A control method, system, terminal, and storage medium for crossing power transmission lines.

Abstract

This application relates to a control method, system, terminal, and storage medium for crossing power transmission lines, belonging to the technical field of drones crossing power lines. The method includes: acquiring preset power transmission line tower information, including the connection height, tower spacing, and tower location; acquiring drone flight information based on the power transmission line tower information, including a preset flight path and preset flight altitude; acquiring the drone's real-time flight altitude; determining whether there is a real-time flight altitude that does not match the preset flight altitude; if so, acquiring a return-to-home prompt instruction; and controlling the drone to return to home based on the return-to-home prompt instruction. This application has the effect of timely detecting situations where the drone's tow rope detaches, reducing wasted time and lowering drone battery consumption.

Description

Technical Field

[0001] This application relates to the technical field of unmanned aerial vehicle (UAV) crossing power lines, and in particular to a control method, system, terminal, and storage medium for crossing power transmission lines. Background Technology

[0002] As drone technology matures, drones are increasingly being applied in various fields, such as surveying, reconnaissance, and power line construction. Because power transmission towers are typically quite tall, manually climbing them to install cables is difficult; therefore, drone technology is increasingly being used in power line splicing.

[0003] The current method of pulling the conductors usually involves using a drone to pull a primary guide rope with a diameter of 4 mm from tower A to tower B. Then, the primary guide rope pulls the secondary guide rope. After 7 rounds of pulling, it is converted into a 28 mm main guide rope. Finally, the main guide rope pulls two conductors simultaneously through a "one-pulling-two" board. After the pulling on both sides is completed, the entire conductor crossing is completed.

[0004] However, when using the above method to pull and cross the conductor, the drone may encounter situations where the traction rope is not securely tied during flight, or the distance between the two line towers is too far. This can cause the drone to fail to detect the traction rope coming loose in time while pulling the conductor, resulting in the drone doing useless work, wasting time and the drone's battery power. Summary of the Invention

[0005] In order to promptly detect situations where the drone's tow rope has come loose, reduce wasted time, and decrease the drone's battery consumption, this application provides a control method, system, terminal, and storage medium for crossing power transmission lines.

[0006] In a first aspect, this application provides a control method for crossing transmission lines, employing the following technical solution:

[0007] A control method for crossing a power transmission line includes:

[0008] Obtain preset transmission line tower information, which includes the wire connection height, tower spacing, and tower location;

[0009] Flight information of the UAV is obtained based on the information of the power transmission line towers, including a preset flight path and a preset flight altitude;

[0010] Obtain the real-time flight altitude of the drone;

[0011] Determine whether there is a real-time flight altitude that does not match the preset flight altitude;

[0012] If it exists, obtain the return-to-home prompt instruction information;

[0013] The drone is controlled to return to its home location based on the return-to-home prompt instruction information.

[0014] By employing the above technical solution, it is possible to determine whether there is a real-time flight altitude that does not match the preset flight altitude. This allows us to identify situations where the tow rope suddenly detaches, causing the drone to ascend rapidly. If such a situation exists, it indicates that the tow rope on the drone may have come loose. Therefore, a return-to-home instruction is obtained to control the drone to return to its starting point. This method can promptly detect situations where the drone's tow rope has come loose, reducing unnecessary travel by the drone, minimizing wasted time, and thus reducing the drone's battery consumption.

[0015] Preferably, before obtaining the return-to-home notification information, the method further includes:

[0016] Determine whether there are obstacles on the preset flight path with a flight altitude greater than the preset flight altitude;

[0017] If it exists, then the return-to-home prompt instruction information will not be obtained;

[0018] If it does not exist, proceed to the next step.

[0019] By employing the above technical solution, it can be determined whether there are obstacles on the preset flight path with a flight altitude higher than the preset flight altitude. This allows for further determination of whether the real-time flight altitude being higher than the preset flight altitude is due to the tow rope detachment. If such obstacles exist, it indicates that the problem is likely not caused by the tow rope detachment, so obtaining a return-to-home instruction is unnecessary. If obstacles do not exist, the step of obtaining a return-to-home instruction continues, thereby improving the accuracy of determining whether the tow rope has detached.

[0020] Preferably, if there is an obstacle with a flight altitude greater than the preset flight altitude, the method further includes:

[0021] When the drone crosses the obstacle, the current battery level of the drone is obtained;

[0022] The flight altitude, which is greater than the preset flight altitude, is obtained as the altitude to climb.

[0023] Obtain the propeller's rotational speed corresponding to the height of elevation;

[0024] The power consumption rate corresponding to the increased rotation speed is obtained as the increased power consumption rate.

[0025] The flight duration is obtained based on the rate of increase in power consumption and the current power level.

[0026] The distance between the drone and the target power line tower is obtained as the remaining distance;

[0027] The remaining time is obtained based on the remaining distance and the preset flight speed;

[0028] Determine whether the remaining time is greater than or equal to the ascent flight time;

[0029] If so, the drone's flight is controlled based on the stated altitude.

