Unmanned aerial vehicle aerial survey method, system, medium and equipment for fire source prevention and control of transmission tower

Abstract

The invention discloses an unmanned aerial vehicle aerial survey method, an unmanned aerial vehicle aerial survey system, a medium and equipment for fire source prevention and control of power transmission towers. The method comprises the following steps: acquiring position and structure information of each tower in a power transmission line; a basic route, a sinking route and a tower winding route are generated according to the preset unmanned aerial vehicle tower top safety distance, the unmanned aerial vehicle tower-to-tower safety distance, the sinking lowest position parameter, the surrounding safety distance parameter and the position and structure information of the tower; generating a final route according to the basic route, the sinking route and the tower winding route, and controlling the unmanned aerial vehicle to fly according to the final route; and according to a fire source early warning algorithm, processing the temperature matrix information of each monitoring picture obtained by the unmanned aerial vehicle to complete fire source detection. According to the invention, through the position and structure information of each tower, a reasonable safe distance is set, path planning is optimized, a monitoring range is expanded, and a temperature matrix early warning algorithm is combined, so that the accuracy and timeliness of fire source detection are improved, and safe and efficient operation of the unmanned aerial vehicle in a complex environment is ensured.

Description

Technical Field

[0001] The present invention belongs to the field of fire source monitoring for transmission lines, and relates to a method, system, medium and device for preventing and controlling fires on transmission towers by means of unmanned aerial vehicle (UAV) aerial surveying. Background Art

[0002] The prevention and control of fires on transmission towers is an important part of the safe operation of the power system. In existing solutions, generally, UAVs are used for regular inspections, sensors are installed for detection, satellite remote sensing monitoring or some image recognition methods are used for fire source monitoring;

[0003] Traditional UAV aerial surveying technology monitors the transmission line and its surrounding environment through an infrared camera and other sensors carried by the UAV to timely detect and handle potential fire source hazards. However, with the expansion and increasing complexity of the power system, the existing UAV aerial surveying methods gradually expose some limitations in terms of data accuracy, path planning, flight safety and fire source detection efficiency. There is an urgent need for a more intelligent and efficient solution to address these challenges. Summary of the Invention

[0004] In view of the deficiencies of the prior art, the present application provides a method, system, medium and device for preventing and controlling fires on transmission towers by means of UAV aerial surveying, which improves the execution efficiency, safety of UAV aerial surveying, as well as the accuracy and comprehensiveness of fire source detection.

[0005] To achieve the above object, in a first aspect, the present invention provides a method for preventing and controlling fires on transmission towers by means of UAV aerial surveying, including:

[0006] Obtaining the position information and structural dimension information of each tower in the transmission line;

[0007] Calculating and generating a basic route according to the position information and structural dimension information of each of the towers;

[0008] Calculating and generating a sinking route corresponding to each tower according to a preset safe distance between the UAV and the tower top, a safe distance between the UAV and the tower, the position information and structural dimension information of each tower;

[0009] Calculating and generating a route around the tower corresponding to each tower according to a preset lowest sinking position parameter, a surrounding safety distance parameter and the structural dimension information of the tower;

[0010] Generating a final flight path according to the basic route, the sinking route and the route around the tower, and controlling the UAV to fly according to the final flight path;

[0011] Processing the temperature matrix information of each monitoring image obtained in real time by the UAV according to a preset fire source warning algorithm to complete fire source detection.

[0012] Compared with the prior art, the embodiments of the present application have the following beneficial effects: obtaining position and structural dimension information provides accurate basic data for subsequent route planning, ensuring the safety and effectiveness of the UAV flight path; through reasonable route planning, a basic route is calculated and generated, reducing unnecessary flight distances and improving task execution efficiency; according to information such as the safe distance between the UAV and the tower top and the safe distance between the UAV and the tower, a descent route is calculated and generated to ensure that the UAV maintains a sufficient safe distance when approaching the tower pole and avoid collision risks; according to the surrounding safety distance parameter and the structural dimension information of the tower pole, a route around the tower is calculated and generated to ensure comprehensive monitoring of the tower pole and its surrounding area without missing potential fire source points; by comprehensively planning the final route and by obtaining the temperature matrix information in real time and combining with the early warning algorithm, the accuracy and timeliness of fire source detection are improved.

[0013] In some embodiments of the first aspect of the present application, calculating and generating a basic route according to the position information and structural dimension information of each of the tower poles includes:

[0014] According to the structural dimension information of each of the tower poles, the dimension information of the anti-collision bounding box corresponding to each tower pole is calculated;

[0015] According to the position information of each of the tower poles and the dimension information of the anti-collision bounding box, each basic flight waypoint is set, and each of the basic flight waypoints is connected to generate a basic route.

[0016] Compared with the prior art, the above embodiments have the following beneficial effects: by calculating the dimension information of the anti-collision bounding box corresponding to each tower pole, a simplified geometric model is provided for route planning, simplifying the setting of the safety distance; based on the position information of the tower poles and the dimension information of the anti-collision bounding box, each basic flight waypoint is set and these waypoints are connected to generate a basic route, ensuring that the UAV can fly safely in a complex environment and avoid collisions with the tower poles, not only improving the efficiency of route planning but also enhancing the safety of the system, ensuring that the UAV can efficiently execute tasks in a complex transmission line environment.

[0017] In some embodiments of the first aspect of the present application, calculating and generating a descent route corresponding to each tower pole according to the preset safe distance between the UAV and the tower top, the safe distance between the UAV and the tower, the position information and structural dimension information of each tower pole includes:

[0018] According to the safe distance between the UAV and the tower top and the dimension information of the anti-collision bounding box corresponding to each tower pole, a first constraint condition is generated, and the first constraint condition is used to limit the minimum vertical distance between the UAV waypoint position and each tower top;

[0019] Generate a second constraint condition based on the safe distance of the drone from the tower and the size information of the anti-collision bounding boxes corresponding to each pole tower. The second constraint condition is used to limit the minimum horizontal distance between the drone waypoint position and the top of each tower.

