CN113494913A - Unmanned aerial vehicle power inspection planning method and device, computer equipment and storage medium - Google Patents
Unmanned aerial vehicle power inspection planning method and device, computer equipment and storage medium Download PDFInfo
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- CN113494913A CN113494913A CN202111041383.3A CN202111041383A CN113494913A CN 113494913 A CN113494913 A CN 113494913A CN 202111041383 A CN202111041383 A CN 202111041383A CN 113494913 A CN113494913 A CN 113494913A
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The application relates to a planning method and device for power inspection of an unmanned aerial vehicle, computer equipment and a storage medium. The method comprises the following steps: acquiring power transmission line point cloud data, and performing projection object separation on the power transmission line point cloud data according to preset projection object distribution characteristics to obtain power transmission line point cloud and tower point cloud; carrying out curve fitting by adopting the power transmission line point cloud, constructing a plurality of power transmission line virtual models, and obtaining the power transmission line virtual models according to the tower point cloud, the plurality of power transmission line virtual models and the actual position coordinates of the towers; acquiring shooting point information and flight control information of the unmanned aerial vehicle; and planning a flight path by combining the virtual model of the power transmission line, the shooting pose information corresponding to the plurality of tower shooting points and each tower shooting point and the flight control information of the unmanned aerial vehicle, and generating a target power inspection route. By adopting the method, the power inspection route of the unmanned aerial vehicle can be automatically planned, the unmanned aerial vehicle is utilized to automatically drive and inspect the route, and the power transmission line is finely inspected on the basis of effectively guaranteeing the flight safety.
Description
Technical Field
The application relates to the technical field of electric power, in particular to a planning method and device for electric power inspection of an unmanned aerial vehicle, computer equipment and a storage medium.
Background
At present, an unmanned aerial vehicle is used for inspection, and a method for manually using a telescope or a camera to photograph and carry out power inspection on a power transmission line is replaced. However, the manual patrol method of the unmanned aerial vehicle, which is generally adopted, has high technical requirements on controlling the flying hands, difficult maintenance of patrol space distance, easy occurrence of risk of collision with line equipment, easy occurrence of omission in patrol equipment coverage, low single operation efficiency, different patrol specific operation procedures and incapability of solidification, so that the power patrol of the power transmission line by utilizing the unmanned aerial vehicle cannot be effectively implemented.
Therefore, the problem that unmanned aerial vehicles are lack of automatic routing inspection planning when fine inspection is carried out on the power transmission line and the pole tower in the related technology is solved.
Disclosure of Invention
Based on this, it is necessary to provide a method, an apparatus, a computer device and a storage medium for planning power patrol of an unmanned aerial vehicle, which can solve the above problems.
An unmanned aerial vehicle power inspection planning method, the method comprising:
acquiring power transmission line point cloud data, and performing projection object separation on the power transmission line point cloud data according to preset projection object distribution characteristics to obtain power transmission line point cloud and tower point cloud;
performing curve fitting by using the power transmission line point cloud, constructing a plurality of power transmission line virtual models, and obtaining the power transmission line virtual models according to the tower point cloud, the plurality of power transmission line virtual models and the actual position coordinates of the tower;
acquiring shooting point information and flight control information of the unmanned aerial vehicle; the shooting point information comprises a plurality of tower shooting points and shooting pose information corresponding to each tower shooting point;
and planning a flight path by combining the virtual model of the power transmission line, the shooting position and posture information corresponding to the plurality of tower shooting points and each tower shooting point and the flight control information of the unmanned aerial vehicle, and generating a target power inspection route.
In an embodiment, the performing projection object separation on the power transmission line point cloud data according to a preset projection object distribution characteristic to obtain a power transmission line point cloud and a tower point cloud includes:
determining a tower virtual position according to the projection intensity of the point cloud data of the power transmission line on a horizontal plane based on a preset projection coordinate system; the horizontal projection gathering point of the virtual position of the tower is larger than the horizontal projection gathering point of the virtual position of the power transmission line;
obtaining a tower point cloud from the power transmission line point cloud data according to the tower virtual position;
and filtering the tower point cloud in the power transmission line point cloud data to obtain the power transmission line point cloud.
In one embodiment, the curve fitting with the power line point cloud to construct a plurality of power line virtual models includes:
carrying out discontinuous point boundary shape detection on the power transmission line point cloud to obtain a plurality of point cloud straight lines;
performing center line fitting according to the point cloud straight lines, and determining virtual power transmission line points corresponding to the power transmission line virtual models to be constructed by adopting fitting results;
and aiming at each power transmission line virtual model to be constructed, carrying out block area processing based on the virtual power transmission line points, and constructing the power transmission line virtual model.
In one embodiment, the acquiring shooting point information and flight control information of the unmanned aerial vehicle includes:
determining a plurality of tower shooting points of the power transmission line to be inspected;
taking the plurality of tower shooting points and corresponding shooting pose information thereof as the shooting point information;
acquiring the model of the unmanned aerial vehicle, and determining modal control information and visual control information of the unmanned aerial vehicle;
using the modal control information, the visual control information, and flight restriction data as the flight control information;
the flight limitation data comprises any one or more of:
track point number, flight distance, flight time, flight safety zone.
In one embodiment, the generating a target power inspection route by performing route planning by combining the virtual model of the power transmission line, the shooting pose information corresponding to the plurality of tower shooting points and each tower shooting point, and the flight control information of the unmanned aerial vehicle includes:
performing track planning by adopting a preset coding mode and combining the virtual model of the power transmission line, the plurality of tower shooting points, shooting pose information corresponding to each tower shooting point and flight control information of the unmanned aerial vehicle to obtain a plurality of candidate routes;
calculating an adaptive value of each candidate route;
determining a target adaptive value from a plurality of adaptive values according to a preset track planning termination condition, and taking a candidate route corresponding to the target adaptive value as a target power inspection route; and the flight path planning termination condition comprises that the circulation iteration is terminated when the circulation iteration is carried out for a preset number of times or the circulation iteration is terminated when an optimal adaptive value is detected.
In one embodiment, further comprising:
determining an auxiliary navigation point according to the safety operation demand information;
and carrying out route editing operation on the target power inspection route based on the auxiliary waypoints so as to adjust the waypoint sequence in the target power inspection route.
