A route planning system for power line modelling

Abstract

This invention discloses a route planning system for power transmission line modeling, comprising a flight control system and a planning system wirelessly connected to the flight control system. The flight control system includes a drone and a remote controller. The remote controller controls the drone. The drone includes a frame, with a positioning component mounted on the top of the frame for determining its longitude, latitude, and altitude. A flight control assembly is fixedly mounted on the bottom of the frame. Wing support rods are fixedly connected to the four corners of the frame, and a wing controller is fixedly connected to the top of each wing support rod. This invention, through its flight control system, facilitates multi-angle adjustment of the shooting lens, enabling multi-angle shooting of the location. It allows for precise control of the shooting angle, reduces aircraft operation, and lowers the difficulty of shooting. The coordination between the flight control system and the planning system reduces ineffective work and significantly improves operational efficiency.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicles (UAVs), and more specifically to a route planning system for power transmission line modeling. Background Technology

[0002] The electricity generated by power plants is not only used by people in the vicinity, but also needs to be transmitted to distant places to meet more needs. This electricity cannot be transmitted directly through ordinary power lines, but must be transmitted through high-voltage transmission lines. High-voltage transmission lines are the main arteries that ensure the stable operation of the power grid. However, the structure of transmission lines is complex, the information of the line paths varies greatly, and the data of the line equipment is diverse and in different formats. This seriously affects the operation and maintenance management of transmission equipment. With the development of computer and drone aerospace technology, technical support has been provided for building three-dimensional visualization models of transmission lines. Therefore, drone aerospace technology for building three-dimensional models of transmission lines has gradually been widely used. Drones equipped with cameras take pictures, and then the data is stitched together in post-production to create a three-dimensional model of the transmission line.

[0003] Existing drone photography technology presents significant challenges due to the diverse paths and complex terrain of power transmission lines. Oblique photography requires capturing images from at least five different angles, including a vertical one and four tilted ones. Multi-angle photography necessitates precise drone angle control, which is difficult to achieve due to varying shooting environments. Furthermore, updating flight paths based on aerial data during image creation is inconvenient, reducing data acquisition efficiency and increasing computational complexity.

[0004] Therefore, it is necessary to invent a route planning system for power transmission line modeling to solve the above problems. Summary of the Invention

[0005] The purpose of this invention is to provide a flight path planning system for power transmission line modeling. Through a flight control system, the system facilitates multi-angle adjustments to the camera lens, enabling multi-angle shooting of the location. It allows for precise control of the shooting angle, reducing aircraft operation and lowering the shooting difficulty. The coordination between the flight control system and the planning system reduces ineffective work and significantly improves operational efficiency. This addresses the challenges of existing technologies where power transmission line path information varies greatly, terrain is complex, and thus the operation is difficult and technically demanding. Oblique photography requires acquiring images from at least five different angles, including a vertical angle and four tilted angles. Multi-angle shooting necessitates angle control of the UAV, and the varying shooting environments make precise angle control difficult. Furthermore, during modeling, updating the flight path based on flight information is inconvenient, reducing data acquisition efficiency and increasing the difficulty of data calculation.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a route planning system for power transmission line modeling, comprising a flight control system and a planning system wirelessly connected to the flight control system, wherein the flight control system comprises a drone and a remote controller, the remote controller is used to control the drone, the drone comprises a frame, a positioning component is installed on the top of the frame, the positioning component is used to locate the longitude, latitude and altitude, and a flight control assembly is fixedly installed on the bottom of the frame;

[0007] The frame is fixedly connected to four corners with wing support rods, and a wing controller is fixedly connected to the top of each wing support rod. A propeller is installed at the output end of the wing controller, and a wing support rod is fixedly connected to the bottom of the wing support rod.

[0008] The flight control assembly has a square slot at its bottom front end. A protective frame is fixedly connected inside the square slot. A camera lens is installed inside the protective frame. A lateral motor is installed on the top of the protective frame. The output end of the lateral motor extends into the protective frame and is fixedly connected to a lateral rotating frame. The lateral rotating frame is hinged to the camera lens. A longitudinal motor is installed on one side of the protective frame. The output end of the longitudinal motor extends into the protective frame and is fixedly connected to a longitudinal connecting frame. A longitudinal movable frame is hinged to the end of the longitudinal connecting frame away from the longitudinal motor. The longitudinal movable frame is hinged to the camera lens.

[0009] As a preferred embodiment of the present invention, a horizontal rotating shaft is provided on both sides of the shooting lens, and the shape of the horizontal rotating frame is set as Y-shaped. The horizontal rotating frame includes a left support and a right support. The shooting lens is disposed between the left support and the right support, and the shooting lens is hinged to the horizontal rotating frame through the horizontal rotating shafts on both sides.

