CN117968705A - Cable line inspection method and device, readable storage medium and processor - Google Patents
Cable line inspection method and device, readable storage medium and processor Download PDFInfo
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Abstract
The invention discloses a cable line inspection method, a device, a readable storage medium and a processor. Wherein the method comprises the following steps: acquiring a routing point of a routing area, wherein the routing point is used for indicating the position of routing equipment when routing a cable line, and the cable line is positioned in the routing area; determining a target inspection range and a target inspection path for inspecting an inspection area based on the inspection waypoints, wherein the inspection range is used for indicating the visual range of the inspection equipment in the inspection process, and the inspection path is used for indicating the inspection route of the inspection equipment in the inspection process; and controlling the inspection equipment to inspect the cable line in the inspection area based on the target inspection range and the target inspection path. The invention solves the technical problem that the routing inspection path and the routing inspection range of the cable line cannot be determined quickly.
Description
Technical Field
The invention relates to the technical field of cable line detection, in particular to a cable line inspection method, a device, a readable storage medium and a processor.
Background
At present, the cable degree of the power transmission line is higher and higher, so that an intelligent digital power grid is built, the intelligent operation and maintenance of the power transmission cable is always explored and built by using the inspection equipment, and therefore, the determination of the inspection path and the inspection range of the cable line is important.
In the related art, a large number of line photos of a cable line are required to be preprocessed, and on the premise of ensuring the inspection effect, 10 photos are required to be processed on average by a base tower in the cable line, so that the whole line photos of the cable line are overlarge in quantity, the data processing is complex, and the technical problem that an inspection path and an inspection range cannot be determined quickly exists.
Aiming at the technical problem that the routing inspection path and the routing inspection range of the cable line cannot be rapidly determined, no effective solution is proposed at present.
Disclosure of Invention
The embodiment of the invention provides a method and a device for inspecting a cable line, a readable storage medium and a processor, which are used for at least solving the technical problem that the inspection path and the inspection range of the cable line cannot be quickly determined.
According to one aspect of the embodiment of the invention, a method for inspecting a cable line is provided. The method may include: acquiring a routing point of a routing area, wherein the routing point is used for indicating the position of routing equipment when routing a cable line, and the cable line is positioned in the routing area; determining a target inspection range and a target inspection path for inspecting an inspection area based on the inspection waypoints, wherein the target inspection range is used for indicating the visual range of the inspection equipment in the inspection process, and the inspection path is used for indicating the inspection route of the inspection equipment in the inspection process; and controlling the inspection equipment to inspect the cable line in the inspection area based on the target inspection range and the target inspection path.
Optionally, determining the target inspection range for inspecting the inspection area based on the inspection waypoint includes: determining an initial distance between the inspection waypoint and the ground, and determining an initial view angle range when the inspection equipment is positioned at the inspection waypoint; determining an initial inspection area of the inspection equipment at the inspection waypoint based on the initial distance and the initial view angle range, wherein the initial inspection area is used for at least indicating the visual radius and the visual area of the inspection equipment when the inspection equipment is at the inspection waypoint; and determining a target inspection range for inspecting the inspection area based on the initial inspection area and a preset inspection condition.
Optionally, determining the target inspection range for inspecting the inspection area based on the initial inspection area and the preset inspection condition includes: and determining the initial inspection area as a target inspection range for inspecting the inspection area in response to the initial inspection area meeting a preset inspection condition, wherein the preset inspection condition is at least used for indicating a preset inspection range for inspecting the inspection area.
Optionally, determining the target inspection range for inspecting the inspection area based on the initial inspection area and the preset inspection condition includes: determining an adjustment parameter in response to the initial inspection area not meeting the preset inspection condition, wherein the adjustment parameter is used for indicating adjustment of the initial distance and the initial view angle range; adjusting the initial distance to a target distance based on the adjustment parameter, and adjusting the initial viewing angle range to a target viewing angle range based on the adjustment parameter; and determining a target inspection range of the inspection area based on the target distance and the target visual angle range.
Optionally, determining the target inspection path for inspecting the inspection area based on the inspection waypoint includes: obtaining a laying path of a cable line; selecting a first routing inspection waypoint and a second routing inspection waypoint from the routing inspection waypoints based on the laying path, wherein the first routing inspection waypoint and the second routing inspection waypoint are the two routing inspection waypoints with the farthest distance from the routing inspection waypoints; determining a connection line of the first routing inspection waypoint and the second routing inspection waypoint as an initial routing inspection path for inspecting the routing inspection area; and determining a target inspection path for inspecting the inspection area based on the furthest distance between the initial inspection path and the laying path and a distance threshold.
Optionally, determining the target inspection path for inspecting the inspection area based on the furthest distance between the initial inspection path and the laying path and the distance threshold value includes: and determining the initial inspection path as a target inspection path for inspecting the inspection area in response to the furthest distance between the initial inspection path and the laying path is not greater than a distance threshold.
Optionally, determining the target inspection path for inspecting the inspection area based on the furthest distance between the initial inspection path and the laying path and the distance threshold value includes: determining an auxiliary waypoint from among the waypoints in response to the furthest distance being greater than the distance threshold, wherein the auxiliary waypoint is located between the first waypoint and the second waypoint; and determining the connection lines of the first routing inspection waypoint, the auxiliary waypoint and the second routing inspection waypoint as a target routing inspection path for inspecting the routing inspection area.
Optionally, before acquiring the inspection waypoint of the inspection area, the method further comprises: acquiring basic information of the inspection area, wherein the basic information is used for at least indicating the geographic position of the inspection area; determining an initial waypoint based on the basic information, wherein the initial waypoint is used for indicating a position point where the cable line is located when the cable line is inspected; and determining the inspection waypoints based on the connection between the adjacent initial waypoints and the preset range.
Optionally, determining the patrol waypoint based on the connection between adjacent initial waypoints and the preset range includes: and determining the initial waypoints as patrol waypoints in response to the connection between adjacent initial waypoints meeting a preset range.