[0030] If not, the drone's flight is controlled based on the preset flight altitude.

[0031] By employing the above technical solution, determining whether the remaining flight time is greater than or equal to the ascent flight time allows us to ascertain whether the drone has sufficient battery power to control its flight at the desired ascent altitude. If so, the battery is sufficient, and controlling the drone's flight at the desired ascent altitude reduces the possibility of obstacles affecting the normal movement of the tow rope. If not, the battery is insufficient, and the drone should continue to be controlled at the preset flight altitude. This ensures the drone's normal operation as much as possible.

[0032] Preferably, before controlling the drone's flight based on the preset flight altitude, the method further includes:

[0033] Obtain the preset rotation speed of the drone's propellers corresponding to the preset flight altitude;

[0034] Obtain the power consumption rate corresponding to the preset rotation speed, and use it as the preset power consumption rate;

[0035] The preset flight duration is obtained based on the preset power consumption rate and the current power level;

[0036] The remaining time is obtained based on the remaining distance and the preset flight speed;

[0037] Determine whether the remaining time is greater than or equal to the preset flight time;

[0038] If so, the drone's flight is controlled based on the preset flight altitude;

[0039] If not, a landing command is obtained to control the drone to land.

[0040] By employing the above technical solution, the remaining flight time can be determined to be greater than or equal to the preset flight time to further ascertain whether the drone has sufficient battery power. If so, it proves that the battery is sufficient, and controlling the drone to fly at the preset flight altitude can ensure the drone's normal operation as much as possible. If not, it proves that the drone's battery is insufficient, and obtaining a landing command to control the drone to land can reduce the probability of a drone crash and minimize economic losses.

[0041] Preferably, if there is no real-time flight altitude that does not match the preset flight altitude, the method further includes:

[0042] Obtain the current image of the target tower on the preset flight path;

[0043] Determine whether a preset identification marker exists in the current image;

[0044] If the preset identification marker exists, the current location of the corresponding target line tower is obtained;

[0045] The drone is controlled to land based on its current location;

[0046] If the preset identification marker does not exist, the current location will not be obtained.

[0047] By employing the above technical solution, the accuracy of drone landing can be improved by determining whether a preset identification marker exists in the current image. If a preset identification marker exists, the current position of the corresponding target tower is obtained, and the drone is controlled to land based on the current position; otherwise, the current position is not obtained. This ensures the accuracy of the drone's landing position as much as possible, thereby reducing the possibility of drone collisions.

[0048] Preferably, after obtaining the UAV's flight information based on the power transmission line tower information, the method further includes:

[0049] Obtain the road conditions between the transmission line towers;

[0050] Based on the road conditions between the towers, it is determined whether there is a highway between two adjacent transmission line towers, and the highway includes high-speed railways and expressways;

[0051] If the expressway exists, then obtain the maximum operating speed of the vehicle corresponding to the expressway;

[0052] The distance of the vehicle affected by the upper wind force is obtained based on the maximum operating speed;

[0053] Determine whether the distance affected by the upper wind exceeds the preset flight altitude;

[0054] If it exceeds the limit, an adjustment difference is obtained based on the preset flight altitude and the distance affected by the upper wind force;

[0055] The preset flight altitude is increased based on the adjustment difference.

[0056] By adopting the above technical solution, it is possible to determine whether the distance affected by the upper wind exceeds the preset flight altitude, and whether the wind generated by the high-speed vehicle will affect the normal flight of the drone. If it exceeds the distance, it will affect the drone, and the preset flight altitude of the drone will be adjusted according to the adjustment difference. If it does not exceed the distance, it will not affect the drone, and no adjustment is required. This can further improve the safety of the drone flight and ensure the normal crossing of power transmission lines as much as possible.

[0057] Preferably, before obtaining the adjustment difference based on the preset flight altitude and the distance of influence of the upper wind force, the method further includes:

[0058] Acquire reconnaissance images of the drone;

[0059] Based on the detected images, determine whether the vehicle exists within a preset distance;

[0060] If it does not exist, the adjustment difference will not be obtained;

[0061] If it exists, proceed to the next step.

[0062] By adopting the above technical solution, it is possible to determine whether there will be any vehicle interference when the drone crosses the wiring distance by judging whether there is a vehicle within the preset distance. If no vehicle is present, the adjustment difference is not acquired; otherwise, the adjustment difference is acquired. This further improves the convenience of drone adjustments and reduces the drone's energy consumption.

[0063] Secondly, this application provides a control system for power transmission line crossings, which adopts the following technical solution:

[0064] A control system for crossing power transmission lines, comprising:

[0065] The first information acquisition module is used to acquire preset transmission line tower information, which includes the wire connection height, tower spacing, and tower location.

