the following steps: determining an initial inspection route according to the inspection plan and the tower data; determining a machine point and an image acquisition point of each tower according to the initial inspection route, the tower data and the corner angles among the towers; and sending the machine site and the image acquisition point to a patrol equipment so as to control the patrol equipment to carry out flight patrol on each tower based on each machine site 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 positions and the image acquisition points of all towers during inspection can be determined according to the angle of rotation between all towers contained in the initial inspection line and the tower data of all towers, the machine positions and the image acquisition points of all towers are sent to the inspection equipment, so that the inspection equipment is controlled to carry out flying inspection on all towers based on all the machine positions, the image information of all the towers is acquired at all the image acquisition points, the refined inspection on the towers contained in the power transmission line is realized, and the inspection accuracy and safety are improved.

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

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

the point determining module is used for determining the machine point and the image acquisition point of each tower according to the initial inspection route, the tower data and the corner angles among the towers;

and the control inspection module is used for sending the machine site and the image acquisition point to inspection equipment so as to control the inspection equipment to carry out flight inspection on each tower based on each machine site 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 inspection route determining module is specifically configured to:

Further, the point determining module is specifically configured to:

determining a target machine 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 points and the image acquisition points of other towers based on the preset inspection route.

Further, the control inspection module is specifically used for:

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

Further, the apparatus further comprises:

the line channel inspection module is used for forming a channel inspection route based on inspection points at a preset height above each tower 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 position points 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 on the memory and executable on the processor, where the processor implements the inspection method according to any one of the first aspects when the processor executes the program.

In a fourth aspect, an embodiment of the present invention further provides an inspection system, including an inspection device and a computer device communicatively connected to 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 control of the computer device.

In a fifth aspect, embodiments of the present invention also provide a storage medium containing computer-executable instructions, which when executed by a computer processor, are for performing the inspection method according to any one of the first aspects.

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 the above-mentioned computer instructions may be stored in whole or in part on a computer-readable storage medium. The computer readable storage medium may be packaged together with the processor of the inspection device, or may be packaged separately from the processor of the inspection device, which is not limited in this application.

The descriptions of the second, third, fourth, fifth, and sixth aspects of the present application may refer to the detailed description of the first aspect; further, the advantageous effects described in the second aspect, the third aspect, the fourth aspect, the fifth aspect, and the sixth aspect may refer to the advantageous effect analysis of the first aspect, and are not described herein.

In this application, the names of the above-mentioned inspection apparatuses do not constitute limitations on the devices or functional modules themselves, and in actual implementations, these devices or functional modules may appear under other names. Insofar as the function of each device or function module is similar to the present application, it is within the scope of the claims of the present application and the equivalents thereof.

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 an embodiment of the present invention, in which the angle of rotation of three adjacent towers is greater than a preset angle threshold;

fig. 2 is a flowchart of a patrol method according to a first embodiment of the present invention;

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

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

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

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

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

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

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

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

Fig. 11 is a schematic structural diagram of a patrol 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 a patrol system according to a fifth embodiment of the present invention.

Detailed Description

The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.

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

The terms "first" and "second" and the like in the description and in the drawings are used for distinguishing between different objects or for distinguishing between different processes of the same object and not for describing a particular sequential order of objects.

Furthermore, references to the terms "comprising" and "having" and any variations thereof in the description of the present application are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed but may optionally 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 mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart depicts operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently, or at the same time. Furthermore, the order of the operations may be rearranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figures. The processes may correspond to methods, functions, procedures, subroutines, and the like. Furthermore, embodiments of the invention and features of the embodiments 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 "such as" are used to mean serving as an example, instance, or illustration. Any embodiment or design described herein as "exemplary" or "for example" should not be construed as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "such as" is intended to present related concepts in a concrete fashion.

