Power distribution tower fine inspection route design method and device based on point cloud data

Abstract

The application discloses a power distribution tower fine inspection route design method and device based on point cloud data, which divides the power distribution line tower section, determines the section first tower structure model, automatically predicts the shooting target position of the remaining towers in each section, automatically generates the aerial photography points and the photography parameters in batches, intelligently sorts the aerial photography points, automatically connects to form the inspection route, and intelligently judges and generates the turning points. The fine inspection route design suitable for the power distribution tower is realized. Through the automatic and intelligent algorithm, the intelligent route design can be performed on the power distribution tower in batches, manual adjustment and editing are reduced, and the efficiency of the fine inspection route design of the power distribution tower is improved.

Description

Technical Field

[0001] This invention relates to the field of precision inspection technology for unmanned aerial vehicles (UAVs), specifically to a method and device for designing precision inspection routes for power distribution towers based on point cloud data. Background Technology

[0002] As a crucial component of the power grid, ensuring the safe, reliable, and stable operation of power distribution lines is vital to the "last mile" of the power system. Therefore, continuous inspection and maintenance of distribution lines are essential to promptly identify faults and mitigate safety hazards. High-voltage distribution lines are erected on towers, with insulator strings connected by crossarms to support the conductors and ground wires. While the appearance of distribution towers is similar to that of transmission line towers, they possess unique characteristics: lower height, fewer insulators, shorter insulator strings, random crossarm positions, and fewer inspection components. Traditional distribution tower inspections rely primarily on personnel observing component operation from the ground or climbing to the component locations for inspection, which carries inherent safety risks, is time-consuming, requires significant manpower, and exposes blind spots in the inspection process. With the development of drone technology, flight control, sensor sensitivity, and camera performance have been greatly improved. Drones have been applied to inspection work such as channel inspection, detailed inspection, and daily inspection of overhead power transmission and distribution lines. Drones have advantages such as maneuverability and flexibility, and can fly to areas that are difficult for inspection personnel to reach or are blind spots in the inspection, thereby reducing the input of manpower, material resources, and time to a certain extent.

[0003] Currently, power distribution tower inspections are mainly conducted using a combination of manual labor and drones. Inspectors operate drones near the towers, observing and photographing targets on a display screen. Once the target is located, the drone takes a picture to obtain inspection photos. However, power distribution lines are generally widely distributed, with main and branch lines intersecting, and the surrounding environment of the towers is complex. Relying on manual drone operation presents safety hazards, inconsistent shooting, and unreasonable image quality. Furthermore, it requires a high level of professional skill and flight experience from the operators.

[0004] Intelligent inspection by drones is a new type of inspection method. Based on high-density power distribution line laser point cloud data, inspection routes for towers are designed. The results of the inspection route design are then imported into the drone flight control system to achieve autonomous flight of the drone and automatic acquisition of inspection photos. This improves the safety of drone flight, shortens the time for inspection personnel to operate the drone to find and photograph targets, and lowers the technical threshold for inspection personnel.

[0005] Inspection flight paths are a key factor in intelligent drone inspections. Most drone manufacturers' built-in software for inspection flight paths is based on 2D maps, which cannot meet the requirements for detailed 3D inspection flight path design for power distribution towers. Some 3D flight path design software requires manual identification of the target location on the 3D point cloud data of each tower, which is difficult and time-consuming. Furthermore, extensive manual editing and adjustments are required during flight path design, compromising the quality of inspection photos. The inability to automatically and standardizedly name each aerial photography point according to the target also makes it difficult to locate specific points in the inspection photos. Summary of the Invention

[0006] To address these issues, this invention provides a method and apparatus for designing refined inspection routes for power distribution towers based on point cloud data, thereby resolving problems such as low automation levels and low efficiency in existing inspection route design.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] According to a first aspect of the present invention, a method for designing refined inspection routes for power distribution towers based on point cloud data is proposed, the method comprising:

[0009] The power distribution lines are divided into sections. The towers in the same section are of the same type, have the same structure and arrangement, and have the same number of shooting targets and the same relative spatial position of the shooting targets.

[0010] The target location for the first tower in each interval is selected to determine the structural model of the first tower in the interval. The other towers in the interval have the same structural model as the first tower.