[0066] The second information acquisition module is used to acquire the flight information of the UAV based on the information of the power transmission line tower, the flight information including a preset flight path and a preset flight altitude;

[0067] An altitude acquisition module is used to acquire the real-time flight altitude of the UAV;

[0068] An altitude determination module is used to determine whether there is a real-time flight altitude that does not match the preset flight altitude;

[0069] The instruction information acquisition module is used to acquire return-to-home prompt instruction information if there is a real-time flight altitude that does not match the preset flight altitude.

[0070] The drone control module is used to control the drone to return to home based on the return-to-home prompt instruction information.

[0071] By employing the above technical solution, and based on the data transmission between various modules, it can determine whether there is a real-time flight altitude that does not match the preset flight altitude. This allows for the identification of situations where the tow rope suddenly detaches, causing the drone to ascend rapidly. If such a situation exists, it indicates that the tow rope on the drone may have come loose. Therefore, a return-to-home prompt instruction is obtained to control the drone to return to its starting point. This method can promptly detect situations where the drone's tow rope has come loose, reducing unnecessary travel by the drone, minimizing wasted time, and thus reducing the drone's battery consumption.

[0072] Thirdly, this application provides a smart terminal, which adopts the following technical solution:

[0073] A smart terminal, comprising:

[0074] Memory is used to store computer programs that can run on a processor;

[0075] The processor, when running the computer program, is capable of performing the steps of any of the methods described above.

[0076] By adopting the above technical solution, the memory can store information, the processor can retrieve the information and issue control instructions, ensuring the orderly execution of the program and achieving the effect of the above solution.

[0077] Fourthly, this application provides a computer-readable storage medium, which adopts the following technical solution:

[0078] A computer-readable storage medium storing a computer program that can be loaded by a processor and executed by any of the methods described above.

[0079] By adopting the above technical solution, when the computer-readable storage medium is loaded into any computer, any computer can execute the control method for crossing power transmission lines provided in this application.

[0080] In summary, this application includes at least one of the following beneficial technical effects:

[0081] 1. Determine if there is a real-time flight altitude that does not match the preset flight altitude. This can identify if the tow rope has suddenly detached, causing the drone to ascend rapidly. If so, it indicates that the tow rope on the drone may have come loose. Therefore, a return-to-home instruction is obtained to control the drone to return to base. This allows for timely detection of tow rope detachment, reducing unnecessary travel by the drone, minimizing wasted time, and thus reducing battery consumption.

[0082] 2. Determining whether there are obstacles at a flight altitude higher than the preset flight path can further determine whether the real-time flight altitude being higher than the preset flight altitude is due to the tow rope detachment. If such obstacles exist, it proves that the problem is likely not caused by the tow rope detachment, so obtaining a return-to-home instruction is unnecessary. If obstacles do not exist, the step of obtaining a return-to-home instruction should continue, thereby improving the accuracy of determining whether the tow rope has detached. Attached Figure Description

[0083] Figure 1 This is a flowchart illustrating a control method for crossing a power transmission line according to an embodiment of this application;

[0084] Figure 2 This is a flowchart illustrating steps S11 to S13 in one embodiment of this application;

[0085] Figure 3 This is a flowchart illustrating steps S20 to S29 in one embodiment of this application;

[0086] Figure 4 This is a flowchart illustrating steps S31 to S37 in one embodiment of this application;

[0087] Figure 5 This is a flowchart illustrating steps S41 to S45 in one embodiment of this application;

[0088] Figure 6 This is a flowchart illustrating steps S51 to S57 in one embodiment of this application;

[0089] Figure 7 This is a flowchart illustrating steps S61 to S64 in one embodiment of this application;

[0090] Figure 8 This is a structural block diagram of a control system for power transmission line crossing provided in an embodiment of this application.

[0091] Explanation of reference numerals in the attached figures:

[0092] 1. First information acquisition module; 2. Second information acquisition module; 3. Altitude acquisition module; 4. Altitude judgment module; 5. Command information acquisition module; 6. UAV control module. Detailed Implementation

[0093] The following is in conjunction with the appendix Figures 1 to 8 This application will be described in further detail.

[0094] This application discloses a control method for power transmission line crossing.

[0095] Reference Figure 1Control methods for power transmission line crossings include:

[0096] S1. Obtain preset transmission line tower information;

[0097] The information can be obtained through BIM modeling, which establishes the relationship between the BIM model and the actual transmission line towers, such as their location and scale. This allows for the determination of the actual transmission line tower information based on the BIM model. The transmission line tower information includes the wiring height, tower spacing, and tower location.

[0098] S2. Obtain UAV flight information based on power transmission line tower information; among which,

[0099] The preset flight path can be preset based on the tower spacing and tower location information displayed on the digital tower display. The preset flight height can be determined based on the height of the connecting tower and the tower itself; this can be done by adding or subtracting a preset height from the connecting tower height. Other preset heights can be set according to actual conditions. The flight information includes the preset flight path and preset flight height.