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

Basic data such as physical tower data, logical tower data, tower structures, line information and the like of the towers can be stored in a central server of the power grid system. The central server can create a patrol plan according to the operation requirement, and patrol types can comprise refined patrol, arc tracking patrol and channel patrol. The central server can determine the inspection route according to each tower and the inspection type contained in the inspection plan, and control the inspection equipment to realize inspection of each tower or line based on the inspection route. However, in the refined inspection, if the angle of rotation of the adjacent three towers is greater than the preset angle threshold, the refined inspection of the inspection equipment on the middle tower may cause the inspection equipment to touch the power transmission line or the inspection equipment to be offline, resulting in serious economic loss. Fig. 1 is a schematic diagram of an embodiment of the present invention, in which the corner angles of three adjacent towers are greater than a preset angle threshold, as shown in fig. 1, towers are present at positions A, B and C, A, B and C are respectively base points of three adjacent towers, and the corner angle formed by B as an apex, A, B and C is greater than the preset angle threshold, if the intermediate tower B is subjected to fine inspection according to an initially set machine position, it is easy to cause inspection equipment to touch a power line between a and B and/or between B and C, so that the embodiment of the present invention provides an inspection method to safely and accurately implement fine inspection on the towers.

Example 1

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

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

The inspection plan may include a line to be inspected, a tower with inspection, and the like, and may further include inspection types, such as fine inspection, arc tracking inspection, and channel inspection. The tower can include the transmission tower, can connect through the power transmission line between each transmission tower, realizes electric power transportation.

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

Specifically, the tower that needs to be patrolled and examined can be confirmed according to the inspection plan, the tower data can include the tower data of the tower that needs to be patrolled and examined, can also confirm the type of patrolling and examining according to the inspection plan, when the type of patrolling and examining is the fine type of patrolling and examining, can confirm the route of initial patrolling and examining, can realize the fine type of patrolling and examining the tower that needs to be patrolled and examined based on the route of initial patrolling and examining.

The refined inspection requires inspection of the tower and specific equipment parts on the tower, and requires relevant detailed information of the tower parts. Fig. 3 is a schematic diagram of performing fine inspection on a tower in the inspection method according to the first embodiment of the present invention, as shown in fig. 3, taking four layers of double-loop linear towers as an example, the fine inspection on the tower is performed from an initial machine site 1. The image acquisition point corresponding to the initial machine point 1 can be shot for the whole tower, then the inspection equipment can be lifted to the machine point 2 with the same height as the ground wire, and the inspection equipment immediately goes to the machine point 3 at the ground wire and performs image acquisition on the ground wire because no image acquisition requirement exists. After the image acquisition of the ground wire is completed, the height can be reduced in sequence to reach an upper machine position 4, a middle machine position 5 and a lower machine position 6 of the tower so as to complete the image acquisition task corresponding to the corresponding machine position. After the single-side tower refined inspection task is executed, the single-side tower refined 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 pole tower. The cross-tower machine position 7 and the cross-tower machine position 8 have no image acquisition task, so that the inspection equipment can cross the pole tower at a safe height to reach the opposite side so as to execute the fine inspection task of the opposite side of the pole tower. The inspection equipment on the opposite side of the pole tower can be sequentially lowered to reach corresponding machine position 9, machine position 10, machine position 11 and machine position 12 so as to complete the image acquisition task corresponding to the corresponding machine position. After the opposite side refined inspection task of the tower is executed, the tower can be lifted to a return point 13 and continuously fly to the starting machine point of the next tower so as to continuously carry out refined inspection on the next tower.

In the embodiment of the invention, after the towers needing to be inspected and the machine positions of the towers are determined, each machine position when each tower is inspected can be determined according to the fine inspection process of the towers in the description, and then each machine position is connected according to the flying sequence so as to determine the initial inspection route.

And 220, determining the machine position point and the image acquisition point of each tower according to the initial inspection route, the tower data and the corner angles among the towers.