[0011] Based on the structural model of the first tower in each section, the camera positions of the remaining towers in each section are automatically predicted and arranged in order.

[0012] Based on the location of the shooting targets in each section and the design parameters of the inspection route, the aerial shooting points and photography parameters corresponding to each shooting target are automatically generated in batches.

[0013] The system intelligently sorts the aerial photography points, automatically connects them to form inspection routes, and generates turning points based on intelligent analysis of detour locations and crossing areas.

[0014] Furthermore, the method also includes:

[0015] Obtain the center coordinates of the power distribution tower's planar location, determine the route of the power distribution line, and calculate the coordinates of the highest point of each tower. Specifically:

[0016] The coordinates (X, Y) of the tower's center position in the plane are obtained by reading the latitude and longitude data from the power distribution line ledger. i ,Y i), where i is the tower number, and the route of the line is determined according to the order of the towers;

[0017] Using the center coordinates of the tower's planar position as the base center, calculate the maximum Z value Z of the point cloud data coordinates along the Z-axis. max_i The coordinates (X) of the highest point of each tower are obtained. i ,Y i Z max_i ).

[0018] Furthermore, the power distribution lines are divided into sections, specifically including:

[0019] The power distribution lines are divided into sections based on the tower characteristics information, which includes the number of line circuits erected on the power distribution tower, the arrangement of the tower conductors, and the suspension position of the tower ground wire.

[0020] Furthermore, the target location for the first tower within each interval is selected to determine the structural model of the first tower in that interval, specifically including:

[0021] Based on the divided line sections, the first tower of the section is used as the reference tower. The shooting target is selected on the three-dimensional point cloud of the first tower. The selected shooting target positions include the ground wire suspension point and the midpoint of the insulator string.

[0022] Furthermore, based on the structural model of the first tower in each section, the system automatically predicts the target locations of the remaining towers within each section and arranges them in an orderly manner, specifically including:

[0023] Determine which side of the power line route each shooting target on the main tower is on;

[0024] Determine which floor of the tower each photographed is located on;

[0025] Arrange the shooting targets in order.

[0026] Furthermore, determining which side of the power line route each shooting target on the main tower is located on specifically includes:

[0027] Calculate the direction of the front tower and the direction of the rear tower. The direction of the front tower is calculated by comparing the center point of the front tower with the center point of the current tower, and the direction of the rear tower is calculated by comparing the center point of the rear tower with the center point of the current tower.

[0028] Calculate the direction between the current point and the center point;

[0029] Determine which side it is on based on the relationship between the current point's direction and the directions of the towers before and after it:

[0030] Calculate the left direction angle. If the current angle is within 20 degrees of the left angle, or the difference between the current angle and the left angle minus 360 degrees is less than 20 degrees, then the current point belongs to the left. If the current angle is within 20 degrees of the right angle, or the difference between the current angle and the right angle minus 360 degrees is less than 20 degrees, then the current point belongs to the right. If neither of the above two methods can be used, then the left and right directions are determined by the difference between the left and right angles.

[0031] Calculate the angle difference on the left. If the difference between the current angle and the left angle is less than the difference between the current angle and the left angle minus 360 degrees, then the angle difference on the left is the former; otherwise, it is the latter.

[0032] Calculate the right angle difference. If the difference between the current angle and the right angle is less than the difference between the current angle and the right angle minus 360 degrees, then the right angle difference is the former; otherwise, it is the latter.

[0033] Then, the position of the current point is determined based on the angle difference between the two sides. If the angle difference on the left is less than the angle difference on the right, then it belongs to the left; otherwise, the current point belongs to the right.

[0034] Furthermore, determining which floor of the tower each photographed is located on involves:

[0035] First, we counted the highest and lowest points of all the shooting locations on the tower;

[0036] Starting from the first point, find points that are less than the thickness of the tower (i.e., the layer thickness of the tower) away from this point, and extract all the points of this layer in this way;

[0037] Continue searching for points on other levels until all points on all towers have been searched;

[0038] Calculate the floor height using the highest and lowest points and the total number of floors;

[0039] Calculate the floor number of each point using the difference between each point and the highest point and the floor height;

[0040] Finally, arrange all the points in the order they were photographed.