According to another aspect of the embodiment of the invention, a device for inspecting a cable line is also provided. The apparatus may include: the device comprises an acquisition unit, a detection unit and a control unit, wherein the acquisition unit is used for acquiring a detection navigation point of a detection area, the detection navigation point is used for indicating a position point of detection equipment when detecting a cable line, and the cable line is positioned in the detection area; the device comprises a determining unit, a detecting unit and a control unit, wherein the determining unit is used for determining a target inspection range and an inspection path of an inspection area based on an inspection navigation point, the target inspection range is used for indicating the visual range of inspection equipment in the inspection process, and the inspection path is used for indicating the inspection route of the inspection equipment in the inspection process; and the control unit is used for controlling the inspection equipment to inspect the cable line in the inspection area based on the target inspection range and the target inspection path.
According to another aspect of the embodiment of the present invention, there is also provided a computer readable storage medium, where the computer readable storage medium includes a stored program, where the program when executed by a processor controls a device in which the storage medium is located to execute the method for inspecting a cable line in the embodiment of the present invention.
According to another aspect of an embodiment of the present invention, there is also provided a processor. The processor is used for running a program, wherein the program executes the inspection method of the cable line in the embodiment of the invention when running.
According to another aspect of an embodiment of the present invention, a computer program product is also provided. The program product comprises computer instructions which, when executed by a processor, implement a method of inspecting cabling in embodiments of the invention.
In the embodiment of the invention, the patrol waypoints of the patrol area are obtained; determining a target inspection range and a target inspection path for inspecting the inspection area based on the inspection waypoints; and controlling the inspection equipment to inspect the cable line in the inspection area based on the target inspection range and the target inspection path. That is, the invention can determine the target inspection range and the target inspection path of the cable line in the inspection area according to the inspection waypoints in the inspection area, thereby controlling the inspection equipment to inspect the cable line in the inspection area according to the target inspection range and the target inspection path.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
FIG. 1 is a flow chart of a method of inspection of a cabling, according to an embodiment of the present invention;
FIG. 2 is a schematic view of a radius and area viewable in accordance with an embodiment of the invention;
FIG. 3 is a schematic illustration of a patrol path according to an embodiment of the invention;
FIG. 4 is a schematic view of the furthest distance of a patrol path according to an embodiment of the invention;
FIG. 5 is a schematic diagram of another inspection path according to an embodiment of the invention;
FIG. 6 is a schematic illustration of an initial waypoint in a KML file of a cable plant according to an embodiment of the present invention;
FIG. 7 is a flow chart of a cable channel patrol method based on KML files according to an embodiment of the present invention;
Fig. 8 is a schematic diagram of a cable line inspection device according to an embodiment of the 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, functional unit, or apparatus that comprises a list of steps or units is not necessarily limited to those steps or units that are expressly listed or inherent to such process, method, functional unit, or apparatus.
Example 1
In accordance with an embodiment of the present invention, there is provided an embodiment of a method of inspection of cabling, wherein the steps shown in the flow chart of the drawings may be performed in a computer system, such as a set of computer-executable instructions, and wherein, although a logical sequence is shown in the flow chart, in some cases, the steps shown or described may be performed in a different order than what is shown or described herein.
Fig. 1 is a flowchart of a method for inspecting a cable line according to an embodiment of the present invention, as shown in fig. 1, the method may include the following steps:
Step S101, a patrol waypoint of a patrol area is obtained.
In the technical scheme provided in the step S101, the inspection waypoint is used for indicating the position of the inspection equipment when inspecting the cable line, and the cable line is located in the inspection area. Wherein the cabling may also be referred to as a cable channel.
In this embodiment, the patrol waypoint of the patrol area is acquired, so that step S102 is performed according to the acquired patrol waypoint.
Optionally, the base information in the inspection area is acquired, wherein the base information is used for at least indicating the geographic position of the inspection area. For example, the basic information may include geographical information, latitude and longitude information, etc. related to the cable line obtained from the database.
Optionally, according to basic information in the inspection area, determining an initial waypoint of the inspection area, wherein the initial waypoint is used for indicating a position point when the cable line is inspected.
Alternatively, the initial waypoint may be determined to be a patrol waypoint when the connection between adjacent initial waypoints satisfies a preset range.
For example, assume that the first initial waypoint is a starting waypoint, and the first initial waypoint is a patrol waypoint, based on this, an initial waypoint whose link distance with the first initial waypoint satisfies a preset range may be determined according to the first initial waypoint as a reference. Assuming that the second initial waypoint is a waypoint adjacent to the first initial waypoint, the third initial waypoint is a waypoint adjacent to the second initial waypoint, the connecting distance between the first initial waypoint and the second initial waypoint is 1 kilometer (km), the connecting distance between the first initial waypoint and the third initial waypoint is 3km, and the preset range is more than 2km, because the connecting distance between the two points is 1km <2km, namely the connecting distance between the first initial waypoint and the second initial waypoint does not meet the preset range, the second initial waypoint can not be determined as a patrol waypoint; since 3km >2km, that is, the link distance between the first initial waypoint and the third initial waypoint is greater than the preset range, the third initial waypoint may be determined as a patrol waypoint.
Optionally, after determining the third initial waypoint as the patrol waypoint, determining an initial waypoint with a connection line with the third initial waypoint meeting a preset range according to the same method, and so on until determining the last patrol waypoint.
In this embodiment, the initial waypoints in the patrol area are determined by acquiring the basic information in the patrol area, so that the patrol waypoints in the patrol area are determined according to the initial waypoints, and then step S102 is executed according to the determined patrol waypoints.
Step S102, determining a target inspection range and a target inspection path for inspecting the inspection area based on the inspection waypoints.
In the technical scheme provided in the step S102, the target inspection range is used for indicating the visual range of the inspection equipment in the inspection process, and the target inspection path is used for indicating the inspection route of the inspection equipment in the inspection process.