When the angle of rotation formed by any three adjacent towers is larger than a preset angle threshold, if the middle tower is subjected to fine inspection according to the initial machine position included 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 middle tower need to be determined according to the angle of rotation and the tower data, and the machine position and the image acquisition point of the towers with other angle of rotation smaller 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 of course, in practical application, the preset angle threshold may be determined according to the influence condition of the inspection device on the power transmission line in the historical inspection task, which is not limited specifically herein.

In the embodiment of the invention, the cross arm of the tower can be in a structure similar to a rectangle, and each layer of cross arm corresponds to four machine positions respectively so as to acquire the image information of each layer of cross arm. The four reference machine positions of the layer of cross arms can be determined according to the vertex of the longest cross arm and the corner angle determined by the connecting line of the vertex and the vertex of the layer of cross arm corresponding to the adjacent pole tower, so that the machine positions of other cross arms can be determined according to the height difference between the reference machine positions and each layer of cross arm, each machine position of the middle pole tower can be determined, and each image acquisition point can be determined according to the pose relation of each machine position and each image acquisition point.

And 230, sending the machine site and the image acquisition point to a patrol equipment so as to control the patrol equipment to carry out flight patrol on the towers based on the machine site and acquire the image information of the towers based on the image acquisition point.

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

Specifically, the machine positions required by the fine inspection in each tower can be sequentially connected to form the inspection line of each tower, and the starting machine positions and the return points of two adjacent towers can be further connected to connect the inspection lines of each tower to form a complete inspection line. And sending the complete inspection line to inspection equipment, and controlling the inspection equipment to fly according to the complete inspection line. In addition, the image acquisition points corresponding to the machine positions can be sent to the inspection equipment to control the inspection equipment to pause at the machine positions corresponding to the image acquisition points so as to acquire the image information of the towers.

The first embodiment of the invention provides a patrol method, which comprises the following steps: determining an initial inspection route according to the inspection plan and the tower data; determining a machine point and an image acquisition point of each tower according to the initial inspection route, the tower data and the corner angles among the towers; and sending the machine site and the image acquisition point to a patrol equipment so as to control the patrol equipment to carry out flight patrol on each tower based on each machine site 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 positions and the image acquisition points of all towers during inspection can be determined according to the angle of rotation between all towers contained in the initial inspection line and the tower data of all towers, the machine positions and the image acquisition points of all towers are sent to the inspection equipment, so that the inspection equipment is controlled to carry out flying inspection on all towers based on all the machine positions, the image information of all the towers is acquired at all the image acquisition points, the refined inspection on the towers contained in the power transmission line is realized, and the inspection accuracy and safety are improved.

Example two

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

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

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

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

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

Step 4120, determining inspection parameters according to the tower data of each tower required to be inspected.

The inspection parameters comprise flying heights and longitude and latitude of each machine site corresponding to each tower.

Specifically, the physical tower data may include the longitude and latitude of the tower, i.e., the longitude and latitude of the tower foundation point, and further, the longitude and latitude of each cross arm vertex of the tower may be determined according to the longitude and latitude of the tower foundation point, the logic tower data and the tower structure. And determining the flight 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 and the safety criterion of the inspection equipment.

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

Specifically, the initial inspection route can be obtained by connecting each machine site based on the longitude and latitude of each machine site.

In the embodiment of the invention, if the corner angles of the towers are smaller than or equal to the preset angle threshold, the towers can be inspected based on the initial inspection route; if the angle of the corner formed by any three towers is larger than the preset angle threshold, accidents may occur, and the machine point and the image acquisition point of the middle tower can be redetermined according to the angle of the corner.

And step 420, determining the machine position point and the image acquisition point of each tower according to the initial inspection route, the tower data and the corner angles among the towers.

