CN116659503A - Routing inspection route planning method and device, electronic equipment and storage medium - Google Patents
Routing inspection route planning method and device, electronic equipment and storage medium Download PDFInfo
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Abstract
The invention discloses a method and a device for generating a routing inspection route, electronic equipment and a storage medium. The method comprises the following steps: acquiring a section to be inspected of a power transmission line, and acquiring tower data in the section to be inspected; generating a plurality of initial waypoints of the section to be patrolled and examined based on the tower data, and carrying out interpolation processing on the plurality of initial waypoints to obtain a plurality of target waypoints; and generating a routing inspection route of the section to be inspected of the power transmission line based on the target waypoints. The technical scheme of the embodiment of the invention solves the problem that the unmanned aerial vehicle routing inspection route has lower generation efficiency because the routing inspection route needs to be set manually. The beneficial effect of improving the route inspection generation efficiency is achieved.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle inspection, in particular to a method and a device for planning an inspection route, electronic equipment and a storage medium.
Background
The digital model of the transmission line equipment and the channel mainly comprises a point cloud model, a live-action model, a two-dimensional map model and an artificial model. The unmanned aerial vehicle is utilized for inspection, and the results are resolved to obtain a point cloud model, a live-action model and a two-dimensional map model which can be directly produced.
When determining the target route of the unmanned aerial vehicle inspection area, after the data corresponding to each tower in the area are required to be manually acquired, the unmanned aerial vehicle route is planned, the inspection route is manually set, the unmanned aerial vehicle inspection route generation efficiency is low, and the unmanned aerial vehicle inspection work efficiency is further affected.
Disclosure of Invention
The invention provides a planning method, a planning device, electronic equipment and a storage medium for a routing inspection route, which are used for solving the problem that the generation efficiency of the unmanned aerial vehicle routing inspection route is low because the routing inspection route is required to be set manually.
According to an aspect of the present invention, there is provided a method for generating a routing inspection route, including:
acquiring a section to be inspected of a power transmission line, and acquiring tower data in the section to be inspected;
generating a plurality of initial waypoints of the section to be patrolled and examined based on the tower data, and carrying out interpolation processing on the plurality of initial waypoints to obtain a plurality of target waypoints;
and generating a routing inspection route of the section to be inspected of the power transmission line based on the target waypoints.
According to another aspect of the present invention, there is provided a generation apparatus of a routing inspection course, the generation apparatus of the routing inspection course including:
the pole tower data acquisition module is used for acquiring a to-be-inspected interval of the power transmission line and acquiring pole tower data in the to-be-inspected interval;
The target waypoint determining module is used for generating a plurality of initial waypoints of the interval to be patrolled and examined based on the tower data, and carrying out interpolation processing on the plurality of initial waypoints to obtain a plurality of target waypoints;
and the inspection route generation module is used for generating an inspection route of an interval to be inspected of the power transmission line based on the target waypoints.
According to another aspect of the present invention, there is provided an electronic apparatus including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform the method of generating a routing inspection route according to any of the embodiments of the present invention.
According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to implement the method for generating a routing inspection route according to any one of the embodiments of the present invention when executed.
According to the technical scheme, the transmission line is acquired in the section to be inspected, and the tower data in the section to be inspected are acquired; the data corresponding to each tower to be inspected in the section to be inspected of the power transmission line can be accurately determined; then, generating a plurality of initial waypoints of the section to be inspected based on the tower data, and carrying out interpolation processing on the plurality of initial waypoints to obtain a plurality of target waypoints; obtaining a plurality of target waypoints capable of covering a plurality of initial waypoints through difference processing; and finally, generating a routing inspection route of the section to be inspected of the power transmission line based on the target waypoints. The inspection route covering a plurality of target waypoints is obtained, and the plurality of target waypoints in the inspection route can be inspected rapidly and comprehensively. The problem of the unmanned aerial vehicle inspection route production inefficiency that need manual setting to lead to having solved the inspection route is solved. The beneficial effect of improving the route inspection generation efficiency is achieved.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flowchart of a method for generating a routing inspection route according to a first embodiment of the present invention;
fig. 2a is a flowchart of a method for generating a routing inspection route according to a second embodiment of the present invention;
fig. 2b is a schematic flow chart of an inspection operation performed by an unmanned aerial vehicle according to an alternative example of a method for generating an inspection route according to the second embodiment of the present invention;
FIG. 2c is a sample schematic diagram of an alternative example of a method for generating a routing inspection route according to a second embodiment of the present invention;
Fig. 2d is a schematic diagram of a sample for determining a pan/tilt angle according to an alternative example of a method for generating a routing inspection route according to a second embodiment of the present invention;
fig. 2e is a schematic diagram of a sample for determining the orientation of a handpiece in accordance with an alternative example of a method for generating a routing inspection route according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a device for generating a routing inspection route according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device for implementing the method for generating a routing inspection route according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
Fig. 1 is a flowchart of a method for generating a routing inspection route according to an embodiment of the present invention, where the method may be applied to an unmanned aerial vehicle routing inspection situation, and the method may be performed by a routing inspection route generating device, where the routing inspection route generating device may be implemented in a hardware and/or software form, and where the routing inspection route generating device may be configured in an electronic device. As shown in fig. 1, the method includes:
s110, acquiring a section to be inspected of the power transmission line, and acquiring tower data in the section to be inspected.
