CN116563520B - Alignment control method, alignment control system, alignment control equipment and alignment control medium for installing telegraph pole - Google Patents
Alignment control method, alignment control system, alignment control equipment and alignment control medium for installing telegraph pole Download PDFInfo
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- CN116563520B CN116563520B CN202310840521.7A CN202310840521A CN116563520B CN 116563520 B CN116563520 B CN 116563520B CN 202310840521 A CN202310840521 A CN 202310840521A CN 116563520 B CN116563520 B CN 116563520B
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- 238000000034 method Methods 0.000 title claims abstract description 55
- 238000009434 installation Methods 0.000 claims abstract description 61
- 230000007246 mechanism Effects 0.000 claims abstract description 28
- 238000004590 computer program Methods 0.000 claims description 14
- 230000007306 turnover Effects 0.000 abstract description 6
- 238000004364 calculation method Methods 0.000 description 18
- 238000010586 diagram Methods 0.000 description 12
- 230000006870 function Effects 0.000 description 7
- 238000004891 communication Methods 0.000 description 6
- 238000010276 construction Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 5
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Classifications
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H12/00—Towers; Masts or poles; Chimney stacks; Water-towers; Methods of erecting such structures
- E04H12/34—Arrangements for erecting or lowering towers, masts, poles, chimney stacks, or the like
- E04H12/347—Arrangements for setting poles in the ground
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/10—Image acquisition
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/22—Image preprocessing by selection of a specific region containing or referencing a pattern; Locating or processing of specific regions to guide the detection or recognition
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/24—Aligning, centring, orientation detection or correction of the image
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/60—Type of objects
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Structural Engineering (AREA)
- Image Analysis (AREA)
Abstract
The invention provides an alignment control method, a control system, equipment and a medium for installing a telegraph pole, wherein the alignment control method is used for analyzing whether the telegraph pole is centered with a preset pit or not through collecting first image information of a second end, close to the preset pit, of the telegraph pole and the preset pit and analyzing whether the projection of the second end along the vertical direction is in the preset pit or not through a second identification model under the condition that the telegraph pole is centered with the preset pit, and driving the telegraph pole to turn over when the projection is in the preset pit, so that the telegraph pole falls into the preset pit; the danger to constructors and equipment caused by the installation mechanism and the wire pole rollover caused by the collision between the wire pole and the ground beside the preset pit after the overturning is prevented.
Description
Technical Field
The invention relates to the technical field of electric power construction, in particular to an alignment control method, a control system, equipment and a medium for installing a telegraph pole.
Background
In the field of power construction, the laying of power lines is a very common task, most of which are erected on utility poles. Usually constructors transport the formed telegraph pole to a construction site, the telegraph pole is erected and straightened in a mechanical hoisting mode and then inserted into a pre-pit dug in advance and fixed, the mode is time-consuming and labor-consuming, manual centering is needed when the telegraph pole is hoisted, the construction progress of the telegraph pole is affected, and meanwhile, potential safety hazards exist in manual operation.
In order to solve the above technical problems, chinese patent No. cn202010530505. X discloses a construction method for laying and installing a power engineering line, in which the device disclosed in the method can realize turning of a telegraph pole, and although the construction method can avoid manually righting the telegraph pole, the following drawbacks still exist, such as: if the electric wire does not fall into the preset pit after overturning, but collides with the ground, the overturning device and the telegraph pole can be overturned, and dangers are caused to constructors and equipment.
Disclosure of Invention
In view of the foregoing drawbacks or deficiencies of the prior art, the present invention is directed to an alignment control method, control system, apparatus, and medium for installing utility poles.
In a first aspect, the present invention provides an alignment control method for installing a utility pole, the control method being for controlling an installation mechanism for installing a utility pole, the utility pole having a first end and a second end, and the utility pole having a first state and a second state, an axis direction of the utility pole being a first direction when in the first state, the second end being disposed within the prepit when in the second state; the mounting mechanism is configured to switch the pole from the first state to the second state; the control method at least comprises the following steps:
S101, acquiring first image information, wherein the first image information is used for marking the corresponding relation between the second end and the preset pit when the telegraph pole is in the first state; the installation mechanism comprises a base which is arranged at one side of the pre-pit and can move along a first direction, a first installation base which can move along a third direction is arranged on the base, a second installation base is rotatably connected to the first installation base, the direction of a rotating shaft of the second installation base is the third direction, and a first space for accommodating the telegraph pole is arranged on the second installation base; the third direction is perpendicular to the first direction;
s102, inputting the first image information into a first identification model, and outputting a first identification result and a second identification result, wherein the first identification result is that the circle center of the prepit is positioned on an extension line of the wire pole axis; the second recognition result is that the circle center of the prepit is positioned at any side of the wire pole axis extension line along the third direction;
s103, responding to the first identification result, inputting the first image information into a second identification model, and outputting a third identification result, wherein the third identification result is that the distance between the first projection and the base, which is close to the preset pit end, is larger than a first threshold value and smaller than a second threshold value; the first projection is a projection of the second end along a second direction when the telegraph pole is in the first state, and the second direction is perpendicular to the first direction and the third direction;
And S104, responding to the third identification result, driving the second installation base to rotate, and enabling the telegraph pole to be in the second state.
According to the technical scheme provided by the invention, after responding to the third identification result and before driving the second mounting base to rotate to make the telegraph pole in the second state, the method further comprises the following steps:
s200, calculating to obtain a first distance between the first projection and the prepit, which is far away from the base end;
s201, comparing the first distance with the outer diameter of the telegraph pole, and calculating to obtain a second distance when the first distance is smaller than or equal to the outer diameter of the telegraph pole, wherein the second distance is the distance between the axis of the telegraph pole in the second state and the axis of the prepit;
s202, driving the base to move the second distance along the first direction in a direction away from the prepit.