Fig. 6 is a flowchart of step 420 in a routing 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 rotation angle is greater than a preset angle threshold, determining an intermediate tower of the adjacent three towers forming the rotation 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 according to the second embodiment of the present invention, as shown in fig. 7, specifically, an angle O formed by connecting lines of base points of three adjacent towers is greater than a preset angle threshold, and then an angle Q formed by connecting line intersections of a cross arm vertex of the tower and a same layer of cross arm vertex of an adjacent tower is also greater than a preset angle threshold, so that the tower can be determined to be the target tower.

Step 4220, determining a target machine 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 comprise:

determining the longitude and latitude of a cross arm of the longest cross arm vertex contained in the target tower according to the tower data of the target tower and the longitude and latitude of the foundation point of the target tower; determining the longitude and latitude of the machine position of each target machine position according to the longitude and latitude of the cross arm; 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, points a and C may be two vertices of the same side of the longest cross arm of the target pylon, and points B and D may be the same-layer cross arm vertices of two adjacent pylons. Firstly, a ≡Q can be determined according to an intersection point Q of extension lines of a line segment BA formed by a point B and a point A and a line segment DC formed by a point D and a point C, secondly, a vertical line segment AE of the line segment BQ can be determined based on the point A, the length of the vertical line segment AE is 5 meters, further, a parallel line segment of the line segment BQ can be determined based on the point E, and a point which is 2.7 meters away from the point E and is opposite to the point B is determined as a machine position point A corresponding to the vertex A. The machine position point B corresponding to the vertex B can be determined based on the same step, and further the two machine position points on the other side of the layer of cross arm can be determined based on the same step.

Specifically, firstly, physical tower data can comprise the longitude and latitude of a tower foundation point, and logic tower data can comprise the length of each layer of cross arm of the tower, so that the longitude and latitude of the cross arm at the top point of the longest cross arm can be determined according to the longitude and latitude of the foundation point and the length of the longest crosspiece; secondly, four target machine positions corresponding to the longest cross arm layer can be determined based on the step of determining the machine positions, and the longitude and latitude of the machine positions of the four target machine positions are determined according to the pose relation between the four target machine positions and the peaks of each cross arm respectively; after the longitude and latitude of the machine position of each target 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 can be determined based on the pose relation of the target machine position and the target image acquisition point.

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

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

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

Specifically, if the angle of rotation formed by three adjacent towers is smaller than or equal to a preset angle threshold, the initial machine position point and the initial image acquisition point can be determined to be the machine position point and the image acquisition point of the towers, the longitude and the latitude of each machine position point can be determined according to the longitude and the latitude of the foundation point of the towers, and the longitude and the latitude and the angle of each image acquisition point can be determined according to the pose relation of each machine position point and the image acquisition point.

And 430, sending the machine site and the image acquisition point to a patrol equipment so as to control the patrol equipment to carry out flight patrol on the towers based on the machine site and acquire the image information of the towers based on the image acquisition point.

In one embodiment, controlling the inspection apparatus to perform flight inspection on each of the towers based on each of the machine sites and acquire image information of each of the towers based on each of the image acquisition points includes:

comparing the current longitude and latitude of the inspection equipment with the longitude and latitude of the machine location point corresponding to the inspection equipment, and if the current longitude and latitude are consistent with the longitude and latitude of the machine location point, 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 when the inspection equipment is positioned at the machine site 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 point 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 are consistent with the longitude and latitude of the machine location point, the fact that the inspection equipment reaches the machine location point is determined, further, the longitude and latitude and the angle of each image acquisition point can be determined based on the pose relation of the machine location point and the image acquisition points, specifically, the yaw angle of the inspection equipment when the inspection equipment is located at the machine location point and the angle information of an image acquisition device loaded by the inspection equipment can be 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 a preset height above each tower, and controlling the inspection equipment to inspect the line channel of each tower based on the channel inspection route.

The overhead tower line is generally over tens of kilometers in length, and illegal planting, illegal building, new line, newly added building, construction, large-scale equipment movement or theft and other things are inevitably caused below the tower line. If the whole tower line channel is patrolled by driving of a worker, the consumption of time and funds is very large, and the patrolling efficiency cannot be improved. So the line channel of each tower can be inspected by adopting inspection equipment.