The to-be-inspected section can be understood as a line section needing inspection in the power transmission line. The interval to be inspected can be set through interactive operation, and can be automatically selected when the interval to be inspected meets the preset inspection period. The interaction operation may be a selection operation or a setting operation for a section to be inspected of the power transmission line, for example, a selection operation or a setting operation for at least one tower in the power transmission line, and further, the section to be inspected may be determined based on the selected or set tower. The inspection cycle may be set in advance according to experience, for example, once a month, once a trimester, once a year, or the like, and is not limited in this embodiment. A tower is understood to be a basic device in a pole overhead distribution line. The tower data may be understood as data information corresponding to the tower itself.
Alternatively, the tower data may include tower coordinate data and tower height data. For example: longitude corresponding to the tower, latitude corresponding to the tower, tower height, etc.
Specifically, a tower section to be inspected is selected as a section to be inspected of the power transmission line, inquiry is conducted in a tower database, the coordinate positions of all towers in the section to be inspected stored in the tower database are determined, and the coordinate positions of all towers in the section to be inspected are extracted. And storing the extracted tower coordinate position in a preset format. The preset format may be txt or other modes, which is not limited in this embodiment. It can be understood that if one or more tower coordinate positions in the section to be inspected are not queried in the tower database, the values of the coordinate positions, longitude, latitude, altitude and the like of the unknown towers can be determined through manual measurement, and then the corresponding tower data of the towers are manually input in the system and stored so as to facilitate subsequent calling.
And S120, generating a plurality of initial waypoints of the section to be inspected based on the tower data, and carrying out interpolation processing on the plurality of initial waypoints to obtain a plurality of target waypoints.
The initial waypoint may be understood as a waypoint corresponding to the to-be-inspected section preliminarily determined based on the tower data. Interpolation processing can be understood as interpolating a continuous function on the basis of a plurality of initial waypoints, such that a given plurality of waypoint points of the plurality of initial waypoints that need to be docked and/or surveyed form a continuous curve through all of the given point waypoints. The target waypoint may be understood as a waypoint at which the unmanned aerial vehicle is actually required to dock and/or patrol.
Specifically, under the scene of determining the unmanned aerial vehicle inspection route, a plurality of initial waypoints corresponding to all towers of the section to be inspected are initially determined according to the tower data. And then, interpolation processing is carried out on the plurality of initial waypoints, waypoint points needing to be parked and/or patrolled and examined are inserted into gaps among the initial waypoints, and the initial waypoints and the inserted waypoints needing to be parked and/or patrolled and examined are used as target waypoints. Illustratively, the target waypoint has an initial waypoint (which may be, for example, a tower coordinate) as an input parameter; target waypoint calculation pass P (i) And P (i+1) To determine the coordinates of the point in the middle of the two towers, where P represents the coordinates of the towers and i represents the starting tower number. Meanwhile, the target waypoints are influenced by the flying height and the flying overlapping degree, the lower the flying height is, the higher the overlapping degree threshold is required to be, the smaller the coverage area is, and the more the target waypoints are; conversely, the higher the flying height, the more ground coverage area, and the corresponding decrease in the number of target navigation points.
Optionally, the tower data includes tower coordinates and tower height; correspondingly, the generating the plurality of initial waypoints of the interval to be patrolled and examined based on the tower data comprises:
determining a reference point position based on tower coordinates of each tower in the to-be-inspected interval;
and determining the inspection height corresponding to the reference point based on the tower height of the tower and a preset height, and adjusting the reference point based on the inspection height to obtain an initial navigation point.