[0041] According to a second aspect of the present invention, a device for designing refined inspection routes for power distribution towers based on point cloud data is provided, the device comprising:

[0042] The interval division module is used to divide power distribution lines into intervals. The towers in the same interval are of the same type, the same structure and arrangement, and have the same number of shooting targets and the same relative spatial position of the shooting targets.

[0043] The target selection module is used to select the target location of the first tower in each interval, determine the structural model of the first tower in the interval, and the other towers in the interval have the same structural model as the first tower.

[0044] Based on the structural model of the first tower in each section, the camera positions of the remaining towers in each section are automatically predicted and arranged in order.

[0045] Based on the location of the shooting targets in each section and the design parameters of the inspection route, the aerial shooting points and photography parameters corresponding to each shooting target are automatically generated in batches.

[0046] The system intelligently sorts the aerial photography points, automatically connects them to form inspection routes, and generates turning points based on intelligent analysis of detour locations and crossing areas.

[0047] According to a third aspect of the present invention, a refined inspection route design system for power distribution towers based on point cloud data is proposed, the system comprising: a processor and a memory;

[0048] The memory is used to store one or more program instructions;

[0049] The processor is configured to run one or more program instructions to perform the method described in any of the preceding methods.

[0050] According to a fourth aspect of the present invention, a computer storage medium is provided, the computer storage medium containing one or more program instructions, the one or more program instructions being executed by a point cloud data-based power distribution tower fine inspection route design system as described in any of the preceding methods.

[0051] The present invention has the following advantages:

[0052] This invention proposes a method and apparatus for designing refined inspection routes for power distribution towers based on point cloud data. The method includes: dividing the power distribution line into sections, with towers of the same type, structure, and arrangement within each section having the same number of shooting targets and the same relative spatial positions of the shooting targets; selecting the shooting target position of the first tower in each section to determine the structural model of the first tower in the section, with the remaining towers in the section having the same structural model as the first tower; automatically predicting the shooting target positions of the remaining towers in each section based on the structural model of the first tower in each section and arranging them in an orderly manner; automatically generating aerial photography points and photographic parameters corresponding to each shooting target in batches based on the shooting target positions and inspection route design parameters of each section; intelligently sorting the obtained aerial photography points, automatically connecting them to form inspection routes, and generating turning points through intelligent analysis at detour locations and crossing areas. This achieves refined inspection route design applicable to power distribution towers. Through automatic and intelligent algorithms, intelligent route design can be performed on power distribution towers in batches, reducing manual adjustments and editing, and improving the efficiency of refined inspection route design for power distribution towers. Attached Figure Description

[0053] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0054] Figure 1 This is a flowchart illustrating a method for designing refined inspection routes for power distribution towers based on point cloud data, as provided in Embodiment 1 of the present invention.

[0055] Figure 2 This is from Embodiment 1 of the present invention, which provides a method for designing a refined inspection route for power distribution towers based on point cloud data; Detailed Implementation

[0056] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0057] Example 1

[0058] As shown in the figure, this embodiment proposes a method for designing refined inspection routes for power distribution towers based on point cloud data. The method includes:

[0059] S100. Divide the power distribution line into sections. The towers in the same section are of the same type, have the same structure and arrangement, and have the same number of shooting targets and the same relative spatial position of the shooting targets.

[0060] In this embodiment, the method further includes:

[0061] Obtain the center coordinates of the power distribution tower's planar location, determine the route of the power distribution line, and calculate the coordinates of the highest point of each tower. Specifically:

[0062] The coordinates (X, Y) of the tower's center position in the plane are obtained by reading the latitude and longitude data from the power distribution line ledger. i ,Y i ), where i is the tower number, and the route of the line is determined according to the order of the towers;

[0063] Using the center coordinates of the tower's planar position as the base center, calculate the maximum height Z value of the point cloud data coordinates along the Z-axis. max_i The coordinates (X) of the highest point of each tower are obtained. i ,Yi Z max_i (X, Y are the plane coordinates of the maximum height point) The purpose of calculating the highest point of the tower is to ensure the safety of the aerial photography point setting during subsequent flight route planning.

[0064] To achieve batch automation, the power distribution lines are divided into sections based on the number of circuits in the towers, the arrangement of conductors, and the position of the ground wire suspension. The towers in the same section are identical in structure and arrangement, corresponding to the same number of shooting targets and the same relative spatial position of the shooting targets.