[0100] S3. Obtain the real-time flight altitude of the drone;

[0101] Real-time flight altitude can be obtained by means of barometers, accelerometers, GPS, or ultrasound installed on the drone, and the measured altitude is sent to the control system to determine the real-time flight altitude.

[0102] S4. Determine if there is a real-time flight altitude that does not match the preset flight altitude;

[0103] The system then records the drone's real-time flight altitude and compares it with a preset flight altitude stored in the system. If the difference between the two is within the preset error value range, it proves that the two flight altitudes are the same. If the difference between the two is greater than the error value range, it proves that there is a real-time flight altitude that does not match the preset flight altitude. The error value can be set according to the actual situation.

[0104] S5. If it exists, obtain the return-to-home prompt instruction information;

[0105] If there is no real-time flight altitude that does not match the preset flight altitude, it indicates that the tow rope has not suddenly detached, causing the drone's flight altitude to rise abruptly, so no action is taken at this time. If there is a real-time flight altitude that does not match the preset flight altitude, it indicates that there may be a situation where the tow rope has suddenly detached, causing the drone's flight altitude to rise abruptly, so the drone does not need to continue moving forward, and therefore a return-to-home prompt instruction should be obtained at this time.

[0106] The return-to-home notification information includes a return-to-home instruction and a notification message. The system sends the return-to-home instruction to the drone, which then returns along a preset flight path. The notification message is also sent to the control terminal of the drone operator, thus reminding the operator through text, sound, or light prompts to promptly receive the drone.

[0107] S6. Control the drone to return to home based on the return-to-home prompt instruction information.

[0108] Finally, the drone controls its return-to-home command based on the return-to-home prompt information, thereby enabling timely detection of drone tether detachment, reducing unnecessary travel, minimizing wasted time, and ultimately reducing drone battery consumption.

[0109] Reference Figure 2 Furthermore, to improve the accuracy of determining whether to obtain the return-to-home notification instruction information, in another embodiment, before obtaining the return-to-home notification instruction information, the following steps are also included:

[0110] S11. Determine whether there are obstacles with a flight altitude greater than the preset flight altitude on the preset flight path;

[0111] S12. If it exists, do not obtain the return-to-home prompt instruction information;

[0112] S13. If it does not exist, then proceed with the step of obtaining the return prompt instruction information.

[0113] Specifically, the first step is to determine whether there are obstacles on the preset flight path that are higher than the preset flight altitude. This can be done by checking whether there are trees or mountains in the image taken by the drone in front of the flight path. If they are, it proves that there are obstacles; otherwise, it proves that there are no obstacles.

[0114] Of course, it can also be obtained through a distance sensor, such as a laser sensor. By determining the duration for which the laser sensor receives reflected light, if the duration is less than a preset duration, it proves that the light exists; otherwise, it does not exist.

[0115] If the preset flight path contains obstacles at altitudes higher than the preset flight altitude, it indicates that the drone's real-time flight altitude is likely an active altitude increase to pass through the obstacles. Therefore, it is not necessary to obtain return-to-home prompts in this case.

[0116] If there are no obstacles above the preset flight altitude along the preset flight path, it is highly likely that the drone's increased flight altitude was caused by the tow rope falling off. Therefore, continuing to execute the step of obtaining the return-to-home prompt instruction information can improve the accuracy of the judgment.

[0117] Of course, in one possible implementation of this embodiment, in order to further determine whether the real-time flight altitude of the UAV is greater than the preset flight altitude in order to actively increase altitude to pass through the obstacle, the image captured by the UAV can be acquired, and then the height difference between the preset flight altitude and the obstacle can be determined according to the image algorithm. If the height difference between the preset flight altitude and the real-time flight altitude is the same as the height difference between the preset flight altitude and the obstacle, it proves that the real-time flight altitude is greater than the preset flight altitude in order to actively increase altitude to pass through the obstacle. Therefore, the step of acquiring the return-to-home prompt instruction information continues.

[0118] Reference Figure 3 To reduce the possibility of the tow rope being blocked and to ensure normal traction as much as possible, in another embodiment, if there is an obstacle with a flight height greater than the preset flight height, the method further includes:

[0119] S20. When the drone passes over an obstacle, obtain the drone's current battery level;

[0120] When the drone passes over an obstacle, its onboard power detection device detects the drone's current remaining power, i.e., the current power level, and then sends the information to the control system.

[0121] S21. Obtain a flight altitude greater than the preset flight altitude and use it as the ascent altitude;

[0122] Record the flight altitude that is greater than the preset flight altitude and use it as the altitude to climb; that is, record the maximum value in the real-time flight altitude.

[0123] S22. Obtain the propeller rotation speed corresponding to the elevation height;

[0124] The elevation and propeller rotation speed are compared with data obtained through prior experimental measurements, such as propeller rotation speed measured by a rotation sensor, angular velocity sensor, or angle sensor, and stored.