The reference point location may be understood as a three-dimensional coordinate point corresponding to the tower. The inspection altitude can be understood as the altitude value of the flight required during inspection of the unmanned aerial vehicle.
Specifically, for each tower corresponding to each tower in the section to be inspected, coordinate points corresponding to plane coordinates (for example, a horizontal axis coordinate and a vertical axis coordinate in a geodetic coordinate system) corresponding to each tower in the section to be inspected are taken as a reference point. The inspection height of the unmanned aerial vehicle corresponding to the reference point position is determined based on the height of the pole tower and the preset height, and the inspection height meeting the inspection requirement can be determined. And adjusting the reference point based on the inspection height.
Optionally, summing the height of the tower and the preset height to obtain the inspection height corresponding to the reference point. And taking the inspection height as the numerical axis coordinate of the reference point, and obtaining an initial navigation point in the plane coordinate corresponding to each tower in the section to be inspected.
On the basis, whether the patrol height of the initial waypoint is within a preset patrol safety range can be determined. If the inspection height exceeds the inspection safety range, the reference point can be used as an initial navigation point, or the inspection safety range is adjusted to the inspection height so that the inspection height is within the inspection safety range. For example, the inspection height is adjusted to be the highest height corresponding to the inspection safety range. Otherwise, if the inspection height is smaller than the inspection safety range, the reference point is directly moved to the position where the inspection height is larger than the inspection safety range, and the adjusted reference point is used as the initial navigation point. The moving mode may be a straight up-down movement, a front-back movement, a left-right movement, or a movement according to different angles, for example: angular movement of 30 degrees in the southeast direction, arc movement and the like, and can also be combined movement modes, such as: the linear flight is performed for a preset distance, and then the arc movement is performed, and the embodiment does not limit the linear flight. It can be appreciated that the inspection safety range may be a spatial range that does not interfere with normal flight of the unmanned aerial vehicle. The inspection safety range may be preset empirically, and the present embodiment is not limited thereto.
In the embodiment of the invention, the routing inspection route can comprise an outbound routing inspection route or comprise an outbound routing inspection route and a return routing inspection route. In the case of including an outgoing routing and a return routing, the return routing may be the same or different from the outgoing routing. In other words, in the case of including the outgoing patrol waypoint and the return patrol waypoint, the return patrol waypoint may be the same as or different from the outgoing patrol waypoint.
Optionally, the initial waypoints include an outgoing initial waypoint and a return initial waypoint, and the routing inspection heights corresponding to the outgoing initial waypoint and the return initial waypoint are different.
The initial waypoint of going-out may be understood as a waypoint that performs inspection after the inspection is started, and Cheng Shidi. The initial return waypoint may be understood as the first waypoint to be inspected during the return trip after all target waypoints complete the forward trip inspection.
In the embodiment of the invention, in order to achieve more coverage areas, when calculating the route, a routing inspection mode of double coverage of the route and the return route is adopted, and the routing inspection heights corresponding to the route initial waypoint and the return route initial waypoint are set to be different, so that the analysis of the power transmission line can be performed based on the routing inspection data acquired at different heights, the richness of the acquisition of the routing inspection data is improved, and the accuracy and the reliability of the routing inspection result are further improved.
Specifically, the determining, based on the tower height of the tower and a preset height, the inspection height corresponding to the reference point location, and adjusting the reference point location based on the inspection height, to obtain an initial waypoint, includes: determining a first inspection height of the reference point based on the tower height of the tower and a preset first height, and adjusting the reference point based on the first inspection height to obtain a forward initial waypoint; and determining a second inspection height of the reference point based on the tower height of the tower and a preset second height, and adjusting the reference point based on the second inspection height to obtain a return initial waypoint. Optionally, the height value of the preset first height is different from the preset second height.
S130, generating a routing inspection route of the transmission line to be inspected section based on the target waypoints.
The inspection route can be understood as a route flown by the unmanned aerial vehicle when the unmanned aerial vehicle executes the inspection task. The inspection route consists of target waypoints. Specifically, the outgoing route and the return route may be determined based on the outgoing initial waypoint and the return initial waypoint, respectively.