In one embodiment, further comprising:
carrying out risk detection on the target power patrol route;
and if the detection result of the target power inspection route meets the preset auditing condition, issuing the target power inspection route.
An unmanned aerial vehicle power inspection planning device, the device includes:
the power transmission line point cloud and tower point cloud acquisition module is used for acquiring power transmission line point cloud data, and performing projection object separation on the power transmission line point cloud data according to preset projection object distribution characteristics to obtain power transmission line point cloud and tower point cloud;
the transmission line virtual model obtaining module is used for adopting the transmission line point cloud to perform curve fitting, constructing a plurality of transmission line virtual models and obtaining the transmission line virtual model according to the tower point cloud, the plurality of transmission line virtual models and the tower actual position coordinates;
the unmanned aerial vehicle information determining module is used for acquiring shooting point information and flight control information of the unmanned aerial vehicle; the shooting point information comprises a plurality of tower shooting points and shooting pose information corresponding to each tower shooting point;
and the flight path planning module is used for planning a flight path by combining the power transmission line virtual model, the plurality of tower shooting points, shooting pose information corresponding to each tower shooting point and flight control information of the unmanned aerial vehicle, and generating a target power inspection route.
A computer device comprising a memory storing a computer program and a processor implementing the steps of the unmanned aerial vehicle power patrol planning method as described above when the processor executes the computer program.
A computer-readable storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the unmanned aerial vehicle power patrol planning method as described above.
The unmanned aerial vehicle power patrol planning method, the device, the computer equipment and the storage medium are characterized in that power transmission line point cloud data are obtained, projection object separation is carried out on the power transmission line point cloud data according to preset projection object distribution characteristics to obtain power transmission line point cloud and tower point cloud, then curve fitting is carried out by adopting the power transmission line point cloud to construct a plurality of power transmission line virtual models, a power transmission line virtual model is obtained according to the tower point cloud, the plurality of power transmission line virtual models and the actual position coordinates of towers, shooting point information and flight control information of the unmanned aerial vehicle are obtained, and further flight path planning is carried out by combining the power transmission line virtual model, the plurality of tower shooting points, shooting pose information corresponding to each tower shooting point and the flight control information of the unmanned aerial vehicle to generate a target power patrol route, so that automatic planning of the power patrol route of the unmanned aerial vehicle is realized, and a high-precision virtual model is constructed, the flight path planning is carried out in combination with shooting point information and unmanned aerial vehicle's flight control information, can utilize unmanned aerial vehicle to carry out autopilot and patrol and examine the line, patrols and examines transmission line on the basis of effective guarantee flight safety more meticulously.
Drawings
Fig. 1 is a schematic flow chart of a power inspection planning method for an unmanned aerial vehicle in an embodiment;
FIG. 2a is a schematic diagram of a tower shot point setting in one embodiment;
FIG. 2b is a schematic diagram of another tower shot point setting in one embodiment;
FIG. 2c is a schematic diagram of an unmanned aerial vehicle power patrol route planning process in one embodiment;
fig. 3 is a schematic flow chart of another unmanned aerial vehicle power inspection planning method in one embodiment;
fig. 4 is a block diagram of an embodiment of an unmanned aerial vehicle power inspection planning apparatus;
FIG. 5 is a diagram of the internal structure of a computer device, in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In an embodiment, as shown in fig. 1, a power inspection planning method for an unmanned aerial vehicle is provided, and this embodiment is illustrated by applying the method to a terminal, it is to be understood that the method may also be applied to a server, may also be applied to a system including a terminal and a server, and is implemented by interaction between the terminal and the server. In this embodiment, the method includes the steps of:
the power transmission line point cloud data can be point cloud data subjected to data quality inspection preprocessing, such as point cloud data passing high-precision verification.
In practical application, the preprocessed power transmission line point cloud data can be checked based on the acquired data quality, projection object separation is carried out on the power transmission line point cloud data according to preset projection object distribution characteristics, and then power transmission line point cloud and tower point cloud can be obtained from the power transmission line point cloud data.
In an example, the point cloud data of the power transmission line can be obtained based on the preliminary data preparation and the data quality inspection preprocessing, for example, whether the acquired original point cloud data is high-precision point cloud data or not can be judged in the data quality inspection, namely, the precision is not lower than +/-0.2 m, then after the point cloud data is subjected to precision calibration, spot inspection can be performed on the point cloud precision calibration condition according to a control point acquired on site, the point cloud data which is not passed through the precision calibration can be acquired again or corrected according to the control point, and then a point cloud data precision quality report can be generated, so that the accuracy and the usability of the preprocessed point cloud data are ensured, and the point cloud data of the power transmission line can meet the requirement of automatic planning of a subsequent air route.
In an optional embodiment, after the precision verification of the point cloud data is passed, the point cloud data can be further subjected to merging, cutting and other processing, and then the point cloud data of irrelevant areas can be deleted on the basis of ensuring the full coverage of the power transmission line and the full coverage of the risk points.
as an example, the actual position coordinates of the tower may be obtained based on the power transmission line equipment ledger, for example, by matching the collected original point cloud data (such as LAS data) with the power transmission line equipment ledger, the actual base coordinates of the tower may be extracted, and further based on the point cloud data that passes the precision check, the actual high-precision coordinates of the tower may be extracted again, and the coordinate information in the power transmission line equipment ledger may be updated, so as to obtain the actual position coordinates of the tower.
After the power transmission line point cloud and the tower point cloud are obtained, curve fitting can be carried out by adopting the power transmission line point cloud, a plurality of power transmission line virtual models are obtained through construction, then a power transmission line virtual model can be obtained according to the tower point cloud, the plurality of power transmission line virtual models and the actual position coordinates of the tower, and automatic flight path planning can be further carried out on the basis of the power transmission line virtual model.
In an optional embodiment, the point cloud data of the power transmission line and the actual position coordinates of the towers can be input into the route planning system, the point cloud data of the power transmission line and the point cloud of the towers can be obtained from the point cloud data of the power transmission line through a preset projection coordinate system and preset projection object distribution characteristics, and then the point cloud data of the power transmission line and the point cloud of the towers can be cut and calibrated according to a power transmission line equipment ledger, so that the convenience and the fluency of subsequent automatic planning operation of the route planning system are improved.
