Method, device and system for unmanned aerial vehicle inspection of composite insulators

Abstract

The present invention provides a method, device and system for inspecting composite insulators by drones. The method for inspecting composite insulators by drones comprises: obtaining the index of each composite insulator of each tower, determining the index coefficient of each tower according to the composite insulator index and the inspection time; determining the inspection index of each tower according to the composite insulator index and the index coefficient; determining the drone inspection route according to the inspection index of each tower, and sending the drone inspection route to the drone so that the drone performs inspection according to the drone inspection route. The present invention can improve the detection efficiency of composite insulators and avoid transmission line failures.

Description

Technical Field

[0001] The present invention relates to the technical field of high-voltage transmission lines, and in particular to a method, device and system for inspecting composite insulators using an unmanned aerial vehicle. Background Art

[0002] Silicone rubber composite insulators (hereinafter referred to as "composite insulators") have excellent pollution resistance, high strength, light weight, and easy installation and maintenance. Therefore, composite insulators are widely used in China's 1000kV AC and ±800kV DC ultra-high voltage transmission lines, accounting for two-thirds of the total. As of the end of 2019, the consumption of composite insulators for AC and DC lines of 66kV and above was about 10.66 million. Composite insulators will age and deteriorate during operation due to the influence of years of operation, mechanical stress conditions, ambient temperature and humidity, and contamination conditions. They are mainly manifested in the following aspects: deterioration or aging of the sheath material, deterioration of the interface between the sheath and the core rod, surface flashover, and degradation or even complete loss of mechanical properties. Once a composite insulator fails, the transmission line will be shut down, and even the conductor will fall, which will seriously threaten the safety of power supply.

[0003] Infrared temperature measurement technology is based on the principle that most insulation material damage caused by electric fields will cause local discharge, increased leakage current, and thus local temperature rise. The damage to the insulation material is determined by measuring the abnormal temperature rise of the composite insulator. Infrared temperature measurement is one of the main methods for live detection of composite insulators. Measuring the abnormal heating of composite insulators and judging whether there are internal defects by using drone infrared inspections is an effective measure to discover the deterioration and defects of composite insulators. At present, drone inspection plans for composite insulators are generally formulated based on the experience of operation and maintenance personnel, but the number of transmission lines is large and the range is wide, and the environmental conditions of the areas they pass through are different, so it is difficult to formulate a reasonable drone inspection plan. Summary of the invention

[0004] The main purpose of the embodiments of the present invention is to provide a method, device and system for drone inspection of composite insulators. The index coefficient corresponding to each year is determined by the inspection time to determine a reasonable drone inspection order, which can maximize the use of limited drone inspection resources, improve the effectiveness and rationality of the drone inspection route and the detection efficiency of composite insulators, thereby avoiding transmission line failures.

[0005] In order to achieve the above object, an embodiment of the present invention provides a method for inspecting composite insulators using a drone, comprising:

[0006] Obtain the composite insulator index of each tower, and determine the index coefficient of each tower according to the composite insulator index and inspection time;

[0007] Determine the inspection index of each tower according to the composite insulator index and index coefficient;

[0008] The drone inspection route is determined according to the inspection index of each tower, and the drone inspection route is sent to the drone so that the drone can perform inspections according to the drone inspection route.

[0009] In one embodiment, determining the index coefficient of each tower according to the composite insulator index and the inspection time includes:

[0010] Determine the initial index coefficient of each tower according to the composite insulator index;

[0011] Determine the correction index coefficient of each tower according to the inspection time;

[0012] The index coefficient of each tower is determined based on the initial index coefficient and the revised index coefficient.

[0013] In one embodiment, determining the initial index coefficient of each tower according to the composite insulator index includes:

[0014] Determine the index proportion according to the composite insulator index;

[0015] Determine the index entropy value according to the index proportion;

[0016] Determine the initial indicator coefficient based on the indicator entropy value.

[0017] In one embodiment, determining the inspection route of the drone according to the inspection index of each tower includes:

[0018] Determine the inspection index of each area based on the inspection index of each tower;

[0019] Determine the inspection order based on the inspection index of each area;

[0020] Determine the drone inspection route based on the inspection order.