[0065] (1) Number of loops

[0066] The number of circuits installed on power distribution towers varies, such as single-circuit power distribution lines and double-circuit power distribution lines. A single-circuit power distribution line typically consists of 3 conductors and 1 ground wire; a double-circuit power distribution line typically consists of 6 conductors and 1 ground wire. Based on the number of conductors and ground wires in the power distribution line point cloud data, the type of circuit for each tower can be determined.

[0067] (2) Arrangement of wires

[0068] There are two main conductor arrangement methods on single-circuit distribution towers: a "three-layer single-sided" arrangement and a "two-layer triangular" arrangement. The "three-layer single-sided" arrangement involves three layers of crossarms on the tower, with the conductors connected to the left or right end of each layer via insulator strings (left and right are relative to the direction of the distribution line). The "two-layer triangular" arrangement involves two layers of crossarms on the tower, with the conductors connected to the left or right end of the upper layer via insulator strings, and the conductors connected to the left and right ends of the lower layer via insulator strings.

[0069] The conductors on a double-circuit distribution tower are arranged in a "three-layer, two-side" configuration. Three layers of crossarms are erected on the tower, and the conductors are connected to the left and right ends of the crossarms of each layer through insulator strings.

[0070] (3) Ground wire suspension position

[0071] A ground wire needs to be installed on the power distribution tower to ensure the safety of the line. The projection position of the ground wire on the XY plane relative to the center coordinate of the tower plane position can be divided into three cases: left side, center, and right side.

[0072] S200. Select the target location for the first tower in each interval and determine the structural model of the first tower in the interval. The other towers in the interval have the same structural model as the first tower.

[0073] Based on the defined line sections, the first tower of each section is used as the reference tower. The target for photography is selected from the 3D point cloud of the first tower, with the target location being the ground wire suspension point or the midpoint of the insulator string. For example... Figure 2(a) to (e) show the target locations for different types of iron towers (different lines represent conductors and ground wires; the ground wire is located at the top of the tower, KP). j (Indicates the target number), where (a) is a single-circuit tower with three layers arranged on the left, (b) is a single-circuit tower with three layers arranged on the right, (c) is a single-circuit tower with two layers arranged in a left triangle, (d) is a single-circuit tower with two layers arranged in a right triangle, and (e) is a double-circuit tower with three layers arranged on both sides. The ground wire suspension position is random. For ease of understanding, the ground wire suspension position in (a), (b), and (e) is the center, in (c) it is the left, and in (d) it is the right. The selected target is used to determine the structural model of the first tower. After the structural model of the first tower is determined, the remaining towers in each section have the same structural model as the first tower in that section.

[0074] S300: Based on the structural model of the first tower in each section, automatically predict the shooting target positions of the remaining towers in each section and arrange them in an orderly manner.

[0075] Once the structural model of the first tower in each section is determined, the structural models of the remaining towers within that section are also determined. Based on the structural model of the first tower, the method for automatically predicting the target locations for photography of the remaining towers within the section is as follows:

[0076] (1) Determine which side of the route each shooting target on the main tower is on.

[0077] 1) Calculate the direction of the front tower and the direction of the rear tower

[0078] The direction of the front tower is calculated by comparing the center point of the front tower with the center point of the current tower, and the direction of the rear tower is calculated by comparing the center point of the rear tower with the center point of the current tower. The formulas are as follows:

[0079] Lastangle=atan2(curpt.Y-prept.Y,curpt.X-prept.X)*180 / 3.1415926;

[0080] Nextangle=atan2(nextpt.Y-curpt.Y,nextpt.X-curpt.X)*180 / 3.1415926;

[0081] Where Lastangle is the front tower orientation angle, curpt is the current tower center point, X, Y, Z are the coordinates of the three directions, prept is the front tower center point, atan2 is the arctangent function, and Nextangle is the rear tower orientation angle.

[0082] Calculate the direction between the current point and the center point.

[0083] cura=atan2(capturepts[pti].Y-curpt.Y,capturepts[pti].X-curpt.X)*180 / 3.1416;

[0084] capturepts is the set of shooting points, and pti is the index, indicating the pti-th point.

[0085] 3) Determine which side it is on based on the relationship between the current point's direction and the directions of the towers before and after it.