In this embodiment, after the inspection waypoint is determined according to step S101, a target inspection range and a target inspection path for inspecting the inspection area may be further determined according to the inspection waypoint.
Optionally, for determining the target inspection range, an initial inspection area of the inspection device at the inspection waypoint may be determined by an initial distance between the inspection waypoint and the ground and an initial view angle range of the inspection device when the inspection device is at the inspection waypoint. Wherein the initial distance may also be referred to as the ground distance (denoted as h), and the initial viewing angle range may also be referred to as the viewing angle range (denoted as) The initial inspection area includes at least a visual radius (denoted as R) and a visual area (denoted as S) of the inspection apparatus when at the inspection waypoint.
For example, fig. 2 is a schematic diagram of a visual radius and a visual area according to an embodiment of the present invention, as shown in fig. 2, by obtaining a ground clearance h from the ground when the inspection device is at an inspection waypoint, and a view angle range of a camera when the inspection device is at the inspection waypointThe visual radius R and the visual area S of the inspection equipment are determined, wherein the visual radius R of the inspection equipment can be calculated by the following formula (1), and the visual area S of the inspection equipment can be calculated by the following formula (2):
（1）
（2）
optionally, when the initial inspection area meets a preset inspection condition, determining the initial inspection area as a target inspection range for inspecting the inspection area, wherein the preset inspection condition is at least used for indicating a preset inspection range for inspecting the inspection area.
For example, assume that the preset inspection conditions are: the visual radius R is larger than the preset radius, the visual area S is larger than the preset area, and based on the visual radius and the visual area indicated by the initial inspection area meet the preset inspection conditions, the initial inspection area can be determined to be a target inspection range for inspecting the inspection area.
Optionally, when the initial inspection area does not meet the preset inspection condition, further determining an adjustment parameter, wherein the adjustment parameter is used for indicating adjustment of the initial distance and the initial view angle range; further, according to the adjustment parameters, the initial distance is adjusted to be the target distance, and the initial view angle range is adjusted to be the target view angle range; thus, the target inspection range of the inspection area is determined according to the target distance and the target visual angle range.
Optionally, for the determination of the target routing path, the first routing point and the second routing point may be selected from the routing points according to the routing path by acquiring the routing path of the cable line, where the first routing point and the second routing point are two routing points with the farthest distance from the routing points.
Optionally, a connection line between the first inspection waypoint and the second inspection waypoint is determined as an initial inspection path for inspecting the inspection area.
For example, fig. 3 is a schematic diagram of an inspection path according to an embodiment of the present invention, as shown in fig. 3, a black solid line is used to indicate a laying path of a cable, a waypoint 1 is a first inspection waypoint, a waypoint 2 is a second inspection waypoint, and an initial inspection path is a connection between the waypoint 1 and the waypoint 2 (a dotted line shown in fig. 3), that is, a route 1.
Optionally, when the furthest distance between the initial inspection path and the laying path is not greater than the distance threshold, determining the initial inspection path as a target inspection path for inspecting the inspection area.
For example, assume that the distance threshold is 5km, the furthest distance of lane 1 from the present cable path is the distance of lane 1 to point B, and that the distance of lane 1 to point B is 4km. Because 4km <5km, that is, the farthest distance between the initial inspection path and the cabling path is not greater than the distance threshold, the cabling path can appear in the inspection image, based on which it can be determined that the route 1 is the target inspection path for inspecting the inspection area.
Optionally, when the furthest distance between the initial inspection path and the laid path is greater than the distance threshold, it is indicated that the cabling may not be present in the inspection screen, in which case, to ensure the inspection effect, an auxiliary waypoint may be determined from the inspection waypoints, wherein the auxiliary waypoint may be located between the first inspection waypoint and the second inspection waypoint.
For example, fig. 4 is a schematic diagram of the longest distance of a routing inspection path according to an embodiment of the present invention, as shown in fig. 4, assuming that the distance threshold isThe initial inspection path is a route 1, wherein, because the B point in the laying path of the cable line is farthest from the initial inspection path, H is the farthest distance between the initial inspection path and the laying path. Due toThat is, the furthest distance between the initial inspection path and the cabling path is greater than the distance threshold, based on which point B, which may be point 3, may be determined as a secondary waypoint.
Optionally, the connection lines of the first inspection waypoint, the auxiliary waypoint and the second inspection waypoint are determined as a target inspection path for inspecting the inspection area.
For example, fig. 5 is a schematic diagram of another routing path according to an embodiment of the present invention, as shown in fig. 5, where the connection between the waypoint 1, the waypoint 3, and the waypoint 2 is determined as the routing path for routing the routing area, and the connection is shown as the route 2 in fig. 5.
In the embodiment, an initial inspection area of the inspection equipment at the inspection waypoint is determined by determining an initial distance between the inspection waypoint and the ground and an initial visual angle range when the inspection equipment is at the inspection waypoint, and then a target inspection range for inspecting the inspection area is determined according to the initial inspection area and a preset inspection condition; through obtaining the cabling route, select first inspection waypoint and second inspection waypoint from the inspection waypoint according to the cabling route to with the line of first inspection waypoint and second inspection waypoint confirm as the initial route of patrolling and examining the regional initial inspection route of patrolling and examining of inspecting, when the furthest between initial inspection route and the cabling route is greater than the distance threshold value, can confirm from the inspection waypoint and assist the waypoint, thereby adjust the route of patrolling and examining, guarantee to patrol the route according to the target and examine the route and patrol the time of inspecting the cabling route, cabling can appear in the inspection picture, thereby ensure the inspection effect. Based on this, step S103 is executed according to the determined target patrol range and target patrol path.
Step S103, controlling the inspection equipment to inspect the cable line in the inspection area based on the target inspection range and the target inspection path.
In the technical solution provided in the above step S103 of the present invention, the inspection device may be an unmanned aerial vehicle, which is merely an exemplary example and is not limited to a specific type of the inspection device.