[0020] According to the position information of the current pole tower and the two adjacent pole towers in front and behind, connect the adjacent pole towers to obtain a major angle with the current pole tower as the vertex, and use the direction of the angular bisector of the major angle as the horizontal movement direction for descending.

[0021] Set each descending waypoint according to the position information of each pole tower, the size information of the anti-collision bounding box, the first constraint condition, the second constraint condition, and the horizontal movement direction, and connect each descending waypoint to generate a descending route corresponding to each pole tower.

[0022] Compared with the prior art, the above embodiments have the following beneficial effects: By generating the first constraint condition to limit the minimum vertical distance between the drone waypoint position and the top of each tower, and the second constraint condition to limit the minimum horizontal distance between the drone waypoint position and the top of each tower, the safety of the drone when approaching the pole tower is ensured; By analyzing the position information of the current pole tower and the two adjacent pole towers in front and behind, obtaining the major angle and determining the horizontal movement direction for descending, the drone can approach the pole tower with the optimal path, avoiding touching the wires or other obstacles. Finally, set each descending waypoint and generate the descending route according to all relevant information, ensuring that the drone can accurately reach the predetermined position while maintaining a safe distance, thereby improving the accuracy and safety of task execution.

[0023] In some embodiments of the first aspect of the present application, the calculating and generating a circumferential route corresponding to each pole tower according to the preset lowest descending position parameter, circumferential safety distance parameter, and the structural size information of the pole tower includes:

[0024] Calculate the circumferential side length corresponding to the pole tower according to the maximum cross-arm radius of the pole tower and the circumferential safety distance parameter.

[0025] Taking the position corresponding to the lowest descending position parameter as the starting point, and using the circumferential side length as the side length of the square flight path, generate the circumferential route around the pole tower.

[0026] Compared with the prior art, the above embodiments have the following beneficial effects: By calculating the maximum cross-arm radius of the pole tower and the circumferential safety distance parameter to obtain the circumferential side length, it ensures that the drone can comprehensively monitor the pole tower and its surrounding areas; Taking the position corresponding to the lowest descending position parameter as the starting point and using the circumferential side length as the side length of the square flight path to generate the circumferential route around the pole tower, it ensures that the drone can cover all key parts around the pole tower without missing potential fire source points, not only improving the comprehensiveness and accuracy of monitoring, but also ensuring the stable flight of the drone in a complex environment and enhancing the reliability of the system.

[0027] In some embodiments of the first aspect of the present application, processing the temperature matrix information of each monitoring image obtained in real time by the drone according to a preset fire source warning algorithm to complete fire source detection includes:

[0028] Obtaining in real time the temperature matrix information of the monitoring images of the monitoring points on the tower-circling route, and calculating the highest temperature of the current image according to the temperature matrix information;

[0029] If the highest temperature meets a preset first warning threshold, obtaining the temperature at an adjacent time point of the temperature point corresponding to the highest temperature, and calculating the difference between the temperature at the adjacent time point and the highest temperature, and determining the temperature point whose difference meets the preset second warning threshold as the fire source point to complete fire source detection.

[0030] Compared with the prior art, the above embodiments have the following beneficial effects: By obtaining in real time the temperature matrix information of the monitoring images of the monitoring points on the tower-circling route and calculating the highest temperature of the current image according to this information, possible fire source points are initially screened out; if the highest temperature meets the preset first warning threshold, the temperature at the adjacent time point of this temperature point is further obtained, and the temperature difference is calculated, and the temperature point that meets the preset second warning threshold is determined as the fire source point, which not only improves the accuracy of fire source detection, but also can timely detect the initial fire source, ensure the rapidity and effectiveness of emergency response, reduce the false alarm rate, and improve the overall performance of the system.

[0031] In some embodiments of the first aspect of the present application, generating a final flight path according to the basic path, the sinking path and the tower-circling path, and controlling the drone to fly according to the final flight path includes:

[0032] Calculating the required power for completing the aerial survey of the remaining distance according to the flight parameters of the drone and the remaining distance of the final flight path;

[0033] If the required power meets the preset power threshold condition, recording the position information of the current flight point of the drone, and controlling the drone to return, and after the drone is replenished with electric energy, controlling the drone to return to the flight point according to the recorded position information of the flight point and continue to complete the aerial survey.

[0034] Compared with the prior art, the above embodiments have the following beneficial effects: By introducing a breakpoint resumption flight mechanism, the power required for the UAV to complete the remaining aerial surveys is calculated, and when the power is insufficient, the current waypoint position information is recorded, and the UAV is controlled to return for charging; after the UAV replenishes the electrical energy, it returns according to the recorded waypoint position information to continue completing the aerial survey task; this method ensures that even in the face of insufficient power or other objective conditions, the UAV can automatically resume and complete the task, guaranteeing the continuity and integrity of the task; it not only improves the fault tolerance and reliability of the system, but also ensures the successful completion of the fire source detection task, enhancing the adaptability and flexibility of the system.