According to the technical scheme provided by the invention, after the first image information is input into the second recognition model, the output of the second recognition model also comprises a fourth recognition result; the fourth recognition result is that the distance between the first projection and the base, which is close to the prepit end, is smaller than the first threshold value or larger than the second threshold value;
After obtaining the fourth recognition result, before S104, the method further includes the following steps:
s301, calculating to obtain a third distance between the first projection and the prepit and the base end;
s302, calculating a fourth distance based on the third distance, wherein the fourth distance is the distance between the axis of the telegraph pole and the axis of the prepit when the telegraph pole is in the second state;
and S303, driving the base to move the fourth distance towards or away from the prepit side along the first direction.
According to the technical solution provided in the present invention, when the second recognition result is obtained, after S102 and before S103, the method further includes the following steps:
s401, responding to the second identification result, and calculating a fifth distance, wherein the fifth distance is the distance from the circle center of the prepit to the axis of the telegraph pole in the first state along the third direction;
s402, driving the first mounting base to move a fifth distance along the third direction towards the direction close to the circle center of the prepit.
According to the technical scheme provided by the invention, after S101 and before S102, the method further comprises the following steps:
S501, obtaining the inner diameter of the prepit based on the first image information, and marking the inner diameter as a first inner diameter;
s502, receiving external input parameters, wherein the external input parameters comprise the outer diameter of the telegraph pole;
s503, comparing the first inner diameter with the outer diameter of the telegraph pole, and sending out a first alarm signal when the first inner diameter is smaller than the outer diameter of the telegraph pole, wherein the first alarm signal is used for prompting the manual adjustment of the inner diameter of the preset pit so as to obtain a second inner diameter; when the first inner diameter is greater than the outer diameter of the utility pole, then the S102 is performed.
According to the technical scheme provided by the invention, the step S503 further includes the following steps:
s603, responding to the input second inner diameter, and correcting the first inner diameter with the second inner diameter.
According to the technical scheme provided by the invention, after the step S104, the method further comprises the following steps:
s105, acquiring second image information, wherein the second image information is used for marking a first included angle between the wire pole axis and the preplaced pit axis when the wire pole is in the second state;
s106, inputting the second image information into a third recognition model to obtain a fifth recognition result or a sixth recognition result, wherein the fifth recognition result is that the first included angle is within a first preset range, the sixth recognition result is that the first included angle is not within the first preset range, when the fifth recognition result is obtained, the step S107 is executed, and when the sixth recognition result is obtained, the step S108 is executed;
S107, sending out an installation completion prompt;
s108, sending out a second alarm signal, wherein the second alarm signal is used for prompting people to do righting measures.
In a second aspect, the present invention provides a control system for an alignment control method for installing a utility pole as described above, comprising:
the acquisition module is configured to acquire first image information, wherein the first image information is used for marking the corresponding relation between the second end and the preset pit when the telegraph pole is in the first state; the installation mechanism comprises a base which is arranged at one side of the pre-pit and can move along a first direction, a first installation base which can move along a third direction is arranged on the base, a second installation base is rotatably connected to the first installation base, the direction of a rotating shaft of the second installation base is the third direction, and a first space for accommodating the telegraph pole is arranged on the second installation base; the third direction is perpendicular to the first direction;
the first input module is configured to input the first image information into a first identification model, and output of the first input module comprises a first identification result and a second identification result, wherein the first identification result is that the circle center of the prepit is positioned on an extension line of the wire pole axis; the second recognition result is that the circle center of the prepit is positioned at any side of the wire pole axis extension line along the third direction;
The second input module is configured to respond to the first identification result, input the first image information into a second identification model, and output the second identification result, wherein the third identification result is that the distance between the first projection and the base, which is close to the pre-pit end, is larger than a first threshold value and smaller than a second threshold value; the first projection is a projection of the second end along a second direction when the telegraph pole is in the first state, and the second direction is perpendicular to the first direction and the third direction;
and the output module is configured to respond to the third identification result and drive the second mounting base to rotate so as to enable the telegraph pole to be in the second state.
In a third aspect, the present invention provides a terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the above-described alignment control method for installing utility poles when executing the computer program.
In a fourth aspect, the present invention provides a computer readable storage medium having a computer program which, when executed by a processor, implements the steps of the alignment control method for installing utility poles described above.
In summary, the invention provides an alignment control method for installing a telegraph pole, which is characterized in that first image information of a second end, close to a preset pit, of the telegraph pole is collected, whether the telegraph pole is centered with the preset pit is analyzed through a first recognition model, and whether projection of the second end in the vertical direction is in the preset pit is analyzed through a second recognition model under the condition that the telegraph pole is centered with the preset pit, and if the projection is in the preset pit, the telegraph pole is driven to turn over again, so that the telegraph pole falls into the preset pit; the danger to constructors and equipment caused by the installation mechanism and the wire pole rollover caused by the collision between the wire pole and the ground beside the preset pit after the overturning is prevented.
Drawings
FIG. 1 is a flow chart of an alignment control method for installing utility poles provided in an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a mounting mechanism according to an embodiment of the present invention;
FIG. 3 is a schematic side view of a second mounting base according to an embodiment of the present invention;
FIG. 4 is a schematic view of a first distance less than or equal to the outside diameter of a pole according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a third distance less than a first threshold according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a third distance greater than a second threshold according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a computer system of a terminal device or a server according to an embodiment of the present invention.
1. A pole; 11. a first end; 12. a second end; 2. a base; 21. a slide rail; 3. a first mounting base; 4. a second mounting base; 41. a first mounting plate; 42. a second mounting plate; 43. a fixing ring; 44. a clasp; 5. presetting pits; 51. a third end; 52. a fourth end; 600. a computer system; 601. a CPU; 602. a ROM; 603. a RAM; 604. a bus; 605. an I/O interface; 606. an input section; 607. an output section; 608. a storage section; 609. a communication section; 610. a driver; 611. removable media.
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 of the invention. It should be noted that, for convenience of description, only the portions related to the invention are shown in the drawings.
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.