In this embodiment, according to the target inspection range and the target inspection path determined in step S102, the inspection device is controlled to inspect the cable line in the inspection area by inspecting the training path and the target inspection range.
It should be noted that the above embodiments may be performed by a cable line inspection device.
Step S101 to step S103 are carried out to obtain the patrol navigation points of the patrol area; determining a target inspection range and a target inspection path for inspecting the inspection area based on the inspection waypoints; and controlling the inspection equipment to inspect the cable line in the inspection area based on the target inspection range and the target inspection path. That is, the invention can determine the target inspection range and the target inspection path of the cable line in the inspection area according to the inspection waypoints in the inspection area, thereby controlling the inspection equipment to inspect the cable line in the inspection area according to the target inspection range and the target inspection path.
The above-described method of this embodiment is further described below.
As an optional embodiment, step S102, determining, based on the patrol waypoints, a target patrol range for patrol of the patrol area includes: determining an initial distance between the inspection waypoint and the ground, and determining an initial view angle range when the inspection equipment is positioned at the inspection waypoint; determining an initial inspection area of the inspection equipment at the inspection waypoint based on the initial distance and the initial view angle range, wherein the initial inspection area is used for at least indicating the visual radius and the visual area of the inspection equipment when the inspection equipment is at the inspection waypoint; and determining a target inspection range for inspecting the inspection area based on the initial inspection area and a preset inspection condition.
In this embodiment, an initial distance between the inspection waypoint and the ground and an initial viewing angle range of the inspection device at the inspection waypoint are determined, wherein the initial distance may also be referred to as a ground clearance distance (denoted as h), and the initial viewing angle range may also be referred to as a viewing angle range (denoted as viewing angle range）。
Optionally, an initial inspection area of the inspection device at the inspection waypoint is determined according to the initial distance and the initial view angle range, wherein the initial inspection area at least comprises a visual radius (denoted as R) and a visual area (denoted as S) when the inspection device is at the inspection waypoint.
Optionally, the initial inspection area may be determined by the foregoing formula (1) and formula (2), which will not be described herein.
Optionally, determining a target inspection range for inspecting the inspection area according to the initial inspection area and a preset inspection condition.
As an optional embodiment, determining a target inspection range for inspecting the inspection area based on the initial inspection area and a preset inspection condition includes: and determining the initial inspection area as a target inspection range for inspecting the inspection area in response to the initial inspection area meeting a preset inspection condition, wherein the preset inspection condition is at least used for indicating a preset inspection range for inspecting the inspection area.
In this embodiment, when the initial inspection area satisfies a preset inspection condition, the initial inspection area is determined as a target inspection range for inspecting the inspection area, where the preset inspection condition is at least used to indicate a preset inspection range for inspecting the inspection area.
For example, assume that the preset inspection conditions are: the visual radius R is larger than the preset radius, the visual area S is larger than the preset area, and based on the visual radius and the visual area indicated by the initial inspection area meet the preset inspection conditions, the initial inspection area can be determined to be a target inspection range for inspecting the inspection area.
As an optional embodiment, determining a target inspection range for inspecting the inspection area based on the initial inspection area and a preset inspection condition includes: determining an adjustment parameter in response to the initial inspection area not meeting the preset inspection condition, wherein the adjustment parameter is used for indicating adjustment of the initial distance and the initial view angle range; adjusting the initial distance to a target distance based on the adjustment parameter, and adjusting the initial viewing angle range to a target viewing angle range based on the adjustment parameter; and determining a target inspection range of the inspection area based on the target distance and the target visual angle range.
In this embodiment, when the initial inspection area does not satisfy the preset inspection condition, an adjustment parameter for adjusting the initial distance and the initial viewing angle range is further determined.
Optionally, adjusting the initial distance to a target distance and the initial viewing angle range to a target viewing angle range according to the adjustment parameters; thus, the target inspection range of the inspection area is determined according to the target distance and the target visual angle range.
As an optional embodiment, determining a target inspection path for inspecting an inspection area based on the inspection waypoint includes: obtaining a laying path of a cable line; selecting a first routing inspection waypoint and a second routing inspection waypoint from the routing inspection waypoints based on the laying path, wherein the first routing inspection waypoint and the second routing inspection waypoint are the two routing inspection waypoints with the farthest distance from the routing inspection waypoints; determining a connection line of the first routing inspection waypoint and the second routing inspection waypoint as an initial routing inspection path for inspecting the routing inspection area; and determining a target inspection path for inspecting the inspection area based on the furthest distance between the initial inspection path and the laying path and a distance threshold.
In this embodiment, the cabling path is acquired; and selecting a first routing inspection waypoint and a second routing inspection waypoint from the routing inspection waypoints according to the laying path.
For example, as shown in fig. 3, a black solid line may be used to indicate the cabling path, where waypoint 1 coincides with one end of the cabling path and waypoint 2 coincides with the other end of the cabling path, based on which waypoint 1 may be determined as a first patrol waypoint, waypoint 2 may be determined as a second patrol waypoint, and the connection between waypoint 1 and waypoint 2 (shown as a dashed line in fig. 3) may be determined as an initial patrol path, i.e., wayline 1.
Optionally, determining a target inspection path for inspecting the inspection area according to the furthest distance between the initial inspection path and the laying path and a distance threshold.
As an alternative embodiment, determining a target inspection path for inspecting an inspection area based on a furthest distance between an initial inspection path and a laying path and a distance threshold includes: and determining the initial inspection path as a target inspection path for inspecting the inspection area in response to the furthest distance between the initial inspection path and the laying path is not greater than a distance threshold.
In this embodiment, when the farthest distance between the initial patrol path and the laying path is not greater than the distance threshold value, the initial patrol path is determined to be a target patrol path that patrol the patrol area.
For example, assume that the distance threshold is 5km, the furthest distance of lane 1 from the present cable path is the distance of lane 1 to point B, and that the distance of lane 1 to point B is 4km. Because 4km <5km, that is, the farthest distance between the initial inspection path and the cabling path is not greater than the distance threshold, the cabling path can appear in the inspection image, based on which it can be determined that the route 1 is the target inspection path for inspecting the inspection area.