[0125] Of course, the measured flight altitude of the drone includes both when it is carrying a tether and when it is not carrying a tether. Both cases can be obtained through experimental data measurement, and measurements can also be taken based on the length of the tether.

[0126] S23. Obtain the power consumption rate corresponding to the increase in rotation speed, and use it as the power consumption rate for the increase;

[0127] The rate of power consumption can be obtained from the drone's power detection device. For example, the device measures the drone's power consumption over a preset period of time at an increased rotational speed, and the remaining battery power determines the rate of power consumption, i.e., the rate of power consumption at the current altitude. Of course, during the measurement of the rate of power consumption at the current altitude, the drone flies at a preset speed.

[0128] S24. Obtain the flight duration for ascent based on the rate of power consumption during ascent and the current power level;

[0129] The ascent flight time is the value obtained by dividing the current battery level by the rate of power consumption at ascent. In other words, it is the ascent flight time when flying at the current altitude and the preset flight speed. The data can be detected by the battery level detection device and calculated by the system.

[0130] S25. Obtain the distance between the drone and the target power line tower as the remaining distance;

[0131] The distance between the drone and the target tower can be obtained by acquiring the drone's current location and then calculating the distance between them, i.e., the remaining distance, based on the drone's current location and the target tower's location using coordinates.

[0132] S26. Obtain the remaining time based on the remaining distance and preset flight speed;

[0133] The remaining time is the value obtained by dividing the remaining distance by the preset flight speed, where the preset flight speed refers to the speed at which the drone moves back and forth.

[0134] S27. Determine whether the remaining time is greater than or equal to the ascent flight time;

[0135] In other words, it determines whether the drone has enough battery power to move to the target power line tower while flying at the preset speed and altitude.

[0136] S28. If so, then control the drone's flight based on the increased altitude;

[0137] S29. If not, then control the drone's flight based on the preset flight altitude.

[0138] If the remaining flight time is greater than or equal to the ascent flight time, it proves that the battery is sufficient. Therefore, in order to prevent the tow rope from being blocked by obstacles and affecting its movement, an ascent command is obtained at this time. The ascent command includes the ascent altitude, that is, the drone is controlled to fly according to the ascent altitude.

[0139] If the remaining time is less than the ascent flight time, it means that the battery is insufficient for the ascent flight. Therefore, a descent command is obtained. The descent command includes a preset flight altitude, which means controlling the drone to fly at the preset flight altitude to ensure that the drone can move normally to the target line tower, thereby ensuring the effectiveness of the tow rope traction as much as possible.

[0140] Reference Figure 4 To reduce the likelihood of drone crashes and minimize resource consumption, in another embodiment, before controlling the drone's flight based on a preset flight altitude, the following steps are also included:

[0141] S31. Obtain the preset rotation speed of the drone's propellers corresponding to the preset flight altitude;

[0142] The method for obtaining the preset rotation speed is the same as the method for obtaining the increased rotation speed, the difference being that in this embodiment, the measurement is performed when the UAV is at a preset flight altitude.

[0143] S32. Obtain the power consumption speed corresponding to the preset rotation speed, and use it as the preset power consumption speed;

[0144] The method for obtaining the preset power consumption rate is the same as the method for obtaining the rising power consumption rate, the difference being that in this embodiment, the measurement is performed when the drone is at a preset flight altitude.

[0145] S33. Obtain the preset flight duration based on the preset power consumption rate and the current power level;

[0146] The method for obtaining the preset flight duration is the same as the method for obtaining the ascending flight duration, the difference being that in this embodiment, the measurement is performed when the UAV is at a preset flight altitude.

[0147] S34. Obtain the remaining time based on the remaining distance and preset flight speed;

[0148] The remaining time at this point is the time the drone has been flying at the preset altitude, and the method for obtaining this time is the same as the method for obtaining the time the drone has been flying at higher altitudes.

[0149] S35. Determine whether the remaining time is greater than or equal to the preset flight time;

[0150] Then it determines whether the remaining time is greater than or equal to the preset flight time, that is, whether the drone has enough power to move to the target line tower at the preset flight altitude and preset flight speed.

[0151] S36. If so, control the drone's flight based on the preset flight altitude;

[0152] If the remaining flight time is greater than or equal to the preset flight time, it proves that there is enough time to fly to the target tower at the preset flight altitude and preset flight speed. At this point, the drone is controlled to fly according to the preset flight altitude.

[0153] S37. If not, obtain landing instructions to control the drone to land.

[0154] If the remaining time is less than the preset flight time, it means there is not enough communication to fly to the target tower at the preset flight altitude and speed. In this case, to prevent the drone from crashing, a landing command can be obtained to control the drone to land.

[0155] One method for obtaining landing commands is to acquire images using the drone's camera, then identify the location where there are no obstacles based on the image recognition, and finally control the drone to land based on the obtained location. Alternatively, identification markers can be preset between two power line towers, allowing the drone to land by recognizing these markers.