Fig. 8 is a schematic diagram of inspection of a line channel of each tower in the inspection method according to the second embodiment of the present invention, as shown in fig. 8, specifically, a starting point of inspection of the line channel of each tower is located at a preset height right above an initial tower, and when the starting point 1 is reached, an image acquisition device loaded in the inspection device may start to work, and take a photograph of a line channel below. Meanwhile, the inspection equipment can fly to a second machine site 2, namely a preset height position right above a second pole tower. When the second machine position point 2 is reached, the following machine position point 3 can be continued to fly until the last return 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 safety distance, and in the embodiment of the present invention, the safety distance may be 5 meters.

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

Fig. 9 is a schematic diagram of inspection of each power transmission line in the inspection method according to the second embodiment of the present invention, as shown in fig. 9, specifically, the inspection content of each power transmission line is mainly the power transmission line between two towers during inspection. The initial point location 1 is located at a preset height above one side of the first tower, and because the point location has no photographing requirement, after the inspection equipment reaches the point, the inspection equipment can descend to the wire feeding machine location 2 of the first tower, and the pitching angle of the image acquisition device is controlled to photograph the power transmission line. And the inspection equipment flies to the upper wire machine position 3 of the second pole tower at a preset speed, and simultaneously inspects the upper wire. When the upper wire guide machine position 3 of the second tower is reached, the image acquisition device can stop working and descend to the middle wire guide machine position 4 of the second tower because the position does not correspond to the photographing position, then the image acquisition device is started and flies to the middle wire guide machine position 5 of the first tower, meanwhile, the same action is continuously executed when the middle wire is inspected, and the inspection of the lower wire between the lower wire guide machine position 6 of the first tower and the lower wire guide machine position 7 of the second tower is completed. When the inspection equipment reaches the lower wire guide machine position 7 of the second pole tower, the inspection equipment can be lifted to a return point 8, and inspection of each power transmission line between the two pole towers is completed.

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

The second embodiment of the invention provides a patrol method, which comprises the following steps: determining an initial inspection route according to the inspection plan and the tower data; determining a machine point and an image acquisition point of each tower according to the initial inspection route, the tower data and the corner angles among the towers; and sending the machine site and the image acquisition point to a patrol equipment so as to control the patrol equipment to carry out flight patrol on each tower based on each machine site 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 positions and the image acquisition points of all towers during inspection can be determined according to the angle of rotation between all towers contained in the initial inspection line and the tower data of all towers, the machine positions and the image acquisition points of all towers are sent to the inspection equipment, so that the inspection equipment is controlled to carry out flying inspection on all towers based on all the machine positions, the image information of all the towers is acquired at all the image acquisition points, the refined inspection on the towers contained in the power transmission line is realized, 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, so that the inspection accuracy and safety are further improved.

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

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

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

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

And 1040, if the corner angle is greater than a preset angle threshold, determining an intermediate tower of the adjacent three towers forming the corner angle as a target tower.

Step 1050, determining a target machine 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 points and the image acquisition points of other towers based on the preset inspection route.

Step 1070, sending the machine location and the image acquisition point to a patrol equipment to control the patrol equipment to perform flight patrol on each tower based on each machine location and acquire image information of each tower based on each image acquisition point.

Step 1080, forming a channel inspection route based on inspection points at a preset height above each tower, and controlling the inspection equipment to inspect the line channel of each tower based on the channel inspection route.

And 1090, determining a transmission line inspection route based on the machine position points of each layer of the towers, and controlling the inspection equipment to inspect each transmission line based on the transmission line inspection route.