As an alternative embodiment, determining a target inspection path for inspecting an inspection area based on a furthest distance between an initial inspection path and a laying path and a distance threshold includes: determining an auxiliary waypoint from among the waypoints in response to the furthest distance being greater than the distance threshold, wherein the auxiliary waypoint is located between the first waypoint and the second waypoint; and determining the connection lines of the first routing inspection waypoint, the auxiliary waypoint and the second routing inspection waypoint as a target routing inspection path for inspecting the routing inspection area.
In this embodiment, when the furthest distance between the initial inspection path and the laid path is greater than the distance threshold, it is indicated that the cabling may not be present in the inspection screen, in which case, to ensure the inspection effect, an auxiliary waypoint may be determined from the inspection waypoints, wherein the auxiliary waypoint is located between the first inspection waypoint and the second inspection waypoint.
For example, as shown in FIG. 4, assume that the distance threshold isThe initial inspection path is a route 1, wherein, because the B point in the laying path of the cable line is farthest from the initial inspection path, H is the farthest distance between the initial inspection path and the laying path. Due to/>That is, the furthest distance between the initial inspection path and the cabling path is greater than the distance threshold, based on which point B, which may be point 3, may be determined as a secondary waypoint.
Optionally, the connection lines of the first inspection waypoint, the auxiliary waypoint and the second inspection waypoint are determined as a target inspection path for inspecting the inspection area.
For example, as shown in fig. 5, the connection between waypoint 1, waypoint 3 and waypoint 2 is determined as the target patrol path for patrol of the patrol area, wherein the connection is shown as the route 2 in fig. 5.
As an optional embodiment, before acquiring the inspection waypoint of the inspection area, the inspection method of the cable line further includes: acquiring basic information of the inspection area, wherein the basic information is used for at least indicating the geographic position of the inspection area; determining an initial waypoint based on the basic information, wherein the initial waypoint is used for indicating a position point where the cable line is located when the cable line is inspected; and determining the inspection waypoints based on the connection between the adjacent initial waypoints and the preset range.
In this embodiment, basic information of the inspection area is obtained, where the basic information may be geographic information position and longitude and latitude information of the cable line.
Optionally, an initial waypoint is determined from the base information, wherein the initial waypoint may also be referred to as an anchor point.
Optionally, the patrol waypoints are determined according to the connection between adjacent initial waypoints and the preset range.
As an alternative embodiment, determining the patrol waypoint based on the connection between adjacent initial waypoints and the preset range includes: and determining the initial waypoints as patrol waypoints in response to the connection between adjacent initial waypoints meeting a preset range.
In this embodiment, when the connection between adjacent initial waypoints satisfies a preset range, the initial waypoint is determined to be a patrol waypoint.
For example, assuming that the preset range is 3km, fig. 6 is a schematic diagram of an initial waypoint in a KML file of a cable line according to an embodiment of the present invention, as shown in fig. 6, a black point indicates the initial waypoint, and a connection distance between the initial waypoint 1 and the initial waypoint 2 is 4km, and since 4km >3km, that is, a connection between the initial waypoint 1 and the initial waypoint 2, satisfies the preset range, it may be determined that the initial waypoint 1 and the initial waypoint 2 are patrol waypoints.
For another example, assume that the predetermined range is 3km, as shown in fig. 6, the connecting distance between the initial waypoint 2 and the initial waypoint 3 is 2km, and the patrol waypoint does not include the initial waypoint 3 because the connecting line between the initial waypoint 2 and the initial waypoint 3 does not satisfy the predetermined range, i.e., 2km <3 km.
It should be noted that the above embodiments may be performed by a cable line inspection device.
In this embodiment, a patrol waypoint of a patrol area is acquired; determining a target inspection range and a target inspection path for inspecting the inspection area based on the inspection waypoints; and controlling the inspection equipment to inspect the cable line in the inspection area based on the target inspection range and the target inspection path. That is, the invention can determine the target inspection range and the target inspection path of the cable line in the inspection area according to the inspection waypoints in the inspection area, thereby controlling the inspection equipment to inspect the cable line in the inspection area according to the target inspection range and the target inspection path.
Example 2
The technical solution of the embodiment of the present invention will be illustrated in the following with reference to a preferred embodiment.
At present, the cable degree of the power transmission line is higher and higher, so that an intelligent digital power grid is built, the intelligent operation and maintenance of the power transmission cable is always explored and built by using the inspection equipment, and therefore, the determination of the inspection path and the inspection range of the cable line is important.
In the related art, a large number of line photos of a cable line are required to be preprocessed, and on the premise of ensuring the inspection effect, 10 photos are required to be processed on average by a base tower in the cable line, so that the whole line photos of the cable line are overlarge in quantity, the data processing is complex, and the technical problem that an inspection path and an inspection range cannot be determined quickly exists. And the anti-falling effect is finished through laser model building-route planning. There are the following disadvantages:
The cost of the laser modeling whole-section transmission line is high. The full-channel laser model acquisition consumes a great deal of manpower and material resources, for example, the unmanned aerial vehicle cannot be used in special sections such as high speed crossing, railway crossing, river crossing and the like, and can only rely on the artificial knapsack radar for acquisition. The laser model of the cable line is the basis for drawing the route, a laser point cloud model is not needed, and only geographic information data at the initial stage of project operation is needed to be simple path information. Even if some old lines do not have high-precision gyroscope data, the line inspection route can be accurately drawn by means of the civil engineering electric construction diagram at the beginning, and the line operation and maintenance risks are identified.
And the operation is complicated. In the prior art, route planning is carried out through laser point clouds, the workload of processing the laser point clouds is huge, the 6km cable channel route can be completed only by about 10 waypoints, the route planning operation is simple, and the route planning operation is carried out by clicking on map software to generate a patrol point.