[0021] The embodiment of the present invention further provides a device for inspecting composite insulators by using a drone, comprising:

[0022] The index coefficient module is used to obtain the index of each composite insulator of each tower, and determine the index coefficient of each tower according to the composite insulator index and inspection time;

[0023] Inspection index module, used to determine the inspection index of each tower according to the composite insulator index and index coefficient;

[0024] The inspection module is used to determine the drone inspection route according to the inspection index of each tower, and send the drone inspection route to the drone so that the drone can perform inspection according to the drone inspection route.

[0025] In one embodiment, the index coefficient module includes:

[0026] The initial index coefficient unit is used to determine the initial index coefficient of each tower according to the composite insulator index;

[0027] The correction index coefficient unit is used to determine the correction index coefficient of each tower according to the inspection time;

[0028] The index coefficient unit is used to determine the index coefficient of each tower according to the initial index coefficient and the revised index coefficient.

[0029] In one embodiment, the initial index coefficient unit includes:

[0030] An index specific gravity subunit is used to determine the index specific gravity according to the index of the composite insulator;

[0031] The indicator entropy value subunit is used to determine the indicator entropy value according to the indicator proportion;

[0032] The initial indicator coefficient subunit is used to determine the initial indicator coefficient according to the indicator entropy value.

[0033] In one embodiment, the inspection module includes:

[0034] The inspection index unit is used to determine the inspection index of each area according to the inspection index of each tower;

[0035] An inspection sequence unit is used to determine the inspection sequence according to the inspection index of each area;

[0036] The drone inspection route unit is used to determine the drone inspection route according to the inspection order.

[0037] An embodiment of the present invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory and running on the processor. When the processor executes the computer program, the steps of the method for unmanned aerial vehicle inspection of composite insulators are implemented.

[0038] An embodiment of the present invention also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the method for unmanned aerial vehicle inspection of composite insulators are implemented.

[0039] An embodiment of the present invention further provides a system for inspecting composite insulators using a drone, comprising:

[0040] The device for inspecting composite insulators by using a drone as described above;

[0041] Drones are used to conduct inspections along drone inspection routes.

[0042] The method, device and system for drone inspection of composite insulators in the embodiments of the present invention first determine the index coefficient of each tower according to the composite insulator index and the inspection time, and then determine the inspection index of each tower according to the composite insulator index and the index coefficient to determine the drone inspection route. The drone inspection route is sent to the drone so that the drone performs inspections according to a reasonable inspection route, which can improve the detection efficiency of composite insulators and avoid transmission line failures. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0044] Figure 1 is a flow chart of a method for inspecting composite insulators using a drone in an embodiment of the present invention;

[0045] Figure 2 is a flow chart of a method for inspecting composite insulators using a drone in another embodiment of the present invention;

[0046] Figure 3 is a flow chart for determining the index coefficients of each tower in an embodiment of the present invention;

[0047] Figure 4 is a flow chart of S201 in an embodiment of the present invention;

[0048] Figure 5 is a flow chart for determining a drone inspection route in an embodiment of the present invention;

[0049] Figure 6 is a structural block diagram of a device for inspecting composite insulators by a drone in an embodiment of the present invention;

[0050] Figure 7 is a structural block diagram of a computer device in an embodiment of the present invention;

[0051] Figure 8 It is a structural block diagram of a system for UAV inspection of composite insulators in an embodiment of the present invention. DETAILED DESCRIPTION

[0052] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0053] Those skilled in the art will appreciate that the embodiments of the present invention may be implemented as a system, device, apparatus, method or computer program product. Therefore, the present disclosure may be specifically implemented in the following forms, namely: complete hardware, complete software (including firmware, resident software, microcode, etc.), or a combination of hardware and software.

[0054] In view of the fact that it is difficult to formulate a reasonable drone inspection plan in the prior art, the embodiments of the present invention provide a method, device and system for drone inspection of composite insulators, which integrates the operation information of the composite insulators to reasonably evaluate the operation status of each composite insulator, formulates an inspection plan based on the evaluation results, and provides a reference for the operation and maintenance unit to reasonably arrange the composite insulator inspection plan, so as to maximize the use of limited drone inspection resources, improve the efficiency of composite insulator detection, and timely discover composite insulator defects, thereby avoiding transmission line failures. The present invention is described in detail below in conjunction with the accompanying drawings.