103, acquiring shooting point information and flight control information of the unmanned aerial vehicle; the shooting point information comprises a plurality of tower shooting points and shooting pose information corresponding to each tower shooting point;
wherein, unmanned aerial vehicle's flight control information can include unmanned aerial vehicle's modal control information, unmanned aerial vehicle's visual control information to and flight restriction data, can acquire modal control information like the model according to unmanned aerial vehicle, can acquire visual control information according to unmanned aerial vehicle's configuration camera model.
As an example, the unmanned aerial vehicle may be a multi-rotor unmanned aerial vehicle, and in the fine inspection process of the tower mast, a multi-rotor unmanned aerial vehicle with high positioning accuracy may be adopted, which is provided with an RTK (Real-time kinematic), is provided with a centimeter-level navigation and positioning system inside, and has a high-performance imaging system supporting multiple measurement technologies.
As an example, the shooting point information may be determined according to the distribution of key parts in the power transmission line, for example, for the distribution of key parts in the tower, positions of a line channel, a tower footing, a tower body, a tower head, an insulator (including a pin), a hardware (including a pin), each hanging point (including a pin), and the like may be set as shooting points, and the shooting points may be manually marked or automatically selected based on the power transmission line point cloud and the tower point cloud.
In specific implementation, shooting point information aiming at power inspection can be acquired, the shooting point information can comprise a plurality of tower shooting points and shooting pose information corresponding to each tower shooting point, if shooting actions are completed at the tower shooting points at different angles, and flight control information of the unmanned aerial vehicle can be acquired according to the model of the unmanned aerial vehicle.
In an example, for fine shooting, the camera pitch angle may be set to be head-up shooting, that is, the pitch angle is set to be-10 ° to 10 °, the ground wire hanging point for a part of the strain tower is located inside the tower top, the camera pitch angle may be set to be top-view shooting, that is, the angle is set to be 90 °, and the angle may also be set according to actual situations in the field, which is not particularly limited in this embodiment.
In another example, a camera of the unmanned aerial vehicle can be configured to be a 1-inch sensor, when the focal length of the camera is 9mm, the shooting point for the tangent tower can be 3-5m away from the actual tower, and the shooting point for the tension tower can be 3-5m away from the actual tower, so that the pin type targets and defect points in the tower can be clearly visible under the condition of amplification; the position image of the pole tower or the image of the target part can be set to be positioned in the middle of the shot image; the image can be ensured to be clear and the exposure is reasonable by presetting the camera parameters.
And 104, planning a flight path by combining the virtual model of the power transmission line, the plurality of tower shooting points, shooting pose information corresponding to each tower shooting point and flight control information of the unmanned aerial vehicle, and generating a target power inspection route.
In practical application, flight path planning can be carried out on the basis of a genetic algorithm by combining a power transmission line virtual model, a plurality of tower shooting points, shooting pose information corresponding to each tower shooting point and flight control information of an unmanned aerial vehicle, and then a route with the highest fitness can be screened out according to the fitness to be used as a target power inspection route.
Specifically, a route planning system can be adopted to analyze and classify the point cloud data of the power transmission line based on the point cloud three-dimensional model to obtain a classification result (namely, the point cloud of the power transmission line and the point cloud of the tower), a virtual model of the power transmission line can be constructed, shooting point information can be obtained by marking shooting points of equipment in the power transmission line, and then complicated route planning can be carried out under the condition of ensuring the distance of space equipment according to the virtual model of the power transmission line, the shooting point information and flight control information of the unmanned aerial vehicle, and shooting route automatic accurate selection can be carried out on refined routing inspection of the power transmission line based on a deep learning algorithm (such as a genetic algorithm), so that the flight route planning connecting each shooting point can be obtained, and what you see is what you get type flight preview can be supported.
In one example, by combining the real-time positioning function of the unmanned aerial vehicle accurate to centimeter level, safe position guidance can be provided for unmanned aerial vehicle automatic driving; according to the flight route setting of the continuous inspection of the power transmission line, the power continuation position guidance can be provided for the power-off continuation of the journey of the unmanned aerial vehicle; unmanned aerial vehicle can also possess space collision detection and automatic ability of dodging to guarantee flight safety more effectively.
In the embodiment of the application, the automatic planning of the unmanned aerial vehicle power patrol is realized by acquiring power transmission line point cloud data, performing projection object separation on the power transmission line point cloud data according to preset projection object distribution characteristics to obtain power transmission line point cloud and tower point cloud, then performing curve fitting by adopting the power transmission line point cloud to construct a plurality of power transmission line virtual models, obtaining a power transmission line virtual model according to the tower point cloud, the plurality of power transmission line virtual models and tower actual position coordinates, acquiring shooting point information and unmanned aerial vehicle flight control information, further performing flight path planning by combining the power transmission line virtual model, the plurality of tower shooting points, shooting pose information corresponding to each tower shooting point and the flight control information of the unmanned aerial vehicle, and generating a target power patrol route, and the flight path planning is performed by combining the shooting point information and the flight control information of the unmanned aerial vehicle through constructing the power transmission line virtual model, can utilize unmanned aerial vehicle to carry out autopilot and patrol and examine the line, the transmission line is patrolled and examined more meticulously on the basis of effective guarantee flight safety.
In an embodiment, the performing projection object separation on the power transmission line point cloud data according to a preset projection object distribution characteristic to obtain a power transmission line point cloud and a tower point cloud may include:
determining a tower virtual position according to the projection intensity of the point cloud data of the power transmission line on a horizontal plane based on a preset projection coordinate system; the horizontal projection gathering point of the virtual position of the tower is larger than the horizontal projection gathering point of the virtual position of the power transmission line; obtaining a tower point cloud from the power transmission line point cloud data according to the tower virtual position; and filtering the tower point cloud in the power transmission line point cloud data to obtain the power transmission line point cloud.
In practical application, according to the projection intensity of the point cloud data of the power transmission line on the horizontal plane, namely, the projection at the virtual position of the tower is dense, the projection at the virtual position of the power transmission line is sparse, the virtual position of the tower can be obtained based on a preset projection coordinate system, and then according to the virtual position of the tower, the point cloud of the tower can be extracted from the point cloud data of the power transmission line, if the position where the horizontal projection gathering point is dense can be determined as the virtual position of the tower, the corresponding point cloud of the power transmission line is obtained.