The patrol data processing amount is large. After line inspection based on a laser point cloud model is used, line photos are obtained according to line navigation, usually, in order to ensure inspection effect, the photographing interval is set to be shorter, and according to the existing overhead inspection effect, an average of 10 photos of a base tower is required to ensure the inspection effect, so that the whole line photo quantity is large, and the data processing is also complex. However, the effect of using KML for inspection is as follows, the line coverage is wide, and the operation and maintenance environment of the line can be accurately obtained. Because the aerial line is limited by the tower height, the aerial line height cannot be too high, so that the workload of using the laser point cloud model is huge even if only the whole operation and maintenance environment is concerned. Aiming at the technical problem that the routing inspection path and the routing inspection range of the cable line cannot be rapidly determined, no effective solution is proposed at present.
However, the embodiment of the invention provides a cable channel inspection method of a KML file, which is characterized in that a path diagram of a cable channel is obtained through various approaches such as a gyroscope and a construction diagram, an inspection path and an inspection range of the cable channel are determined according to the path diagram and information such as flying height of an unmanned aerial vehicle, and the unmanned aerial vehicle is controlled to inspect the cable channel according to the inspection path and the inspection range. The invention can directly determine the patrol path and the patrol range of the unmanned aerial vehicle patrol cable channel according to the path diagram and the flying height of the unmanned aerial vehicle, thereby avoiding spending a great deal of time because of processing a great deal of cable line photos, solving the technical problem that the patrol path and the patrol range of the cable line cannot be determined quickly and realizing the technical effect of determining the patrol path and the patrol range of the cable line quickly.
Embodiments of the present invention are further described below.
Fig. 7 is a flowchart of a cable channel inspection method based on KML files according to an embodiment of the present invention, as shown in fig. 7, the method includes the following steps:
step S701, obtaining a KML file of the cable line.
In this embodiment, a KML file of the cable line is obtained from a database, where the file may at least include: geographic information position, longitude and latitude information of the cable line. Wherein KML files are a markup language for geographic information system data representation and exchange. KML files are commonly used to represent geographic information, maps, and geographic location data, and may be used in a variety of mapping software and applications. KML files may contain various geographical information data such as places, routes, polygonal areas, etc., and may be flexibly customized and marked as desired.
Optionally, the transmission line only carries out route planning on the laser point cloud at present, but the route planning is simpler by utilizing the KML path file, the operation is more convenient, and the acquisition of KML information is relatively simple.
Optionally, for lines with the same length, the same channel inspection operation is performed, the processing time is shorter by using the KML file, and the data processing amount is smaller.
Step S702, setting the waypoint according to the KML file of the cable line.
In this embodiment, according to the KML file of the cable line acquired in step S701, the waypoint corresponding to the cable line to be patrolled is set, and when the patrolling device completes the patrolling according to the waypoint, the actual situation of the whole cable line can be obtained.
Optionally, as shown in fig. 6, the black dots represent positioning points, and because the positioning points of the cable lines are too dense, if the unmanned aerial vehicle patrols each positioning point, the patrol efficiency is low, and based on the patrol efficiency, the positioning points are screened, and the navigation points to be patrolled of the unmanned aerial vehicle are determined.
Optionally, a KML file is expanded on the map software, and a plurality of waypoints appear on the map, but some of the waypoints belong to waypoints closer to the cable channel, when the cable line path is relatively straight, two waypoints are set at the starting and ending point, one more waypoint is required to be set at the turning position, and the unmanned aerial vehicle performs patrol according to the set waypoints, so that the condition of the whole channel is obtained.
Step S703, determining the patrol range and the patrol path of the unmanned aerial vehicle according to the waypoints.
In this embodiment, the patrol range and the patrol route of the patrol apparatus are determined according to the waypoints set in step S702.
Alternatively, as shown in fig. 4, by acquiring the ground clearance h from the ground of the unmanned aerial vehicle during flight, and the view angle range of the unmanned aerial vehicle cameraThe visual radius R and the visual area S of the unmanned aerial vehicle are determined, wherein the visual radius R of the unmanned aerial vehicle can be calculated through the formula (1), and the visual area S of the unmanned aerial vehicle can be calculated through the formula (2), and the description is omitted here.
Optionally, when the view angle range of the unmanned aerial vehicle camera isWhen the inspection range condition is met, the effective inspection range of the unmanned aerial vehicle can be determined, and when the visual angle range/>, of the unmanned aerial vehicle camera, the effective inspection range of the unmanned aerial vehicle can be determinedWhen the patrol range condition is not met, the visual angle range/>, of the unmanned aerial vehicle camera is adjustedUntil the visual angle range of the unmanned aerial vehicle camera/>Meeting the patrol range condition. Wherein, the patrol scope condition can be/>。
For example, the camera angle is adjusted according to the theoretical valueBecause the camera is carried on the abdomen under the unmanned plane,For example, the limit is adjusted to 90 degrees, that is, the camera of the unmanned aerial vehicle is directed forwards, so that a cable line cannot be seen in the camera; if it is camera angle/>Is 0 degrees, namely, the camera of the unmanned aerial vehicle is directly vertical to the ground, and the viewing habit of people is not met at the moment. Therefore, the camera of the unmanned aerial vehicle is expected to be arranged between 27 ° and 30 °.
Alternatively, as shown in fig. 3, waypoint 1 is a first patrol waypoint, waypoint 2 is a second patrol waypoint, and the initial patrol route is a connection between waypoint 1 and waypoint 2, i.e., route 1.
Optionally, as shown in fig. 4, the furthest distance between the route 1 and the cable path is H, so that H is set to be less than 1/2 of the tour radius, and the cable path can completely appear in the middle of the tour picture, thereby improving the tour efficiency and simultaneously taking into consideration the tour effect.
Alternatively, if H is much greater thanThe position deviation of the point B from the route 1 is large, and the cable path is out of the field of view 1/2, so that the inspection efficiency is affected. Therefore, the waypoints need to be additionally arranged so as to ensure that the cable channel can be comprehensively patrolled.