[0156] Reference Figure 5 To improve the accuracy of drone landing location identification, in another embodiment, if there is no real-time flight altitude that does not match the preset flight altitude, the method further includes:

[0157] S41. Obtain the current image of the target tower on the preset flight path;

[0158] It can be obtained by taking a picture of the target power line tower that is closest to the drone while it is flying in front of it, using a high-definition camera.

[0159] S42. Determine whether a preset recognition marker exists in the current image;

[0160] Pre-defined identification markers, such as different colored graphics or lights, are placed on the transmission towers along the pre-set flight path. An image recognition algorithm then identifies these markers; if they are found in the current image, the markers are considered present; otherwise, they are not.

[0161] S43. If a preset identification marker exists, obtain the current location of the corresponding target line tower;

[0162] If a preset identification mark exists, the current location of the target line tower with the preset identification mark is obtained. The location of the line tower can be determined by the current location of the drone in the BIM model.

[0163] S44. Control the drone landing based on the current location;

[0164] If a preset identification marker exists, a landing command is obtained, which includes the current position, thus controlling the drone to land at that location. Alternatively, in other real-time methods in this example, after obtaining the current position, a preset length can be set in front of the target power line tower. Then, the coordinates of the current position are added to the preset length to obtain new coordinates, allowing the drone to land at the new coordinates, thereby reducing the likelihood of a collision between the drone and the power line tower.

[0165] The preset length is determined by prior length detection to ensure that the drone will not collide when landing at the new coordinates, thereby improving the safety of the drone during flight.

[0166] S45. If there is no preset identification marker, the current position is not obtained.

[0167] If there is no preset identification marker, the drone will not acquire its current position, will not stop flying, and will continue to move forward, thereby improving the accuracy of the drone in identifying the target power line tower.

[0168] Reference Figure 6 To further reduce the impact of vehicles on the drone's wiring process, in another embodiment, after obtaining the drone's flight information based on the transmission line tower information, the method further includes:

[0169] S51. Obtain the road conditions between transmission line towers;

[0170] The inter-tower conditions, including those with and without highways, can be obtained through image recognition. The system can perform image algorithm recognition by analyzing images taken by a drone between two power line towers. Alternatively, the information can be pre-stored, and when the drone moves between the corresponding two power line towers, the inter-tower conditions in the BIM model can be determined based on the drone's current position.

[0171] S52. Determine whether there is a highway between two adjacent transmission line towers based on the road conditions between towers;

[0172] The determination can be made through image recognition or by checking whether the control system detects a highway between two power transmission towers corresponding to the drone's current location. This highway includes both high-speed railways and expressways.

[0173] S53. If a highway exists, obtain the maximum operating speed of the vehicle corresponding to the highway;

[0174] If a highway exists, it indicates that high-speed vehicles, such as high-speed trains or large trucks, may affect the movement of the drone. Therefore, it is necessary to obtain the maximum operating speed of vehicles on the highway. This can be done by obtaining the speed in real time through speed measurement or by setting the maximum speed limit of the highway.

[0175] S54. Obtain the distance affected by the upper wind force on the vehicle based on the maximum operating speed;

[0176] The distance affected by the upper wind can be obtained through experimental data. The data is simulated at the maximum operating speed, and the maximum altitude at which the vehicle can affect the drone during flight is determined based on different flight altitudes, i.e., the distance affected by the upper wind.

[0177] S55. Determine whether the distance affected by the upper wind exceeds the preset flight altitude;

[0178] In other words, it determines whether a vehicle passing between two power line towers will affect the drone's flight when the drone is flying at a preset altitude.

[0179] S56. If it exceeds, the adjustment difference is obtained based on the preset flight altitude and the distance affected by the upper wind force;

[0180] S57. Increase the preset flight altitude based on the adjustment difference.

[0181] If the distance affected by the upper wind exceeds the preset flight altitude, it proves that the drone will be affected if it flies at the preset flight altitude. Therefore, the adjustment difference is obtained based on the preset flight altitude and the distance affected by the upper wind. That is, the value obtained by subtracting the preset flight altitude from the distance affected by the upper wind is the adjustment difference.

[0182] Then, an altitude adjustment command is obtained based on the adjustment difference, that is, the altitude adjustment command includes the adjustment difference, thereby controlling the drone to rise to the altitude corresponding to the adjustment difference at the preset flight altitude, thereby reducing the impact of the vehicle's high speed on the drone and improving the safety of the drone during flight.

[0183] If the distance affected by the upper wind does not exceed the preset flight altitude, that is, the distance affected by the upper wind is less than or equal to the preset flight altitude, it proves that the high-speed operation of the vehicle will not affect the drone, so no other operation is required at this time.