According to the implementation mode of the inspection method provided by the second embodiment of the invention, the tower which needs to be inspected is determined according to the inspection plan; determining inspection parameters according to the tower data of each tower required to be inspected; determining the initial inspection route according to the inspection parameters; if the corner angle is larger than a preset angle threshold, determining an intermediate tower among the adjacent three towers forming the corner angle as a target tower; determining a target machine 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 positions and the image acquisition points of other towers based on the preset inspection route; transmitting the machine site and the image acquisition point to a patrol equipment so as to control the patrol equipment to carry out flight patrol on each tower based on each machine site and acquire image information of each tower based on each image acquisition point; forming a channel inspection route based on inspection points at a preset height above each tower, 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 position points of each layer of the towers, 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 positions and the image acquisition points of all towers during inspection can be determined according to the angle of rotation between all towers contained in the initial inspection line and the tower data of all towers, the machine positions and the image acquisition points of all towers are sent to the inspection equipment, so that the inspection equipment is controlled to carry out flying inspection on all towers based on all the machine positions, the image information of all the towers is acquired at all the image acquisition points, the refined inspection on the towers contained in the power transmission line is realized, and the inspection accuracy and safety are improved.

Example III

Fig. 11 is a schematic structural diagram of a patrol device according to a third embodiment of the present invention, where the device may be adapted to improve the accuracy and safety of patrol when it is required to accurately and safely patrol each tower included in a power transmission line. The apparatus may be implemented in software and/or hardware and is typically integrated in a computer device.

As shown in fig. 11, the apparatus includes:

an initial inspection route determination module 1110, configured to determine an initial inspection route according to an inspection plan and tower data;

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

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

According to the inspection device provided by the third embodiment, an initial inspection route is determined according to an inspection plan and tower data; determining a machine point and an image acquisition point of each tower according to the initial inspection route, the tower data and the corner angles among the towers; and sending the machine site and the image acquisition point to a patrol equipment so as to control the patrol equipment to carry out flight patrol on each tower based on each machine site 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 positions and the image acquisition points of all towers during inspection can be determined according to the angle of rotation between all towers contained in the initial inspection line and the tower data of all towers, the machine positions and the image acquisition points of all towers are sent to the inspection equipment, so that the inspection equipment is controlled to carry out flying inspection on all towers based on all the machine positions, the image information of all the towers is acquired at all the image acquisition points, the refined inspection on the towers contained in the power transmission line is realized, and the inspection accuracy and safety are improved.

Based on the foregoing embodiments, the tower data includes physical tower data, logical tower data, tower structure and line information, and accordingly, the initial routing determination module 1110 is specifically configured to:

Based on the above embodiment, the point determining module 1120 is specifically configured to:

In one embodiment, determining a target machine point and a target image acquisition point for the target tower based on the corner angle and the tower data for the target tower comprises:

Based on the above embodiment, the inspection module 1130 is specifically configured to:

On the basis of the above embodiment, the device 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 IV

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 merely an example and should not be construed as limiting the functionality and scope of use of embodiments of the present invention.

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

Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, and a local bus using any of a variety of bus architectures. By way of example, and not limitation, such architectures include 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 can 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. The 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 or write to non-removable, nonvolatile magnetic media (not shown in FIG. 12, commonly referred to as a "hard disk drive"). Although not shown in fig. 12, a magnetic disk drive for reading from and writing to a removable non-volatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive for reading from or writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In such cases, each drive may be coupled to bus 18 through one or more data medium interfaces. The system memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to carry out the functions of the embodiments of the invention.

A program/utility 40 having a set (at least one) of program modules 42 may be stored in, for example, 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 or some combination of which may include an implementation of a network environment. Program modules 42 generally perform the functions and/or methods of the embodiments described herein.

The computer device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), one or more devices that enable a user to interact with the computer device 12, and/or any devices (e.g., network card, modem, etc.) that enable the computer device 12 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 22. Moreover, computer device 12 may also communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN) and/or a public network, such as the Internet, through network adapter 20. As shown in fig. 12, the network adapter 20 communicates with 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 connection with computer device 12, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.