Optionally, the invention can directly determine the patrol path and the patrol range of the unmanned aerial vehicle patrol cable channel according to the path diagram and the flying height of the unmanned aerial vehicle, thereby avoiding spending a great deal of time because of processing a great deal of cable line photos, solving the technical problem that the patrol path and the patrol range of the cable line cannot be determined quickly, and realizing the technical effect of determining the patrol path and the patrol range of the cable line quickly.
Step S704, controlling the unmanned aerial vehicle to patrol according to the patrol range and the patrol path.
In this embodiment, after determining the patrol range and the patrol route of the unmanned aerial vehicle in step S703, the unmanned aerial vehicle is controlled to patrol according to the patrol range and the patrol route.
In the embodiment, the path diagram of the cable channel is obtained through various approaches such as a gyroscope and a construction diagram, the patrol path and the patrol range of the unmanned aerial vehicle patrol the cable channel are determined according to the path diagram, the flying height of the unmanned aerial vehicle and other information, and the unmanned aerial vehicle is controlled to patrol the cable channel according to the patrol path and the patrol range.
Example 3
According to the embodiment of the invention, a device for inspecting the cable line is also provided. It should be noted that the inspection apparatus for a cable line may be used to perform the inspection method for a cable line in embodiment 1.
Fig. 8 is a schematic diagram of a cable line inspection device according to an embodiment of the invention. As shown in fig. 8, the inspection apparatus 800 for a cable line may include: an acquisition unit 801, a determination unit 802, and a control unit 803.
The obtaining unit 801 is configured to obtain a routing point of the routing area, where the routing point is used to indicate a location point where the routing equipment is located when routing a cable line, and the cable line is located in the routing area.
The determining unit 802 is configured to determine, based on the inspection waypoint, a target inspection range of the inspection area and a target inspection path, where the target inspection range is used to indicate a visual range of the inspection device during the inspection, and the target inspection path is used to indicate an inspection route of the inspection device during the inspection.
And the control unit 803 is used for controlling the inspection equipment to inspect the cable line in the inspection area based on the target inspection range and the target inspection path.
Alternatively, the determining unit 802 may include: the first determining module is used for determining an initial distance between the inspection waypoint and the ground and an initial view angle range when the inspection equipment is positioned at the inspection waypoint; the second determining module is used for determining an initial inspection area of the inspection equipment at the inspection waypoint based on the initial distance and the initial view angle range, wherein the initial inspection area is used for at least indicating the visual radius and the visual area of the inspection equipment when the inspection equipment is at the inspection waypoint; and the third determining module is used for determining the inspection range for inspecting the inspection area based on the initial inspection area and the preset inspection condition.
Optionally, the third determining module may include: the first determining submodule is used for determining the initial inspection area as an inspection range for inspecting the inspection area in response to the initial inspection area meeting preset inspection conditions, wherein the preset inspection conditions are at least used for indicating the preset inspection range for inspecting the inspection area.
Optionally, the third determining module may further include: the second determining submodule is used for determining an adjusting parameter in response to the fact that the initial inspection area does not meet the preset inspection condition, wherein the adjusting parameter is used for indicating to adjust the initial distance and the initial visual angle range; an adjustment sub-module for adjusting the initial distance to a target distance based on the adjustment parameter, and adjusting the initial viewing angle range to a target viewing angle range based on the adjustment parameter; and the third determination submodule is used for determining a target inspection range of the inspection area based on the target distance and the target visual angle range.
Optionally, the determining unit 802 may further include: the acquisition module is used for acquiring the laying path of the cable line; the selecting module is used for selecting a first routing inspection waypoint and a second routing inspection waypoint from the routing inspection waypoints based on the laying path, wherein the first routing inspection waypoint and the second routing inspection waypoint are the two routing inspection waypoints with the farthest distance in the routing inspection waypoints; the fourth determining module is used for determining a connecting line of the first routing inspection waypoint and the second routing inspection waypoint as an initial routing inspection path for inspecting the routing inspection area; and a fifth determining module, configured to determine a target inspection path for inspecting the inspection area based on a furthest distance between the initial inspection path and the laying path and a distance threshold.
Optionally, the fifth determining module may include: and the fourth determination submodule is used for determining the initial inspection path as a target inspection path for inspecting the inspection area in response to the fact that the furthest distance between the initial inspection path and the laying path is not greater than a distance threshold.
Optionally, the fifth determining module may further include: a fifth determination sub-module to determine an auxiliary waypoint from among the waypoints in response to the furthest distance being greater than the distance threshold, wherein the auxiliary waypoint is located between the first waypoint and the second waypoint; and the sixth determining submodule is used for determining the connecting lines of the first routing inspection waypoint, the auxiliary waypoint and the second routing inspection waypoint as a target routing inspection path for inspecting the routing inspection area.
Optionally, the inspection device 800 for a cable line may further include: the first acquisition unit is used for acquiring basic information of the inspection area, wherein the basic information is used for at least indicating the geographic position of the inspection area; the third determining unit is used for determining an initial navigation point based on the basic information, wherein the initial navigation point is used for indicating a position point where the cable line is located when the cable line is inspected; and the fourth determining unit is used for determining the patrol waypoints based on the connection between the adjacent initial waypoints and the preset range.
Optionally, the fourth determining unit may include: and a seventh determining sub-module, configured to determine the initial waypoint as a patrol waypoint in response to a connection between adjacent initial waypoints meeting a preset range.
In this embodiment, a patrol waypoint of a patrol area is acquired; determining a target inspection range and a target inspection path for inspecting the inspection area based on the inspection waypoints; and controlling the inspection equipment to inspect the cable line in the inspection area based on the target inspection range and the target inspection path. That is, the invention can determine the target inspection range and the target inspection path of the cable line in the inspection area according to the inspection waypoints in the inspection area, thereby controlling the inspection equipment to inspect the cable line in the inspection area according to the target inspection range and the target inspection path.