Because the sag exists between two towers of the power transmission line, the power transmission line point cloud left in the power transmission line point cloud data can be obtained by filtering the tower point cloud so as to further adopt the power transmission line point cloud to carry out curve fitting.
According to the embodiment, the virtual position of the tower is determined according to the projection intensity of the point cloud data of the power transmission line on the horizontal plane based on the preset projection coordinate system, then the point cloud of the tower is obtained from the point cloud data of the power transmission line according to the virtual position of the tower, and then the point cloud of the tower is filtered out from the point cloud data of the power transmission line to obtain the point cloud of the power transmission line.
In one embodiment, the curve fitting using the power line point cloud to construct a plurality of power line virtual models may include the following steps:
carrying out discontinuous point boundary shape detection on the power transmission line point cloud to obtain a plurality of point cloud straight lines; performing center line fitting according to the point cloud straight lines, and determining virtual power transmission line points corresponding to the power transmission line virtual models to be constructed by adopting fitting results; and aiming at each power transmission line virtual model to be constructed, carrying out block area processing based on the virtual power transmission line points, and constructing the power transmission line virtual model.
In practical application, because the virtual positions of the transmission lines projected on the horizontal plane are straight lines and are parallel to each other, the shape of the boundary of the discontinuous points is detected by the point cloud of the transmission lines, for example, a two-dimensional Hough transform method can be used for fitting the straight lines and the curves, and the main directions of the virtual positions of the plurality of transmission lines can be determined according to a straight line equation obtained by transformation so as to filter the straight lines with larger deviation.
In one example, a plurality of point cloud straight lines obtained by a two-dimensional hough transform method can be used as a data source, a central line is fitted based on a least square fitting method, then a central line straight line equation (namely a fitting result) of a virtual position of a power transmission line in a three-dimensional projection plane can be obtained, virtual power transmission line points corresponding to each virtual model of the power transmission line to be constructed can be calculated according to the central line straight line equation, the distance from the virtual power transmission line points to the central line can be determined, and the virtual power transmission line points meeting a threshold value condition can be screened out by comparing the distance with a preset standard threshold value.
After the virtual power transmission line points are obtained, for each to-be-constructed power transmission line virtual model, the virtual power transmission line points can be partitioned by adopting a partitioning centroid calculation method, then three-dimensional nodes of the to-be-constructed power transmission line virtual model can be obtained based on partitioning areas, power transmission line vectors can be calculated, and the power transmission line virtual model is constructed.
The method comprises the steps of detecting the shape of the boundary of the discontinuous points of the power transmission line point cloud to obtain a plurality of point cloud straight lines, fitting a central line according to the plurality of point cloud straight lines, determining virtual power transmission line points corresponding to a plurality of power transmission line virtual models to be constructed by adopting fitting results, carrying out block area processing on each power transmission line virtual model to be constructed based on the virtual power transmission line points, constructing the power transmission line virtual model, accurately constructing the power transmission line virtual model according to the power transmission line point cloud, and providing data support for subsequent automatic track planning.
In one embodiment, the acquiring of the shooting point information and the flight control information of the unmanned aerial vehicle may include the following steps:
determining a plurality of tower shooting points of the power transmission line to be inspected; taking the plurality of tower shooting points and corresponding shooting pose information thereof as the shooting point information; acquiring the model of the unmanned aerial vehicle, and determining modal control information and visual control information of the unmanned aerial vehicle; and taking the modal control information, the visual control information and the flight limitation data as the flight control information.
In practical application, appropriate shooting positions, namely a plurality of tower shooting points of the power transmission line to be inspected can be determined according to the distribution condition of key parts in the power transmission line, and then the plurality of tower shooting points and corresponding shooting pose information thereof can be used as shooting point information.
In an example, based on the power inspection path planning requirements, if operation shooting point solidification is performed on key parts in the power transmission line aiming at a large-size side, right-left-back, top-down, a small-size side and a large-size side of a tower, a standardized power transmission line route library is constructed, and the standardized power transmission line route library can comprise a line name, a tower number, a tower type, a tower geographic coordinate, a tower entrance and exit point position coordinate, an operation point imaging parameter and the like.
For example, taking a single-loop linear tower as an example, the method can also be applied to tower types such as a cat-head tower, a portal tower, a pull-V tower and the like which are horizontally arranged and triangularly arranged, and as shown in fig. 2a, the tower shooting point can be set in the following manner:
1. the shooting distance of the mast tower shooting points (3, 6, 10) in fig. 2a can be set to 5-6 m.
2. In fig. 2a, two shooting actions (i.e. shooting pose information) are correspondingly arranged at the pole tower shooting points (4, 7, 11), namely, a shooting wire clamp (the vertical line direction is horizontally observed from the outside), a wire clamp overlooking (the line large-size side is overlooked and shot on a wire for 30-45 degrees), a shooting tower foundation can be overlooked at any pole tower shooting point, and a head course angle faces the large-size side to horizontally shoot a wire-line channel.
3. In fig. 2a, the shooting points (2, 5 and 9) of the tower are easily blocked by the tower material, and shooting can be performed at a small angle from the bottom.
4. In fig. 2a, the shooting points (5, 6 and 7) of the tower are shot from the large-size side to the small-size side, the pins penetrate to the large-size side, and the same principle is applied to the V string.
5. The V-shaped string can be additionally provided with tower shooting points of two hanging points, and can also be used for shooting the whole string of all insulators.
6. If the lightning arrester is hung, the head end, the tail end and the whole string of three pole tower shooting points of the lightning arrester can be increased.
7. In fig. 2a, the tower shooting points (1, 8) can shoot 2 images, one is shooting from the top obliquely at the outer side, and the other is shooting from the head-up at the inner corner of the line.
The tower shooting points can be adjusted according to the actual tower type and the positions of parts, and the tower shooting points can be set in the double-loop linear tower mode and the four-loop linear tower mode.