By way of example, each target waypoint in the interval to be detected is selected by a random selection or custom mode to select the initial waypoint of the route to be inspected. Other target waypoints of the routing inspection route can be marked according to a preset mode. Labeling means include letters, numbers, characters, and the like. The preset mode can be defaulted to be marked according to the preset inspection direction and the inspection distance, or can be set by manual customization, and the embodiment is not limited.
It can be understood that the forward route and the return route correspond to the same section to be inspected. For example: when the route of the going-way inspection is 'No. 1 pole tower-No. 2 pole tower-No. 3 pole tower', the route of the returning-way inspection is 'No. 3 pole tower-No. 2 pole tower-No. 1 pole tower'.
According to the technical scheme, the transmission line is acquired in the section to be inspected, and the tower data in the section to be inspected are acquired; the data corresponding to each tower to be inspected in the section to be inspected of the power transmission line can be accurately determined; then, generating a plurality of initial waypoints of the section to be inspected based on the tower data, and carrying out interpolation processing on the plurality of initial waypoints to obtain a plurality of target waypoints; obtaining a plurality of target waypoints capable of covering a plurality of initial waypoints through difference processing; and finally, generating a routing inspection route of the section to be inspected of the power transmission line based on the target waypoints. The inspection route covering a plurality of target waypoints is obtained, and the plurality of target waypoints in the inspection route can be inspected rapidly and comprehensively. The problem of the unmanned aerial vehicle inspection route production inefficiency that need manual setting to lead to having solved the inspection route is solved. The beneficial effect of improving the route inspection generation efficiency is achieved.
Example two
Fig. 2a is a flowchart of a method for generating a routing inspection route according to a second embodiment of the present invention, where the scheme of the embodiment is further optimized. Optionally, the tower data includes tower coordinates, and correspondingly, the method further includes: and determining the inspection parameters of the target waypoints based on the tower coordinates aiming at each target waypoint in the inspection route, wherein the inspection parameters comprise at least one of the head orientation, the cradle head angle and the camera shooting parameters of the inspection unmanned aerial vehicle.
Further comprises: as shown in fig. 2a, the method comprises:
s210, acquiring a section to be inspected of the power transmission line, and acquiring tower data in the section to be inspected.
S220, generating a plurality of initial waypoints of the section to be inspected based on the tower data, and performing interpolation processing on the plurality of initial waypoints to obtain a plurality of target waypoints.
S230, generating a routing inspection route of the transmission line in the section to be inspected based on the target waypoints.
Optionally, dividing the target waypoints into different waypoints according to the change trend of the target waypoints, and respectively determining curves corresponding to the waypoints, thereby forming a patrol route of the section to be patrol of the power transmission line based on the curves of the sections.
Specifically, after a routing inspection route of a section to be inspected of the power transmission line is generated based on a plurality of target waypoints, the routing inspection route and the waypoints corresponding to the routing inspection route are exported according to a preset format (for example: KML) format and stored in a file form. The file can be supported to be directly imported into flight control software of the unmanned aerial vehicle for executing the inspection task of the section to be inspected.
S240, determining inspection parameters of the target waypoints based on the tower coordinates according to each target waypoint in the inspection route, wherein the inspection parameters comprise at least one of the head orientation, the cradle head angle and the camera shooting parameters of the inspection unmanned aerial vehicle.
The nose orientation is understood to be the direction in which the nose is oriented when the unmanned aerial vehicle is currently flying. The pan-tilt angle can be understood as the angle of the pan-tilt fixed photographing apparatus. Camera shooting parameters may include, but are not limited to: shooting focal length, shooting mode, self-power and the like.
Specifically, tower coordinates corresponding to each tower in the section to be inspected are obtained. And inputting the tower data of each tower in the region to be inspected into a flight strategy calculation tool. And calculating and obtaining optimal inspection parameters when the unmanned aerial vehicle flies to a target waypoint corresponding to the tower in the inspection route based on the tower coordinates. And setting the head orientation, the cradle head angle and the camera shooting parameters of the unmanned aerial vehicle during flight according to the optimal inspection parameters.
Optionally, the determining, based on the tower coordinates, the inspection parameters of the target waypoint includes: under the condition that the inspection parameters comprise the machine head orientation, two reference towers corresponding to the target waypoints are determined, and reference vectors are determined according to the tower coordinates of the two reference towers; and determining the head orientation of the inspection unmanned aerial vehicle based on the included angle between the reference vector and the reference axis by taking the preset direction as the reference axis.