[0055] Figure 1 It is a flow chart of the method for inspecting composite insulators by unmanned aerial vehicles in an embodiment of the present invention. Figure 2 FIG. 1 is a flow chart of a method for inspecting composite insulators using a drone in another embodiment of the present invention. Figure 1-Figure 2 As shown, the method of UAV inspection of composite insulators includes:

[0056] S101: Obtaining the composite insulator index of each tower, and determining the index coefficient of each tower according to the composite insulator index and inspection time.

[0057] Before executing S101, the length of the section (area) is determined according to the flight distance of the drone. The towers of several transmission lines are numbered 1 to n. Each transmission line is divided into several sections according to the section length, and the sections are numbered 1 to m, and the tower numbers in each section are recorded.

[0058] When executing S101, first determine the following eight composite insulator indicators of each tower: the number of years of operation of the composite insulator, the pollution level, the cumulative value of precipitation since the composite insulator was put into operation, the cumulative value of the number of windy days, the number of high temperature weather days, the number of extremely cold weather days, the number of composite insulator failures, and the number of composite insulator defects. If the composite insulators on a tower have different operation times, the above indicators are calculated based on the composite insulator with the longest operation time.

[0059] Then all indicators are normalized by the following formula:

[0060]

[0061] in, is the normalized index of the jth composite insulator of the ith tower, x ijis the unnormalized index of the jth composite insulator of the ith tower, and n is the number of towers. If the denominator is 0 when calculating an index, it means that the index values ​​of all towers are the same, and this index is not calculated.

[0062] Figure 3 FIG. 1 is a flow chart of determining the index coefficients of each tower in an embodiment of the present invention. Figure 3 As shown in the figure, the index coefficients of each tower are determined based on the composite insulator index and inspection time, including:

[0063] S201: Determine the initial index coefficient of each tower according to the composite insulator index.

[0064] Figure 4 is a flow chart of S201 in an embodiment of the present invention. Figure 4 As shown, S201 includes:

[0065] S301: Determine the index proportion according to the composite insulator index.

[0066] In specific implementation, the indicator proportion can be determined by the following formula:

[0067]

[0068] Among them, p ij is the j-th index proportion of the ith tower.

[0069] S302: Determine the indicator entropy value according to the indicator weight.

[0070] In specific implementation, the indicator entropy value can be determined by the following formula:

[0071]

[0072] Among them, e j is the entropy value of the jth indicator.

[0073] S303: Determine an initial indicator coefficient according to the indicator entropy value.

[0074] In specific implementation, the initial index coefficient can be determined by the following formula:

[0075]

[0076] Among them, w j is the jth initial indicator coefficient.

[0077] S202: Determine the correction index coefficient of each tower according to the inspection time.

[0078] In specific implementation, when the inspection time is the first year, the correction index coefficient is zero; when the inspection time is the second year, the correction index coefficient includes the jth first correction index coefficient Δ1 j ; When the inspection time is the third year, the correction index coefficient includes the jth first correction index coefficient Δ1 j and the jth second correction index coefficient Δ2 j When the inspection time is greater than or equal to four years, the correction index coefficient includes the jth first correction index coefficient Δ1 j , jth second correction index coefficient Δ2 j and the jth third correction index coefficient Δ3 j .

[0079] S203: Determine the index coefficient of each tower according to the initial index coefficient and the revised index coefficient.

[0080] In specific implementation, the index coefficient of each tower can be determined according to the following formula:

[0081] When the inspection time is the first year,

[0082] in, is the jth indicator coefficient.

[0083] When the inspection time is the second year,

[0084] When the inspection time is the third year,

[0085] When the inspection time is the fourth year,

[0086] As shown above, the present invention can maximize the use of limited UAV inspection resources by determining the index coefficient corresponding to each year through the inspection time, improve the effectiveness and rationality of the UAV inspection route, timely discover composite insulator defects, and avoid transmission line failures.

[0087] S102: Determine the inspection index of each tower according to the composite insulator index and index coefficient.

[0088] In specific implementation, the inspection index of each tower can be determined by the following formula:

[0089]

[0090] Among them, f i is the inspection index of the ith tower.

[0091] S103: Determine a drone inspection route according to the inspection index of each tower, and send the drone inspection route to the drone so that the drone performs inspection according to the drone inspection route.