[0035] In a second aspect, the present invention also provides a UAV aerial survey system for preventing and controlling fires on transmission towers, including: a tower information acquisition module, a basic route generation module, a descent route generation module, a tower bypass route generation module, an aerial survey control module, and a fire source detection module;

[0036] Among them, the tower information acquisition module is used to acquire the position information and structural dimension information of each tower in the transmission line;

[0037] The basic route generation module is used to calculate and generate a basic route according to the position information and structural dimension information of each tower;

[0038] The descent route generation module is used to calculate and generate a descent route corresponding to each tower according to the preset safe distance between the UAV and the tower top, the safe distance between the UAV and the tower, the position information and structural dimension information of each tower;

[0039] The tower bypass route generation module is used to calculate and generate a tower bypass route corresponding to each tower according to the preset lowest descent position parameter, the surrounding safety distance parameter, and the structural dimension information of the tower;

[0040] The aerial survey control module is used to generate a final flight route according to the basic route, the descent route, and the tower bypass route, and control the UAV to fly according to the final flight route;

[0041] The fire source detection module is used to process the temperature matrix information of each monitoring image obtained in real time by the UAV according to a preset fire source early warning algorithm to complete fire source detection.

[0042] Compared with the prior art, the above embodiments of the present application have the following beneficial effects: Obtaining position and structural dimension information provides accurate basic data for subsequent route planning, ensuring the safety and effectiveness of the UAV flight path; Through reasonable path planning, a basic route is calculated and generated, reducing unnecessary flight distances and improving task execution efficiency; According to information such as the UAV tower top safety distance and the UAV tower departure safety distance, a descent route is calculated and generated to ensure that the UAV maintains a sufficient safety distance when approaching the pole tower and avoid collision risks; According to the surrounding safety distance parameter and the structural dimension information of the pole tower, a tower surrounding route is calculated and generated to ensure comprehensive monitoring of the pole tower and its surrounding area without missing potential fire source points; By comprehensively planning the final route and by real-time obtaining the temperature matrix information and combining with the warning algorithm, the accuracy and timeliness of fire source detection are improved.

[0043] In some embodiments of the second aspect of the present application, the descent route generation module includes: a first constraint calculation unit, a second constraint calculation unit, a horizontal movement direction calculation unit, and a descent route setting unit;

[0044] Among them, the first constraint calculation unit is used to generate a first constraint condition according to the UAV tower top safety distance and the size information of the anti-collision bounding box corresponding to each pole tower, and the first constraint condition is used to limit the minimum vertical distance between the UAV waypoint position and each tower top;

[0045] The second constraint calculation unit is used to generate a second constraint condition according to the UAV tower departure safety distance and the size information of the anti-collision bounding box corresponding to each pole tower, and the second constraint condition is used to limit the minimum horizontal distance between the UAV waypoint position and each tower top;

[0046] The horizontal movement direction calculation unit is used to connect adjacent pole towers according to the position information of the current pole tower and the two adjacent pole towers before and after, obtain a major angle with the current pole tower as the vertex, and use the direction of the angular bisector of the major angle as the horizontal movement direction of descent;

[0047] The descent route setting unit is used to set each descent waypoint according to the position information of each pole tower, the size information of the anti-collision bounding box, the first constraint condition, the second constraint condition, and the horizontal movement direction, and connect each descent waypoint to generate a descent route corresponding to each pole tower.

[0048] Compared with the prior art, the above embodiments have the following beneficial effects: By generating the first constraint condition to limit the minimum vertical distance between the UAV waypoint position and each tower top, and the second constraint condition to limit the minimum horizontal distance between the UAV waypoint position and each tower top, the safety of the UAV when approaching the pole tower is ensured; By analyzing the position information of the current pole tower and the two adjacent pole towers before and after, the obtuse angle is obtained and the horizontal movement direction of the descent is determined, enabling the UAV to approach the pole tower along the optimal path and avoid touching the wire or other obstacles. Finally, each descent waypoint is set according to all relevant information and the descent route is generated to ensure that the UAV can accurately reach the predetermined position while maintaining a safe distance, thereby improving the accuracy and safety of task execution.

[0049] In a third aspect, the present invention further provides a UAV aerial survey device for preventing fire sources on transmission pole towers, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the computer program is loaded into the processor, the steps of the UAV aerial survey method for preventing fire sources on transmission pole towers are implemented.

[0050] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, the steps of the UAV aerial survey method for preventing fire sources on transmission pole towers are implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 : It is a schematic flow chart of a UAV aerial survey method for preventing fire sources on transmission pole towers provided in some embodiments of the present invention.

[0052] Figure 2 : It is a schematic structural diagram of a UAV aerial survey system for preventing fire sources on transmission pole towers provided in some embodiments of the present invention.

[0053] Figure 3 : It is a structural diagram of a UAV aerial survey device for preventing fire sources on transmission pole towers provided in some embodiments of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0054] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0055] Embodiment 1:

[0056] Please refer to Figure 1, a drone aerial survey method for preventing fire sources on transmission towers provided by an embodiment of the present invention, includes steps S1 to S6:

[0057] Step S1: Obtain the position information and structural dimension information of each tower in the transmission line.

[0058] Among them, when obtaining the information, it includes data such as the longitude and latitude, elevation, total height of the tower, and maximum cross-arm length of the tower. Additionally, it also includes the flight parameters of the drone, including data such as flight speed and operation speed.

[0059] In this embodiment, by obtaining various necessary information of the tower and the drone in step S1, it can provide accurate basic data for subsequent route planning, ensuring the safety and effectiveness of the drone flight path.

[0060] Step S2: Calculate and generate a basic route according to the position information and structural dimension information of each said tower.

[0061] Preferably, step S2 can be implemented through the following preferred implementation method, including steps S21 to S22, and the specific steps are as follows:

[0062] S21: Calculate and obtain the dimension information of the anti-collision bounding box corresponding to each said tower according to the structural dimension information of each said tower;

[0063] S22: Set each basic flight waypoint according to the position information of each said tower and the dimension information of the anti-collision bounding box, and connect each said basic flight waypoint to generate a basic route.

