CN116878519B - Planning method and device for electric tower inspection route, electronic equipment and storage medium - Google Patents

Planning method and device for electric tower inspection route, electronic equipment and storage medium Download PDF

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CN116878519B
CN116878519B CN202311140535.4A CN202311140535A CN116878519B CN 116878519 B CN116878519 B CN 116878519B CN 202311140535 A CN202311140535 A CN 202311140535A CN 116878519 B CN116878519 B CN 116878519B
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vector
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tower
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CN116878519A (en
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陈方平
耿应来
高明
夏云樊
魏小强
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Tianjin Yunsheng Intelligent Technology Co ltd
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Abstract

The invention provides a planning method, a planning device, electronic equipment and a storage medium of an electric tower inspection route, which comprise the following steps: acquiring initial labeling information corresponding to a target electric tower; the initial labeling information comprises labeling points of each target electric tower; determining a target long axis vector corresponding to the target electric tower according to the marking points of the target electric tower; the long axis vector is a vector which starts from the marking point and points to one side of an insulator of the target electric tower; determining waypoint information matched with a plurality of shooting target points corresponding to a target electric tower based on the target long axis vector; the shooting target point comprises an insulator shooting point and/or a non-insulator shooting point; and constructing an electric tower routing inspection route corresponding to the target electric tower according to the waypoint information. The invention can obviously improve the planning efficiency of the routing inspection route.

Description

Planning method and device for electric tower inspection route, electronic equipment and storage medium
Technical Field
The invention relates to the technical field of route planning, in particular to a planning method and device for an electric tower inspection route, electronic equipment and a storage medium.
Background
At present, when the unmanned aerial vehicle performs the refined inspection operation of the electric tower, the common mode is to manually mark and plan the route by using route planning software. In addition, before planning a fine route, the corresponding point cloud data is also required to be classified and marked accurately by manpower. In summary, each link in the existing routing inspection route planning technology needs to be manually participated, so that the routing inspection route planning efficiency is low.
Disclosure of Invention
In view of the above, the present invention aims to provide a method, an apparatus, an electronic device, and a storage medium for planning an electric tower inspection route, which can significantly improve the planning efficiency of the inspection route.
In a first aspect, an embodiment of the present invention provides a method for planning an electric tower inspection route, including:
acquiring initial labeling information corresponding to a target electric tower; the initial labeling information comprises labeling points of each target electric tower;
determining a target long axis vector corresponding to the target electric tower according to the marking point of the target electric tower; the long axis vector starts from the marking point and points to one side of the insulator of the target electric tower;
determining navigation point information matched with a plurality of shooting target points corresponding to the target electric tower based on the target long axis vector; wherein the shooting target point comprises an insulator shooting point and/or a non-insulator shooting point;
and constructing a tower routing inspection route corresponding to the target tower according to the waypoint information.
In one embodiment, determining the target long axis vector corresponding to the target electric tower according to the labeling point of the target electric tower includes:
Determining a bounding box of the target electric tower, and determining a narrow aspect and a wide aspect in the bounding box according to the vertex of the bounding box; wherein both the narrow and wide aspects are perpendicular to the ground;
subtracting the marking point from a projection point of the marking point of the target electric tower on the aspect of the narrow length to obtain an initial long axis vector; subtracting the marking point from the projection point of the marking point of the target electric tower on the aspect of the width and the length to obtain an initial short axis vector; the short axis vector starts from the marking point and points to the vector of the next target electric tower;
and determining an inter-tower vector between two adjacent target electric towers according to the marking points of the target electric towers, and correcting the initial long-axis vector by utilizing the inter-tower vector and the initial short-axis vector to obtain a target long-axis vector corresponding to the target electric towers.
In one embodiment, correcting the initial long axis vector by using the inter-tower vector and the initial short axis vector to obtain a target long axis vector corresponding to the target electric tower includes:
vector point multiplication is carried out on the initial short-axis vector and the inter-tower vector, and the initial short-axis vector is corrected according to a point multiplication result to obtain a target short-axis vector so that the target short-axis vector is consistent with a preset route direction;
And carrying out vector cross multiplication on the initial long-axis vector and the target short-axis vector, and correcting the initial long-axis vector according to a cross multiplication result to obtain a target long-axis vector, so that the target long-axis vector is positioned at the appointed side of the target short-axis vector.
In one embodiment, determining, based on the target long axis vector, waypoint information that matches a plurality of shooting target points corresponding to the target tower includes:
if the shooting target point is the insulator shooting point or the ground wire hanging point shooting point in the non-insulator shooting point, determining a first inter-point vector between the shooting target point and an waypoint matched with the shooting target point based on a preset first camera shooting angle, a preset interval and the target long axis vector;
determining a second inter-point vector between the shooting target point and the labeling point of the target electric tower;
if the first inter-point vector and the second inter-point vector are in the same direction, taking the sum value between the coordinate of the shooting target point and the inter-target point vector as the waypoint coordinate of the waypoint; or if the first inter-point vector and the second inter-point vector are in opposite directions, taking the difference between the coordinates of the shooting target point and the inter-target point vector as the first waypoint coordinate of the waypoint;
Taking the shooting angle of the first camera as a first pitch angle of the waypoint; and taking the included angle between the inter-tower vector and the appointed unit vector as a first yaw angle of the waypoint;
and taking the first waypoint coordinate, the first pitch angle and the first yaw angle as waypoint information matched with the shooting target point.
In one embodiment, determining a first inter-point vector between the shooting target point and a waypoint that the shooting target point matches based on a preset first camera shooting angle, a preset spacing, and the target long axis vector, includes:
performing rotation processing on the target long-axis vector according to a preset first camera shooting angle, and performing normalization processing on the target long-axis vector after the rotation processing;
determining the product of the target long axis vector after normalization processing and a preset interval as a first inter-point vector between the shooting target point and a navigation point matched with the shooting target point; the preset interval is used for representing the interval between the shooting target point and the navigation point matched with the shooting target point.
In one embodiment, taking the first waypoint coordinate, the first pitch angle, and the first yaw angle as the waypoint information that the shooting target point matches includes:
Performing safe distance detection on the waypoints based on the first waypoint coordinates, the first pitch angle and the first yaw angle;
when the waypoints pass the safe distance detection, taking the first waypoint coordinates, the first pitch angle and the first yaw angle as waypoint information matched with the shooting target point;
or when the waypoint does not pass the safe distance detection, adjusting the shooting angle of the first camera and the preset distance, and based on the adjusted shooting angle of the first camera, the preset distance and the target long axis vector, redetermining a first inter-point vector, the first waypoint coordinate, the first pitch angle and the first yaw angle between the shooting target point and the waypoint matched with the shooting target point until the waypoint passes the safe distance detection, and taking the redetermined first waypoint coordinate, the redefined first pitch angle and the redefined first yaw angle as waypoint information matched with the shooting target point.