[0092] Figure 5 is a flow chart for determining the inspection route of a drone in an embodiment of the present invention. Figure 5 As shown in the figure, the inspection route of the drone is determined according to the inspection index of each tower, including:

[0093] S401: Determine the inspection index of each area according to the inspection index of each tower.

[0094] In specific implementation, the inspection index f of each tower in the area can be i The average value of is recorded as the inspection index of this area, h k is the inspection index of the kth area, k=1,2,…m.

[0095] S402: Determine the inspection order according to the inspection index of each area.

[0096] During specific implementation, the inspection order of composite insulators by drones can be based on the order of inspection index from low to high.

[0097] S403: Determine the inspection route of the drone according to the inspection order.

[0098] Figure 1 The execution subject of the method for inspecting composite insulators by unmanned aerial vehicles shown in the figure may be a computer. Figure 1 It can be seen from the process shown that the method for inspecting composite insulators using a drone in an embodiment of the present invention first determines the index coefficient of each tower based on the composite insulator index and the inspection time, and then determines the inspection index of each tower based on the composite insulator index and the index coefficient to determine the drone inspection route. The drone inspection route is sent to the drone so that the drone can inspect according to a reasonable inspection route, which can improve the detection efficiency of composite insulators and avoid transmission line failures.

[0099] The specific process of the embodiment of the present invention is as follows:

[0100] 1. According to the flight distance of the drone, the section length is determined to be 3 km. Table 1 is the numbering table of sections and towers. As shown in Table 1, the towers of the three transmission lines are numbered 1 to 30; each transmission line is divided into 6 sections according to the section length, and the sections are numbered 1 to 6.

[0101] Table 1

[0102] Segment number 1 2 3 4 5 6 Tower number 1-4 5-10 11-14 15-19 20-26 27-30

[0103] 2. Table 2 is the composite insulator index table before normalization. As shown in Table 2, eight composite insulator indexes are determined, including the operation years of composite insulators of each tower, pollution level, cumulative precipitation value since the composite insulator was put into operation, cumulative value of strong wind days, number of high temperature weather days, number of extremely cold weather days, number of composite insulator failures and number of composite insulator defects. Among them, the operation years of composite insulators, the number of failures and the number of defects since the composite insulator was put into operation can be obtained by querying the transmission line ledger; the pollution level can be obtained by querying the transmission line pollution area map; the cumulative precipitation value (in ml) since the composite insulator was put into operation, the cumulative value of strong wind days (strong wind days are the maximum wind speed of the day ≥17.2m / s), the number of high temperature days (high temperature days are the maximum daily temperature ≥35℃) and the number of extremely cold weather days (extremely cold days are the minimum daily temperature ≤-30℃) can be obtained by querying meteorological data.

[0104] Table 2

[0105]

[0106]

[0107] 3. According to the normalization formula All indicators are normalized. Table 3 is the normalized composite insulator indicator table. The normalized composite insulator indicators of each tower are shown in Table 3.

[0108] Table 3

[0109]

[0110]

[0111] 4. Determine the coefficients of each index as follows: 0.144, 0.110, 0.171, 0.167, 0.171, 0.173, 0.013 and 0.051. Table 4 is a schematic table of the inspection index of the tower. The inspection index of each tower is calculated and shown in Table 4.

[0112] Table 4

[0113] Tower number 1 2 3 4 5 6 7 8 9 10 Inspection Index 0.56 0.55 0.54 0.58 0.59 0.60 0.58 0.59 0.54 0.55 Tower number 11 12 13 14 15 16 17 18 19 20 Inspection Index 0.70 0.68 0.70 0.81 0.80 0.81 0.75 0.68 0.69 0.70 Tower number 21 22 23 24 25 26 27 28 29 30 Inspection Index 0.34 0.34 0.31 0.37 0.34 0.38 0.39 0.37 0.37 0.38

[0114] 5. Table 5 is a schematic table of the inspection index of the sections. As shown in Table 5, the average inspection index of each tower in each section is calculated according to Table 1, and the inspection index of 6 sections is obtained. According to the inspection index of the sections from low to high, the inspection order of the drone is determined as section 6, section 5, section 1, section 2, section 4 and section 3.