The reference vector is understood to be a vector of size and direction as a patrol reference.
Specifically, the spatial north direction is taken as the 0-axis direction, and the tower coordinates of two reference towers corresponding to the target waypoints are taken as reference vectors. And calculating an included angle between the reference vector and the 0 axis, wherein a tower A and a tower B corresponding to the target waypoint are taken as reference towers, and straight line segments connecting the tower A and the tower B are taken as reference vectors. The spatial north direction is taken as the 0-axis direction. When the included angle between the straight line segments of the connecting rod tower A and the connecting rod tower B and the 0-axis direction is 30 degrees in the northeast direction, the direction facing the northeast angle of 30 degrees is used as the head direction of the unmanned aerial vehicle.
Optionally, the determining, based on the tower coordinates, the inspection parameters of the target waypoint includes: determining two reference towers corresponding to the target waypoints under the condition that the inspection parameters comprise the cradle head angle, and determining a first vector according to the tower coordinates of the two reference towers;
Determining a reference tower which is inspected at the back in the two reference towers based on the heading of the inspection unmanned aerial vehicle, and constructing a second vector between the target waypoint and the reference tower which is inspected at the back;
and determining the holder angle based on an included angle between the first vector and the second vector.
The first vector can be understood as a straight line segment passing through two reference tower coordinates at the same time. The second vector may be understood as a reference tower straight line segment passing through the target waypoint and the post-inspection.
Specifically, in addition to being controlled by a target waypoint in the flight process of the unmanned aerial vehicle, the angle of the cradle head needs to be continuously adjusted, so that the shooting area is maximized. The cradle head angle depends on the current space coordinate position and the tower space coordinate in the flight process of the unmanned aerial vehicle. And determining the angle of the cradle head through the angle of the included angle between the first vector and the second vector so as to dynamically control the cradle head angle of the unmanned aerial vehicle and maximize the shooting area of the cradle head camera.
According to the technical scheme, the transmission line is acquired in the section to be inspected, and the tower data in the section to be inspected are acquired; the data corresponding to each tower to be inspected in the section to be inspected of the power transmission line can be accurately determined; generating a plurality of initial waypoints of the section to be inspected based on the tower data, and performing interpolation processing on the plurality of initial waypoints to obtain a plurality of target waypoints; obtaining a plurality of target waypoints capable of covering a plurality of initial waypoints through difference processing; and then, generating a routing inspection route of the section to be inspected of the power transmission line based on the target waypoints. The inspection route covering a plurality of target waypoints is obtained, and the plurality of target waypoints in the inspection route can be inspected rapidly and comprehensively. And finally, determining the inspection parameters of the target waypoints based on the tower coordinates for each target waypoint in the inspection route. The inspection efficiency of the unmanned aerial vehicle is improved. The problem of the unmanned aerial vehicle inspection route production inefficiency that need manual setting to lead to having solved the inspection route is solved. The beneficial effect of improving the route inspection generation efficiency is achieved.
Fig. 2b is a schematic flow chart of an inspection operation performed by an unmanned aerial vehicle according to an alternative example of a method for generating an inspection route according to the second embodiment of the present invention.
As shown in fig. 2b, the steps of the unmanned aerial vehicle implementing the inspection operation include:
the method for generating the routing inspection route in the embodiment further comprises the following steps:
1. and acquiring a section to be inspected of the power transmission line, acquiring tower data in the section to be inspected, and storing the tower data in a preset format (for example, txt format). The tower data includes tower coordinates and tower height. And inquiring in the tower database, determining the coordinate positions of the towers in the to-be-inspected interval stored in the tower database, and extracting the coordinate positions of the towers in the to-be-inspected interval. If the known tower coordinates are not available, the coordinates of the unknown towers are determined by manual measurement, and then the corresponding tower data of the towers are manually input into the system and stored so as to facilitate subsequent calling.
2. And inputting the acquired tower data in the to-be-inspected interval into a flight strategy calculation tool to obtain a flight KML file.
3. And importing the KML file into an unmanned aerial vehicle flight control system, and performing inspection by the unmanned aerial vehicle according to the inspection route file.
4. After the inspection is completed, the flight data are imported into data resolving software, and point cloud files, two-dimensional map models and three-dimensional live-action data are generated in an arrangement mode.