In one embodiment, determining, based on the target long axis vector, waypoint information that matches a plurality of shooting target points corresponding to the target electric tower, further includes:
If the shooting target point is a tower shooting point in the non-insulator shooting points, rotating the target long axis vector to obtain a target vector; or if the shooting target point is a large-size side channel shooting point in the non-insulator shooting points, rotating the inter-tower vector between the current target electric tower and the next target electric tower to obtain a target vector; or if the shooting target point is a small-size side channel shooting point in the non-insulator shooting points, rotating the inter-tower vector between the previous target electric tower and the current target electric tower to obtain a target vector;
determining a product of the target vector and a preset shooting distance as a third inter-point vector between the shooting target point and a waypoint matched with the shooting target point, and taking the sum value between the third inter-point vector and the coordinates of the shooting target point as a second waypoint coordinate of the waypoint;
determining a second pitch angle of the waypoint based on the third inter-point vector and coordinates of the shooting target point; and determining a second yaw angle of the waypoint based on an angle between the third inter-point vector and a specified unit vector;
And taking the second navigation point coordinate, the second pitch angle and the second yaw angle as navigation point information matched with the shooting target point.
In one embodiment, the annotation point comprises a centroid of the target tower bounding box; based on the target long axis vector, determining waypoint information matched with a plurality of shooting target points corresponding to the target electric tower, and further comprising:
if the shooting target point is a cross-point shooting point in the non-insulator shooting points, shifting the centroid of the target electric tower to obtain a third navigation point coordinate of a navigation point matched with the shooting target point;
and taking the third waypoint coordinate, a preset third pitch angle and a preset third yaw angle as waypoint information matched with the shooting target point.
In a second aspect, an embodiment of the present invention further provides a planning apparatus for an electric tower inspection route, including:
the information acquisition module is used for acquiring initial marking information corresponding to the target electric tower; the initial labeling information comprises labeling points of each target electric tower;
the vector determining module is used for determining a target long axis vector corresponding to the target electric tower according to the marking point of the target electric tower; the long axis vector starts from the marking point and points to one side of the insulator of the target electric tower;
The navigation point determining module is used for determining navigation point information matched with a plurality of shooting target points corresponding to the target electric tower based on the target long axis vector; wherein the shooting target point comprises an insulator shooting point and/or a non-insulator shooting point;
and the route determining module is used for constructing an electric tower routing inspection route corresponding to the target electric tower according to the waypoint information.
In a third aspect, an embodiment of the present invention further provides an electronic device comprising a processor and a memory storing computer-executable instructions executable by the processor to implement the method of any one of the first aspects.
In a fourth aspect, embodiments of the present invention also provide a computer-readable storage medium storing computer-executable instructions which, when invoked and executed by a processor, cause the processor to implement the method of any one of the first aspects.
The embodiment of the invention provides a planning method, a planning device, electronic equipment and a storage medium for an electric tower inspection route, wherein initial labeling information corresponding to a target electric tower is firstly obtained, and the initial labeling information comprises labeling points of each target electric tower; then, according to the marking point of the target electric tower, determining a target long axis vector corresponding to the target electric tower, wherein the long axis vector is a vector which starts from the marking point and points to one side of an insulator of the target electric tower; determining navigation point information matched with a plurality of shooting target points (including insulator shooting points and/or non-insulator shooting points) corresponding to the target electric tower based on the target long axis vector; and finally, constructing an electric tower inspection route corresponding to the target electric tower according to the waypoint information. According to the method, based on the marked points of the marked target electric towers, the target long axis vector which starts from the marked points of the target electric towers and points to one side of the insulator of the target electric towers is determined, and the waypoint information matched with each shooting target point is determined on the basis of the target long axis vector, so that a high-precision electric tower inspection route is obtained.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the above objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a planning method for an electric tower inspection route according to an embodiment of the present invention;
fig. 2 is a flow chart of another method for planning an electric tower inspection route according to an embodiment of the present invention;
Fig. 3 is a schematic structural diagram of a planning apparatus for an electric tower inspection route according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described in conjunction with the embodiments, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
At present, each link in the existing routing inspection route planning technology needs to be manually participated, so that the routing inspection route planning efficiency is low.
For the convenience of understanding the present embodiment, first, a detailed description will be given of a method for planning an electric tower inspection route disclosed in the present embodiment, referring to a flow chart of a method for planning an electric tower inspection route shown in fig. 1, the method mainly includes the following steps S102 to S108:
Step S102, initial labeling information corresponding to the target electric tower is obtained.
The initial labeling information comprises labeling points of each target electric tower, wherein the labeling points are any point in the target electric tower bounding box, preferably the mass center of the target electric tower bounding box, and the initial labeling information can also comprise route trend, electric tower type and the like.
Step S104, determining a target long axis vector corresponding to the target electric tower according to the labeling points of the target electric tower.
In one embodiment, a tower-to-tower vector between two target towers, an initial short axis vector of each target tower and an initial long axis vector can be respectively determined according to a target tower bounding box and a labeling point thereof, wherein the short axis vector is a vector which starts from the labeling point and points to the next target tower, the long axis vector is a vector which starts from the labeling point and points to one side of an insulator of the target tower, and the long axis vector and the short axis vector are mutually perpendicular; and correcting the initial short-axis vector by using the inter-tower vector to obtain a target short-axis vector, and correcting the initial long-axis vector by using the target short-axis vector to obtain a target long-axis vector.
Step S106, determining the navigation point information matched with the shooting target points corresponding to the target electric towers based on the target long axis vector.
Wherein, the shooting target point comprises an insulator shooting point (short for shooting target point corresponding to an insulator) and/or a non-insulator shooting point; the non-insulator shooting points may further include a ground wire hanging point shooting point (short for shooting target points corresponding to left and right ground wire hanging points), a tower shooting point (short for shooting target points corresponding to electric towers), a large-size side channel shooting point (short for shooting target points corresponding to large-size side channels), a small-size side channel shooting point (short for shooting target points corresponding to small-size side channels), and a cross-point shooting point (short for shooting target points corresponding to highest cross-point); the ground wire hanging point shooting points can be divided into shooting target points corresponding to left ground wire hanging points and right ground wire hanging points; the tower shooting points can be divided into shooting target points corresponding to whole towers, tower heads, tower bodies, tower license plates and tower bases.