Example 1
As mentioned in the background art, the present invention proposes an alignment control method for installing a utility pole 1, the control method being used for controlling an installation mechanism for installing the utility pole 1, the utility pole 1 having a first end 11 and a second end 12, and the utility pole 1 having a first state and a second state, when in the first state, an axial direction of the utility pole 1 being a first direction, when in the second state, the second end 12 being placed in a prepit 5; the mounting mechanism is configured to switch the pole 1 from the first state to the second state; as shown in fig. 1, the control method at least includes the following steps:
s101, acquiring first image information, wherein the first image information is used for marking the corresponding relation between the second end 12 and the prepit 5 when the telegraph pole 1 is in the first state; the installation mechanism comprises a base 2 which is arranged at one side of the prepit 5 and can move along a first direction, a first installation base 3 which can move along a third direction is arranged on the base 2, a second installation base 4 is rotatably connected to the first installation base 3, the direction of a rotation axis of the second installation base 4 is the third direction, and a first space for accommodating the telegraph pole 1 is arranged on the second installation base 4; the third direction is perpendicular to the first direction;
The first direction is a horizontal direction, the third direction is a horizontal direction perpendicular to the first direction, the schematic structural diagram of the installation mechanism is shown in fig. 2-3, and the installation mechanism comprises:
the base 2 is optionally rectangular, the length direction of the base is the first direction, the width direction of the base is the third direction, two sides of the base along the width direction are respectively provided with two moving wheels, and the rotating shaft direction of the base is parallel to the width direction of the base 2;
the two sliding rails 21 are arranged on the base 2, and the extending direction of the sliding rails 21 is the third direction;
the first installation base 3, the bottom surface of the first installation base 3 is provided with two sliding blocks capable of sliding in the sliding rail 21; an arc-shaped groove is formed in the middle of the first mounting base 3, which is far away from the base 2, the extending direction of the arc-shaped groove is the first direction, and a plurality of slots are distributed on the inner wall of the arc-shaped groove along the first direction;
the second mounting base 4 is arranged above the arc-shaped groove, the second mounting base 4 comprises two second mounting parts symmetrically arranged along the central line of the second mounting base 4 in the first direction, the second mounting parts comprise two first mounting plates 41 and second mounting plates 42 which are distributed and arranged along the third direction, the first mounting plates 41 and the second mounting plates 42 are hinged, the extending line direction of a hinge shaft of the second mounting plates 41 and the second mounting plates 42 is the first direction, a fixed ring 43 is connected to the position, close to the arc-shaped groove end, corresponding to the slot, of the second mounting plates 42, two opposite fixed rings 43 are hinged away from the second mounting plates 42, the extending line direction of the hinge shaft of the second mounting plates is the first direction, the two fixed rings 43 are arranged in the slot away from the second mounting plates 42, and a first space is formed between the two fixed rings 43; the second mounting base 4 has a first state and a second state, when in the first state, the two second mounting plates 42 are placed in the horizontal direction, the fixing ring 43 is in the closed state, and the utility pole 1 placed in the first space is held; when in the second state, a first included angle is formed between the two second mounting plates 42 and the third direction, the fixing ring 43 is in an open state, and the telegraph pole 1 can be inserted into or extracted from the first space.
The mounting mechanism further comprises a first driving component for driving the first mounting base 3 to move along the third direction and a second driving component for driving the second mounting base 4 to rotate, the first driving component comprises a telescopic cylinder arranged on the base 2, a telescopic rod of the telescopic cylinder is connected with the sliding block and is used for driving the sliding block to drive the second mounting base 4 to move along the third direction; the second driving assembly comprises two first driving motors which are arranged on the first mounting base 3 and correspond to the first mounting plates 41, an output shaft of each first driving motor is connected with a rotating shaft, when the fixing ring 43 is in the first state, the first driving motors are used for driving the first mounting plates 41 to drive the telegraph pole 1 placed in the first space to turn over, and at the moment, the fixing ring 43 is separated from the slot.
Further, a clasp 44 is provided on the second mounting plate 42 far away from the first space end, a third driving assembly is provided on the other second mounting plate 42 corresponding to the clasp 44, optionally, the third driving assembly is a telescopic cylinder, the telescopic rod of which can be telescopic along the third direction, when the fixing ring 43 is in the first state, the third driving assembly is started first, so that the telescopic rod of the third driving assembly is inserted into the clasp 44 corresponding to the fixing ring, and the second driving assembly is started again to drive the first mounting plate 41 to drive the telegraph pole 1 to turn.
Further, the inner walls of the two fixing rings 43 far away from the second mounting plate 42 are provided with anti-slip pieces, and the anti-slip pieces are made of rubber and are used for preventing the telegraph pole 1 from slipping in the overturning process; the two fixed rings 43 are close to the inner wall of the second mounting plate 42 end is provided with an elastic piece, the elastic piece is far away from the fixed ring 43 end is provided with an arc-shaped compression ring, a rubber pad is arranged on the compression ring, and the elastic piece is used for realizing the expansion and contraction of the compression ring and is used for enabling the telegraph pole 1 to be abutted to the inner wall of the fixed ring 43, so that the stability of clamping and fixing is improved.
When the electric pole is used, the installation mechanism is pushed to the side of the prepit pit 5, the second installation plate 42 is turned over to open the fixing ring 43, the electric pole 1 is placed in the arc-shaped groove, the second installation plate 42 is restored, the third driving assembly is driven to fix the two second installation plates 42, the first end 11 of the electric pole 1 is placed far away from the prepit pit 5 side, the second end 12 is exposed out of the installation mechanism and is close to the prepit pit 5 side.
After the telegraph pole 1 is placed, the first image information is collected, and the first image information can be obtained through shooting by an unmanned aerial vehicle, a mobile phone or any shooting tool.