Taking a single-loop tangent tower as an example, the shooting angle, namely the shooting pose information corresponding to the tower shooting point, can be set in the following way:
for another example, taking a single-loop strain tower as an example, the method may also be applied to tower types such as a top-shaped tower and a dry-shaped tower, and as shown in fig. 2b, the method may set the tower shooting point as follows:
1. in fig. 2b, the mast tower shooting points (3, 7, 10), (12, 15, 18), (21, 25, 28) are shooting points for shooting the whole string of insulators, and the shooting distance can be set to be 5-6 m; the tower shooting points (1 and 11) can be set as a big-small side shooting point respectively, the outer side is obliquely downwards looked down at 60 degrees in a overlooking mode, the side is looked horizontally, part of the strain tower shooting points 11 are arranged on the inner side of the tower top and are 2.5m higher than the tower top in an overlooking mode, and the ground wire hanging point on the inner side of the tower top does not need to be shot horizontally on the outer side.
2. In fig. 2b, tower shooting points (5, 9, 10), (11, 12, 13), (23, 27, 28) at the jumper string are head-up shooting.
3. In fig. 2b, three shooting actions are correspondingly arranged at the pole-tower shooting point 6, namely shooting wire clamp (head-up), tower foundation (overlooking) and line-walking channel (head course angle facing large-size side and head-up); four images are taken by the strain clamp at the wire side, two images are taken at the left side and the right side of the clamp in a small-angle upward view, and two images are taken at an oblique upper angle of 45 degrees in an downward view.
4. In fig. 2b, the mast tower shooting points (4, 5, 6) are the shooting points at the position of the tension tower hanging point, and if the shooting points are the shooting points, an inner corner can be set as a shooting point for replacement.
5. In fig. 2b, the tower shooting points (27, 28) are shot outside the conductor, and the tower shooting points can be adjusted according to the actual tower type and the positions of parts.
Taking a single-loop strain tower as an example, the shooting angle of the single-loop strain tower, namely the shooting pose information corresponding to the tower shooting point, can be set in the following way:
wherein, there are three shooting actions corresponding to the tower shooting point 6 in fig. 2b, which are the shooting wire clamp (head up) corresponding to number 6.1, the tower foundation (overlook) corresponding to number 6.3, and the line channel (head course angle toward large side, head up) corresponding to number 6.2.
In practical application, the modal control information and the visual control information of the unmanned aerial vehicle can be acquired according to the model of the unmanned aerial vehicle, and then the modal control information, the visual control information and the flight limitation data can be used as flight control information.
In an example, the modal control information may include control information for a pitch or roll attitude of the drone, control information for a height of the drone, control information for a speed of the drone, control information for a lateral deviation of the drone, control information for a climb or descent of the drone; in the take-off and landing stage of the unmanned aerial vehicle, corresponding control information can be preset according to different take-off and landing modes so as to control the take-off and landing modes.
In yet another example, unmanned aerial vehicle safe flight control may be controlled based on accuracy of point cloud data and machine vision of the unmanned aerial vehicle, in autonomous flight of the unmanned aerial vehicle, obstacles (trees, towers, wires, etc.), power transmission lines may be identified by machine vision, which extracts, analyzes, and processes information from images based on unmanned aerial vehicle flight altitude and viewing angle, and machine vision may also be used to construct maps, correct routes, etc. By presetting the routing and the perception avoidance information (namely the visual control information) of the unmanned aerial vehicle, the flight condition can be monitored in real time according to the collected visual information when the unmanned aerial vehicle flies autonomously, and the shooting information of the target position is provided for the shooting point in the routing.
As an example, flight limitation data may include any one or more of the following:
track point number, flight distance, flight time, flight safety zone.
Aiming at the unmanned aerial vehicle battery endurance condition, by combining the unmanned aerial vehicle flight limiting conditions such as the number of track points, the flight distance, the flight time, the flight safety region and the like, the electric power routing inspection course with the optimal flight course can be planned automatically, such as the flight course with short path distance and less time consumption.
In an optional embodiment, for the quality and the quantity of pictures shot by the unmanned aerial vehicle, the course overlapping degree can be calculated according to the focal length of the camera of the unmanned aerial vehicle, and the quality and the quantity of the pictures shot by the unmanned aerial vehicle can be further controlled based on the course overlapping degree; aiming at the safe flight condition of the unmanned aerial vehicle, the safe distance between the unmanned aerial vehicle and the tower can be controlled during automatic planning.
The method comprises the steps of determining a plurality of tower shooting points of the power transmission line to be patrolled and examined through the embodiment, using the plurality of tower shooting points and corresponding shooting pose information thereof as shooting point information, acquiring the model of the unmanned aerial vehicle, determining modal control information and visual control information of the unmanned aerial vehicle, using the modal control information, the visual control information and flight limitation data as flight control information, planning a flight path by combining the shooting point information and the flight control information of the unmanned aerial vehicle, and realizing automatic planning of the unmanned aerial vehicle power patrol route on the basis of effectively guaranteeing flight safety.
In an embodiment, the generating a target power inspection route by performing route planning by combining the virtual model of the power transmission line, the plurality of tower shooting points, shooting pose information corresponding to each tower shooting point, and flight control information of the unmanned aerial vehicle may include:
performing track planning by adopting a preset coding mode and combining the virtual model of the power transmission line, the plurality of tower shooting points, shooting pose information corresponding to each tower shooting point and flight control information of the unmanned aerial vehicle to obtain a plurality of candidate routes;
in practical application, a preset coding mode (such as polar coordinate coding) can be adopted based on a genetic algorithm, and flight path planning is carried out by combining a virtual model of the power transmission line, a plurality of tower shooting points, shooting pose information corresponding to each tower shooting point and flight control information of the unmanned aerial vehicle, so that a plurality of candidate air routes can be obtained, iterative calculation is further carried out according to the candidate air routes, the air route with the highest fitness is screened out, and electric power routing inspection air route planning is completed.
In an example, compared with a plane rectangular coordinate method and a binary coding mode, polar coordinates are more suitable for unmanned aerial vehicle track planning, a polar coordinate coding mode can be preset, a maximum track, a minimum step length and a maximum track point number are used as constraint conditions, a population with a fixed value is randomly generated, new individuals can be generated through genetic operators, and multiple candidate routes can be obtained.