In one embodiment, corresponding processing logic may be utilized to determine, based on the target long axis vector, waypoint information that matches a plurality of shooting target points corresponding to the target tower according to the type of the shooting target point; the waypoint information may include, among other things, waypoint coordinates, pitch angle, and yaw angle.
And S108, constructing a tower routing inspection route corresponding to the target tower according to the waypoint information.
In one embodiment, the tower routing may be constructed based on a preset shooting sequence and waypoint information. Illustratively, the shooting sequence is: shooting target points corresponding to a whole tower, a tower head, a tower body, a tower number plate and a tower foundation; all waypoints on the left side (including shooting target points corresponding to all insulators on the left side); shooting target points corresponding to left ground wire hanging points; shooting target points corresponding to the highest cross points; shooting target points corresponding to right ground wire hanging points; all waypoints on the right side (including shooting target points corresponding to all insulators on the right side); shooting target points corresponding to the large-size side channels; shooting target points corresponding to small-sized side channels. And sequencing the waypoint information corresponding to each shooting target point according to the shooting sequence to obtain the electric tower routing inspection route corresponding to the target electric tower.
According to the planning method for the electric tower routing inspection route provided by the embodiment of the invention, the target long axis vector which starts from the marked point of the target electric tower and points to one side of the insulator of the target electric tower is determined based on the marked point of the target electric tower, and the waypoint information matched with each shooting target point is determined on the basis, so that the high-precision electric tower routing inspection route is obtained.
For facilitating understanding, the embodiment of the invention provides a specific implementation mode of a planning method of an electric tower inspection route.
For the foregoing step S104, the embodiment of the present invention provides an implementation manner of determining, according to the labeling points of the target electric tower, the target long axis vector corresponding to the target electric tower, see the following steps 1 to 3:
step 1, determining a bounding box of the target electric tower, and determining a narrow aspect and a wide aspect in the bounding box according to the vertex of the bounding box; wherein both the narrow and wide aspects are perpendicular to the ground.
In one embodiment, bounding box extraction may be performed based on descriptors of moment of inertia and eccentricity, resulting in a bounding box for each target tower. Alternatively, a getOBB method of PCL (Point Cloud Library) open source library may be used to calculate the length, width, height and eight vertices of a cuboid of the wrapped electric tower (i.e., the bounding box described above), based on which the narrow aspect and the wide aspect of the length perpendicular to the ground may be determined.
Step 2, subtracting the marking points from the projection points of the marking points of the target electric tower on the aspect of the narrow length to obtain initial long axis vectors; and subtracting the marked point from the projected point of the marked point of the target electric tower in the aspect of the width and the length to obtain an initial short axis vector.
In one embodiment, the initial long axis vector [ ]) It is the projected point of said centroid of the target tower on said narrow length minus the centroid of the target tower bounding box, the initial minor axis vector (>) It is the projected point of the centroid of the target tower on the aspect of the width and length minus the noted point minus the centroid of the target tower bounding box.
And 3, determining inter-tower vectors between two adjacent target towers according to the labeling points of the target towers, and correcting the initial long-axis vector by utilizing the inter-tower vectors and the initial short-axis vector to obtain a target long-axis vector corresponding to the target towers.
In one embodiment, the inter-tower vector between two adjacent target towers can be determined according to the marked course direction (also called the preset course direction) and the mass center of the target tower bounding box) And based on the inter-column vector (+)>) Correcting the initial long axis vector by the initial short axis vector to obtain a target long axis vector corresponding to the target electric tower, wherein the tower middle vector (++>) Is consistent with the trend of the route. In a specific implementation, see steps 3.1 to 3.2 below:
and 3.1, carrying out vector point multiplication on the initial short-axis vector and the inter-tower vector, and correcting the initial short-axis vector according to a point multiplication result to obtain a target short-axis vector so as to enable the target short-axis vector to be consistent with a preset route direction.
In one example, the initial short axis vector [ ]) Inter-column vector (+)>) Vector dot multiplication (+)>) If the dot product is positive, the initial short axis vector (++>) Inter-column vector (+)>) In the same direction, no initial short axis vector (++>) Correction is performed, i.e. the initial short axis vector (/ -)>) As a target short axis vector (+)>) The method comprises the steps of carrying out a first treatment on the surface of the Conversely, if the dot product is negative, the initial short axis vector (++>) Inter-column vector (+)>) The initial short axis vector (++A) can be inverted by, for example, inverting>) Correction is performed so that the target minor axis vector (++)>) Inter-column vector (+)>) And the same direction.
And 3.2, carrying out vector cross multiplication on the initial long-axis vector and the target short-axis vector, and correcting the initial long-axis vector according to a cross multiplication result to obtain the target long-axis vector so that the target long-axis vector is positioned at the appointed side of the target short-axis vector. Wherein the designated side is the left side.
In one example, the initial long axis vector [ ]) With the target short axis vector (+)>) Vector cross (+)>) If the cross result is positive, the initial long axis vector (++>) Located in the target short axis vector (+)>) Is not needed for the initial long axis vector (+)>) Correction is performed, i.e. the initial long axis vector (/ -) >) As target long axis vector (+)>) The method comprises the steps of carrying out a first treatment on the surface of the Conversely, if the cross result is negative, the initial long axis vector (++>) Located in the target short axis vector (+)>) Can be applied to the initial long axis vector (, by way of, for example, negation>) Correction is performed so that the target long axis vector (++)>) Located in the target short axis vector (+)>) To facilitate subsequent waypoint calculations.
For the foregoing step S106, the embodiment of the present invention provides an implementation manner in which, for each type of shooting target point, waypoint information for determining that the shooting target point matches is provided, and specifically, the following manner one to manner three may be referred to:
in the first mode, if the shooting target point is an insulator shooting point (including a left end shooting point, a middle shooting point, and a right end shooting point) or a ground hanging point shooting point in a non-insulator shooting point, the step of determining waypoint information matched with the shooting target point is performed according to the following steps a1 to a 5:
step a1, determining a first inter-point vector between a shooting target point and a waypoint matched with the shooting target point based on a preset first camera shooting angle, a preset interval and a target long axis vector.
In a specific implementation, the following steps a1.1 to a1.2 may be taken into account:
And a step a1.1, performing rotation processing on the target long-axis vector according to a preset first camera shooting angle, and performing normalization processing on the target long-axis vector after rotation processing.