S102, inputting the first image information into a first identification model, and outputting a first identification result and a second identification result, wherein the first identification result is that the circle center of the prepit 5 is positioned on an extension line of the axis of the telegraph pole 1; the second recognition result is that the center of the prepit 5 is positioned at any side of the extension line of the axis of the telegraph pole 1 along the third direction;
the first image information may be input to the first recognition model in a wireless manner, where the first recognition result is that the utility pole 1 is centered with the prepit 5 in the width direction of the base 2, and the second recognition result is that the utility pole 1 is not centered with the prepit 5 in the width direction of the base 2.
The training process of the first recognition model comprises the following steps:
acquiring first type image information corresponding to the first recognition result at a plurality of angles;
acquiring second-class image information corresponding to the second recognition result at a plurality of angles;
inputting the first type image information and the second type image information for training to obtain the first recognition model;
optionally, based on a neural network, inputting the first type of image information and the second type of image information for training to obtain the first recognition model.
S103, responding to the first identification result, inputting the first image information into a second identification model, and outputting a third identification result, wherein the third identification result is that the distance between the first projection and the end, close to the prepit 5, of the base 2 is larger than a first threshold value and smaller than a second threshold value; the first projection is a projection of the second end 12 along a second direction when the utility pole 1 is in the first state, the second direction being perpendicular to the first direction and the third direction;
when the telegraph pole 1 is centered with the prepit 5 along the width direction of the base 2, whether the telegraph pole 1 is pushed in place is judged, so that the problem that the telegraph pole 1 is placed outside the prepit 5 after being turned over although the center corresponds is prevented.
The prepit 5 has a third end 51 adjacent to the mounting mechanism and a fourth end 52 remote from the mounting mechanism in the first direction; the first threshold is a distance between the third end 51 and the base 2 near the prepit 5 end along the horizontal direction, the second threshold is a distance between the fourth end 52 and the base 2 near the prepit 5 end, and when the distance between the first projection and the base 2 near the prepit 5 end is greater than the first threshold and less than the second threshold; i.e. the first projection is placed in the prepit 5.
S104, responding to the third identification result, and driving the second mounting base 4 to rotate so that the telegraph pole is in the second state;
when the telegraph pole 1 is adjusted to be centered with the prepit 5 along the width direction, and the first projection is placed in the prepit 5, the second driving assembly is started to drive the first mounting plate 41 to drive the second mounting plate 42 and the telegraph pole 1 placed in the first space to turn over by 90 degrees; preferably, when the utility pole 1 is in the first state, the distance from the axis to the ground is smaller than the distance between the second end 12 and the base 2 near the third end 51, so that the second end 12 is placed in the prepit 5 after the utility pole 1 is turned 90 degrees. And then the telescopic rods of the electric pole are driven to retract by the third driving assembly, so that the telescopic rods are separated from the clamping rings 44, the two second mounting plates 42 are turned over, the fixing rings 43 are opened, the two fixing rings 43 are loosened to be in the second state of the electric pole 1, the second ends 12 of the electric pole 1 are placed at the bottom ends of the preset pits 5 under the action of gravity, and the electric pole 1 is mounted.
According to the invention, by collecting the first image information of the second end 12 of the telegraph pole 1 and the prepit 5, analyzing whether the telegraph pole 1 is centered with the prepit 5 through the first recognition model, and analyzing whether the projection of the second end 12 of the telegraph pole 1, which is close to the prepit 5, in the vertical direction is placed in the prepit 5 under the condition that the telegraph pole 1 is centered with the prepit 5 through the second recognition model, when the telegraph pole 1 is overturned through the installation mechanism, the telegraph pole 1 can be placed in the prepit 5, and the side turning of the installation mechanism and the telegraph pole 1 caused by the ground collision of the telegraph pole 1 and the prepit 5 after the overturned can be prevented, so that the danger to constructors and equipment is caused.
In a preferred embodiment, after said responding to said third recognition result and before said driving said second mounting base 4 to rotate to place said utility pole 1 in said second state, the method further comprises the steps of:
s200, calculating to obtain a first distance between the first projection and the end, away from the base 2, of the prepit 5;
the installation mechanism comprises a control system arranged outside the base 2, the control system comprises an identification module, the identification module comprises a first identification model and a second identification model, the control system further comprises a first calculation module, the first image information is transmitted to the identification module and the first calculation module of the control system in a wireless mode, and the first distance and the inner diameter of the prepit 5 are calculated through the first calculation module; the first distance is the distance between the first projection and the fourth end 52.
S201, comparing the first distance with the outer diameter of the telegraph pole 1, and calculating a second distance when the first distance is smaller than or equal to the outer diameter of the telegraph pole 1, wherein the second distance is the distance between the axis of the telegraph pole 1 in the second state and the axis of the prepit 5;
under certain specific situations, after pushing the base 2 to drive the telegraph pole 1 to move to a position close to the prepit 5, the telegraph pole 1 is placed, if the base 2 is too much moved or the telegraph pole 1 is placed, the telegraph pole 1 extending from the side of the base 2 close to the prepit 5 is too long, so that even if the telegraph pole 1 is in the first state, the projection of the second end 12 along the vertical direction is placed in the prepit 5, i.e. after turning over, the second end 12 is in the horizontal direction, and the end of the second end 12 close to the base 2 is placed in the prepit 5, but after turning over, the end of the second end 12 away from the base 2 is not in the prepit 5, the telegraph pole 1 still collides with the ground beside the prepit 5, so as to cause a problem of rollover, and whether the base 2 is too close to the prepit is to the prepit.