[0010] As a preferred embodiment of the present invention, the centerline of the output end of the longitudinal motor coincides with the centerlines of the two transverse rotating shafts.

[0011] As a preferred embodiment of the present invention, the bottom of the shooting lens is fixedly connected to a longitudinal rotating shaft, and the longitudinal movable frame is hinged to the shooting lens through the longitudinal rotating shaft. The center line of the longitudinal rotating shaft coincides with the center line of the output shaft of the transverse motor.

[0012] As a preferred embodiment of the present invention, both the longitudinal connecting frame and the longitudinal movable frame are C-shaped, and a connecting shaft is provided at the connection between the longitudinal connecting frame and the longitudinal movable frame, and the center line of the connecting frame coincides with the center line of the shooting lens.

[0013] As a preferred embodiment of the present invention, a grounding bracket is fixedly connected to the bottom end of the wing support rod, the bottom of the grounding bracket is bent inward, and the grounding bracket extends to the bottom of the protective frame.

[0014] As a preferred embodiment of the present invention, the UAV is used to capture images of the planned area and transmit the captured images, along with their location information and shooting angle data, to the planning system. The planning system includes an information acquisition module, an image optimization module, a data processing module, and a flight path planning module.

[0015] As a preferred embodiment of the present invention, the information acquisition module is used to receive and store data and images; the image optimization module includes an image filtering unit for filtering images and an image reading unit for extracting feature elements from images; the data processing module includes an arrangement unit for arranging different images according to shooting angle and shooting position and an image data generation unit for generating three-dimensional models based on images; and the route planning module is used to edit routes and generate route information according to planning requirements and in combination with the received image data.

[0016] A working method for a transmission line modeling route planning system, including the aforementioned transmission line modeling route planning system, comprises the following specific steps:

[0017] Step 1: Obtain a map overview through satellite maps, determine the scope of the area to be planned, and roughly divide the planning area as needed;

[0018] Step 2: Control the drone via remote control to take pictures and survey the planned area. The pictures taken by the drone, the location information of the pictures, and the shooting angle data are transmitted to the planning system. The information acquisition module receives and stores the received data and pictures.

[0019] Step 3: The image optimization module filters and optimizes the received image to improve its clarity. The image reading unit then extracts the feature elements inside the image to generate image data.

[0020] Step 4: The arrangement unit arranges different images according to the shooting angle and shooting position based on the image data, and the image data generation unit generates a 3D model based on the arranged images;

[0021] Step 5: The route planning module calculates based on the received image data, determines waypoints within the planning range, and then edits the route to generate route information according to the planning requirements and the waypoints.

[0022] Step Six: The route planning module transmits the route information to the flight control system. The flight control system then executes the flight operation based on the route information sent by the planning system and its own positioning information.

[0023] The technical effects and advantages provided by the present invention in the above technical solution are as follows:

[0024] 1. The drone's position and altitude can be viewed in real time through the positioning component. When the drone reaches the shooting location, the user can start the horizontal motor, which drives the horizontal rotating frame to rotate horizontally, thereby rotating the shooting lens horizontally and adjusting the shooting angle. The user can also start the vertical motor to drive the vertical connecting frame to rotate, which drives the shooting lens vertically through the vertical movable frame, thereby adjusting the shooting angle. This allows for multi-angle adjustment of the shooting lens, enabling multi-angle shooting of the shooting location. It allows for precise control of the shooting angle, reduces the operation of the aircraft, and lowers the shooting difficulty.

[0025] 2. Users can obtain a map overview based on satellite maps, determine the area to be planned, and roughly divide the planned area as needed. The divided area is then transmitted to the flight control system. The flight control system pairs the appropriate drone with the received information and controls the drone to fly within the planned area in real time via remote controller. This helps reduce the drone's ability to photograph areas outside the planned area, thus reducing the workload of the planning system. The drone transmits the captured images, their location information, and shooting angle data to the planning system. The information acquisition module receives and stores the received data and images, the image optimization module optimizes the received images, and the data processing module generates 3D models from the images. The flight path planning module calculates based on the received image data, determines waypoints within the planned area, and then edits the flight path information according to the planning requirements and waypoints. The flight path planning module transmits the flight path information to the flight control system. The flight control system executes flight operations based on the flight path information sent by the planning system and its own positioning information, allowing for real-time updates to the flight path and selection of the optimal route, thus improving the system's operational efficiency. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0027] Figure 1 This is a schematic diagram of the overall first-view structure of the present invention;