And a step a1.2, determining the product of the normalized target long axis vector and the preset distance as a first inter-point vector between the shooting target point and the waypoint matched with the shooting target point. The preset distance is used for representing the distance between the shooting target point and the navigation point matched with the shooting target point.
For example, a first camera shooting angle (such as pitch=20) and a preset spacing (such as dis=3) may be preset. For example, rotation processing and normalization processing are performed on the target long axis vector according to the preset first camera shooting angle, and then the product between the normalized target long axis vector and the preset distance is taken as a first inter-point vector (v 1) between the shooting target point and the waypoint.
And a step a2, determining a second point-to-point vector between the shooting target point and the labeling point of the target tower.
Step a3, if the first inter-point vector and the second inter-point vector are in the same direction, taking the sum value of the coordinates of the shot target point and the inter-target point vector as the waypoint coordinates of the waypoint; or if the first inter-point vector and the second inter-point vector are in opposite directions, taking the difference between the coordinates of the shot target point and the inter-target point vector as the first waypoint coordinate of the waypoint.
In one example, if the first inter-point vector (v 1) and the second inter-point vector are co-directional, the waypoint coordinates=the shooting target point coordinates+the first inter-point vector (v 1); conversely, if the first inter-point vector (v 1) and the second inter-point vector are in opposite directions, the waypoint coordinates=the shooting target point coordinates-the first inter-point vector (v 1).
Step a4, taking a first camera shooting angle as a first pitch angle of the waypoint; and taking the included angle between the inter-tower vector and the appointed unit vector as a first yaw angle of the waypoint.
In one example, the preset first camera shooting angle may be directly used as the first pitch angle of the waypoint.
In one example, the angle between the first inter-point vector (v 1) and the y-axis unit vector may be used as the first yaw angle of the waypoint.
And a step a5, using the first waypoint coordinates, the first pitch angle and the first yaw angle as waypoint information matched with the shooting target point.
Considering that the preset first camera shooting angle and the preset distance may not enable the unmanned aerial vehicle to safely pass through the target electric tower, further safety distance detection is required for the waypoint information determined based on the first camera shooting angle and the preset distance. In a specific implementation, reference may be made to the following steps a5.1 to a5.3:
And a step a5.1, performing safe distance detection on the waypoints based on the first waypoint coordinates, the first pitch angle and the first yaw angle. The safety distance detection is used for detecting whether the safety distance between the waypoint and the electric tower and the line is kept in the process of the waypoint route. If yes, the navigation point information corresponding to the navigation point is detected through the safety distance, and the step a5.2 is executed; if not, the navigation point information corresponding to the navigation point is not passed through the safety distance detection, and the step a5.3 is executed.
And a step a5.2, when the waypoints pass through the safe distance detection, taking the first waypoint coordinates, the first pitch angle and the first yaw angle as the waypoint information matched with the shooting target point.
And a step a5.3, when the waypoints do not pass through the safe distance detection, adjusting the shooting angle of the first camera and the preset interval, and based on the adjusted shooting angle of the first camera, the preset interval and the target long axis vector, redetermining a first inter-point vector, a first waypoint coordinate, a first pitch angle and a first yaw angle between the shooting target point and the waypoints matched with the shooting target point until the waypoints pass through the safe distance detection, and taking the redetermined first waypoint coordinate, the redetermined first pitch angle and the redetermined first yaw angle as waypoint information matched with the shooting target point.
When the waypoint does not pass the safety distance detection, the shooting angle of the first camera and the preset interval can be adjusted, and the steps a1 to a4 are repeated until the waypoint passes the safety distance detection, so that the redetermined first waypoint coordinate, the redetermined first pitch angle and the redetermined first yaw angle can be used as the waypoint information matched with the shooting target point.
In order to facilitate understanding of the steps a1 to a5, embodiments of the present invention provide an implementation manner of determining the waypoint information of the insulator shooting point matching and an implementation manner of determining the waypoint information of the ground wire hanging point shooting point matching, respectively.
An embodiment of determining waypoint information for insulator photographing point matching:
(1) And according to the type of the marked target tower, storing three shooting target points of each insulator into a calculation queue according to the shooting sequence of the insulators. Because the insulator is classified in the labeling stage, the coordinates of the three shooting target points at the left end, the middle and the right end of the insulator are not difficult to obtain.
(2) Traversing the queue, calculating the corresponding waypoint, firstly calculating a first inter-point vector (v 1) between the shooting target point and the waypoint, rotating and normalizing the first inter-point vector (v 1) through a target long axis vector, and finally multiplying the distance between the two points (dis=3). The rotation angle is the shooting angle of the camera (pitch=20), and the values of dis and pitch are one of the expected initial values. The obtained first inter-point vector (v 1) also needs to be judged in the same direction as the vector between the shooting target point and the labeling point of the target tower bounding box, and if the insulator is positioned on the left side of the tower in the same direction, the navigation point coordinates=the target point coordinates+the first inter-point vector (v 1). Conversely, waypoint coordinates = target point coordinates-first inter-point vector (v 1).
(3) The yaw angle yaw of the waypoint is calculated, wherein yaw is equal to the included angle between the first inter-point vector (v 1) and the y-axis unit vector.
(4) And (3) detecting the safety distance, wherein whether the safety distance between the obtained waypoint and the electric tower and between the obtained waypoint and the line in the process of the last waypoint route is kept or not, and if the safety distance is lower than the safety distance, adjusting the values of dis and pitch to execute the steps (2) to (4) again until the safety distance meets the preset value.
(II) determining the implementation mode of the navigation point information matched with the ground wire hanging point shooting point: calculating waypoints of left and right ground wire hanging points: first, a first inter-point vector (v 1) between a shooting target point (namely, a ground line hanging point) and an navigation point is calculated, the first inter-point vector (v 1) is obtained by rotating a long axis vector, normalizing and multiplying a distance between the two points (dis=3). The rotation angle is the shooting angle of the camera (pitch=20), and the values of dis and pitch are one of the expected initial values. The obtained first inter-point vector (v 1) also needs to be judged in the same direction as the vector between the shooting target point and the labeling point of the target tower bounding box, if the shooting target point is positioned on the left side of the target tower in the same direction, the left ground wire hanging point is positioned, and the corresponding navigation point coordinate = target point coordinate + first inter-point vector (v 1). On the contrary, the right ground wire hanging point is positioned on the right side of the target electric tower, and the corresponding navigation point coordinate=the target point coordinate-the first inter-point vector (v 1). At this time, its yaw angle yaw is equal to the angle between the first inter-point vector (v 1) and the y-axis unit vector.