The control system also comprises a control terminal, a first judging module and a second calculating module; the control terminal can be a remote controller or a mobile phone terminal, and the outer diameter of the telegraph pole 1 is input into the control terminal through a constructor and then is sent to the first judgment module and the second calculation module through the control terminal; the second calculation module at least comprises a first calculation model, and the formula of the first calculation model is as follows:
(1)
wherein, as shown in fig. 4, a is a schematic view of the utility pole 1 in the first state; c is a schematic view of the telegraph pole 1 in the second state; b is a schematic diagram of the telegraph pole 1 coaxially arranged with the prepit 5;L=1/2(R 2 -R 1 ) The method comprises the steps of carrying out a first treatment on the surface of the The distance between the axis of the telegraph pole 1 in the second state and the axis of the prepit 5 is equal to the distance between the second end 12 of the telegraph pole 1 in the first state and the end of the second end 12 of the telegraph pole 1 in the second state near the base 2 side, namelyS 2 For the second distance to be present in question,R 1 for the outer diameter of the pole 1,R 2 for the inner diameter of the prepit 5,L 1 is the first distance.
S202, driving the base 2 to move the second distance along the first direction in a direction away from the prepit 5; so that the telegraph pole 1 is in the second state, the telegraph pole 1 is coaxially arranged with the prepit 5.
In a preferred embodiment, after the first image information is input to the second recognition model, the output of the first image information further includes a fourth recognition result; the fourth recognition result is that the distance between the first projection and the end, close to the prepit 5, of the base 2 is smaller than the first threshold or larger than the second threshold;
after obtaining the fourth recognition result, before S104, the method further includes the following steps:
s301, calculating to obtain a third distance between the first projection and the end, away from the base 2, of the prepit 5;
s302, calculating a fourth distance based on the third distance, wherein the fourth distance is the distance between the axis of the telegraph pole 1 in the second state and the axis of the prepit 5;
s303, driving the base 2 to move the fourth distance towards or away from the prepit 5 side along the first direction; the fourth distance is that the telegraph pole 1 and the prepit 5 are coaxially arranged when the telegraph pole 1 is in the second state.
The first projection is between the base 2 and the prepit 5 or the first projection is at the prepit 5 side far away from the base 2 when the utility pole 1 is in the first state, so the base 2 needs to be moved to place the first projection in the prepit 5. The third distance is obtained through the first calculation module, the second calculation module further comprises a second calculation model and a third calculation model, and when the distance between the first projection and the end, close to the prepit 5, of the base 2 is larger than the first threshold value and smaller than the second threshold value, the first calculation model is called; when the distance between the first projection and the end, close to the prepit 5, of the base 2 is smaller than the first threshold value, the second calculation model is called; and when the distance between the first projection and the end, close to the prepit 5, of the base 2 is larger than the second threshold value, calling the third calculation model.
The second calculation model is shown as follows:
(2)
wherein, as shown in fig. 5, a is a schematic view of the utility pole 1 in the first state; c is a schematic view of the telegraph pole 1 in the second state; b is a schematic diagram of the telegraph pole 1 coaxially arranged with the prepit 5;L=1/2(R 2 -R 1 ) The method comprises the steps of carrying out a first treatment on the surface of the The distance between the axis of the telegraph pole 1 in the second state and the axis of the prepit 5 is equal to the distance between the second end 12 of the telegraph pole 1 in the first state and the end of the second end 12 of the telegraph pole 1 in the second state near the base 2 side, namelyS 4 To invoke the fourth distance from the second computational model,L 3 is the third distance.
The third calculation model is shown as follows:
(3)
wherein, as shown in fig. 6, a is a schematic view of the utility pole 1 in the first state; c is a schematic view of the telegraph pole 1 in the second state; b is a schematic diagram of the telegraph pole 1 coaxially arranged with the prepit 5;L=1/2(R 2 -R 1 ) The method comprises the steps of carrying out a first treatment on the surface of the The distance between the axis of the telegraph pole 1 in the second state and the axis of the prepit 5 is equal to the distance between the second end 12 of the telegraph pole 1 in the first state and the end of the second end 12 of the telegraph pole 1 in the second state near the base 2 side, namely S 41 And the fourth distance obtained for calling the third calculation model.
When the base 2 moves the fourth distance, step S104 is performed, and the utility pole 1 in the second state is coaxially disposed with the prepit 5.
The training process of the second recognition model comprises the following steps:
acquiring third-class image information corresponding to the third recognition result at a plurality of angles;
acquiring fourth type image information corresponding to the fourth recognition result at a plurality of angles;
inputting the third type image information and the fourth type image information for training to obtain the second recognition model;
optionally, based on a neural network, inputting the third type of image information and the fourth type of image information for training to obtain the second recognition model.
In a preferred embodiment, when the second recognition result is obtained, after S102 and before S103, the method further includes the following steps:
s401, responding to the second identification result, and calculating a fifth distance, wherein the fifth distance is the distance from the center of the preset pit 5 to the axis of the telegraph pole 1 in the first state along the third direction;
S402, driving the first mounting base 3 to move a fifth distance along the third direction towards a direction close to the center of the preset pit 5, so that the output of the first recognition model is the first recognition result.
The scenario is that the base 2 is pushed to the vicinity of the prepit 5, after the telegraph pole 1 is placed, the telegraph pole 1 and the prepit 5 are not centered along the third direction, the first image information is input to the first computing module, and the distance between the extension line of the axis of the telegraph pole 1 and the axis of the prepit 5 along the first direction when the first state is obtained is the fifth distance; activating the first driving assembly to drive the first mounting base 3 to move along the third direction; so that the center of the prepit 5 is positioned on the extension of the axis of the pole 1 when in the first state.
In a preferred embodiment, after S101 and before S102, the method further includes the following steps:
s501, obtaining the inner diameter of the prepit 5 based on the first image information, and marking the inner diameter as a first inner diameter;
s502, receiving external input parameters, wherein the external input parameters comprise the outer diameter of the telegraph pole 1;
S503, comparing the first inner diameter with the outer diameter of the telegraph pole 1, and when the first inner diameter is smaller than the outer diameter of the telegraph pole 1, sending a first alarm signal, wherein the first alarm signal is used for prompting the manual adjustment of the inner diameter of the prepit 5 so as to obtain a second inner diameter; when the first inner diameter is larger than the outer diameter of the utility pole 1, the S102 is performed.