[0184] Reference Figure 7 To reduce unnecessary time waste, in another embodiment, before obtaining the adjustment difference based on the preset flight altitude and the distance of the upper wind influence, the method further includes:

[0185] S61. Acquire reconnaissance images from the drone;

[0186] S62. Determine whether a vehicle exists within a preset distance based on the reconnaissance image;

[0187] S63. If it does not exist, the adjustment difference is not obtained;

[0188] S64. If present, execute the step of obtaining the adjustment difference based on the preset flight altitude and the distance affected by the upper wind force.

[0189] Specifically, at this point, reconnaissance images are acquired by taking pictures using the drone's camera. These images include pictures of both ends along the length of the road. Then, an image recognition algorithm is used to identify whether there are vehicles within a preset distance in the reconnaissance images. The preset distance is the distance between the two power towers that the drone can fly from one power tower to another without a vehicle moving there.

[0190] If no vehicle is present, the adjustment difference is not acquired at this time, as the vehicle will not affect the drone's flight, thus reducing unnecessary operational steps. If a vehicle is present, it indicates that the drone may be affected by the vehicle, so the step of acquiring the adjustment difference based on the preset flight altitude and the distance affected by the overhead wind is continued to minimize interference to the drone.

[0191] The implementation principle of the control method for crossing power transmission lines in this application embodiment is as follows: First, information on the power transmission line towers is acquired, and then the flight information of the drone is obtained based on the tower information. Next, the real-time flight altitude of the drone is acquired. Then, it is determined whether there is a real-time flight altitude that does not match the preset flight altitude. This can determine if there is a situation where the tether suddenly detaches, causing the drone to rise rapidly. If so, it proves that the tether on the drone may have come loose, so at this time, a return-to-home prompt instruction is acquired to control the drone to return to home. This method can promptly detect situations where the drone's tether has come loose, reducing unnecessary travel by the drone, minimizing wasted time, and thus reducing the drone's battery consumption.

[0192] This application also discloses a control system for power transmission line crossing, which can achieve the same technical effect as the control method for power transmission line crossing described above.

[0193] Reference Figure 8 The control system for power transmission line crossings includes:

[0194] The first information acquisition module 1 is used to acquire preset transmission line tower information, which includes the connection height, tower spacing and tower location.

[0195] The second information acquisition module 2 is used to acquire the flight information of the UAV based on the information of the power transmission line tower. The flight information includes a preset flight path and a preset flight altitude.

[0196] Altitude acquisition module 3 is used to acquire the real-time flight altitude of the UAV;

[0197] Altitude determination module 4 is used to determine whether there is a real-time flight altitude that does not match the preset flight altitude;

[0198] The instruction information acquisition module 5 is used to acquire return-to-home prompt instruction information if there is a real-time flight altitude that does not match the preset flight altitude.

[0199] The UAV control module 6 is used to control the UAV to return to home based on the return-to-home prompt instruction information.

[0200] Specifically, the first information acquisition module 1 first acquires the preset transmission line tower information and sends it to the second information acquisition module 2 connected to it. The transmission line tower information includes the wire laying height, the tower spacing, and the tower location.

[0201] Then, the second information acquisition module 2 acquires the drone's flight information from the power transmission line tower and sends it to the altitude determination module 4 connected to it. The flight information includes a preset flight path and a preset flight altitude. Simultaneously, the altitude acquisition module 3 acquires the drone's real-time flight altitude and sends it to the altitude determination module 4 connected to it.

[0202] Next, the altitude determination module 4 determines whether there is a real-time flight altitude that does not match the preset flight altitude and sends the result to the command information acquisition module 5 connected to it. If there is a real-time flight altitude that does not match the preset flight altitude, the command information acquisition module 5 obtains the return-to-home prompt command information and sends it to the UAV control module 6 connected to it. Finally, the UAV control module 6 controls the UAV to return to home based on the return-to-home prompt command information.

[0203] By determining whether there is a real-time flight altitude that does not match the preset flight altitude, it can be determined whether the tow rope has suddenly detached, causing the drone to ascend rapidly. If so, it proves that the tow rope on the drone may have come loose, so a return-to-home prompt command is obtained to control the drone to return to home. This allows for timely detection of drone tow rope detachment, reducing unnecessary travel by the drone, minimizing wasted time, and thus reducing drone battery consumption.

[0204] This application also discloses an intelligent terminal, including a memory and a processor. The memory stores an intelligent computer program. The processor, when running the intelligent computer program, is capable of executing the steps of the aforementioned control method for crossing power transmission lines. The intelligent computer program can use known processing procedures to perform a series of steps such as comparing and querying data, thereby realizing data querying.