In the second mode, if the shooting target point is a tower shooting point, a large-size side channel shooting point or a small-size side channel shooting point in the non-insulator shooting points, the step of determining waypoint information matched with the shooting target point is performed according to the following steps b1 to b 4:
step b1, if the shooting target point is a tower shooting point in the non-insulator shooting points, rotating the target long axis vector to obtain a target vector; or if the shooting target point is a large-size side channel shooting point in the non-insulator shooting points, rotating an inter-tower vector between the current target electric tower and the next target electric tower to obtain a target vector; or if the shooting target point is a small-size side channel shooting point in the non-insulator shooting points, rotating an inter-tower vector between the previous target tower and the current target tower to obtain a target vector.
In one example, if the shooting target point is a tower shooting point in the non-insulator shooting points, generating a shooting target point of 'whole tower', 'tower head', 'tower body', 'tower number plate', 'tower base', and as knowing the centroid and the height h of the target electric tower bounding box, adding and subtracting h/n offset to the z value of the centroid can be performed as the shooting target point. Where n is a preset value, which can be understood as an offset coefficient. The target vector corresponding to the shooting target point is: the long axis vector of the target is [ ] ) The target vector (++10) is obtained by rotating about 45 (+ -) (0-10) degrees around the z-axis>)。
In one example, if the shooting target point is a large-size side channel shooting point in non-insulator shooting points, the right ground wire hanging point is taken as the shooting target point, the preset shooting distance is 40 meters, and the large-size side channel takes the vector between towersThe target vector is obtained by reversing the direction and then rotating around the z axis by about 20 degrees (under the right-hand coordinate system)>)。
In one example, if the shot target point is a small-side channel shot point in the non-insulator shot points, the small-side channel takes the inter-tower vector(i-1. Gtoreq.0, otherwise +.>Replace->Calculation) rotates around the z-axis by about-20 degrees (under the right-hand coordinate system) to obtain the target vector (/ -degree>)。
And b2, determining the product of the target vector and the preset shooting distance as a third inter-point vector between shooting target points and waypoints matched with the shooting target points, and taking the sum value between the third inter-point vector and coordinates of the shooting target points as second waypoint coordinates of the waypoints.
In one embodiment, the target vector is [ ]) The unit vector of (2) is multiplied by a preset shooting distance to obtain a third inter-point vector (v 3) from the shooting target point to the waypoint, and the waypoint coordinates=the third inter-point vector (v 3) +the target point coordinates.
Step b3, determining a second pitch angle of the waypoint based on the vector between the third points and coordinates of the shooting target point; and determining a second yaw angle of the waypoint based on the angle between the third inter-point vector and the specified unit vector.
In one example, the pitch angle of the waypoint may be determined as follows:
pithch =(/> )；
where pithch is pitch, (x, y, z) is coordinates of the shooting target point, and v3 is a third inter-point vector.
In one example, if the x value of the third inter-point vector (v 3) is greater than 0, the yaw angle yaw is 180 ° minus the angle between the third inter-point vector (v 3) and the y-axis amount, whereas the yaw angle yaw is the angle between the third inter-point vector (v 3) and the y-axis amount minus 180 °.
And b4, taking the second waypoint coordinates, the second pitch angle and the second yaw angle as waypoint information matched with the shooting target point.
In order to facilitate understanding of the steps b1 to b4, embodiments of the present invention provide an implementation manner of determining waypoint information that matches a tower shooting point, and an implementation manner of determining waypoint information that matches a large-size side channel shooting point and a small-size side channel shooting point, respectively.
An embodiment of determining waypoint information for a tower shot match: the first five shooting target points of 'whole tower', 'tower head', 'tower body', 'tower number plate', 'tower base' are generated, and the z value of the center of mass can be modified by h/n offset as their shooting target points due to the knowledge of the center of mass and the height of the target electric tower bounding box. The calculation mode of the waypoints is as follows: the long axis vector of the target is [ ] ) The target vector is obtained by rotating about 45 (+/-) (0-10) degrees around the z-axis>Target->The unit vector of (2) is multiplied by a preset shooting distance to obtain a third inter-point vector (v 3) from the shooting target point to the waypoint.
The waypoint information of the waypoint is as follows:
waypoint coordinates = third inter-point vector (v 3) +target point coordinates.
The camera shooting angle (i.e., pitch angle) is calculated as:
pithch =(/> )。
yaw angle: if the x value of the third inter-point vector (v 3) is greater than 0, the yaw angle yaw is 180 minus the angle between the vector v and the y-axis, whereas the yaw angle yaw is the angle between the third inter-point vector (v 3) and the y-axis minus 180.
(II) determining the implementation mode of the navigation point information of the matching of the large-size side channel shooting point and the small-size side channel shooting point: calculating the waypoints of the large-size side channel and the small-size side channel: the right ground wire hanging point is taken as a target point, the preset shooting distance is 40 meters, and the large-sized side channel takes the vector between towersThe target vector is obtained by reversing the direction and then rotating around the z axis by about 20 degrees (under the right-hand coordinate system)>) The method comprises the steps of carrying out a first treatment on the surface of the The small-sized side channel uses the vector between towers +.>(i-1. Gtoreq.0, otherwise +.>Replace->Calculation) rotates around the z-axis by about-20 degrees (under the right-hand coordinate system) to obtain the target vector (/ -degree >). The target vector +.>The unit vector of (2) is multiplied by the preset shooting distance to obtain a third inter-point vector (v 3) from the target point to the waypoint.
The waypoint information of the waypoint is as follows:
waypoint coordinates = third inter-point vector (v 3) +target point coordinates.
The camera shooting angle (i.e., pitch angle) is calculated as:
pithch =(/> )。
yaw angle: if the x value of the third inter-point vector (v 3) vector is greater than 0, the yaw angle yaw is 180 minus the angle between the third inter-point vector (v 3) and the y-axis, whereas the yaw angle yaw is the angle between the third inter-point vector (v 3) and the y-axis minus 180.
In a third aspect, if the shooting target point is a cross-point shooting point among non-insulator shooting points, the step of determining waypoint information that the shooting target point matches is performed according to the following steps c1 to c 2:
step c1, shifting the mass center of the target electric tower to obtain a third waypoint coordinate of a waypoint matched with the shooting target point; and c2, taking the third waypoint coordinates, a preset third pitch angle and a preset third yaw angle as waypoint information matched with the shooting target point.