When the difference between the inside diameter of the prepit 5 and the outside diameter of the telegraph pole 1 is not large and the sizes of the prepit and the telegraph pole 1 cannot be observed with naked eyes, the problem that whether the telegraph pole 1 is centered and moved in place is needed to be judged. The control system further comprises a second judging module, wherein the second judging module is used for judging the sizes of the outer diameter of the telegraph pole 1 and the inner diameter of the preplaced pit 5; after the first image information is acquired, inputting the first image information into the first calculation module to obtain the inner diameter of the prepit 5, and transmitting the inner diameter information to the second judgment module; the constructor inputs the outer diameter of the telegraph pole 1 at the control terminal and transmits the outer diameter to the second judging module; the control terminal is provided with a first voice alarm module and a first warning lamp corresponding to the first voice alarm module, when the outer diameter of the telegraph pole 1 is larger than the inner diameter of the preset pit 5, the first voice alarm module gives an alarm, the first warning lamp flashes, constructors dig the preset pit 5, and manually obtain the inner diameter of the preset pit 5, and the second inner diameter is obtained.
In a preferred embodiment, the step S503 further includes the following steps:
s603, responding to the input second inner diameter, and correcting the first inner diameter with the second inner diameter.
The constructor can manually input the adjusted inner diameter of the prepit 5 through the control terminal, namely, input the second inner diameter, and transmit the second inner diameter to the first judging module, so as to judge the corrected inner diameter of the prepit 5 and the outer diameter of the telegraph pole 1 again.
Example 2
On the basis of embodiment 1, after turning over the utility pole 1 in the vertical state, i.e. after S104, the method further comprises the following steps:
s105, acquiring second image information, wherein the second image information is used for marking a first included angle between the axis of the telegraph pole 1 and the axis of the prepit 5 when the telegraph pole 1 is in the second state;
s106, inputting the second image information into a third recognition model to obtain a fifth recognition result or a sixth recognition result, wherein the fifth recognition result is that the first included angle is within a first preset range, the sixth recognition result is that the first included angle is not within the first preset range, when the fifth recognition result is obtained, the step S107 is executed, and when the sixth recognition result is obtained, the step S108 is executed;
S107, sending out an installation completion prompt;
s108, sending out a second alarm signal, wherein the second alarm signal is used for prompting people to do righting measures.
Wherein, in this scenario, the angle at which the second driving assembly drives the first mounting plate 41 to drive the telegraph pole 1 to turn over is not 90 degrees, and even if the second end 12 is placed in the prepit 5, the telegraph pole 1 is in an inclined state at this time; the control terminal is further provided with a second voice alarm module and a second alarm lamp corresponding to the second voice alarm module, optionally, the first preset range is 0-10 degrees, when the first preset range is exceeded, the second voice alarm module gives out voice alarm, the second alarm lamp flashes to prompt constructors to manually straighten the telegraph pole 1, after the telegraph pole is straightened, the third driving assembly drives the fixed ring 43 to open, the telegraph pole 1 falls into the preset pit 5, and the installation of the telegraph pole 1 is completed.
Example 3
The application scenario of this embodiment is that when the ground beside the prepit 5 is uneven, resulting in that the base 2 moves towards the direction close to the prepit 5, the height of the base 2 close to the prepit 5 is different from the height of the base 2 away from the prepit 5, so that the base 2 is in an inclined state, if the wire pole 1 is placed on the mounting mechanism on this basis, the axis of the wire pole 1 is not in the first direction, so after the wire pole 1 is turned over, the wire pole 1 must not be coaxially arranged with the prepit 5, so that the base 2 needs to be leveled before the wire pole 1 is placed, so that the heights of the two ends of the base 2 along the first direction are the same.
The mounting mechanism further comprises a lifting device, the lifting device comprises two lifting components which are arranged on the bottom surface of the base 2 along the two ends of the first direction, the lifting components are used for driving the base 2 to lift, optionally, the lifting components are telescopic cylinders, and when the telescopic rods of the telescopic cylinders stretch, the telescopic cylinders can be abutted against the ground to jack up the base 2. The two ends of the bottom surface of the base 2 along the first direction are provided with distance measuring assemblies, when the installation mechanism is pushed to the vicinity of the prepit pit 5, the two distance measuring assemblies obtain the heights of the two ends of the base 2, and the height difference is transmitted to the lifting assembly at the lower end, and the lifting assembly lifts the base 2 by the height difference, so that the base 2 is leveled; and then placing the telegraph pole 1 in the first space, so that the axis of the telegraph pole 1 is in the first direction when the telegraph pole 1 is in the first state.
Example 4
On the basis of the above embodiments, the present invention proposes a control system for an alignment control method for installing a utility pole 1, comprising:
the acquisition module is configured to acquire first image information, and the first image information is used for marking the corresponding relation between the second end 12 and the prepit 5 when the telegraph pole 1 is in the first state; the installation mechanism comprises a base 2 which is arranged at one side of the prepit 5 and can move along a first direction, a first installation base 3 which can move along a third direction is arranged on the base 2, a second installation base 4 is rotatably connected to the first installation base 3, the direction of a rotation axis of the second installation base 4 is the third direction, and a first space for accommodating the telegraph pole 1 is arranged on the second installation base 4; the third direction is perpendicular to the first direction;
The first input module is configured to input the first image information into a first identification model, and output of the first input module comprises a first identification result and a second identification result, wherein the first identification result is that the circle center of the prepit 5 is positioned on an extension line of the axis of the telegraph pole 1; the second recognition result is that the center of the prepit 5 is positioned at any side of the extension line of the axis of the telegraph pole 1 along the third direction;
the second input module is configured to respond to the first recognition result, input the first image information into a second recognition model, and output the second recognition result, wherein the third recognition result is that the distance between the first projection and the end, close to the prepit 5, of the base 2 is larger than a first threshold value and smaller than a second threshold value; the first projection is a projection of the second end 12 along a second direction when the utility pole 1 is in the first state, the second direction being perpendicular to the first direction and the third direction;
and the output module is configured to drive the second mounting base 4 to rotate in response to the third identification result, so that the telegraph pole 1 is in the second state.