[0064] In actual implementation operations, the tower numbers to be detected for fire sources can be selected. The numbers can be continuous or discontinuous, and the total round-trip mileage is not recommended to exceed 10 km. When calculating the dimension information of the anti-collision bounding box, the maximum cross-arm length of the tower can be used as the diameter of the bounding box, and the total height of the tower can be used as the height of the bounding box to generate a cylindrical anti-collision bounding box that is transparent to the user, simplifying the model structure.

[0065] In this embodiment, step S2 provides a simplified geometric model for path planning by calculating the dimension information of the anti-collision bounding box corresponding to each tower, simplifying the setting of the safety distance; setting each basic flight waypoint based on the tower position information and the dimension information of the anti-collision bounding box, and connecting these waypoints to generate a basic route, ensuring that the drone can fly safely in a complex environment and avoid collisions with the towers. This not only improves the efficiency of path planning but also enhances the system's safety, ensuring that the drone can efficiently perform tasks in a complex transmission line environment.

[0066] Step S3: Calculate and generate the corresponding sinking route of each tower according to the preset safe distance of the drone tower top, the safe distance of the drone from the tower, the position information and structural size information of each tower.

[0067] Preferably, step S3 can be implemented by the following preferred implementation, including step S31 to step S34, each step is specifically as follows:

[0068] S31: Generate a first constraint condition according to the safety distance of the drone tower top and the size information of the anti-collision bounding box corresponding to each tower;

[0069] Among them, the first constraint condition is used to limit the minimum vertical distance between the drone waypoint position and the top of each tower; in addition, in the specific implementation, as an optional solution, the drone tower top safety distance can be set to 10 meters to generate the first constraint condition to reduce the risk of vertical collision when the drone sinks near the tower.

[0070] S32: generating a second constraint condition according to the safe distance between the drone and the tower and the size information of the anti-collision bounding box corresponding to each tower;

[0071] Among them, the second constraint condition is used to limit the minimum horizontal distance between the drone waypoint position and the top of each tower; in addition, when implementing it, the radius of the maximum cross arm can be increased by 5 meters as the safe distance between the drone and the tower, which is used to generate the second constraint condition to reduce the risk of horizontal collision when the drone sinks near the tower.

[0072] S33: connecting the adjacent towers according to the position information of the current tower and the two adjacent towers in front and behind to obtain the reflex angle with the current tower as the vertex, and taking the direction of the angle bisector of the reflex angle as the horizontal movement direction of sinking;

[0073] During implementation, in addition to considering the collision risk between drones and poles, special attention should be paid to the collision risk between drones and transmission lines. In this scheme, the diagonal direction of the angle of superior angle is selected as the horizontal movement direction to avoid collision with transmission lines as much as possible.

[0074] S34: setting each sinking waypoint according to the position information of each tower, the size information of the anti-collision bounding box, the first constraint condition, the second constraint condition and the horizontal movement direction, and connecting each sinking waypoint to generate a sinking route corresponding to each tower.

[0075] In this embodiment, step S3 restricts the minimum vertical distance between the UAV waypoint position and each tower top by generating a first constraint condition, and restricts the minimum horizontal distance between the UAV waypoint position and each tower top by generating a second constraint condition, ensuring the safety of the UAV when approaching the pole tower. By analyzing the position information of the current pole tower and the two adjacent pole towers before and after, the obtuse angle is obtained and the horizontal movement direction of the descent is determined, enabling the UAV to approach the pole tower along the optimal path and avoiding touching the wire or other obstacles. Finally, according to all relevant information, each descent waypoint is set and a descent route is generated, ensuring that the UAV can accurately reach the predetermined position while maintaining a safe distance, thereby improving the accuracy and safety of task execution.

[0076] Step S4: Calculate and generate a tower-circling route corresponding to each pole tower according to the preset lowest descent position parameter, surrounding safety distance parameter, and the structural dimension information of the pole tower.

[0077] Preferably, step S4 can be implemented through the following preferred implementation method, including steps S41 to S42, and the specific steps are as follows:

[0078] S41: Calculate the surrounding side length corresponding to the pole tower according to the maximum cross-arm radius of the pole tower and the surrounding safety distance parameter;

[0079] S42: Taking the position corresponding to the lowest descent position parameter as the starting point, and using the surrounding side length as the side length of the square flight path, generate the tower-circling route around the pole tower.

[0080] For example, during specific implementation, the lowest descent point of the UAV can be used as the starting point, then the pan-tilt of the UAV is directed towards the ground, and detection points are set for fire source detection. When generating waypoints, the surrounding side length is set as the maximum cross-arm radius plus 5 meters, and the direction perpendicular to the horizontal movement direction is used as the starting direction, and the UAV starts to fly around the pole tower until a square path is generated and returns to the starting point, which can effectively cover the main area of the tower base.

[0081] In this embodiment, step S4 calculates the surrounding side length by calculating the maximum cross-arm radius of the pole tower and the surrounding safety distance parameter, ensuring that the UAV can comprehensively monitor the pole tower and its surrounding area; taking the position corresponding to the lowest descent position parameter as the starting point, and using the surrounding side length as the side length of the square flight path to generate the tower-circling route around the pole tower, ensuring that the UAV can cover all key parts around the pole tower without missing potential fire source points, not only improving the comprehensiveness and accuracy of monitoring, but also ensuring the stable flight of the UAV in a complex environment and enhancing the reliability of the system.

[0082] Step S5: Generate a final flight route according to the basic route, descent route, and tower-circling route, and control the UAV to fly according to the final flight route.