In one embodiment, the waypoint calculation for the highest cross point: the z value of the highest cross point target point is the z value of the centroid plus half of the tower height, the x and y values are consistent with the x and y values of the centroid, and the z value of the navigation point is the z value of the target point and is shifted upwards by 5-10 meters. Here, the yaw angle is 0 and the shooting angle is-90 degrees.
In order to improve the efficiency of manual fine route planning, the embodiment of the invention can rapidly carry out automatic fine route planning on all electric towers on a route in batches based on the marked electric tower point cloud data, is beneficial to liberating productivity and improves the fine inspection efficiency of the unmanned aerial vehicle.
For the understanding of the foregoing embodiments, another implementation manner of the tower routing inspection route is provided in the embodiment of the present invention, and referring to a schematic flow chart of another tower routing inspection route shown in fig. 2, the method includes the following steps S202 to S206:
step S202, calculating the vector between each tower) Calculate and calibrate the target short axis vector for each tower>) Target long axis vector (+)>)。
Step S204, according to the vector between towers) Short axis vector of target (+)>) Target long axis vector (+)>) And (5) equal parameters, calculating the waypoints required by the unmanned aerial vehicle when the electric tower insulator is inspected. In specific implementation, refer to the above steps a1 to a5, and this will not be described in detail in the embodiments of the present invention.
Step S206, according to the vector between towers) Short axis vector of target (+)>) Target long axis vector (+)>) And (5) equal parameters, calculating the waypoints required by the unmanned aerial vehicle when the unmanned aerial vehicle patrols and examines the non-insulator of the electric tower. Specifically, the method comprises the following steps:
(1) The navigation points of the whole tower, the tower head, the tower body, the tower license plate and the tower foundation are calculated, and the steps b1 to b4 can be specifically referred to, so that the embodiments of the present invention are not described herein again.
(2) The navigation points of the left and right ground wire hanging points are calculated, and the steps a1 to a5 can be specifically referred to, and the embodiments of the present invention are not described herein.
(3) The navigation point of the highest cross point is calculated, and the steps c1 to c2 can be seen specifically, which are not described in detail herein.
(4) The navigation points of the large-size side channel and the small-size side channel are calculated, and the steps b1 to b4 can be seen specifically, which are not described herein.
So far, all the waypoints of the fine route are calculated, and in the multiple tests of the planning method of the electric tower routing inspection route provided by the embodiment of the invention, the time required for automatically generating the fine route of the first-stage tower by adopting the method is about 5 seconds, and if the fine route is processed by a skilled mapping personnel, the processing time is also 10 minutes. The efficiency is improved by 120 times.
On the basis of the foregoing embodiment, the embodiment of the present invention provides a planning apparatus for an electric tower inspection route, referring to a schematic structural diagram of the planning apparatus for an electric tower inspection route shown in fig. 3, the apparatus mainly includes the following parts:
The information acquisition module 302 is configured to acquire initial labeling information corresponding to the target electric tower; the initial labeling information comprises labeling points of each target electric tower, wherein the labeling points are any point in a surrounding box of the target electric tower;
the vector determining module 304 is configured to determine a target long axis vector corresponding to the target electric tower according to the labeling point of the target electric tower; the long axis vector is a vector which starts from the marking point and points to one side of an insulator of the target electric tower;
the waypoint determining module 306 is configured to determine, based on the target long axis vector, waypoint information that matches a plurality of shooting target points corresponding to the target tower; the shooting target point comprises an insulator shooting point and/or a non-insulator shooting point;
the route determining module 308 is configured to construct an electric tower routing route corresponding to the target electric tower according to the waypoint information.
According to the planning device for the electric tower routing inspection route provided by the embodiment of the invention, the target long axis vector which starts from the marked point of the target electric tower and points to one side of the insulator of the target electric tower is determined based on the marked point of the target electric tower, and the waypoint information matched with each shooting target point is determined on the basis, so that the high-precision electric tower routing inspection route is obtained.
In one embodiment, the vector determination module 304 is further configured to:
determining a bounding box of the target electric tower, and determining a narrow aspect and a wide aspect in the bounding box according to the vertex of the bounding box; wherein both the narrow and wide aspects are perpendicular to the ground;
subtracting the marking point from a projection point of the marking point of the target electric tower on the aspect of the narrow length to obtain an initial long axis vector; subtracting the marking point from the projection point of the marking point of the target electric tower on the aspect of the width and the length to obtain an initial short axis vector; the short axis vector starts from the marking point and points to the vector of the next target electric tower;
and determining the inter-tower vector between two adjacent target towers according to the labeling points of the target towers, and correcting the initial long-axis vector by utilizing the inter-tower vector and the initial short-axis vector to obtain the target long-axis vector corresponding to the target towers.
In one embodiment, the vector determination module 304 is further configured to:
vector point multiplication is carried out on the initial short-axis vector and the vector between towers, and the initial short-axis vector is corrected according to the point multiplication result to obtain a target short-axis vector so that the target short-axis vector is consistent with the direction of a preset route;
And carrying out vector cross multiplication on the initial long-axis vector and the target short-axis vector, and correcting the initial long-axis vector according to a cross multiplication result to obtain the target long-axis vector so that the target long-axis vector is positioned at the appointed side of the target short-axis vector.
In one embodiment, waypoint determination module 306 is further to:
if the shooting target point is an insulator shooting point or a ground wire hanging point shooting point in a non-insulator shooting point, determining a first inter-point vector between the shooting target point and a waypoint matched with the shooting target point based on a preset first camera shooting angle, a preset interval and a target long axis vector;
determining a second point-to-point vector between the shooting target point and the labeling point of the target electric tower;
if the first inter-point vector and the second inter-point vector are in the same direction, taking the sum value of the coordinates of the shot target point and the inter-target point vector as the waypoint coordinates of the waypoint; or if the first inter-point vector and the second inter-point vector are in opposite directions, taking the difference value between the coordinate of the shot target point and the inter-target point vector as a first waypoint coordinate of the waypoint;
taking the shooting angle of the first camera as a first pitch angle of the waypoint; and taking the included angle between the inter-tower vector and the appointed unit vector as a first yaw angle of the waypoint;
And taking the first waypoint coordinate, the first pitch angle and the first yaw angle as waypoint information matched with the shooting target point.
In one embodiment, waypoint determination module 306 is further to:
performing rotation processing on the target long axis vector according to a preset first camera shooting angle, and performing normalization processing on the target long axis vector after rotation processing;
determining the product of the normalized target long axis vector and the preset distance as a first inter-point vector between the shooting target point and the waypoint matched with the shooting target point; the preset distance is used for representing the distance between the shooting target point and the navigation point matched with the shooting target point.
