Planning method and device for electric power routing inspection via unmanned aerial vehicle, computer equipment and storage medium
A power inspection and unmanned aerial vehicle technology, applied in the field of electric power, can solve the problems of high technical requirements for pilots, different operation procedures, and difficulty in maintaining the inspection space distance, so as to ensure flight safety and fine inspection The effect of transmission lines
Inactive Publication Date: 2021-10-12
EXAMING & EXPERIMENTAL CENT OF ULTRAHIGH VOLTAGE POWER TRANSMISSION COMPANY CHINA SOUTHEN POWER GRID
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However, the commonly used manual inspection method of drones requires high technical requirements for pilots, and it is difficult to maintain the inspection space distance, and it is also prone to the risk of collision with line equipment. The specific operation process varies from person to person and cannot be solidified, making it impossible to effectively implement power inspections on transmission lines using drones
[0003] Therefore, there is a problem of lack of automatic inspection planning of UAVs when performing refined inspections on transmission lines and towers in related technologies
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[0050] In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.
[0051] In one embodiment, such as figure 1 As shown, a UAV power inspection planning method is provided. This embodiment uses the method applied to the terminal as an example. It can be understood that the method can also be applied to the server, and can also be applied to the terminal and the server. system, and realized through the interaction between the terminal and the server. In this embodiment, the method includes the following steps:
[0052] Step 101, acquire the transmission line point cloud data, and separate the projection objects from the transmission line ...
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The invention relates to a planning method and device for electric power routing inspection via an unmanned aerial vehicle, computer equipment and a storage medium. The method comprises the following steps: acquiring point cloud data of a power transmission line, and performing projection object separation on the point cloud data of the power transmission line according to a preset projection object distribution characteristic to obtain a power transmission line point cloud and a tower point cloud; performing curve fitting by adopting the power transmission line point cloud, constructing a plurality of virtual models of the power transmission line, and acquiring a virtual model of the power transmission line according to the tower point cloud, the plurality of virtual models of the power transmission line and actual tower position coordinates; acquiring shooting point information and flight control information of the unmanned aerial vehicle; and performing track planning by combining the virtual model of the power transmission line, a plurality of tower shooting points, shooting pose information corresponding to each tower shooting point and the flight control information of the unmanned aerial vehicle, and generating a target power inspection route. By adopting the method, the electric power inspection route of the unmanned aerial vehicle can be automatically planned, the unmanned aerial vehicle is used for line inspection via automatic driving, and the power transmission line is finely inspected on the basis of effectively guaranteeing flight safety.
Description
technical field [0001] The present application relates to the field of electric power technology, in particular to a method, device, computer equipment and storage medium for unmanned aerial vehicle power inspection planning. Background technique [0002] At present, the use of drones for inspections has replaced the method of manually using telescopes or cameras to take pictures of power transmission lines for inspections. However, the commonly used manual inspection method of drones requires high technical requirements for pilots, and it is difficult to maintain the inspection space distance, and it is also prone to the risk of collision with line equipment. The specific operation process varies from person to person and cannot be solidified, making it impossible to effectively implement power inspections on transmission lines using drones. [0003] Therefore, there is a problem in the related art that there is a lack of automatic inspection planning for UAVs when conduct...
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IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 姜诚黄和燕刘洪驿李翔张兴华张福莫兵兵罗望春王黎伟余德泉石志彬梁晖明
Owner EXAMING & EXPERIMENTAL CENT OF ULTRAHIGH VOLTAGE POWER TRANSMISSION COMPANY CHINA SOUTHEN POWER GRID
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