[0028] Figure 2 This is a schematic diagram of the overall second-view structure of the present invention;

[0029] Figure 3This is a schematic diagram of the connection structure between the protective frame and the camera lens of the present invention;

[0030] Figure 4 This is a schematic diagram of the connection structure between the longitudinal connecting frame and the shooting lens of the present invention;

[0031] Figure 5 This is a schematic diagram of the connection structure between the shooting lens and the horizontal rotating frame of the present invention;

[0032] Figure 6 This is a schematic diagram of the lateral rotation structure of the shooting lens of the present invention;

[0033] Figure 7 This is a schematic diagram of the longitudinal rotation structure of the camera lens of the present invention;

[0034] Figure 8 This is a schematic diagram of the tilting and rotating structure of the camera lens of the present invention;

[0035] Figure 9 This is a block diagram showing the connection structure between the flight control system and the planning system of the present invention.

[0036] Explanation of reference numerals in the attached figures:

[0037] 1. Frame; 2. Positioning assembly; 3. Flight control assembly; 4. Wing support rod; 5. Wing controller; 6. Propeller; 7. Grounding bracket; 8. Protective frame; 9. Camera lens; 10. Lateral motor; 11. Lateral rotating frame; 12. Longitudinal motor; 13. Longitudinal connecting frame; 14. Longitudinal movable frame. Detailed Implementation

[0038] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0039] This invention provides, for example Figure 1-9 The above describes a route planning system for modeling power transmission lines, which includes a flight control system and a planning system wirelessly connected to the flight control system. The flight control system includes a drone and a remote controller. The remote controller is used to control the drone. The drone includes a frame 1. A positioning component 2 is installed on the top of the frame 1. The positioning component 2 is used to locate the longitude, latitude and altitude. A flight control assembly 3 is fixedly installed on the bottom of the frame 1.

[0040] The frame 1 is fixedly connected to the four corners of the frame with wing support rods 4. The top of each wing support rod 4 is fixedly connected to a wing controller 5. The output end of the wing controller 5 is equipped with a rotor 6. The bottom of the wing support rod 4 is fixedly connected to the wing support rod 4.

[0041] The bottom front end of the flight control assembly 3 is provided with a square slot, and a protective frame 8 is fixedly connected inside the square slot. A camera lens 9 is installed inside the protective frame 8. A horizontal motor 10 is installed on the top of the protective frame 8. The output end of the horizontal motor 10 extends into the interior of the protective frame 8, and a horizontal rotating frame 11 is fixedly connected to the output end of the horizontal motor 10. The horizontal rotating frame 11 is hinged to the camera lens 9. A vertical motor 12 is installed on one side of the protective frame 8. The output end of the vertical motor 12 extends into the interior of the protective frame 8, and a vertical connecting frame 13 is fixedly connected to the output end of the vertical motor 12. A vertical movable frame 14 is hinged to the end of the vertical connecting frame 13 away from the vertical motor 12. The vertical movable frame 14 is hinged to the camera lens 9.

[0042] Specifically, users can obtain a map overview based on satellite maps, determine the area to be planned, and roughly divide the planned area as needed. This division is then transmitted to the flight control system. The flight control system pairs a suitable drone with the received information and controls the drone to fly within the planned area in real time via remote controller. This reduces the need for the drone to film areas outside the planned zone, thus lessening the workload of the planning system. The wing controller 5 is activated via remote controller, which drives the rotor 6 to rotate, propelling the drone in flight. Users can monitor the drone's position and altitude in real time via positioning component 2. Upon reaching the filming location... The user can activate the horizontal motor 10, which drives the horizontal rotating frame 11 to rotate horizontally, thereby causing the shooting lens 9 to rotate horizontally and adjusting the horizontal angle of the shot. The user can also activate the vertical motor 12 to drive the vertical connecting frame 13 to rotate, which drives the shooting lens 9 to rotate vertically through the vertical movable frame 14, thereby adjusting the vertical angle of the shot. This allows for easy multi-angle adjustment of the shooting lens 9, and the operation is simple and easy to adjust the angle. Then, the drone transmits the captured images, the position information of the captured images, and the shooting angle data to the planning system in real time. The information acquisition module receives and stores the received data and images.

[0043] In the above structure, both sides of the shooting lens 9 are provided with horizontal pivots, and the shape of the horizontal rotating frame 11 is Y-shaped. The horizontal rotating frame 11 includes a left support and a right support. The shooting lens 9 is disposed between the left support and the right support, and the shooting lens 9 is hinged to the horizontal rotating frame 11 through the horizontal pivots on both sides. The left support and the right support rotate at the same time, which can enhance the stability of the shooting lens 9.