[0083] Preferably, step S5 can be implemented by the following preferred implementation manner, including steps S51 to S52. The specific steps are as follows:

[0084] S51: Calculate the required power for aerial surveying to complete the remaining distance based on the flight parameters of the drone and the remaining distance of the final flight path.

[0085] S52: If the required power meets the preset power threshold condition, record the position information of the current waypoint where the drone is located, control the drone to return, and after the drone replenishes power, control the drone to return to the waypoint according to the recorded position information of the waypoint and continue to complete the aerial survey.

[0086] In this embodiment, step S5 introduces a breakpoint resumption flight mechanism. By calculating the power required for the drone to complete the remaining aerial survey and recording the current waypoint position information when the power is insufficient, the drone is controlled to return for charging; after the drone replenishes power, it returns to continue to complete the aerial survey task according to the recorded waypoint position information. This method ensures that even if affected by insufficient power or other objective conditions, the drone can automatically resume and complete the task, guaranteeing the continuity and integrity of the task; not only improving the fault tolerance and reliability of the system, but also ensuring the smooth completion of the fire source detection task and enhancing the adaptability and flexibility of the system.

[0087] Step S6: Process the temperature matrix information of each monitoring image obtained in real time by the drone according to the preset fire source warning algorithm to complete fire source detection.

[0088] Preferably, step S6 can be implemented by the following preferred implementation manner, including steps S61 to S62. The specific steps are as follows:

[0089] S61: Obtain in real time the temperature matrix information of the monitoring images of the monitoring points on the tower-circling route, and calculate the highest temperature of the current image according to the temperature matrix information.

[0090] S62: If the highest temperature meets the preset first warning threshold, obtain the temperature at the adjacent time point of the temperature point corresponding to the highest temperature, calculate the difference between the temperature at the adjacent time point and the highest temperature, and determine the temperature point whose difference meets the preset second warning threshold as the fire source point to complete fire source detection.

[0091] Among the existing fire source detection methods, traditional image recognition methods are easily affected by complex environmental factors such as lighting, shadows, and occlusions, resulting in poor recognition effects and high misrecognition rates. Especially in complex terrains such as mountainous areas, these factors may be more prominent, further reducing the accuracy and reliability of wildfire monitoring. This application combines the temperature matrix information of the infrared lens and the calculation of temperature field jumps. By setting reasonable temperature thresholds and jump values, it effectively reduces misrecognition situations caused by environmental factors or equipment performance. For example, the first warning threshold is set to 60°C, and the second warning threshold is set to 20°C, improving the accuracy of fire source recognition and reducing misjudgments. In addition, when dealing with complex environments, the orientation of the pan-tilt on the drone can be dynamically adjusted to avoid interference factors such as lighting, shadows, and occlusions, improving the reliability of detection.

[0092] In this embodiment, step S6 obtains the temperature matrix information of the monitoring screen at the monitoring points on the tower-circling route in real time, and calculates the highest temperature of the current screen based on this information to preliminarily screen out possible fire source points. If the highest temperature meets the preset first warning threshold, the temperature at the adjacent time point of this temperature point is further obtained, and the temperature difference is calculated. The temperature points that meet the preset second warning threshold are determined as fire source points, which not only improves the accuracy of fire source detection, but also can detect incipient fire sources in a timely manner, ensuring the rapidity and effectiveness of emergency response, reducing the false alarm rate, and improving the overall performance of the system.

[0093] In summary, compared with the prior art, the above embodiments of this application have the following beneficial effects: obtaining position and structural dimension information, providing accurate basic data for subsequent flight path planning, and ensuring the safety and effectiveness of the UAV flight path; through reasonable path planning, calculating and generating a basic route, reducing unnecessary flight distances, and improving task execution efficiency; calculating and generating a descent route based on information such as the safe distance between the UAV and the tower top and the safe distance between the UAV and the tower, ensuring that the UAV maintains a sufficient safe distance when approaching the pole tower and avoiding collision risks; calculating and generating a tower-circling route based on the surrounding safety distance parameter and the structural dimension information of the pole tower, ensuring comprehensive monitoring of the pole tower and its surrounding areas without missing potential fire source points; by comprehensively planning the final flight path, and by obtaining temperature matrix information in real time and combining with the warning algorithm, the accuracy and timeliness of fire source detection are improved.

[0094] Embodiment 2:

[0095] Please refer to Figure 2 , based on the same inventive concept, an unmanned aerial vehicle (UAV) aerial survey system for preventing fires on transmission towers disclosed in an embodiment of the present invention includes: a tower information acquisition module M1, a basic route generation module M2, a descent route generation module M3, a tower-circling route generation module M4, an aerial survey control module M5, and a fire source detection module M6;

[0096] Among them, the tower information acquisition module M1 is used to acquire the position information and structural dimension information of each tower in the transmission line;

[0097] By acquiring the position and structural dimension information, the tower information acquisition module M1 of this embodiment provides accurate basic data for subsequent flight path planning, ensuring the safety and effectiveness of the UAV flight path.

[0098] The basic route generation module M2 is used to calculate and generate a basic route according to the position information and structural dimension information of each tower;

[0099] The basic route generation module M2 includes: a bounding box generation unit and a basic route setting unit;

[0100] Among them, the bounding box generation unit is used to calculate the size information of the anti-collision bounding box corresponding to each tower according to the structural dimension information of each tower;

[0101] The basic route setting unit is used to set each basic flight waypoint according to the position information of each tower and the size information of the anti-collision bounding box, and connect each basic flight waypoint to generate a basic route.

[0102] By calculating the size information of the anti-collision bounding box corresponding to each tower, the basic route generation module M2 of this embodiment provides a simplified geometric model for path planning, simplifying the setting of safety distances; setting each basic flight waypoint based on the tower position information and the size information of the anti-collision bounding box, and connecting these waypoints to generate a basic route, ensuring that the UAV can fly safely in a complex environment and avoid collisions with towers, not only improving the efficiency of path planning, but also enhancing the system's safety, ensuring that the UAV can efficiently execute tasks in a complex transmission line environment.