[0115] Table 5

[0116] Segment number 1 2 3 4 5 6 Inspection Index 0.558 0.574 0.726 0.748 0.397 0.376

[0117] In summary, the method for inspecting composite insulators by using a drone provided in an embodiment of the present invention determines the section length according to the flight distance of the drone, divides the transmission line into several sections, and evaluates the operating status of the composite insulators according to eight indicators, including the number of years of operation of the composite insulators of each tower of the transmission line, the degree of contamination, the cumulative value of precipitation since the composite insulators were put into operation, the cumulative value of the number of windy days, the number of high temperature days, the number of extremely cold weather days, the number of composite insulator failures and the number of defects. The evaluation results are given according to the sections and the drone inspection sequence is formulated, which provides a reference for the operation and maintenance unit to reasonably arrange the composite insulator inspection plan, so as to maximize the use of limited drone inspection resources, improve the detection efficiency of composite insulators, promptly discover composite insulator defects, and avoid transmission line failures.

[0118] Based on the same inventive concept, an embodiment of the present invention also provides a device for drone inspection of composite insulators. Since the principle of solving the problem by the device is similar to the method for drone inspection of composite insulators, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0119] Figure 6 : is a structural block diagram of a device for inspecting composite insulators by a drone in an embodiment of the present invention. Figure 6 As shown, the device for UAV inspection of composite insulators includes:

[0120] The index coefficient module is used to obtain the index of each composite insulator of each tower, and determine the index coefficient of each tower according to the composite insulator index and inspection time;

[0121] Inspection index module, used to determine the inspection index of each tower according to the composite insulator index and index coefficient;

[0122] The inspection module is used to determine the drone inspection route according to the inspection index of each tower, and send the drone inspection route to the drone so that the drone can perform inspection according to the drone inspection route.

[0123] In one embodiment, the index coefficient module includes:

[0124] The initial index coefficient unit is used to determine the initial index coefficient of each tower according to the composite insulator index;

[0125] The correction index coefficient unit is used to determine the correction index coefficient of each tower according to the inspection time;

[0126] The index coefficient unit is used to determine the index coefficient of each tower according to the initial index coefficient and the revised index coefficient.

[0127] In one embodiment, the initial index coefficient unit includes:

[0128] An index specific gravity subunit is used to determine the index specific gravity according to the index of the composite insulator;

[0129] The indicator entropy value subunit is used to determine the indicator entropy value according to the indicator proportion;

[0130] The initial indicator coefficient subunit is used to determine the initial indicator coefficient according to the indicator entropy value.

[0131] In one embodiment, the inspection module includes:

[0132] The inspection index unit is used to determine the inspection index of each area according to the inspection index of each tower;

[0133] An inspection sequence unit is used to determine the inspection sequence according to the inspection index of each area;

[0134] The drone inspection route unit is used to determine the drone inspection route according to the inspection order.

[0135] In summary, the device for inspecting composite insulators using a drone in an embodiment of the present invention first determines the index coefficient of each tower according to the composite insulator index and the inspection time, and then determines the inspection index of each tower according to the composite insulator index and the index coefficient to determine the drone inspection route. The drone inspection route is sent to the drone so that the drone can inspect according to a reasonable inspection route, which can improve the detection efficiency of composite insulators and avoid transmission line failures.

[0136] An embodiment of the present invention also provides a specific implementation of a computer device that can implement all the steps in the method for unmanned aerial vehicle inspection of composite insulators in the above embodiment. Figure 7 is a block diagram of a computer device in an embodiment of the present invention, see Figure 7 , the computer equipment specifically includes the following contents:

[0137] Processor (processor) 701 and memory (memory) 702.

[0138] The processor 701 is used to call the computer program in the memory 702. When the processor executes the computer program, all steps in the method for inspecting composite insulators by a drone in the above embodiment are implemented. For example, when the processor executes the computer program, the following steps are implemented:

[0139] Obtain the composite insulator index of each tower, and determine the index coefficient of each tower according to the composite insulator index and inspection time;

[0140] Determine the inspection index of each tower according to the composite insulator index and index coefficient;

[0141] The drone inspection route is determined according to the inspection index of each tower, and the drone inspection route is sent to the drone so that the drone can perform inspections according to the drone inspection route.

[0142] In summary, the computer device of the embodiment of the present invention first determines the index coefficient of each tower according to the composite insulator index and the inspection time, and then determines the inspection index of each tower according to the composite insulator index and the index coefficient to determine the drone inspection route. The drone inspection route is sent to the drone so that the drone can perform inspections according to a reasonable inspection route, which can improve the detection efficiency of the composite insulator and avoid transmission line failures.