[0086] Calculate the left direction angle.

[0087] Lefta=(180+lastangle+Nextangle) / 2;

[0088] Righta=(lastangle+Nextangle-180) / 2;

[0089] Lefta1=|cura-Lefta|; Lefta2=|cura-Lefta-360|;

[0090] Righta1=|cura-Righta|; Righta2=|cura-Righta-360|;

[0091] Lefta is the left critical angle, Lefta1 is the left starting direction angle, and Lefta2 is the left ending direction angle; Righta is the right critical angle, Righta1 is the right starting direction angle, and Righta2 is the right ending direction angle.

[0092] There are several situations:

[0093] A) If the current angle is within 20 degrees of the left angle, or if the difference between the current angle and the left angle minus 360 degrees is less than 20 degrees, then the current point belongs to the left.

[0094] B) If the current angle is within 20 degrees of the right angle, or if the difference between the current angle and the right angle minus 360 degrees is less than 20 degrees, then the current point belongs to the right.

[0095] C) If neither of the above two methods can be used to determine left and right, then the difference in left and right angles should be used to determine left and right.

[0096] Calculate the angle difference on the left. If the difference between the current angle and the left angle is less than the difference between the current angle and the left angle minus 360 degrees, then the angle difference on the left is the former; otherwise, it is the latter.

[0097] If(Lefta1 <Lefta2)leftat=lefta1;

[0098] Elseleftat = lefta2;

[0099] Leftat is the angle difference on the left.

[0100] Similarly, calculate the right angle difference. If the difference between the current angle and the right angle is less than the difference between the current angle and the right angle minus 360 degrees, then the right angle difference is the former; otherwise, it is the latter.

[0101] If(Righta1 <Righta2)Rightat=Righta1;

[0102] ElseRightat = Righta2;

[0103] Rightat is the angle difference on the right side.

[0104] Then, the position of the current point is determined based on the angle difference between the two sides. If the angle difference on the left is less than the angle difference on the right, then it belongs to the left; otherwise, the current point belongs to the right.

[0105] (2) Determine which floor of the tower each shooting target is located on.

[0106] The shooting points on each layer of the cluster analysis tower.

[0107] 1) First, count the highest and lowest points of all shooting locations on the tower;

[0108] 2) Starting from the first point, find points that are less than the tower thickness (layer thickness of the tower) away from this point, thus extracting all the points of this layer;

[0109] 3) Continue searching for points on other levels until all points on all towers have been searched.

[0110] 4) Calculate the floor height using the highest and lowest points and the total number of floors;

[0111] 5) Calculate the floor number of each point using the difference between each point and the highest point, and the floor height;

[0112] 6) Finally, arrange all the points in the order they were photographed.

[0113] This achieves automatic arrangement of shooting points.

[0114] S400 automatically generates aerial photography points and photography parameters corresponding to each photography target in batches based on the location of the shooting target in each section and the design parameters of the inspection route.

[0115] The S500 intelligently sorts the obtained aerial photography points, automatically connects them to form inspection routes, and generates turning points through intelligent analysis of detour locations and crossing areas.

[0116] This invention proposes a method for designing refined inspection routes for power distribution towers based on point cloud data. This method divides power distribution tower sections, determines the structural model of the first tower in each section, automatically predicts the target locations for photography on the remaining towers in each section, automatically generates aerial photography points and parameters in batches, intelligently sorts the aerial photography points, automatically connects them to form inspection routes, and intelligently determines and generates turning points. This achieves refined inspection route design suitable for power distribution towers. Through automatic and intelligent algorithms, it enables batch intelligent route design for power distribution towers, reducing manual adjustments and editing, and improving the efficiency of refined inspection route design for power distribution towers.

[0117] Example 2

[0118] Corresponding to Embodiment 1 above, this embodiment proposes a device for designing refined inspection routes for power distribution towers based on point cloud data. The device includes:

[0119] The interval division module is used to divide power distribution lines into intervals. The towers in the same interval are of the same type, the same structure and arrangement, and have the same number of shooting targets and the same relative spatial position of the shooting targets.

[0120] The target selection module is used to select the target location of the first tower in each interval, determine the structural model of the first tower in the interval, and the other towers in the interval have the same structural model as the first tower.