Calculating an adaptive value of each candidate route;
in a specific implementation, a fitness function may be adopted, and for each candidate route, an adaptive value of the candidate route is calculated, for example, a minimum value of an objective function may be obtained through the fitness function, and the objective function may be a limiting function for a longest cruising distance, a maximum flight path length, and effective target detection of the unmanned aerial vehicle.
Determining a target adaptive value from a plurality of adaptive values according to a preset track planning termination condition, and taking a candidate route corresponding to the target adaptive value as a target power inspection route; and the flight path planning termination condition comprises that the circulation iteration is terminated when the circulation iteration is carried out for a preset number of times or the circulation iteration is terminated when an optimal adaptive value is detected.
In an example, when a candidate route with the highest fitness (i.e., a target fitness value) is detected, the trajectory planning may be terminated, for example, if a preset trajectory planning termination condition is not satisfied, the candidate routes in the population may be propagated to generate new individuals to join the population, and the fitness value of the new individuals may be calculated, when the loop iterates to a preset number of times, or when an optimal fitness value is detected, the trajectory planning is completed.
According to the embodiment, a preset coding mode is adopted, flight path planning is carried out by combining a power transmission line virtual model, shooting pose information corresponding to a plurality of tower shooting points and each tower shooting point, and flight control information of the unmanned aerial vehicle, a plurality of candidate routes are obtained, then the adaptive value of the candidate route is calculated for each candidate route, a target adaptive value is determined from the plurality of adaptive values according to a preset flight path planning termination condition, the candidate route corresponding to the target adaptive value is used as a target power patrol route, automatic planning can be carried out on the unmanned aerial vehicle power patrol route based on a genetic algorithm, and automatic driving patrol can be achieved by the unmanned aerial vehicle.
In one embodiment, the method may further include the steps of:
determining an auxiliary navigation point according to the safety operation demand information; and carrying out route editing operation on the target power inspection route based on the auxiliary waypoints so as to adjust the waypoint sequence in the target power inspection route.
In practical application, as shown in fig. 2c, the safety operation demand information can be acquired, and the auxiliary waypoints are added according to the safety operation demand information, so that the unmanned aerial vehicle and the power transmission line equipment can keep a certain safety distance in the flight operation process, and the course editing operation can be performed on the target power inspection course based on the auxiliary waypoints to adjust the sequence of the waypoints in the target power inspection course.
According to the embodiment, the auxiliary waypoints are determined according to the safety operation demand information, and then the route editing operation is carried out on the target power inspection route based on the auxiliary waypoints, so that the waypoint sequence in the target power inspection route is adjusted, and the flight safety of the power inspection of the unmanned aerial vehicle is improved.
In one embodiment, the method may further include the steps of:
carrying out risk detection on the target power patrol route; and if the detection result of the target power inspection route meets the preset auditing condition, issuing the target power inspection route.
In practical application, as shown in fig. 2c, risk detection can be performed on the target power inspection route, for example, the power inspection route is audited in a mode of combining collision risk monitoring and manual browsing to eliminate risks and ensure flight safety, when a detection result of the target power inspection route meets a preset audit condition, the target power inspection route can be issued, and when the detection result of the target power inspection route does not meet the preset audit condition, field operation is not performed.
For example, when risk detection is performed on a target power patrol route, the auditing conditions may include the following:
1. planning emergency routes such as route transfer strategies, safe return routes, emergency forced landing points and the like aiming at the power inspection routes;
2. the power inspection route needs to meet the requirements of relevant policies and regulations;
3. the minimum distance between the power inspection route and the overhead transmission line needs to be more than 2.5 meters.
In one example, after risk detection and audit, the electric power inspection route can be solidified once, solidified inspection flight tracks and corresponding shooting point information are stored, the electric power inspection route can be ensured to cover equipment in a power transmission line comprehensively, and the route which is planned by electric power inspection of the unmanned aerial vehicle can be used permanently, so that inspection cost is effectively reduced.
According to the embodiment, risk detection is carried out on the target power inspection air route, if the detection result of the target power inspection air route meets the preset auditing condition, the target power inspection air route is issued, the air route can be controlled to issue execution operation based on the auditing result of the power inspection air route, and flight safety is guaranteed.
In one embodiment, as shown in fig. 3, a flow diagram of another method for planning power patrol of an unmanned aerial vehicle is provided. In this embodiment, the method includes the steps of:
in step 301, power transmission line point cloud data is obtained, and projection object separation is performed on the power transmission line point cloud data according to preset projection object distribution characteristics to obtain a power transmission line point cloud and a tower point cloud. In step 302, the power transmission line point cloud is adopted to perform curve fitting, a plurality of power transmission line virtual models are built, and the power transmission line virtual models are obtained according to the tower point cloud, the plurality of power transmission line virtual models and the actual position coordinates of the tower. In step 303, acquiring shooting point information and flight control information of the unmanned aerial vehicle; the shooting point information comprises a plurality of tower shooting points and shooting pose information corresponding to each tower shooting point. In step 304, a flight path is planned by combining the virtual model of the power transmission line, the plurality of tower shooting points, shooting pose information corresponding to each tower shooting point, and flight control information of the unmanned aerial vehicle, so as to generate a target power inspection route. In step 305, an auxiliary waypoint is determined based on the safe job requirement information. In step 306, a route editing operation is performed on the target power inspection route based on the auxiliary waypoints to adjust a waypoint order in the target power inspection route. In step 307, risk detection is performed on the target power patrol route. In step 308, if the detection result of the target power inspection route meets the preset auditing condition, the target power inspection route is issued. It should be noted that, for the specific limitations of the above steps, reference may be made to the above specific limitations of the unmanned aerial vehicle power inspection planning method, which is not described herein again.
It should be understood that, although the steps in the flowcharts of fig. 1 and 3 are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a part of the steps in fig. 1 and 3 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least a part of the steps or stages in other steps.