The embodiment also provides an automatic route generation tool, wherein main functions of the route planning software comprise:
1. data extraction, namely automatically extracting the longitude and latitude data of the tower in the tower data from txt files according to a preset data format;
2. and calculating the route, and generating a route file according to the tower data route and through a route generation algorithm. And calculating the waypoint point positions according to an interpolation mode. In order to achieve more coverage areas, a routing inspection mode with double coverage of going and returning is adopted when a route is calculated.
3. And exporting the waypoints, and exporting the calculated target waypoints in a preset format (for example, KML format) form, wherein the file supports direct importing into unmanned aerial vehicle flight control software. And aiming at each target waypoint in the routing inspection route, determining the routing inspection parameters of the target waypoint based on the tower coordinates by the unmanned aerial vehicle.
The inspection parameters comprise at least one of the head orientation, the cradle head angle and the camera shooting parameters of the inspection unmanned aerial vehicle.
Illustratively, the route generation algorithm is:
the route consists of waypoints, and the waypoints take the coordinates of the towers as input parameters; waypoint calculation pass P (i) And P (i+1) To determine the coordinates of the point in the middle of the two towers, where P represents the coordinates of the towers and i represents the starting tower number.
Fig. 2c is a schematic diagram of a sample of the number of navigation points adjustment for an alternative example of a method for generating a routing inspection route according to the second embodiment of the present invention.
As shown in FIG. 2c, waypoints are affected by fly height and fly overlap, the lower the fly height, the higher the overlap threshold is required, the smaller the coverage area, the more waypoints; conversely, the higher the flying height, the more floor area covered, and the corresponding reduction in number of navigation points.
In addition to being controlled by the navigation point during the flight, the cradle head angle needs to be continuously adjusted, and fig. 2d is a schematic diagram of a sample for determining the cradle head angle according to an alternative example of the method for generating the routing inspection route according to the second embodiment of the present invention. As shown in fig. 2d, in the case that the inspection parameters include the pan-tilt angle, the pan-tilt angle depends on the current space coordinate position and the tower space coordinate in the unmanned aerial vehicle flight process, and the two calculate the included angle between the two by combining, so that the pan-tilt angle of the unmanned aerial vehicle is controlled in real time, and the shooting area of the pan-tilt camera is maximized.
Fig. 2e is a schematic diagram of a sample for determining the orientation of a handpiece in accordance with an alternative example of a method for generating a routing inspection route according to a second embodiment of the present invention. As shown in fig. 2e, when the inspection parameters include the head orientation, two reference towers corresponding to the target waypoints are determined, reference vectors are determined according to the tower coordinates of the two reference towers, a preset direction is taken as a reference axis (for example, a direction of 0 axis is taken as a spatial north direction), and the head orientation of the inspection unmanned aerial vehicle is determined based on an included angle between the reference vectors and the reference axis.
According to the technical scheme, the tower data in the section to be inspected is obtained by obtaining the section to be inspected of the power transmission line; the data corresponding to each tower to be inspected in the section to be inspected of the power transmission line can be accurately determined; inputting the acquired tower data in the to-be-inspected interval into a flight strategy calculation tool to obtain a flight KML file; the flight file can be obtained quickly. Then, the KML file is imported into a flight control system of the unmanned aerial vehicle, and the unmanned aerial vehicle performs inspection according to the inspection route file. And the control efficiency of the unmanned aerial vehicle is improved. After the inspection is completed, the flight data are imported into data resolving software, and point cloud files, two-dimensional map models and three-dimensional live-action data are generated in an arrangement mode. Therefore, a live-action model, a two-dimensional map model and a laser point cloud model are directly produced, and the working efficiency of unmanned aerial vehicle inspection is improved.
Example III
Fig. 3 is a schematic structural diagram of a device for generating a routing inspection route according to a third embodiment of the present invention. As shown in fig. 3, the apparatus includes: a tower data acquisition module 310, a target waypoint determination module 320, and a patrol route generation module 330.
The tower data acquisition module 310 is configured to acquire a section to be inspected of the power transmission line, and acquire tower data in the section to be inspected; the target waypoint determining module 320 is configured to generate a plurality of initial waypoints of the interval to be patrolled and examined based on the tower data, and perform interpolation processing on the plurality of initial waypoints to obtain a plurality of target waypoints; and the routing inspection route generation module 330 is configured to generate routing inspection routes of the transmission line to be inspected in the interval based on the plurality of target waypoints.