[0143] The embodiment of the present invention also provides a computer-readable storage medium capable of implementing all the steps in the method for inspecting composite insulators by using a drone in the above embodiment. The computer-readable storage medium stores a computer program. When the computer program is executed by a processor, all the steps in the method for inspecting composite insulators by using a drone in the above embodiment are implemented. For example, when the processor executes the computer program, the following steps are implemented:

[0144] Obtain the composite insulator index of each tower, and determine the index coefficient of each tower according to the composite insulator index and inspection time;

[0145] Determine the inspection index of each tower according to the composite insulator index and index coefficient;

[0146] The drone inspection route is determined according to the inspection index of each tower, and the drone inspection route is sent to the drone so that the drone can perform inspections according to the drone inspection route.

[0147] In summary, the computer-readable storage medium of the embodiment of the present invention first determines the index coefficient of each tower according to the composite insulator index and the inspection time, and then determines the inspection index of each tower according to the composite insulator index and the index coefficient to determine the drone inspection route. The drone inspection route is sent to the drone so that the drone can perform inspections according to a reasonable inspection route, which can improve the detection efficiency of composite insulators and avoid transmission line failures.

[0148] Based on the same inventive concept, an embodiment of the present invention also provides a system for drone inspection of composite insulators. Since the principle of solving the problem by the system is similar to the method for drone inspection of composite insulators, the implementation of the system can refer to the implementation of the method, and the repeated parts will not be repeated.

[0149] Figure 8 : is a structural block diagram of a system for inspecting composite insulators using a drone in an embodiment of the present invention. Figure 8 As shown in the figure, the UAV inspection system for composite insulators includes:

[0150] The device for inspecting composite insulators by using a drone as described above;

[0151] Drones are used to conduct inspections along drone inspection routes.

[0152] In summary, the system for inspecting composite insulators using a drone in an embodiment of the present invention first determines the index coefficient of each tower based on the composite insulator index and the inspection time, and then determines the inspection index of each tower based on the composite insulator index and the index coefficient to determine the drone inspection route. The drone inspection route is sent to the drone so that the drone can inspect according to a reasonable inspection route, which can improve the detection efficiency of composite insulators and avoid transmission line failures.

[0153] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

[0154] Those skilled in the art may also understand that the various illustrative logical blocks, units, and steps listed in the embodiments of the present invention may be implemented by electronic hardware, computer software, or a combination of the two. In order to clearly demonstrate the interchangeability of hardware and software, the various illustrative components, units, and steps described above have generally described their functions. Whether such functions are implemented by hardware or software depends on the specific application and the design requirements of the entire system. Those skilled in the art may use various methods to implement the described functions for each specific application, but such implementation should not be understood as exceeding the scope of protection of the embodiments of the present invention.

[0155] The various illustrative logic blocks, or units, or devices described in the embodiments of the present invention can be implemented or operated by a general-purpose processor, a digital signal processor, an application-specific integrated circuit (ASIC), a field programmable gate array or other programmable logic device, a discrete gate or transistor logic, a discrete hardware component, or any combination of the above. The general-purpose processor can be a microprocessor, and optionally, the general-purpose processor can also be any conventional processor, controller, microcontroller or state machine. The processor can also be implemented by a combination of computing devices, such as a digital signal processor and a microprocessor, a plurality of microprocessors, one or more microprocessors combined with a digital signal processor core, or any other similar configuration.

[0156] The steps of the method or algorithm described in the embodiments of the present invention can be directly embedded in hardware, a software module executed by a processor, or a combination of the two. The software module can be stored in a RAM memory, a flash memory, a ROM memory, an EPROM memory, an EEPROM memory, a register, a hard disk, a removable disk, a CD-ROM, or other storage media of any form in the art. Exemplarily, the storage medium can be connected to the processor so that the processor can read information from the storage medium and can write information to the storage medium. Optionally, the storage medium can also be integrated into the processor. The processor and the storage medium can be arranged in an ASIC, and the ASIC can be arranged in a user terminal. Optionally, the processor and the storage medium can also be arranged in different components in the user terminal.