[0121] Based on the structural model of the first tower in each section, the camera positions of the remaining towers in each section are automatically predicted and arranged in order.

[0122] Based on the location of the shooting targets in each section and the design parameters of the inspection route, the aerial shooting points and photography parameters corresponding to each shooting target are automatically generated in batches.

[0123] The system intelligently sorts the aerial photography points, automatically connects them to form inspection routes, and generates turning points based on intelligent analysis of detour locations and crossing areas.

[0124] The functions of each component in the power distribution tower refined inspection route design device based on point cloud data provided in this embodiment of the invention have been described in detail in the above embodiment 1, so they will not be repeated here.

[0125] Example 3

[0126] Corresponding to the above embodiments, this embodiment proposes a refined inspection route design system for power distribution towers based on point cloud data. The system includes a processor and a memory.

[0127] The memory is used to store one or more program instructions;

[0128] The processor is configured to run one or more program instructions to perform the method described in Embodiment 1 above.

[0129] Example 4

[0130] Corresponding to the above embodiments, this embodiment proposes a computer storage medium containing one or more program instructions, which are used by a point cloud data-based power distribution tower fine inspection route design system to execute the method of Embodiment 1.

[0131] Although the present invention has been described in detail above with general descriptions and specific embodiments, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, all such modifications or improvements made without departing from the spirit of the present invention fall within the scope of protection claimed by the present invention.

Claims

1. A method for designing refined inspection routes for power distribution towers based on point cloud data, characterized in that, The method includes: The power distribution lines are divided into sections. The towers in the same section are of the same type, have the same structure and arrangement, and have the same number of shooting targets and the same relative spatial position of the shooting targets. The target location for the first tower in each interval is selected to determine the structural model of the first tower in the interval. The other towers in the interval have the same structural model as the first tower. Based on the structural model of the first tower in each section, the system automatically predicts the target locations of the remaining towers within each section and arranges them in an orderly manner, specifically including: Determine which side of the power line route each shooting target on the main tower is on; Determine which floor of the tower each photographed is located on; Arrange the targets in order; Determining which side of the power line route each shooting target on the main tower is on, specifically including: Calculate the direction of the front tower and the direction of the rear tower. The direction of the front tower is calculated by comparing the center point of the front tower with the center point of the current tower, and the direction of the rear tower is calculated by comparing the center point of the rear tower with the center point of the current tower. Calculate the direction between the current point and the center point; Determine which side it is on based on the relationship between the current point's direction and the directions of the towers before and after it: Calculate the left direction angle. If the current angle is within 20 degrees of the left angle, or the difference between the current angle and the left angle minus 360 degrees is less than 20 degrees, then the current point belongs to the left. If the current angle is within 20 degrees of the right angle, or the difference between the current angle and the right angle minus 360 degrees is less than 20 degrees, then the current point belongs to the right. If neither of the above two methods can be used, then the left and right directions are determined by the difference between the left and right angles. Calculate the angle difference on the left. If the difference between the current angle and the left angle is less than the difference between the current angle and the left angle minus 360 degrees, then the angle difference on the left is the former; otherwise, it is the latter. Calculate the right angle difference. If the difference between the current angle and the right angle is less than the difference between the current angle and the right angle minus 360 degrees, then the right angle difference is the former; otherwise, it is the latter. Then, determine the position of the current point based on the angle difference between the two sides. If the angle difference on the left is less than the angle difference on the right, then it belongs to the left; otherwise, the current point belongs to the right. Based on the location of the shooting targets in each section and the design parameters of the inspection route, the aerial shooting points and photography parameters corresponding to each shooting target are automatically generated in batches. The system intelligently sorts the aerial photography points, automatically connects them to form inspection routes, and generates turning points based on intelligent analysis of detour locations and crossing areas.

2. The method for designing refined inspection routes for power distribution towers based on point cloud data according to claim 1, characterized in that, The method further includes: Obtain the center coordinates of the power distribution tower's planar location, determine the route of the power distribution line, and calculate the coordinates of the highest point of each tower. Specifically: The coordinates of the tower's center in planar position are obtained by reading the latitude and longitude data from the power distribution line ledger. ),in The tower numbers are used to determine the route of the line. Using the coordinates of the center of the tower's planar position as the center of the base, calculate Maximum coordinates of point cloud data along the axis value The coordinates of the highest point of each tower are obtained. ).