In one embodiment, as shown in fig. 4, there is provided an unmanned aerial vehicle power patrol planning device, including:
a power transmission line point cloud and tower point cloud obtaining module 401, configured to obtain power transmission line point cloud data, and perform projection object separation on the power transmission line point cloud data according to preset projection object distribution characteristics to obtain a power transmission line point cloud and tower point cloud;
a transmission line virtual model obtaining module 402, configured to perform curve fitting with the transmission line point cloud, construct a plurality of transmission line virtual models, and obtain a transmission line virtual model according to the tower point cloud, the plurality of transmission line virtual models, and the tower actual position coordinates;
an unmanned aerial vehicle information determining module 403, configured to obtain shooting point information and flight control information of the unmanned aerial vehicle; the shooting point information comprises a plurality of tower shooting points and shooting pose information corresponding to each tower shooting point;
and a track planning module 404, configured to perform track planning by combining the power transmission line virtual model, the multiple tower shooting points, shooting pose information corresponding to each tower shooting point, and flight control information of the unmanned aerial vehicle, and generate a target power inspection route.
In one embodiment, the power line point cloud and tower point cloud obtaining module 401 includes:
the tower virtual position determining submodule is used for determining a tower virtual position according to the projection intensity degree of the point cloud data of the power transmission line on the horizontal plane based on a preset projection coordinate system; the horizontal projection gathering point of the virtual position of the tower is larger than the horizontal projection gathering point of the virtual position of the power transmission line;
the tower point cloud obtaining submodule is used for obtaining tower point cloud from the power transmission line point cloud data according to the tower virtual position;
and the power transmission line point cloud obtaining submodule is used for filtering the tower point cloud in the power transmission line point cloud data to obtain the power transmission line point cloud.
In one embodiment, the power transmission line virtual model obtaining module 402 includes:
the point cloud straight line acquisition sub-module is used for carrying out discontinuous point boundary shape detection on the power transmission line point cloud to obtain a plurality of point cloud straight lines;
the center line fitting submodule is used for performing center line fitting according to the point cloud straight lines and determining virtual power transmission line points corresponding to the power transmission line virtual models to be constructed by adopting fitting results;
and the model construction submodule is used for carrying out block area processing on each virtual power transmission line model to be constructed based on the virtual power transmission line points so as to construct the virtual power transmission line model.
In one embodiment, the drone information determination module 403 includes:
the tower shooting point determining submodule is used for determining a plurality of tower shooting points of the power transmission line to be patrolled and examined;
the shooting point information obtaining submodule is used for taking the multiple tower shooting points and the corresponding shooting pose information thereof as the shooting point information;
the control information determining submodule is used for acquiring the model of the unmanned aerial vehicle and determining modal control information and visual control information of the unmanned aerial vehicle;
a flight control information obtaining sub-module for taking the modal control information, the visual control information, and flight restriction data as the flight control information;
the flight limitation data comprises any one or more of:
track point number, flight distance, flight time, flight safety zone.
In one embodiment, the trajectory planning module 404 includes:
the candidate route obtaining sub-module is used for planning a route by adopting a preset coding mode and combining the virtual model of the power transmission line, the plurality of tower shooting points, shooting pose information corresponding to each tower shooting point and flight control information of the unmanned aerial vehicle to obtain a plurality of candidate routes;
the adaptive value operator module is used for calculating the adaptive value of each candidate route;
the target power inspection route obtaining submodule is used for determining a target adaptive value from a plurality of adaptive values according to a preset route planning termination condition, and taking a candidate route corresponding to the target adaptive value as a target power inspection route; and the flight path planning termination condition comprises that the circulation iteration is terminated when the circulation iteration is carried out for a preset number of times or the circulation iteration is terminated when an optimal adaptive value is detected.
In one embodiment, the apparatus further comprises:
the auxiliary waypoint determining module is used for determining auxiliary waypoints according to the safety operation demand information;
and the route editing module is used for carrying out route editing operation on the target power inspection route based on the auxiliary waypoints so as to adjust the waypoint sequence in the target power inspection route.
In one embodiment, the apparatus further comprises:
the risk detection module is used for carrying out risk detection on the target power inspection route;
and the route issuing module is used for issuing the target power inspection route if the detection result of the target power inspection route meets the preset auditing condition.
In the embodiment of the application, the automatic planning of the unmanned aerial vehicle power patrol is realized by acquiring power transmission line point cloud data, performing projection object separation on the power transmission line point cloud data according to preset projection object distribution characteristics to obtain power transmission line point cloud and tower point cloud, then performing curve fitting by adopting the power transmission line point cloud to construct a plurality of power transmission line virtual models, obtaining a power transmission line virtual model according to the tower point cloud, the plurality of power transmission line virtual models and tower actual position coordinates, acquiring shooting point information and unmanned aerial vehicle flight control information, further performing flight path planning by combining the power transmission line virtual model, the plurality of tower shooting points, shooting pose information corresponding to each tower shooting point and the flight control information of the unmanned aerial vehicle, and generating a target power patrol route, and the flight path planning is performed by combining the shooting point information and the flight control information of the unmanned aerial vehicle through constructing the power transmission line virtual model, can utilize unmanned aerial vehicle to carry out autopilot and patrol and examine the line, the transmission line is patrolled and examined more meticulously on the basis of effective guarantee flight safety.
The specific definition of the unmanned aerial vehicle power inspection planning device can refer to the definition of the unmanned aerial vehicle power inspection planning method in the above, and is not repeated herein. Each module in the unmanned aerial vehicle electric power inspection planning device can be wholly or partially realized through software, hardware and combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 5. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer equipment is used for storing the unmanned aerial vehicle power inspection planning data. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by the processor to implement the unmanned aerial vehicle power patrol planning method.
Those skilled in the art will appreciate that the architecture shown in fig. 5 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
acquiring power transmission line point cloud data, and performing projection object separation on the power transmission line point cloud data according to preset projection object distribution characteristics to obtain power transmission line point cloud and tower point cloud;
performing curve fitting by using the power transmission line point cloud, constructing a plurality of power transmission line virtual models, and obtaining the power transmission line virtual models according to the tower point cloud, the plurality of power transmission line virtual models and the actual position coordinates of the tower;
acquiring shooting point information and flight control information of the unmanned aerial vehicle; the shooting point information comprises a plurality of tower shooting points and shooting pose information corresponding to each tower shooting point;
and planning a flight path by combining the virtual model of the power transmission line, the shooting position and posture information corresponding to the plurality of tower shooting points and each tower shooting point and the flight control information of the unmanned aerial vehicle, and generating a target power inspection route.