[0157] In one or more exemplary designs, the above functions described in the embodiments of the present invention can be implemented in hardware, software, firmware or any combination of the three. If implemented in software, these functions can be stored on a computer-readable medium, or transmitted in the form of one or more instructions or codes on a computer-readable medium. Computer-readable media include computer storage media and communication media that facilitate the transfer of computer programs from one place to another. The storage medium can be any available medium that can be accessed by any general or special computer. For example, such computer-readable media can include but are not limited to RAM, ROM, EEPROM, CD-ROM or other optical disk storage, disk storage or other magnetic storage devices, or any other medium that can be used to carry or store program codes in the form of instructions or data structures and other forms that can be read by general or special computers, or general or special processors. In addition, any connection can be appropriately defined as a computer-readable medium, for example, if the software is transmitted from a website site, server or other remote resource through a coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL) or wirelessly, such as infrared, wireless and microwave, it is also included in the defined computer-readable medium. The disk and disc include compact disk, laser disk, optical disk, DVD, floppy disk and blue-ray disk. Disks usually copy data magnetically, while discs usually copy data optically with lasers. The above combination can also be included in computer readable media.

Claims

1. A method for inspecting composite insulators using an unmanned aerial vehicle, characterized in that: include: Obtaining the composite insulator index of each tower, and determining the index coefficient of each tower according to the composite insulator index and the inspection time; Determine the inspection index of each tower according to the composite insulator index and the index coefficient; Determine a drone inspection route according to the inspection index of each tower, and send the drone inspection route to the drone so that the drone performs inspection according to the drone inspection route; The index coefficients of each tower determined according to the composite insulator index and inspection time include: Determining the initial index coefficient of each tower according to the composite insulator index; Determine the correction index coefficient of each tower according to the inspection time; The index coefficient of each tower is determined according to the initial index coefficient and the modified index coefficient.

2. The method for inspecting composite insulators by using a drone according to claim 1, characterized in that: The initial index coefficients of each tower are determined according to the composite insulator index, including: Determining the index proportion according to the composite insulator index; Determine the index entropy value according to the index proportion; An initial indicator coefficient is determined according to the indicator entropy value.

3. The method for inspecting composite insulators by using a drone according to claim 1, characterized in that: The inspection routes of drones are determined based on the inspection index of each tower, including: Determine the inspection index of each area based on the inspection index of each tower; Determine the inspection order based on the inspection index of each area; The inspection route of the drone is determined according to the inspection order.

4. A device for inspecting composite insulators by using a drone, characterized in that: include: An index coefficient module is used to obtain the index of each composite insulator of each tower, and determine the index coefficient of each tower according to the composite insulator index and inspection time; An inspection index module, used to determine the inspection index of each tower according to the composite insulator index and the index coefficient; An inspection module is used to determine an inspection route of a drone according to the inspection index of each tower, and send the inspection route to the drone so that the drone performs inspection according to the inspection route; The index coefficient module includes: An initial index coefficient unit, used to determine the initial index coefficient of each tower according to the composite insulator index; A correction index coefficient unit, used to determine the correction index coefficient of each tower according to the inspection time; The index coefficient unit is used to determine the index coefficient of each tower according to the initial index coefficient and the modified index coefficient.

5. The device for inspecting composite insulators by using a drone according to claim 4, characterized in that: The initial index coefficient unit includes: An index specific gravity subunit, used to determine the index specific gravity according to the composite insulator index; An indicator entropy value subunit, used to determine the indicator entropy value according to the indicator proportion; The initial indicator coefficient subunit is used to determine the initial indicator coefficient according to the indicator entropy value.

6. The device for inspecting composite insulators by using a drone according to claim 4, characterized in that: The inspection module comprises: The inspection index unit is used to determine the inspection index of each area according to the inspection index of each tower; An inspection sequence unit is used to determine the inspection sequence according to the inspection index of each area; The drone inspection route unit is used to determine the drone inspection route according to the inspection order.

7. A computer device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the computer program, the steps of the method for inspecting composite insulators by a drone as described in any one of claims 1 to 3 are implemented.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method for inspecting composite insulators by a drone as described in any one of claims 1 to 3 are implemented.

9. A system for inspecting composite insulators using an unmanned aerial vehicle, characterized in that: include: The device for inspecting composite insulators by a drone according to any one of claims 4 to 6; Drones are used to conduct inspections along drone inspection routes.

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