The processing unit 16 executes various functional applications and page displays by running programs stored in the system memory 28, for example, implementing the inspection method provided in the present embodiment, the method includes:

Of course, those skilled in the art will 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 a patrol system according to a fifth embodiment of the present invention, as shown in fig. 13, the patrol system may include a patrol device 1310 and a computer device 1320 communicatively connected to the patrol device, where the computer device 1320 is configured to perform a patrol method, and the method includes:

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

The computer device 1320 may be an upper computer, may be located in a machine room, and may be connected to each inspection device 1310 in a communication manner, so as to control each inspection device 1310.

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

Example six

A sixth embodiment of the present invention also provides a storage medium containing computer-executable instructions, which when executed by a computer processor, are for performing a patrol method, the method comprising:

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 a combination of any of the foregoing. 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 (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, or 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. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an application specific integrated circuit (application specific integrated circuit, ASIC). In the context 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 containing the computer executable instructions provided in the embodiments of the present invention is not limited to the method operations described above, and may also perform the related operations in the inspection method provided in any embodiment of the present invention.

From the above description of embodiments, it will be clear to a person skilled in the art that the present invention may be implemented by means of software and necessary general purpose hardware, but of course also by means of hardware, although in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, etc., and include several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments of the present invention.

It should be noted that, in the above embodiment of the inspection apparatus, each unit and module included are only divided according to the functional logic, but not limited to the above division, so long as the corresponding functions can be implemented; in addition, the specific names of the functional units are also only for distinguishing from each other, and are not used to limit the protection scope of the present invention.

Note that the above is only a preferred embodiment of the present invention and the technical principle applied. 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, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.

Claims

1. A method of inspection comprising:

determining a machine position point and an image acquisition point of each tower according to the initial inspection route, the tower data and the corner angle among the towers, wherein if the corner angle is larger than a preset angle threshold, determining an intermediate tower among 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 position point and the image acquisition point of other towers based on the initial inspection route;

Transmitting the machine site and the image acquisition point to a patrol equipment so as to control the patrol equipment to carry out flight patrol on each tower based on each machine site and acquire image information of each tower based on each image acquisition point;

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

wherein determining a target machine 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 longitude and latitude of the positions of other layers of target positions according to the vertical distance between the cross arms and the longitude and latitude of the positions of the same layer of target positions;

2. The inspection method of claim 1, wherein the tower data comprises physical tower data, logical tower data, tower structures, and line information,

accordingly, determining an initial inspection route according to the inspection plan and the tower data includes:

3. The inspection method according to claim 1, wherein controlling the inspection apparatus to perform flight inspection on each of the towers based on each of the machine sites and to acquire image information of each of the towers based on each of the image acquisition points comprises:

4. A method of inspection according to claim 3, wherein determining the image acquisition point corresponding to the machine location comprises:

5. The inspection method of claim 1, further comprising:

6. A patrol device, comprising:

the point determining module is used for determining a machine point and an image acquisition point of each tower according to the initial inspection route, the tower data and the corner angles among the towers, wherein if the corner angle is larger than a preset angle threshold, an intermediate tower among the three adjacent towers forming the corner angle is determined to be a target tower, the target machine point and the target image acquisition point of the target tower are determined according to the corner angle and the tower data of the target tower, and the machine point and the image acquisition point of other towers are determined based on the initial inspection route;

The control inspection module is used for sending the machine site and the image acquisition point to inspection equipment so as to control the inspection equipment to carry out flight inspection on each tower based on each machine site and acquire image information of each tower based on each image acquisition point;

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

7. 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 of any one of claims 1-5 when the program is executed by the processor.

8. A patrol system comprising a patrol device and a computer device in communication with the patrol device, wherein the computer device is configured to perform a patrol method according to any one of claims 1-5, and the patrol device is configured to patrol each tower under the control of the computer device.

9. A storage medium containing computer executable instructions which, when executed by a computer processor, are for performing the inspection method of any of claims 1-5.