Example 4
According to an embodiment of the present invention, there is also provided a computer-readable storage medium including a stored program, wherein the program executes the inspection method of the cable line in embodiment 1.
Example 5
According to an embodiment of the present invention, there is also provided a processor for running a program, wherein the program executes the inspection method of the cable line in embodiment 1.
According to an embodiment of the present invention, there is also provided a computer program product comprising computer instructions which, when executed by a processor, implement the method of inspection of cabling of embodiment 1.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
In the foregoing embodiments of the present invention, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed technology may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of units may be a logic function division, and there may be another division manner in actual implementation, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone functional units, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software functional component stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the methods of the embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.
Claims (13)
1. The method for inspecting the cable line is characterized by comprising the following steps:
acquiring a routing point of a routing area, wherein the routing point is used for indicating the passing position of routing equipment when routing a cable line, and the cable line is positioned in the routing area;
Determining a target inspection range and a target inspection path for inspecting the inspection area based on the inspection waypoints, wherein the target inspection range is used for indicating the visual range of the inspection equipment in the inspection process, and the target inspection path is used for indicating the inspection route of the inspection equipment in the inspection process;
And controlling the inspection equipment to inspect the cable line in the inspection area based on the target inspection range and the target inspection path.
2. The method of claim 1, wherein determining a target inspection range for inspecting the inspection area based on the inspection waypoint comprises:
Determining an initial distance between the inspection waypoint and the ground and an initial view angle range when the inspection equipment is positioned at the inspection waypoint;
Determining an initial inspection area of the inspection equipment at the inspection waypoint based on the initial distance and the initial view angle range, wherein the initial inspection area is used for at least indicating the visual radius and the visual area of the inspection equipment at the inspection waypoint;
and determining the target inspection range for inspecting the inspection area based on the initial inspection area and a preset inspection condition.
3. The method of claim 2, wherein determining the target inspection range for inspecting the inspection area based on the initial inspection area and a preset inspection condition comprises:
and responding to the initial inspection area to meet the preset inspection condition, determining the initial inspection area as the target inspection range for inspecting the inspection area, wherein the preset inspection condition is at least used for indicating the preset inspection range for inspecting the inspection area.
4. The method of claim 2, wherein determining the target inspection range for inspecting the inspection area based on the initial inspection area and a preset inspection condition comprises:
Determining an adjustment parameter in response to the initial inspection area not meeting the preset inspection condition, wherein the adjustment parameter is used for indicating adjustment of the initial distance and the initial view angle range;
Adjusting the initial distance to a target distance based on the adjustment parameter, and adjusting the initial view angle range to a target view angle range based on the adjustment parameter;
And determining the target inspection range of the inspection area based on the target distance and the target visual angle range.
5. The method of claim 1, wherein determining a target patrol path for patrol of the patrol area based on the patrol waypoints comprises:
obtaining a laying path of a cable line;
selecting a first routing inspection waypoint and a second routing inspection waypoint from the routing inspection waypoints based on the laying path, wherein the first routing inspection waypoint and the second routing inspection waypoint are two routing inspection waypoints with the farthest distance from the routing inspection waypoints;
determining a connecting line of the first routing inspection waypoint and the second routing inspection waypoint as an initial routing inspection path for inspecting the routing inspection area;
and determining the target inspection path for inspecting the inspection area based on the furthest distance between the initial inspection path and the laying path and a distance threshold.
6. The method of claim 5, wherein determining the target inspection path to inspect the inspection area based on a furthest distance between the initial inspection path and the lay path and a distance threshold comprises:
And determining the initial inspection path as the target inspection path for inspecting the inspection area in response to the furthest distance between the initial inspection path and the laying path not being greater than the distance threshold.
7. The method of claim 5, wherein determining the target inspection path to inspect the inspection area based on a furthest distance between the initial inspection path and the lay path and a distance threshold comprises:
Determining an auxiliary waypoint from the patrol waypoints in response to the furthest distance being greater than the distance threshold, wherein the auxiliary waypoint is located between the first patrol waypoint and the second patrol waypoint;
And determining the connecting lines of the first routing inspection waypoint, the auxiliary waypoint and the second routing inspection waypoint as the target routing inspection path for inspecting the routing inspection area.
8. The method of claim 1, wherein prior to acquiring the patrol waypoint of the patrol area, the method further comprises:
Acquiring basic information of the inspection area, wherein the basic information is used for at least indicating the geographic position of the inspection area;
determining an initial waypoint based on the basic information, wherein the initial waypoint is used for indicating a position point when the cable line is patrolled and examined;
and determining the tour inspection waypoints based on the connection between the adjacent initial waypoints and a preset range.
9. The method of claim 8, wherein determining the patrol waypoint based on the connection between adjacent ones of the initial waypoints and a preset range comprises:
and determining the initial waypoint as the tour inspection waypoint in response to the connection line between the adjacent initial waypoints meeting the preset range.
10. A device for inspecting a cable line, comprising:
the device comprises an acquisition unit, a detection unit and a control unit, wherein the acquisition unit is used for acquiring a detection navigation point of a detection area, the detection navigation point is used for indicating a position point of detection equipment when detecting a cable line, and the cable line is positioned in the detection area;
The determining unit is used for determining a target inspection range and an inspection path of the inspection area based on the inspection waypoints, wherein the target inspection range is used for indicating the visual range of the inspection equipment in the inspection process, and the inspection path is used for indicating the inspection route of the inspection equipment in the inspection process;
and the control unit is used for controlling the inspection equipment to inspect the cable line in the inspection area based on the target inspection range and the inspection path.
11. A computer readable storage medium, characterized in that the computer readable storage medium comprises a stored program, wherein the program, when run by a processor, controls a device in which the storage medium is located to perform the method of any one of claims 1 to 9.
12. A processor for running a program, wherein the program when run performs the method of any one of claims 1 to 9.
13. A computer program product comprising computer instructions which, when executed by a processor, implement the method of any one of claims 1 to 9.
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