In one embodiment, waypoint determination module 306 is further to:
performing safe distance detection on the waypoints based on the first waypoint coordinates, the first pitch angle and the first yaw angle;
when the waypoints pass through the safe distance detection, the first waypoint coordinates, the first pitch angle and the first yaw angle are used as waypoint information matched with the shooting target points;
or when the waypoints do not pass the safe distance detection, adjusting the shooting angle of the first camera and the preset interval, and based on the adjusted shooting angle of the first camera, the preset interval and the target long axis vector, re-determining a first inter-point vector, a first waypoint coordinate, a first pitch angle and a first yaw angle between the shooting target point and the waypoints matched with the shooting target point until the waypoints pass the safe distance detection, and taking the re-determined first waypoint coordinate, first pitch angle and first yaw angle as the waypoint information matched with the shooting target point.
In one embodiment, waypoint determination module 306 is further to:
if the shooting target point is a tower shooting point in the non-insulator shooting points, rotating the target long axis vector to obtain a target vector; or if the shooting target point is a large-size side channel shooting point in the non-insulator shooting points, rotating an inter-tower vector between the current target electric tower and the next target electric tower to obtain a target vector; or if the shooting target point is a small-size side channel shooting point in the non-insulator shooting points, rotating an inter-tower vector between a previous target electric tower and a current target electric tower to obtain a target vector;
determining a product of the target vector and a preset shooting distance as a third inter-point vector between shooting target points and waypoints matched with the shooting target points, and taking the sum value between the third inter-point vector and coordinates of the shooting target points as second waypoint coordinates of the waypoints;
determining a second pitch angle of the waypoint based on the third inter-point vector and coordinates of the shooting target point; and determining a second yaw angle of the waypoint based on the angle between the third inter-point vector and the specified unit vector;
and taking the second waypoint coordinates, the second pitch angle and the second yaw angle as waypoint information matched with the shooting target point.
In one embodiment, the annotation point comprises a centroid of the target tower bounding box; the waypoint determination module 306 is also configured to:
if the shooting target point is a cross-point shooting point in the non-insulator shooting points, shifting the mass center of the target electric tower to obtain a third navigation point coordinate of a navigation point matched with the shooting target point;
and taking the third waypoint coordinate, a preset third pitch angle and a preset third yaw angle as waypoint information matched with the shooting target point.
The device provided by the embodiment of the present invention has the same implementation principle and technical effects as those of the foregoing method embodiment, and for the sake of brevity, reference may be made to the corresponding content in the foregoing method embodiment where the device embodiment is not mentioned.
The embodiment of the invention provides electronic equipment, which comprises a processor and a storage device; the storage means has stored thereon a computer program which, when executed by the processor, performs the method of any of the embodiments described above.
Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present invention, where the electronic device 100 includes: a processor 40, a memory 41, a bus 42 and a communication interface 43, the processor 40, the communication interface 43 and the memory 41 being connected by the bus 42; the processor 40 is arranged to execute executable modules, such as computer programs, stored in the memory 41.
The memory 41 may include a high-speed random access memory (RAM, random Access Memory), and may further include a non-volatile memory (non-volatile memory), such as at least one magnetic disk memory. The communication connection between the system network element and the at least one other network element is achieved via at least one communication interface 43 (which may be wired or wireless), which may use the internet, a wide area network, a local network, a metropolitan area network, etc.
Bus 42 may be an ISA bus, a PCI bus, an EISA bus, or the like. The buses may be classified as address buses, data buses, control buses, etc. For ease of illustration, only one bi-directional arrow is shown in FIG. 4, but not only one bus or type of bus.
The memory 41 is configured to store a program, and the processor 40 executes the program after receiving an execution instruction, and the method executed by the apparatus for flow defining disclosed in any of the foregoing embodiments of the present invention may be applied to the processor 40 or implemented by the processor 40.
The processor 40 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuitry in hardware or instructions in software in processor 40. The processor 40 may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a digital signal processor (Digital Signal Processing, DSP for short), application specific integrated circuit (Application Specific Integrated Circuit, ASIC for short), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA for short), or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be embodied directly in the execution of a hardware decoding processor, or in the execution of a combination of hardware and software modules in a decoding processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in a memory 41 and the processor 40 reads the information in the memory 41 and in combination with its hardware performs the steps of the method described above.
The computer program product of the readable storage medium provided by the embodiment of the present invention includes a computer readable storage medium storing a program code, where the program code includes instructions for executing the method described in the foregoing method embodiment, and the specific implementation may refer to the foregoing method embodiment and will not be described herein.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Finally, it should be noted that: the above examples are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, but it should be understood by those skilled in the art that the present invention is not limited thereto, and that the present invention is described in detail with reference to the foregoing examples: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (11)

1. The planning method of the electric tower inspection route is characterized by comprising the following steps of:
acquiring initial labeling information corresponding to a target electric tower; the initial labeling information comprises labeling points of each target electric tower, wherein the labeling points are any point in the target electric tower bounding box;
Determining a target long axis vector corresponding to the target electric tower according to the marking point of the target electric tower; the long axis vector starts from the marking point and points to one side of the insulator of the target electric tower;
determining navigation point information matched with a plurality of shooting target points corresponding to the target electric tower based on the target long axis vector; wherein the shooting target point comprises an insulator shooting point and/or a non-insulator shooting point;
constructing a tower routing inspection route corresponding to the target tower according to the waypoint information;
according to the labeling point of the target electric tower, determining a target long axis vector corresponding to the target electric tower comprises the following steps: determining inter-tower vectors between two adjacent target towers according to the labeling points of the target towers, and correcting an initial long-axis vector by utilizing the inter-tower vectors and the initial short-axis vector to obtain a target long-axis vector corresponding to the target towers; the short axis vector is a vector which starts from the marking point and points to the next target electric tower.
2. The method for planning an electric tower inspection route according to claim 1, wherein before determining inter-tower vectors between two adjacent target electric towers according to the labeling points of the target electric towers, and correcting initial long-axis vectors by using the inter-tower vectors and initial short-axis vectors to obtain target long-axis vectors corresponding to the target electric towers, the method further comprises:
Determining a bounding box of the target electric tower, and determining a narrow aspect and a wide aspect in the bounding box according to the vertex of the bounding box; wherein both the narrow and wide aspects are perpendicular to the ground;
subtracting the marking point from a projection point of the marking point of the target electric tower on the aspect of the narrow length to obtain an initial long axis vector; and subtracting the marked point from the projected point of the marked point of the target electric tower in the aspect of the width and the length to obtain an initial short axis vector.