[0044] like Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8As shown, the center line of the output end of the longitudinal motor 12 coincides with the center lines of the two transverse rotating shafts.

[0045] Specifically, when the longitudinal motor 12 is started, it can drive the longitudinal connecting frame 13 to rotate around the output shaft of the longitudinal motor 12. The longitudinal connecting frame 13 drives the shooting lens 9 to rotate around the horizontal axis through the longitudinal movable frame 14, thereby enabling the shooting lens 9 to adjust the longitudinal angle. This facilitates multi-angle shooting of the designated location as needed and prevents motion interference between the longitudinal connecting frame 13 and the shooting lens 9.

[0046] In the above structure, the bottom of the shooting lens 9 is fixedly connected to a longitudinal rotating shaft, and the longitudinal movable frame 14 is hinged to the shooting lens 9 through the longitudinal rotating shaft. The center line of the longitudinal rotating shaft coincides with the center line of the output shaft of the transverse motor 10.

[0047] Specifically, the two horizontal and vertical axes are located on the same cross section of the shooting lens 9. When the horizontal motor 10 drives the shooting lens 9 to rotate horizontally, the shooting lens 9 can rotate around the vertical axis, which can prevent motion interference between the shooting lens 9 and the vertical movable frame 14.

[0048] like Figure 8 As shown, both the longitudinal connecting frame 13 and the longitudinal movable frame 14 are C-shaped, and a connecting shaft is provided at the connection between the longitudinal connecting frame 13 and the longitudinal movable frame 14. The center line of the connecting frame coincides with the center line of the shooting lens 9.

[0049] Specifically, when it is necessary to rotate the shooting lens 9 in a combination of horizontal and vertical angles, the user can first start the horizontal motor 10. After the horizontal motor 10 drives the shooting lens 9 to rotate to the specified angle, the vertical motor 12 is then started. Since the vertical motor 12 drives the vertical connecting frame 13 to rotate, and the angle of the shooting lens 9 changes at this time, the vertical connecting frame 13 drives the vertical movable frame 14 to rotate. The vertical movable frame 14 will rotate according to the position of the shooting lens 9 and the vertical connecting frame 13, thereby providing motion compensation for the shooting lens 9. This facilitates the multi-angle rotation of the shooting lens 9, thereby completing multi-angle shooting of the shooting location. It enables precise control of the shooting angle, reduces the operation of the aircraft, and lowers the shooting difficulty.

[0050] In the above structure, a grounding bracket 7 is fixedly connected to the bottom end of the wing support rod 4. The bottom of the grounding bracket 7 is bent inward and extends to the bottom of the protective frame 8. When the drone lands, it can protect the device. The grounding bracket 7 is located at the bottom of the wing support rod 4, which increases the distance between the four wing support rods 4. When landing, it can greatly increase the stability of the drone and reduce the possibility of the drone tipping over.

[0051] In a further optimization of the above embodiments, the UAV is used to capture images of the planned area and transmit the captured images, along with their location information and shooting angle data, to the planning system. The planning system includes an information acquisition module, an image optimization module, a data processing module, and a flight path planning module.

[0052] In the above technical solution, the information acquisition module is used to receive and store data and images; the image optimization module includes an image filtering unit for filtering images and an image reading unit for extracting feature elements from images; the data processing module includes an arrangement unit for arranging different images according to shooting angle and shooting position and an image data generation unit for generating three-dimensional models based on images; and the route planning module is used to edit routes and generate route information based on planning requirements and the received image data, which can make the three-dimensional modeling of transmission lines clearer.

[0053] A working method for a transmission line modeling route planning system, including the aforementioned transmission line modeling route planning system, comprises the following specific steps:

[0054] Step 1: Obtain a map overview through satellite maps, determine the scope of the area to be planned, and roughly divide the planning area as needed;

[0055] Step 2: Control the drone via remote control to take pictures and survey the planned area. The pictures taken by the drone, the location information of the pictures, and the shooting angle data are transmitted to the planning system. The information acquisition module receives and stores the received data and pictures.

[0056] Step 3: The image optimization module filters and optimizes the received image to improve its clarity. The image reading unit then extracts the feature elements inside the image to generate image data.

[0057] Step 4: The arrangement unit arranges different images according to the shooting angle and shooting position based on the image data, and the image data generation unit generates a 3D model based on the arranged images;

[0058] Step 5: The route planning module calculates based on the received image data, determines waypoints within the planning range, and then edits the route to generate route information according to the planning requirements and the waypoints.