The acquisition module is arranged in the shooting tool and used for shooting the images of the second end 12 and the preset pit 5 to obtain first image information, the first input module is arranged on the control terminal and is in wireless communication with the acquisition module, the first input module is electrically connected with the identification module, the first input module receives the first image information and then inputs the first image information into the identification module, and a first identification model in the identification module is called to obtain a first identification result or a second identification result.
The second input module is arranged at the control terminal and is electrically connected with the identification module, and when the first identification result is obtained, the second input module sends a first response signal to the identification model to drive the identification model to call the second identification model to analyze the first image information; the identification module is electrically connected with the output module, the output module is in wireless connection with the second driving assembly, and when the third identification result is obtained, the output module sends a second response signal to the second driving assembly to drive the second driving assembly to act so as to turn over the telegraph pole 1.
Example 5
The computer system 600 of the terminal device includes a CPU (central processing unit) 601, which can execute various appropriate actions and processes according to a program stored in a ROM (read only memory) 602 or a program loaded from a storage section 608 into a RAM (random access memory) 603. In the RAM603, various programs and data required for system operation are also stored. The CPU601, ROM602, and RAM603 are connected to each other through a bus 604. An I/O (input/output) interface 605 is also connected to the bus 604. The following components are connected to the I/O interface 605: an input portion 606 including a keyboard, mouse, etc.; an output portion 607 including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, a speaker, and the like; a storage section 608 including a hard disk and the like; and a communication section 609 including a network interface card such as a LAN card, a modem, or the like. The communication section 609 performs communication processing via a network such as the internet. The drives are also connected to the I/O interface 605 as needed. Removable media 611 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is installed as needed on drive 610 so that a computer program read therefrom is installed as needed into storage section 608.
In particular, the process described above with reference to flowchart 1 may be implemented as a computer software program according to an embodiment of the invention. For example, embodiment 1 of the present invention includes a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flowchart. In such embodiments, the computer program may be downloaded and installed from a network via a communication portion, and/or installed from a removable medium. When executed by the CPU601, the computer program performs the functions defined above in the present computer system 600.
The computer readable medium shown in the present invention may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can 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 of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, 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. In the present invention, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments X of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
Example 6
The present invention also provides a computer-readable medium carrying one or more programs which, when executed by one of the electronic devices, cause the electronic device to implement the alignment control method for installing utility poles as described in the above embodiments.
For example, the electronic device may implement the method as shown in fig. 1: step S101, collecting first image information, where the first image information is used to mark a correspondence between the second end 12 and the prepit 5 when the telegraph pole 1 is in the first state; step S102, inputting the first image information into a first recognition model, and outputting a first recognition result and a second recognition result, wherein the first recognition result is that the circle center of the prepit 5 is positioned on an extension line of the axis of the telegraph pole 1; the second recognition result is that the center of the prepit 5 is positioned at any side of the extension line of the axis of the telegraph pole 1 along the third direction; step S103, responding to the first identification result, inputting the first image information into a second identification model, wherein the output of the second identification model comprises a third identification result, and the third identification result is that the distance between the first projection and the end, close to the prepit 5, of the base 2 is larger than a first threshold value and smaller than a second threshold value; the first projection is a projection of the second end 12 along a second direction when the utility pole 1 is in the first state; and step S104, responding to the third identification result, driving the second mounting base 4 to rotate, and enabling the telegraph pole 1 to be in the second state.
It should be noted that although in the above detailed description several modules or units of a device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functions of two or more modules or units described above may be embodied in one module or unit in accordance with the disclosed embodiments of the invention. Conversely, the features and functions of one module or unit described above may be further divided into a plurality of modules or units to be embodied.
Furthermore, although the steps of the methods of the present invention are depicted in the accompanying drawings in a particular order, this is not required to either imply that the steps must be performed in that particular order, or that all of the illustrated steps be performed, to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step to perform, and/or one step decomposed into multiple steps to perform, etc. From the above description of embodiments, those skilled in the art will readily appreciate that the example embodiments described herein may be implemented in software, or may be implemented in software in combination with the necessary hardware.
The above description is only illustrative of the preferred embodiments of the present invention and of the principles of the technology employed. It will be appreciated by persons skilled in the art that the scope of the invention referred to in the present invention is not limited to the specific combinations of the technical features described above, but also covers other technical features formed by any combination of the technical features described above or their equivalents without departing from the inventive concept. Such as the above-mentioned features and the technical features disclosed in the present invention (but not limited to) having similar functions are replaced with each other.
Claims (10)
1. An alignment control method for installing a utility pole, characterized in that the control method is used for controlling an installation mechanism for installing a utility pole (1), the utility pole (1) has a first end (11) and a second end (12), and the utility pole (1) has a first state and a second state, when in the first state, the axial direction of the utility pole (1) is a first direction, when in the second state, the second end (12) is placed in a prepit (5); the mounting mechanism is configured to switch the pole (1) from the first state to the second state; the control method at least comprises the following steps:
S101, acquiring first image information, wherein the first image information is used for marking the corresponding relation between the second end (12) and the prepit (5) when the telegraph pole (1) is in the first state; the installation mechanism comprises a base (2) which is arranged at one side of the prepit (5) and can move along a first direction, a first installation base (3) which can move along a third direction is arranged on the base (2), a second installation base (4) is rotatably connected to the first installation base (3), the direction of a rotating shaft of the second installation base is the third direction, and a first space for accommodating the telegraph pole (1) is arranged on the second installation base (4); the third direction is perpendicular to the first direction;
s102, inputting the first image information into a first identification model, and outputting a first identification result and a second identification result, wherein the first identification result is that the circle center of the prepit (5) is positioned on an extension line of the axis of the telegraph pole (1); the second recognition result is that the center of the preset pit (5) is positioned at any side of the extension line of the axis of the telegraph pole (1) along the third direction;
s103, responding to the first identification result, inputting the first image information into a second identification model, and outputting a third identification result, wherein the third identification result is that the distance between the first projection and the end, close to the prepit (5), of the base (2) is larger than a first threshold value and smaller than a second threshold value; the first projection is a projection of the second end (12) in a second direction when the utility pole (1) is in the first state, the second direction being perpendicular to the first direction and the third direction;
And S104, responding to the third identification result, driving the second installation base (4) to rotate, and enabling the telegraph pole (1) to be in the second state.