3. The method for planning an electric tower inspection route according to claim 2, wherein correcting the initial long axis vector by using the inter-tower vector and the initial short axis vector to obtain a target long axis vector corresponding to the target electric tower comprises:
vector point multiplication is carried out on the initial short-axis vector and the inter-tower vector, and the initial short-axis vector is corrected according to a point multiplication result to obtain a target short-axis vector so that the target short-axis vector is consistent with a preset route direction;
and carrying out vector cross multiplication on the initial long-axis vector and the target short-axis vector, and correcting the initial long-axis vector according to a cross multiplication result to obtain a target long-axis vector, so that the target long-axis vector is positioned at the appointed side of the target short-axis vector.
4. The method for planning an electric tower inspection route according to claim 2, wherein determining, based on the target long axis vector, waypoint information that matches a plurality of shooting target points corresponding to the target electric tower, comprises:
if the shooting target point is the insulator shooting point or the ground wire hanging point shooting point in the non-insulator shooting point, determining a first inter-point vector between the shooting target point and an waypoint matched with the shooting target point based on a preset first camera shooting angle, a preset interval and the target long axis vector;
determining a second inter-point vector between the shooting target point and the labeling point of the target electric tower;
if the first inter-point vector and the second inter-point vector are in the same direction, taking the sum value between the coordinate of the shooting target point and the inter-target point vector as the waypoint coordinate of the waypoint; or if the first inter-point vector and the second inter-point vector are in opposite directions, taking the difference between the coordinates of the shooting target point and the inter-target point vector as the first waypoint coordinate of the waypoint;
taking the shooting angle of the first camera as a first pitch angle of the waypoint; and taking the included angle between the inter-tower vector and the appointed unit vector as a first yaw angle of the waypoint;
And taking the first waypoint coordinate, the first pitch angle and the first yaw angle as waypoint information matched with the shooting target point.
5. The method of claim 4, wherein determining a first inter-point vector between the shot target point and the waypoint to which the shot target point matches based on a preset first camera shooting angle, a preset pitch, and the target long axis vector, comprises:
performing rotation processing on the target long-axis vector according to a preset first camera shooting angle, and performing normalization processing on the target long-axis vector after the rotation processing;
determining the product of the target long axis vector after normalization processing and a preset interval as a first inter-point vector between the shooting target point and a navigation point matched with the shooting target point; the preset interval is used for representing the interval between the shooting target point and the navigation point matched with the shooting target point.
6. The method for planning a tower inspection route according to claim 4, wherein taking the first waypoint coordinate, the first pitch angle and the first yaw angle as waypoint information matched with the shooting target point comprises:
Performing safe distance detection on the waypoints based on the first waypoint coordinates, the first pitch angle and the first yaw angle;
when the waypoints pass the safe distance detection, taking the first waypoint coordinates, the first pitch angle and the first yaw angle as waypoint information matched with the shooting target point;
or when the waypoint does not pass the safe distance detection, adjusting the shooting angle of the first camera and the preset distance, and based on the adjusted shooting angle of the first camera, the preset distance and the target long axis vector, redetermining a first inter-point vector, the first waypoint coordinate, the first pitch angle and the first yaw angle between the shooting target point and the waypoint matched with the shooting target point until the waypoint passes the safe distance detection, and taking the redetermined first waypoint coordinate, the redefined first pitch angle and the redefined first yaw angle as waypoint information matched with the shooting target point.
7. The method for planning an electric tower inspection route according to claim 2, wherein determining, based on the target long axis vector, waypoint information that matches a plurality of shooting target points corresponding to the target electric tower, further comprises:
If the shooting target point is a tower shooting point in the non-insulator shooting points, rotating the target long axis vector to obtain a target vector; or if the shooting target point is a large-size side channel shooting point in the non-insulator shooting points, rotating the inter-tower vector between the current target electric tower and the next target electric tower to obtain a target vector; or if the shooting target point is a small-size side channel shooting point in the non-insulator shooting points, rotating the inter-tower vector between the previous target electric tower and the current target electric tower to obtain a target vector;
determining a product of the target vector and a preset shooting distance as a third inter-point vector between the shooting target point and a waypoint matched with the shooting target point, and taking the sum value between the third inter-point vector and the coordinates of the shooting target point as a second waypoint coordinate of the waypoint;
determining a second pitch angle of the waypoint based on the third inter-point vector and coordinates of the shooting target point; and determining a second yaw angle of the waypoint based on an angle between the third inter-point vector and a specified unit vector;
And taking the second navigation point coordinate, the second pitch angle and the second yaw angle as navigation point information matched with the shooting target point.
8. The method for planning a tower inspection route according to claim 1, wherein the annotation point comprises a centroid of the target tower bounding box; based on the target long axis vector, determining waypoint information matched with a plurality of shooting target points corresponding to the target electric tower, and further comprising:
if the shooting target point is a cross-point shooting point in the non-insulator shooting points, shifting the centroid of the target electric tower to obtain a third navigation point coordinate of a navigation point matched with the shooting target point;
and taking the third waypoint coordinate, a preset third pitch angle and a preset third yaw angle as waypoint information matched with the shooting target point.
9. The utility model provides a planning device of electricity tower inspection route which characterized in that includes:
the information acquisition module is used for acquiring initial marking information corresponding to the target electric tower; the initial labeling information comprises labeling points of each target electric tower;
the vector determining module is used for determining a target long axis vector corresponding to the target electric tower according to the marking point of the target electric tower; the long axis vector starts from the marking point and points to one side of the insulator of the target electric tower;
The navigation point determining module is used for determining navigation point information matched with a plurality of shooting target points corresponding to the target electric tower based on the target long axis vector; wherein the shooting target point comprises an insulator shooting point and/or a non-insulator shooting point;
the route determining module is used for constructing an electric tower routing inspection route corresponding to the target electric tower according to the waypoint information;
the vector determination module is further configured to: determining inter-tower vectors between two adjacent target towers according to the labeling points of the target towers, and correcting an initial long-axis vector by utilizing the inter-tower vectors and the initial short-axis vector to obtain a target long-axis vector corresponding to the target towers; the short axis vector is a vector which starts from the marking point and points to the next target electric tower.
10. An electronic device comprising a processor and a memory, the memory storing computer-executable instructions executable by the processor, the processor executing the computer-executable instructions to implement the method of any one of claims 1 to 8.
11. A computer readable storage medium storing computer executable instructions which, when invoked and executed by a processor, cause the processor to implement the method of any one of claims 1 to 8.
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