3. The method for designing refined inspection routes for power distribution towers based on point cloud data according to claim 1, characterized in that, The power distribution lines are divided into sections, specifically including: The power distribution lines are divided into sections based on the tower characteristic information, which includes the number of line circuits erected on the power distribution tower, the arrangement of the tower conductors, and the suspension position of the tower ground wire.

4. The method for designing refined inspection routes for power distribution towers based on point cloud data according to claim 1, characterized in that, The target location for the first tower within each section is selected, and the structural model of the first tower in each section is determined, specifically including: Based on the divided line sections, the first tower of the section is used as the reference tower. The shooting target is selected on the three-dimensional point cloud of the first tower. The selected shooting target positions include the ground wire suspension point and the midpoint of the insulator string.

5. The method for designing refined inspection routes for power distribution towers based on point cloud data according to claim 1, characterized in that, Determining which floor of the tower each photographed is located on involves: First, we counted the highest and lowest points of all the shooting locations on the tower; Starting from the first point, find points that are less than the thickness of the tower (i.e., the layer thickness of the tower) away from this point, and extract all the points of this layer in this way; Continue searching for points on other levels until all points on all towers have been searched; Calculate the floor height using the highest and lowest points and the total number of floors; Calculate the floor number of each point using the difference between each point and the highest point and the floor height; Finally, arrange all the points in the order they were photographed.

6. A device for designing refined inspection routes for power distribution towers based on point cloud data, characterized in that, The device includes: The interval division module is used to divide power distribution lines into intervals. The towers in the same interval are of the same type, the same structure and arrangement, and have the same number of shooting targets and the same relative spatial position of the shooting targets. The target selection module is used to select the target location of the first tower in each interval, determine the structural model of the first tower in the interval, and the other towers in the interval have the same structural model as the first tower. Based on the structural model of the first tower in each section, the system automatically predicts the target locations of the remaining towers within each section and arranges them in an orderly manner, specifically including: Determine which side of the power line route each shooting target on the main tower is on; Determine which floor of the tower each photographed is located on; Arrange the targets in order; Determining which side of the power line route each shooting target on the main tower is on, specifically including: Calculate the direction of the front tower and the direction of the rear tower. The direction of the front tower is calculated by comparing the center point of the front tower with the center point of the current tower, and the direction of the rear tower is calculated by comparing the center point of the rear tower with the center point of the current tower. Calculate the direction between the current point and the center point; Determine which side it is on based on the relationship between the current point's direction and the directions of the towers before and after it: Calculate the left direction angle. If the current angle is within 20 degrees of the left angle, or the difference between the current angle and the left angle minus 360 degrees is less than 20 degrees, then the current point belongs to the left. If the current angle is within 20 degrees of the right angle, or the difference between the current angle and the right angle minus 360 degrees is less than 20 degrees, then the current point belongs to the right. If neither of the above two methods can be used, then the left and right directions are determined by the difference between the left and right angles. Calculate the angle difference on the left. If the difference between the current angle and the left angle is less than the difference between the current angle and the left angle minus 360 degrees, then the angle difference on the left is the former; otherwise, it is the latter. Calculate the right angle difference. If the difference between the current angle and the right angle is less than the difference between the current angle and the right angle minus 360 degrees, then the right angle difference is the former; otherwise, it is the latter. Then, determine the position of the current point based on the angle difference between the two sides. If the angle difference on the left is less than the angle difference on the right, then it belongs to the left; otherwise, the current point belongs to the right. Based on the location of the shooting targets in each section and the design parameters of the inspection route, the aerial shooting points and photography parameters corresponding to each shooting target are automatically generated in batches. The system intelligently sorts the aerial photography points, automatically connects them to form inspection routes, and generates turning points based on intelligent analysis of detour locations and crossing areas.

7. A refined inspection route design system for power distribution towers based on point cloud data, characterized in that, The system includes: a processor and a memory; The memory is used to store one or more program instructions; The processor is configured to execute one or more program instructions to perform the method as described in any one of claims 1-5.

8. A computer storage medium, characterized in that, The computer storage medium contains one or more program instructions, which are used by a point cloud data-based power distribution tower fine inspection route design system to execute the method as described in any one of claims 1-5.

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