2. The alignment control method for installing a utility pole according to claim 1, characterized in that after said responding to said third recognition result, and before said driving said second installation base (4) to rotate, said utility pole (1) is in said second state, further comprising the steps of:
s200, calculating to obtain a first distance between the first projection and the end, away from the base (2), of the prepit (5);
s201, comparing the first distance with the outer diameter of the telegraph pole (1), and calculating to obtain a second distance when the first distance is smaller than or equal to the outer diameter of the telegraph pole (1), wherein the second distance is the distance between the axis of the telegraph pole (1) in the second state and the axis of the prepit (5);
s202, driving the base (2) to move along the first direction for the second distance in a direction away from the prepit (5).
3. The alignment control method for installing a utility pole according to claim 2, wherein after inputting the first image information to the second recognition model, the output thereof further includes a fourth recognition result; the fourth recognition result is that the distance between the first projection and the end, close to the prepit (5), of the base (2) is smaller than the first threshold or larger than the second threshold;
After obtaining the fourth recognition result, before S104, the method further includes the following steps:
s301, calculating to obtain a third distance between the first projection and the end, away from the base (2), of the prepit (5);
s302, calculating a fourth distance based on the third distance, wherein the fourth distance is the distance between the axis of the telegraph pole (1) in the second state and the axis of the prepit (5);
s303, driving the base (2) to move towards or away from the prepit (5) along the first direction by the fourth distance.
4. The alignment control method for installing a utility pole according to claim 1, characterized by further comprising, when the second recognition result is obtained, the steps of, after S102, and before S103:
s401, responding to the second identification result, and calculating a fifth distance, wherein the fifth distance is the distance from the center of the preset pit (5) to the axis of the telegraph pole (1) in the first state along the third direction;
s402, driving the first mounting base (3) to move a fifth distance along the third direction towards the direction close to the center of the preset pit (5).
5. The alignment control method for installing a utility pole as claimed in claim 1, wherein after S101 and before S102, further comprising the steps of:
s501, obtaining the inner diameter of the prepit (5) based on the first image information, and marking the inner diameter as a first inner diameter;
s502, receiving external input parameters, wherein the external input parameters comprise the outer diameter of the telegraph pole (1);
s503, comparing the first inner diameter with the outer diameter of the telegraph pole (1), and when the first inner diameter is smaller than the outer diameter of the telegraph pole (1), sending a first alarm signal, wherein the first alarm signal is used for prompting the manual adjustment of the inner diameter of the prepit pit (5) so as to obtain a second inner diameter; when the first inner diameter is larger than the outer diameter of the utility pole (1), the S102 is performed.
6. The alignment control method for installing a utility pole as in claim 5, wherein S503 further comprises the steps of:
s603, responding to the input second inner diameter, and correcting the first inner diameter with the second inner diameter.
7. The alignment control method for installing a pole according to any one of claims 1 to 6, further comprising the steps of, after S104:
S105, acquiring second image information, wherein the second image information is used for marking a first included angle between the axis of the telegraph pole (1) and the axis of the prepit (5) when the telegraph pole (1) is in the second state;
s106, inputting the second image information into a third recognition model to obtain a fifth recognition result or a sixth recognition result, wherein the fifth recognition result is that the first included angle is within a first preset range, the sixth recognition result is that the first included angle is not within the first preset range, when the fifth recognition result is obtained, the step S107 is executed, and when the sixth recognition result is obtained, the step S108 is executed;
s107, sending out an installation completion prompt;
s108, sending out a second alarm signal, wherein the second alarm signal is used for prompting people to do righting measures.
8. A control system for an alignment control method for installing utility poles as in claim 7, comprising:
the acquisition module is configured to acquire first image information, wherein the first image information is used for marking the corresponding relation between the second end (12) and the prepit (5) when the telegraph pole (1) is in the first state; the installation mechanism comprises a base (2) which is arranged at one side of the prepit (5) and can move along a first direction, a first installation base (3) which can move along a third direction is arranged on the base (2), a second installation base (4) is rotatably connected to the first installation base (3), the direction of a rotating shaft of the second installation base is the third direction, and a first space for accommodating the telegraph pole (1) is arranged on the second installation base (4); the third direction is perpendicular to the first direction;
The first input module is configured to input the first image information into a first identification model, and output of the first input module comprises a first identification result and a second identification result, wherein the first identification result is that the circle center of the prepit (5) is positioned on an extension line of the axis of the telegraph pole (1); the second recognition result is that the center of the preset pit (5) is positioned at any side of the extension line of the axis of the telegraph pole (1) along the third direction;
the second input module is configured to respond to the first identification result, input the first image information into a second identification model, and output the second identification model comprises a third identification result, wherein the third identification result is that the distance between the first projection and the end, close to the prepit (5), of the base (2) is larger than a first threshold value and smaller than a second threshold value; the first projection is a projection of the second end (12) in a second direction when the utility pole (1) is in the first state, the second direction being perpendicular to the first direction and the third direction;
and the output module is used for responding to the third identification result and driving the second mounting base (4) to rotate so as to enable the telegraph pole (1) to be in the second state.
9. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the steps of the alignment control method for installing utility poles as claimed in claim 7.
10. A computer-readable storage medium having a computer program, characterized in that the computer program, when executed by a processor, implements the steps of the alignment control method for installing utility poles as claimed in claim 7.
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