[0059] Step Six: The route planning module transmits the route information to the flight control system. The flight control system then executes the flight operation based on the route information sent by the planning system and its own positioning information.

[0060] The foregoing has only described certain exemplary embodiments of the present invention by way of illustration. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the foregoing drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A route planning system for power transmission line modeling, comprising a flight control system and a planning system wirelessly connected to the flight control system, characterized in that: The flight control system includes a drone and a remote controller. The remote controller is used to control the drone. The drone includes a frame (1). A positioning component (2) is installed on the top of the frame (1). The positioning component (2) is used to locate the longitude, latitude and altitude. A flight control assembly (3) is fixedly installed on the bottom of the frame (1). The frame (1) is fixedly connected to four corners with wing support rods (4), and the top of each wing support rod (4) is fixedly connected to a wing controller (5). The output end of the wing controller (5) is equipped with a propeller (6), and the bottom of the wing support rod (4) is fixedly connected to a wing support rod (4). The flight control assembly (3) has a square slot at its bottom front end. A protective frame (8) is fixedly connected inside the square slot. A camera lens (9) is installed inside the protective frame (8). A horizontal motor (10) is installed on the top of the protective frame (8). The output end of the horizontal motor (10) extends into the protective frame (8), and a horizontal rotating frame (11) is fixedly connected to the output end of the horizontal motor (10). The horizontal rotating frame (11) is hinged to the camera lens (9). A vertical motor (12) is installed on one side of the protective frame (8). The output end of the vertical motor (12) extends into the protective frame (8). The interior of the longitudinal motor (12) is fixedly connected to the output end of the longitudinal motor (12) with a longitudinal connecting frame (13). The longitudinal connecting frame (13) is hinged to a longitudinal movable frame (14) at the end away from the longitudinal motor (12). The longitudinal movable frame (14) is hinged to the shooting lens (9). Both sides of the shooting lens (9) are provided with transverse rotating shafts. The transverse rotating frame (11) is Y-shaped. The transverse rotating frame (11) includes a left support and a right support. The shooting lens (9) is located between the left support and the right support. The shooting lens (9) is hinged to the transverse rotating frame (11) through the transverse rotating shafts on both sides. The centerline of the output end of the longitudinal motor (12) coincides with the centerlines of the two transverse rotating shafts; The bottom of the shooting lens (9) is fixedly connected to a longitudinal rotating shaft, and the longitudinal movable frame (14) is hinged to the shooting lens (9) through the longitudinal rotating shaft. The center line of the longitudinal rotating shaft coincides with the center line of the output shaft of the transverse motor (10). The drone is used to capture images of the planned area and transmit the captured images, along with their location information and shooting angle data, to the planning system. The planning system includes an information acquisition module, an image optimization module, a data processing module, and a flight path planning module. The information acquisition module is used to receive and store data and images. The image optimization module includes an image filtering unit for filtering images and an image reading unit for extracting feature elements from images. The data processing module includes an arrangement unit for arranging different images according to shooting angle and shooting position and an image data generation unit for generating three-dimensional models based on images. The route planning module is used to edit routes and generate route information according to planning requirements and in combination with the received image data. The longitudinal connecting frame (13) and the longitudinal movable frame (14) are both C-shaped, and a connecting shaft is provided at the connection between the longitudinal connecting frame (13) and the longitudinal movable frame (14). The center line of the connecting shaft coincides with the center line of the shooting lens (9). The bottom end of the wing support rod (4) is fixedly connected to a grounding bracket (7), the bottom of the grounding bracket (7) is bent inward, and the grounding bracket (7) extends to the bottom of the protective frame (8).

2. A method for operating a transmission line modeling route planning system, comprising the transmission line modeling route planning system as described in claim 1, characterized in that: The specific steps are as follows: Step 1: Obtain a map overview through satellite maps, determine the scope of the area to be planned, and roughly divide the planning area as needed; Step 2: Control the drone via remote control to take pictures and survey the planned area. The pictures taken by the drone, the location information of the pictures, and the shooting angle data are transmitted to the planning system. The information acquisition module receives and stores the received data and pictures. Step 3: The image optimization module filters and optimizes the received image to improve its clarity. The image reading unit then extracts the feature elements inside the image to generate image data. Step 4: The arrangement unit arranges different images according to the shooting angle and shooting position based on the image data, and the image data generation unit generates a 3D model based on the arranged images; Step 5: The route planning module calculates based on the received image data, determines waypoints within the planning range, and then edits the route to generate route information according to the planning requirements and the waypoints. Step Six: The route planning module transmits the route information to the flight control system. The flight control system then executes the flight operation based on the route information sent by the planning system and its own positioning information.

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