[0103] The descent route generation module M3 is used to calculate and generate the descent route corresponding to each tower according to the preset UAV tower top safety distance, UAV tower distance safety distance, position information and structural dimension information of each tower;

[0104] The descent route generation module M3 includes: a first constraint calculation unit, a second constraint calculation unit, a horizontal movement direction calculation unit and a descent route setting unit;

[0105] Among them, the first constraint calculation unit is used to generate a first constraint condition according to the UAV tower top safety distance and the size information of the anti-collision bounding box corresponding to each tower, and the first constraint condition is used to limit the minimum vertical distance of the UAV waypoint position from each tower top;

[0106] The second constraint calculation unit is configured to generate a second constraint condition according to the safe distance of the drone from the tower and the size information of the anti-collision bounding boxes corresponding to each pole tower. The second constraint condition is used to limit the minimum horizontal distance of the drone waypoint position from the top of each tower.

[0107] The horizontal movement direction calculation unit is configured to connect adjacent pole towers according to the position information of the current pole tower and the two adjacent pole towers before and after, obtain a major angle with the current pole tower as the vertex, and use the direction of the angle bisector of the major angle as the horizontal movement direction of descent.

[0108] The descent route setting unit is configured to set each descent waypoint according to the position information of each pole tower, the size information of the anti-collision bounding box, the first constraint condition, the second constraint condition, and the horizontal movement direction, and connect each descent waypoint to generate a descent route corresponding to each pole tower.

[0109] The descent route generation module M3 of this embodiment restricts the minimum vertical distance of the drone waypoint position from the top of each tower by generating the first constraint condition, and restricts the minimum horizontal distance of the drone waypoint position from the top of each tower by generating the second constraint condition, ensuring the safety of the drone when approaching the pole tower; by analyzing the position information of the current pole tower and the two adjacent pole towers before and after, obtaining the major angle and determining the horizontal movement direction of descent, the drone can approach the pole tower along the optimal path, avoiding touching the wire or other obstacles. Finally, each descent waypoint is set and the descent route is generated according to all relevant information, ensuring that the drone can accurately reach the predetermined position while maintaining a safe distance, thereby improving the accuracy and safety of task execution.

[0110] The tower-around route generation module M4 is configured to calculate and generate a tower-around route corresponding to each pole tower according to a preset lowest descent position parameter, a surrounding safety distance parameter, and the structural size information of the pole tower;

[0111] The tower-around route generation module M4 includes: a surrounding side length calculation unit and a tower-around route setting unit;

[0112] Among them, the surrounding side length calculation unit is configured to calculate the surrounding side length corresponding to the pole tower according to the maximum cross-arm radius of the pole tower and the surrounding safety distance parameter;

[0113] The tower-around route setting unit is configured to use the position corresponding to the lowest descent position parameter as the starting point, use the surrounding side length as the side length of the square flight path, and generate the tower-around route around the pole tower.

[0114] The tower - surrounding route generation module M4 of this embodiment obtains the surrounding side length by calculating the maximum cross - arm radius of the tower pole and the surrounding safety distance parameter, ensuring that the UAV can comprehensively monitor the tower pole and its surrounding area; taking the position corresponding to the lowest sinking position parameter as the starting point, using the surrounding side length as the side length of the square flight route to generate a tower - surrounding route around the tower pole, ensuring that the UAV can cover all key parts around the tower pole without missing potential fire source points, not only improving the comprehensiveness and accuracy of monitoring, but also ensuring the stable flight of the UAV in a complex environment and enhancing the reliability of the system.

[0115] The aerial survey control module M5 is used to generate a final flight route according to the basic route, the sinking route and the tower - surrounding route, and control the UAV to fly according to the final flight route.

[0116] The aerial survey control module M5 includes: a power calculation unit and a continued - flight control unit.

[0117] Among them, the power calculation unit is used to calculate the required power for completing the aerial survey of the remaining distance according to the flight parameters of the UAV and the remaining distance of the final flight route.

[0118] The continued - flight control unit is used to, if the required power meets the preset power threshold condition, record the position information of the current flight point of the UAV, control the UAV to return, and after the UAV replenishes electric energy, control the UAV to return to the flight point according to the recorded position information of the flight point and continue to complete the aerial survey.

[0119] The aerial survey control module M5 of this embodiment introduces a breakpoint continued - flight mechanism. By calculating the power required for the UAV to complete the remaining aerial survey and recording the current flight point position information when the power is insufficient, it controls the UAV to return for charging; after the UAV replenishes electric energy, it returns according to the recorded flight point position information to continue to complete the aerial survey task. This method ensures that even in case of insufficient power or other objective conditions, the UAV can automatically resume and complete the task, guaranteeing the continuity and integrity of the task; not only improving the fault tolerance and reliability of the system, but also ensuring the smooth completion of the fire source detection task and enhancing the adaptability and flexibility of the system.

[0120] The fire source detection module M6 is used to process the temperature matrix information of each monitoring picture obtained in real - time by the UAV according to a preset fire source early - warning algorithm to complete fire source detection.

[0121] The fire source detection module M6 includes: a maximum temperature detection unit and a fire source determination unit.

[0122] The maximum temperature detection unit is used to obtain in real - time the temperature matrix information of the monitoring picture of the monitoring point on the tower - surrounding route and calculate the maximum temperature of the current picture according to the temperature matrix information.