According to the technical scheme, a tower data acquisition module is used for acquiring a to-be-inspected interval of a power transmission line and acquiring tower data in the to-be-inspected interval; the data corresponding to each tower to be inspected in the section to be inspected of the power transmission line can be accurately determined; then, generating a plurality of initial waypoints of the section to be patrolled and examined based on the tower data through a target waypoint determining module, and carrying out interpolation processing on the plurality of initial waypoints to obtain a plurality of target waypoints; obtaining a plurality of target waypoints capable of covering a plurality of initial waypoints through difference processing; and finally, generating a routing inspection route of the section to be inspected of the power transmission line based on the target waypoints by a routing inspection route generation module. The inspection route covering a plurality of target waypoints is obtained, and the plurality of target waypoints in the inspection route can be inspected rapidly and comprehensively. The problem of the unmanned aerial vehicle inspection route production inefficiency that need manual setting to lead to having solved the inspection route is solved. The beneficial effect of improving the route inspection generation efficiency is achieved.
Optionally, the tower data includes tower coordinates and tower height; correspondingly, the target waypoint determining module comprises:
the reference point position determining unit is used for determining a reference point position based on the tower coordinates of each tower in the to-be-inspected interval;
and the initial waypoint determining unit is used for determining the inspection height corresponding to the reference point based on the tower height of the tower and the preset height, and adjusting the reference point based on the inspection height to obtain the initial waypoint.
Optionally, the initial waypoints include an outgoing initial waypoint and a return initial waypoint, and the routing inspection heights corresponding to the outgoing initial waypoint and the return initial waypoint are different.
Optionally, the initial waypoint determining unit includes:
a going-off initial waypoint determining subunit, configured to determine a first routing inspection height of the reference point based on the tower height of the tower and a preset first height, and adjust the reference point based on the first routing inspection height to obtain a going-off initial waypoint;
and the return initial navigation point determining subunit is used for determining a second inspection height of the reference point based on the tower height of the tower and a preset second height, and adjusting the reference point based on the second inspection height to obtain the return initial navigation point.
Optionally, the tower data includes tower coordinates, and correspondingly, the generating device of the routing inspection route further includes:
and the inspection parameter determining module is used for determining the inspection parameters of the target waypoints based on the tower coordinates aiming at each target waypoint in the inspection route, wherein the inspection parameters comprise at least one of the head orientation, the cradle head angle and the camera shooting parameters of the inspection unmanned aerial vehicle.
Optionally, the inspection parameter determining module includes:
the reference vector determining unit is used for determining two reference towers corresponding to the target waypoints under the condition that the inspection parameters comprise the machine head orientation, and determining reference vectors according to the tower coordinates of the two reference towers;
and the machine head orientation determining unit is used for determining the machine head orientation of the inspection unmanned aerial vehicle by taking the preset direction as a reference axis and based on the included angle between the reference vector and the reference axis.
Optionally, the inspection parameter determining module includes:
the first vector determining unit is used for determining two reference towers corresponding to the target waypoints under the condition that the inspection parameters comprise the cradle head angle, and determining a first vector according to the tower coordinates of the two reference towers;
The second vector determining unit is used for determining a reference tower which is inspected later in the two reference towers based on the heading of the inspection unmanned aerial vehicle, and constructing a second vector between the target waypoint and the reference tower which is inspected later;
and the cradle head angle determining unit is used for determining the cradle head angle based on the included angle between the first vector and the second vector.
The device for generating the routing inspection route provided by the embodiment of the invention can execute the method for generating the routing inspection route provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
It should be noted that each unit and module included in the above apparatus are only divided according to the functional logic, but not limited to the above division, so long as the corresponding functions can be implemented; in addition, the specific names of the functional units are also only for distinguishing from each other, and are not used to limit the protection scope of the embodiments of the present invention.
Example IV
Fig. 4 shows a schematic diagram of the structure of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 4, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as the generation of a method routing.
In some embodiments, the generation of the method routing may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the above-described method of route generation may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the generation of the method routing by any other suitable means (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on 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.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (10)
1. The method for generating the routing inspection route is characterized by comprising the following steps:
acquiring a section to be inspected of a power transmission line, and acquiring tower data in the section to be inspected;
generating a plurality of initial waypoints of the section to be patrolled and examined based on the tower data, and carrying out interpolation processing on the plurality of initial waypoints to obtain a plurality of target waypoints;
and generating a routing inspection route of the section to be inspected of the power transmission line based on the target waypoints.