[0205] This application also discloses a computer-readable storage medium that stores a computer program that can be loaded by a processor and executed as described above for the control method of crossing power transmission lines. The computer-readable storage medium includes, for example, various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0206] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A control method of a power transmission line crossing, characterized by, The method comprises the following steps: acquiring preset power transmission line tower information, the power transmission line tower information comprising a wire attachment height, a line tower spacing, and a line tower position; acquiring flight information of a UAV based on the power transmission line tower information, the flight information comprising a preset flight path and a preset flight height; acquiring a real-time flight height of the UAV; determining whether the real-time flight height is greater than the preset flight height; if so, acquiring a return prompt instruction information; controlling the UAV to return based on the return prompt instruction information; wherein, before the step of acquiring the return prompt instruction information, the method further comprises the following steps:

2. The control method according to claim 1, characterized by, determining whether the preset flight path has an obstacle with a flight height greater than the preset flight height; if so, the return prompt instruction information is not acquired; if not, the next step is performed. if there is an obstacle with a flight height greater than the preset flight height, the method further comprises the following steps: when the UAV passes the obstacle, acquiring a current power of the UAV; acquiring the flight height greater than the preset flight height as a height increase; acquiring a rotation speed of a propeller corresponding to the height increase as a height increase rotation speed; acquiring a power consumption speed corresponding to the height increase rotation speed as a height increase power consumption speed; acquiring a height increase flight time based on the height increase power consumption speed and the current power; acquiring a distance between the UAV and a target line tower as a remaining distance; acquiring a remaining time based on the remaining distance and a preset flight speed; determining whether the remaining time is greater than or equal to the height increase flight time; if so, controlling the UAV to fly based on the height increase; 3. The control method according to claim 2, characterized by, if not, controlling the UAV to fly based on the preset flight height. before the step of controlling the UAV to fly based on the preset flight height, the method further comprises the following steps: acquiring a preset rotation speed of a propeller of the UAV corresponding to the preset flight height; acquiring a power consumption speed corresponding to the preset rotation speed as a preset power consumption speed; acquiring a preset flight time based on the preset power consumption speed and the current power; acquiring a remaining time based on the remaining distance and the preset flight speed; determining whether the remaining time is greater than or equal to the preset flight time; if so, controlling the UAV to fly based on the preset flight height; 4. The control method according to claim 1, characterized by, if not, acquiring a landing instruction to control the UAV to land. if there is no real-time flight height that does not match the preset flight height, the method further comprises the following steps: acquiring a current image of a target line tower on the preset flight path; determining whether there is a preset identification mark in the current image; if there is the preset identification mark, acquiring a current position of the corresponding target line tower; controlling the UAV to land based on the current position; 5. The control method according to claim 1, characterized by, if there is no preset identification mark, the current position is not acquired. after the step of acquiring the flight information of the UAV based on the power transmission line tower information, the method further comprises the following steps: acquiring a tower-to-tower road condition between the power transmission line towers; determining whether there is a high-speed road between two adjacent power transmission line towers based on the tower-to-tower road condition, the high-speed road comprising a high-speed railway and a high-speed highway; If the expressway exists, a maximum running speed of a vehicle corresponding to the expressway is acquired; An upper wind force influence distance of the vehicle is acquired based on the maximum running speed; It is judged whether the upper wind force influence distance exceeds the preset flight height; If the upper wind force influence distance exceeds the preset flight height, an adjustment difference is acquired based on the preset flight height and the upper wind force influence distance; The preset flight height is raised based on the adjustment difference.

6. The control method according to claim 5, characterized by Before the adjustment difference is acquired based on the preset flight height and the upper wind force influence distance, the method further comprises: An investigation image of the UAV is acquired; It is judged whether the vehicle exists within a preset distance based on the investigation image; If the vehicle does not exist within the preset distance, the adjustment difference is not acquired; If the vehicle exists within the preset distance, the next step is performed.

7. A control system for a power line crossing, characterized in that The method comprises: A first information acquisition module (1) is configured to acquire preset power transmission line tower information, the power transmission line tower information comprising a wire mounting height, a line tower spacing, and a line tower position; A second information acquisition module (2) is configured to acquire flight information of a UAV based on the power transmission line tower information, the flight information comprising a preset flight path and a preset flight height; A height acquisition module (3) is configured to acquire a real-time flight height of the UAV; A height judgment module (4) is configured to judge whether the real-time flight height is greater than the preset flight height; An instruction information acquisition module (5) is configured to acquire return prompt instruction information if the real-time flight height does not match the preset flight height; A UAV control module (6) is configured to control the UAV to return based on the return prompt instruction information; The instruction information acquisition module (5) is further configured to, before the return prompt instruction information is acquired, judge whether the preset flight path has an obstacle with a flight height greater than the preset flight height; if the preset flight path has the obstacle, the return prompt instruction information is not acquired; if the preset flight path does not have the obstacle, the next step is performed.

8. A smart terminal, characterized by The method comprises: A memory is configured to store a computer program capable of running on a processor; The processor, when running the computer program, is capable of executing the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The memory stores a computer program capable of being loaded and executed by the processor to execute the steps of the method according to any one of claims 1 to 6.

Images