[0123] The fire source determination unit is configured to, if the highest temperature meets a preset first warning threshold, obtain the temperature at an adjacent time point of the temperature point corresponding to the highest temperature, calculate the difference between the temperature at the adjacent time point and the highest temperature, and determine the temperature point whose difference meets the preset second warning threshold as the fire source point, thereby completing the fire source detection.

[0124] The fire source detection module M6 of this embodiment preliminarily screens out possible fire source points by obtaining the temperature matrix information of the monitoring points on the tower-circling route in real time and calculating the highest temperature of the current image based on this information; if the highest temperature meets the preset first warning threshold, it further obtains the temperature at the adjacent time point of this temperature point and calculates the temperature difference, and determines the temperature point that meets the preset second warning threshold as the fire source point. This not only improves the accuracy of fire source detection, but also can detect incipient fire sources in a timely manner, ensuring the rapidity and effectiveness of emergency response, reducing the false alarm rate, and improving the overall performance of the system.

[0125] In summary, compared with the prior art, the embodiments of the present application have the following beneficial effects: obtaining position and structural dimension information provides accurate basic data for subsequent flight path planning, ensuring the safety and effectiveness of the UAV flight path; through reasonable path planning, calculating and generating a basic route, reducing unnecessary flight distances, and improving task execution efficiency; according to information such as the safe distance of the UAV from the tower top and the safe distance of the UAV from the tower, calculating and generating a descent route to ensure that the UAV maintains a sufficient safe distance when approaching the pole tower, avoiding the risk of collision; according to the surrounding safety distance parameter and the structural dimension information of the pole tower, calculating and generating a tower-circling route to ensure comprehensive monitoring of the pole tower and its surrounding areas without missing potential fire source points; by comprehensively planning the final flight path, and by obtaining the temperature matrix information in real time and combining with the warning algorithm, the accuracy and timeliness of fire source detection are improved.

[0126] Embodiment Three:

[0127] Figure 3 The structure diagram of a UAV aerial survey device for preventing and controlling fire sources on transmission line towers of the present application is shown. As Figure 3 shown, the UAV aerial survey device may include: a processor N1, a memory N2, a data interface N3, and a communication bus N4.

[0128] Among them: the processor N1, the memory N2, and the data interface N3 communicate with each other through the communication bus N4; the data interface N3 is used for data communication with other devices such as input devices or output devices; the processor N1 is configured to execute a program N5, and specifically may execute the relevant steps in the above-mentioned embodiment of the UAV aerial survey method for preventing and controlling fire sources on transmission line towers.

[0129] Specifically, program N5 may include program code, which includes computer-executable instructions.

[0130] Processor N1 may be a central processing unit (CPU), or a specific integrated circuit (ASIC, Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present application. One or more processors included in the UAV aerial survey device may be of the same type of processor, such as one or more CPUs, or may be of different types of processors, such as one or more CPUs and one or more ASICs.

[0131] Memory N2 is used to store program N5. Memory N2 may include high-speed RAM memory and may also include non-volatile memory, such as at least one disk memory.

[0132] The algorithms or displays provided herein are not inherently related to any particular computer, virtual system, or other device. In addition, the embodiments of the present application are not directed to any particular programming language.

[0133] Embodiment 4:

[0134] The embodiments of the present invention also provide a computer-readable storage medium. The storage medium stores at least one executable instruction. When the executable instruction runs on the UAV aerial survey device / system, the UAV aerial survey device / system is caused to execute a UAV aerial survey method for preventing and controlling the fire source of transmission towers in any of the above method embodiments.

[0135] In the specification provided herein, a large number of specific details are set forth. However, it can be understood that the embodiments of the present application can be practiced without these specific details. Similarly, in order to streamline the present application and assist in understanding one or more of the various inventive aspects, in the above description of the exemplary embodiments of the present application, the various features of the embodiments of the present application are sometimes grouped together into a single embodiment, figure, or description thereof. Among them, the claims following the specific implementation manners are hereby expressly incorporated into the specific implementation manners, and each claim itself serves as a separate embodiment of the present application.

[0136] Those skilled in the art can understand that the modules in the devices in the embodiments can be adaptively changed and disposed in one or more devices different from the embodiments. The modules or units or components in the embodiments can be combined into a module or unit or component, and in addition, they can be divided into multiple sub-modules or sub-units or sub-components. Except that at least some of such features and / or processes or units are mutually exclusive.

Claims

1. A UAV aerial survey method for fire prevention and control of power transmission towers, characterized in that: include: Obtain the location information and structural dimension information of each tower in the transmission line; Calculate and generate a basic route based on the location information and structural dimension information of each of the towers; According to the preset safe distance of the drone from the tower top, the safe distance of the drone from the tower, the location information and structural size information of each tower, the corresponding sinking route of each tower is calculated and generated; According to the preset parameters of the lowest sinking position, the parameters of the surrounding safety distance and the structural size information of the tower, the corresponding tower bypass routes of each tower are calculated and generated; Generate a final route according to the basic route, the sinking route and the tower-circling route, and control the drone to fly according to the final route; According to a preset fire source warning algorithm, the temperature matrix information of each monitoring screen acquired by the drone in real time is processed to complete the fire source detection.

2. The method for aerial surveying of power transmission tower fire source prevention and control by using unmanned aerial vehicle according to claim 1, characterized in that: The step of calculating and generating a basic route based on the location information and structural dimension information of each of the towers comprises: Calculate and obtain the size information of the anti-collision bounding box corresponding to each tower according to the structural size information of each tower; According to the position information of each tower and the size information of the anti-collision bounding box, each basic flight waypoint is set, and each basic flight waypoint is connected to generate a basic route.