In one embodiment, the processor, when executing the computer program, further implements the steps of the unmanned aerial vehicle power patrol planning method in the other embodiments described above.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
acquiring power transmission line point cloud data, and performing projection object separation on the power transmission line point cloud data according to preset projection object distribution characteristics to obtain power transmission line point cloud and tower point cloud;
performing curve fitting by using the power transmission line point cloud, constructing a plurality of power transmission line virtual models, and obtaining the power transmission line virtual models according to the tower point cloud, the plurality of power transmission line virtual models and the actual position coordinates of the tower;
acquiring shooting point information and flight control information of the unmanned aerial vehicle; the shooting point information comprises a plurality of tower shooting points and shooting pose information corresponding to each tower shooting point;
and planning a flight path by combining the virtual model of the power transmission line, the shooting position and posture information corresponding to the plurality of tower shooting points and each tower shooting point and the flight control information of the unmanned aerial vehicle, and generating a target power inspection route.
In one embodiment, the computer program when executed by the processor further implements the steps of the unmanned aerial vehicle power patrol planning method in the other embodiments described above.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. An unmanned aerial vehicle power inspection planning method is characterized by comprising the following steps:
acquiring power transmission line point cloud data, and performing projection object separation on the power transmission line point cloud data according to preset projection object distribution characteristics to obtain power transmission line point cloud and tower point cloud;
performing curve fitting by using the power transmission line point cloud, constructing a plurality of power transmission line virtual models, and obtaining the power transmission line virtual models according to the tower point cloud, the plurality of power transmission line virtual models and the actual position coordinates of the tower;
acquiring shooting point information and flight control information of the unmanned aerial vehicle; the shooting point information comprises a plurality of tower shooting points and shooting pose information corresponding to each tower shooting point;
and planning a flight path by combining the virtual model of the power transmission line, the shooting position and posture information corresponding to the plurality of tower shooting points and each tower shooting point and the flight control information of the unmanned aerial vehicle, and generating a target power inspection route.
2. The method of claim 1, wherein the performing projection object separation on the power transmission line point cloud data according to preset projection object distribution characteristics to obtain a power transmission line point cloud and a tower point cloud comprises:
determining a tower virtual position according to the projection intensity of the point cloud data of the power transmission line on a horizontal plane based on a preset projection coordinate system; the horizontal projection gathering point of the virtual position of the tower is larger than the horizontal projection gathering point of the virtual position of the power transmission line;
obtaining a tower point cloud from the power transmission line point cloud data according to the tower virtual position;
and filtering the tower point cloud in the power transmission line point cloud data to obtain the power transmission line point cloud.
3. The method of claim 1, wherein said curve fitting using said power line point cloud to construct a plurality of power line virtual models comprises:
carrying out discontinuous point boundary shape detection on the power transmission line point cloud to obtain a plurality of point cloud straight lines;
performing center line fitting according to the point cloud straight lines, and determining virtual power transmission line points corresponding to the power transmission line virtual models to be constructed by adopting fitting results;
and aiming at each power transmission line virtual model to be constructed, carrying out block area processing based on the virtual power transmission line points, and constructing the power transmission line virtual model.
4. The method of claim 1, wherein the obtaining of shot-point information and flight control information of the drone comprises:
determining a plurality of tower shooting points of the power transmission line to be inspected;
taking the plurality of tower shooting points and corresponding shooting pose information thereof as the shooting point information;
acquiring the model of the unmanned aerial vehicle, and determining modal control information and visual control information of the unmanned aerial vehicle;
using the modal control information, the visual control information, and flight restriction data as the flight control information;
the flight limitation data comprises any one or more of:
track point number, flight distance, flight time, flight safety zone.
5. The method according to claim 1, wherein the generating of the target power inspection route by performing route planning in combination with the virtual model of the power transmission line, the shooting pose information corresponding to the plurality of tower shooting points and each tower shooting point, and the flight control information of the unmanned aerial vehicle comprises:
performing track planning by adopting a preset coding mode and combining the virtual model of the power transmission line, the plurality of tower shooting points, shooting pose information corresponding to each tower shooting point and flight control information of the unmanned aerial vehicle to obtain a plurality of candidate routes;
calculating an adaptive value of each candidate route;
determining a target adaptive value from a plurality of adaptive values according to a preset track planning termination condition, and taking a candidate route corresponding to the target adaptive value as a target power inspection route; and the flight path planning termination condition comprises that the circulation iteration is terminated when the circulation iteration is carried out for a preset number of times or the circulation iteration is terminated when an optimal adaptive value is detected.
6. The method of claim 1, further comprising:
determining an auxiliary navigation point according to the safety operation demand information;
and carrying out route editing operation on the target power inspection route based on the auxiliary waypoints so as to adjust the waypoint sequence in the target power inspection route.
7. The method of any one of claims 1 to 6, further comprising:
carrying out risk detection on the target power patrol route;
and if the detection result of the target power inspection route meets the preset auditing condition, issuing the target power inspection route.
8. The utility model provides an unmanned aerial vehicle electric power inspection planning device which characterized in that, the device includes:
the power transmission line point cloud and tower point cloud acquisition module is used for acquiring power transmission line point cloud data, and performing projection object separation on the power transmission line point cloud data according to preset projection object distribution characteristics to obtain power transmission line point cloud and tower point cloud;
the transmission line virtual model obtaining module is used for adopting the transmission line point cloud to perform curve fitting, constructing a plurality of transmission line virtual models and obtaining the transmission line virtual model according to the tower point cloud, the plurality of transmission line virtual models and the tower actual position coordinates;
the unmanned aerial vehicle information determining module is used for acquiring shooting point information and flight control information of the unmanned aerial vehicle; the shooting point information comprises a plurality of tower shooting points and shooting pose information corresponding to each tower shooting point;
and the flight path planning module is used for planning a flight path by combining the power transmission line virtual model, the plurality of tower shooting points, shooting pose information corresponding to each tower shooting point and flight control information of the unmanned aerial vehicle, and generating a target power inspection route.
9. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor when executing the computer program implements the steps of the unmanned aerial vehicle power inspection planning method of any of claims 1-7.
10. A computer-readable storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, performs the steps of the unmanned aerial vehicle power inspection planning method of any of claims 1 to 7.
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