2. The method of claim 1, wherein the tower data includes tower coordinates and tower heights; the generating the plurality of initial waypoints of the to-be-inspected interval based on the tower data includes:
determining a reference point position based on tower coordinates of each tower in the to-be-inspected interval;
and determining the inspection height corresponding to the reference point based on the tower height of the tower and a preset height, and adjusting the reference point based on the inspection height to obtain an initial navigation point.
3. The method of claim 2, wherein the initial waypoints comprise an outgoing initial waypoint and a return initial waypoint, the outgoing initial waypoint and the return initial waypoint corresponding to different patrol heights.
4. A method according to claim 3, wherein the determining the inspection height corresponding to the reference point based on the tower height of the tower and a preset height, and adjusting the reference point based on the inspection height, to obtain an initial waypoint, comprises:
determining a first inspection height of the reference point based on the tower height of the tower and a preset first height, and adjusting the reference point based on the first inspection height to obtain a forward initial waypoint;
And determining a second inspection height of the reference point based on the tower height of the tower and a preset second height, and adjusting the reference point based on the second inspection height to obtain a return initial waypoint.
5. The method of claim 1, wherein the tower data includes tower coordinates, the method further comprising:
and determining the inspection parameters of the target waypoints based on the tower coordinates aiming at each target waypoint in the inspection route, wherein the inspection parameters comprise at least one of the head orientation, the cradle head angle and the camera shooting parameters of the inspection unmanned aerial vehicle.
6. The method of claim 5, wherein the determining the inspection parameters for the target waypoint based on the tower coordinates comprises:
under the condition that the inspection parameters comprise the machine head orientation, two reference towers corresponding to the target waypoints are determined, and reference vectors are determined according to the tower coordinates of the two reference towers;
and determining the head orientation of the inspection unmanned aerial vehicle based on the included angle between the reference vector and the reference axis by taking the preset direction as the reference axis.
7. The method of claim 5, wherein the determining the inspection parameters for the target waypoint based on the tower coordinates comprises:
determining two reference towers corresponding to the target waypoints under the condition that the inspection parameters comprise the cradle head angle, and determining a first vector according to the tower coordinates of the two reference towers;
determining a reference tower which is inspected at the back in the two reference towers based on the heading of the inspection unmanned aerial vehicle, and constructing a second vector between the target waypoint and the reference tower which is inspected at the back;
and determining the holder angle based on an included angle between the first vector and the second vector.
8. The utility model provides a generating device of inspection route which characterized in that includes:
the pole tower data acquisition module is used for acquiring a to-be-inspected interval of the power transmission line and acquiring pole tower data in the to-be-inspected interval;
the target waypoint determining module is used for generating a plurality of initial waypoints of the interval to be patrolled and examined based on the tower data, and carrying out interpolation processing on the plurality of initial waypoints to obtain a plurality of target waypoints;
and the inspection route generation module is used for generating an inspection route of an interval to be inspected of the power transmission line based on the target waypoints.
9. An electronic device, the electronic device comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method of generating a routing of any one of claims 1-7.
10. A computer readable storage medium, characterized in that the computer readable storage medium stores computer instructions for causing a processor to implement the method of generating a routing inspection route according to any one of claims 1-7 when executed.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117388867A (en) * | 2023-12-11 | 2024-01-12 | 国网辽宁省电力有限公司 | Power transmission line inspection method based on high-precision three-dimensional laser point cloud technology |
| CN117848353A (en) * | 2024-03-07 | 2024-04-09 | 天津云圣智能科技有限责任公司 | Planning method, device, equipment and medium for routing maintenance route |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117388867A (en) * | 2023-12-11 | 2024-01-12 | 国网辽宁省电力有限公司 | Power transmission line inspection method based on high-precision three-dimensional laser point cloud technology |
| CN117388867B (en) * | 2023-12-11 | 2024-04-05 | 国网辽宁省电力有限公司 | Power transmission line inspection method based on high-precision three-dimensional laser point cloud technology |
| CN117848353A (en) * | 2024-03-07 | 2024-04-09 | 天津云圣智能科技有限责任公司 | Planning method, device, equipment and medium for routing maintenance route |
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