3. The method for aerial surveying of power transmission tower fire source prevention and control by using unmanned aerial vehicle according to claim 2, characterized in that: The method calculates and generates the corresponding sinking routes of each tower according to the preset safe distance of the drone tower top, the safe distance of the drone from the tower, the position information and the structural size information of each tower, including: Generate a first constraint condition according to the drone tower top safety distance and the size information of the anti-collision bounding box corresponding to each tower, wherein the first constraint condition is used to limit the minimum vertical distance between the drone waypoint position and each tower top; Generate a second constraint condition according to the safe distance between the drone and the tower and the size information of the anti-collision bounding box corresponding to each tower, wherein the second constraint condition is used to limit the minimum horizontal distance between the drone waypoint position and the top of each tower; According to the position information of the current tower and the two adjacent towers in front and behind, the adjacent towers are connected to obtain the reflex angle with the current tower as the vertex, and the direction of the angle bisector of the reflex angle is used as the horizontal movement direction of sinking; According to the position information of each tower, the size information of the anti-collision bounding box, the first constraint condition, the second constraint condition and the horizontal movement direction, each sinking waypoint is set, and each sinking waypoint is connected to generate a sinking route corresponding to each tower.

4. The method for aerial surveying of a transmission tower fire source by using an unmanned aerial vehicle according to claim 3, characterized in that: The method of calculating and generating the corresponding tower bypass routes for each tower according to the preset lowest sinking position parameters, the surrounding safety distance parameters and the structural size information of the tower comprises: According to the maximum horizontal radius of the tower and the surrounding safety distance parameters, the surrounding side length corresponding to the tower is calculated; The tower-circling route is generated by taking the position corresponding to the lowest sinking position parameter as the starting point and the circling side length as the side length of the square route around the tower.

5. The method for aerial surveying of power transmission tower fire source prevention and control by using unmanned aerial vehicle according to claim 4, characterized in that: The method of processing the temperature matrix information of each monitoring screen acquired by the drone in real time according to the preset fire source early warning algorithm to complete the fire source detection includes: Acquire temperature matrix information of monitoring screens of monitoring points on the route around the tower in real time, and calculate the highest temperature of the current screen based on the temperature matrix information; If the maximum temperature meets the preset first warning threshold, the temperature of the temperature point corresponding to the maximum temperature at the adjacent time point is obtained, and the difference between the temperature at the adjacent time point and the maximum temperature is calculated. The temperature point whose difference meets the preset second warning threshold is determined as the fire source point to complete the fire source detection.

6. The method for aerial surveying of power transmission tower fire source prevention and control by using a drone according to any one of claims 1 to 5, characterized in that: The method of generating a final route according to the basic route, the sinking route and the tower-circling route, and controlling the UAV to fly according to the final route includes: Calculate the amount of power required to complete the aerial survey of the remaining distance based on the flight parameters of the drone and the remaining distance of the final route; If the required power meets the preset power threshold condition, the location information of the current waypoint of the drone is recorded, and the drone is controlled to return. After the drone replenishes power, the drone is controlled to return to the waypoint and continue to complete the aerial survey based on the recorded waypoint location information.

7. A UAV aerial survey system for fire prevention and control of power transmission towers, characterized in that: include: Tower information acquisition module, basic route generation module, sinking route generation module, tower bypass route generation module, aerial survey control module and fire source detection module; The tower information acquisition module is used to acquire the location information and structural size information of each tower in the transmission line; The basic route generation module is used to calculate and generate a basic route based on the location information and structural size information of each of the towers; The sinking route generation module is used to calculate and generate the sinking route corresponding to each tower according to the preset drone tower top safety distance, drone tower safety distance, and the position information and structural size information of each tower; The tower bypass route generation module is used to calculate and generate the tower bypass route corresponding to each tower according to the preset lowest sinking position parameters, the surrounding safety distance parameters and the structural size information of the tower; The aerial survey control module is used to generate a final route according to the basic route, the sinking route and the tower-circling route, and control the UAV to fly according to the final route; The fire source detection module is used to process the temperature matrix information of each monitoring screen acquired by the drone in real time according to a preset fire source warning algorithm to complete fire source detection.

8. The method for aerial surveying of power transmission tower fire source prevention and control by using unmanned aerial vehicle according to claim 7, characterized in that: The sinking route generation module includes: a first constraint calculation unit, a second constraint calculation unit, a horizontal movement direction calculation unit and a sinking route setting unit; The first constraint calculation unit is used to generate a first constraint condition according to the safety distance of the drone tower top and the size information of the anti-collision bounding box corresponding to each tower, and the first constraint condition is used to limit the minimum vertical distance between the drone waypoint position and each tower top; The second constraint calculation unit is used to generate a second constraint condition according to the safe distance between the drone and the tower and the size information of the anti-collision bounding box corresponding to each tower, and the second constraint condition is used to limit the minimum horizontal distance between the drone waypoint position and the top of each tower; The horizontal movement direction calculation unit is used to connect the adjacent towers according to the position information of the current tower and the two adjacent towers in front and behind, obtain the reflex angle with the current tower as the vertex, and use the direction of the angle bisector of the reflex angle as the horizontal movement direction of sinking; The sinking route setting unit is used to set each sinking waypoint according to the position information of each tower, the size information of the anti-collision bounding box, the first constraint condition, the second constraint condition and the horizontal movement direction, and connect the sinking waypoints to generate the sinking route corresponding to each tower.

9. An unmanned aerial survey device for fire prevention and control of power transmission towers, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the computer program is loaded into the processor, the steps of the UAV aerial survey method for fire source prevention and control of transmission towers according to any one of claims 1 to 6 are implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by the processor, the steps of the UAV aerial survey method for fire source prevention and control of transmission towers according to any one of claims 1 to 6 are implemented.

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