Design method and device for key parts of main network pole tower fine inspection

Abstract

The application discloses a kind of main network pole tower fine inspection key position design method and device, the method is divided into different types according to shooting target, global shooting point and local shooting point, the different method of each type is used, through calculating shooting distance and shooting angle, and reasonably planning shooting point position, so that the field of view angle of all class shooting target is maximum, local class shooting point image resolution is higher, flight point is safer.According to the inspection specification and different shooting mode, the inspection route is automatically generated in sequence, and the flight point position is automatically named according to the specification, and the route of the tower is automatically detected safely.The method improves the efficiency of unmanned aerial vehicle tower fine inspection route design, greatly reduces the intervention of artificial, the route sequence and photo naming are more standardized, and the automation and intelligent level of unmanned aerial vehicle tower fine inspection is improved to a certain extent.

Description

Technical Field

[0001] This invention relates to the field of precision inspection technology for unmanned aerial vehicles (UAVs), specifically to a design method and device for precision inspection of key parts of main power grid towers. Background Technology

[0002] With the increasing maturity of drone technology and the development of artificial intelligence, automated control technology, and sensor technology, fully automated and precise drone inspection will become the future trend. Increasing the frequency and quality of data collection, achieving minute-level, real-time, and standardized data collection, necessitates the automation and intelligence of drone-based power line inspection.

[0003] Some companies on the market have done some work on the function of fine-grained inspection route planning for main grid overhead transmission lines. In terms of fine-grained inspection of main grid overhead transmission lines, they can accurately extract the shooting components (insulator strings, ground wire hanging points) of straight towers and automatically generate shooting points for straight towers. However, the processing effect on tension towers is not ideal, requiring a lot of manual editing and the level of intelligence is not high. Summary of the Invention

[0004] To address this issue, the present invention provides a design method and device for key components of main power grid towers for refined inspection, in order to solve the problem of low automation level in the generation of refined inspection routes for existing power distribution towers.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] According to a first aspect of the present invention, a method for designing key components of a main grid tower for refined inspection is proposed, the method comprising:

[0007] The shooting targets are divided into different types, including global shooting targets and local shooting targets. The goal is to maximize the field of view of global shooting targets and maximize the image resolution of local shooting targets. Preset shooting methods and principles are used to shoot different types of shooting targets. By calculating the shooting distance and shooting angle, the shooting points are reasonably planned to obtain the best photography parameters.

[0008] Specifically, for the overall frame, oblique photography is used to capture the entire tower or the tower body; for the insulator string, the entire insulator is captured by shooting from a certain overhead angle, focusing on the central area of ​​the insulator string; for the crossarm hanging point, the shooting principle is to ensure that the image is clear; for the conductor end hanging point, the shooting principle is to ensure that the image is both clear and complete.

[0009] Furthermore, preset shooting methods and principles are used to shoot different types of targets. By calculating shooting distance and angle, shooting points are rationally planned to obtain optimal photographic parameters, specifically including:

[0010] For the global framework:

[0011] First, calculate the shooting distance for vertical photography:

[0012] Gsd = towerh / imgheight, where Gsd is the ground resolution, towerh is the tower height, and imgheight is the image height; shootdis = Gsd * f / cellsize, where shootdis is the vertical shooting distance, f is the focal length, and cellsize is the pixel resolution;

[0013] Next, calculate the shooting distance for oblique photography:

[0014] First, calculate the field of view: Viewangle = arctan(imgheight / 2*cellsize / f)*2;

[0015] Where Viewangle is the field of view angle, and arctan() is the arctangent function;

[0016] Calculate the horizontal distance of the aerial photography point: Hordis = shootdis * cos(fangle);

[0017] Where Hordis is the horizontal distance of the aerial viewpoint, cos() is the cosine function, and fangle is the angle of view, which should be below the maximum angle of view as much as possible;

[0018] Calculate the height of the aerial viewpoint: ShootH = Hordis * tan(fangle - Viewangle / 2) + H3;

[0019] ShootH is the height of the aerial viewpoint, and H3 is the height of the top of the tower.

[0020] Calculate the target point height: objh = shootdis * sin(fangle) - ShootH, where objh is the target point height;

[0021] When some towers exceed the preset height threshold, the maximum downward angle should be used as much as possible. If the calculated relative flight altitude (the flight altitude minus the tower height) exceeds the preset height threshold, the flight altitude should be replanned and the shooting point height should be recalculated.

[0022] Furthermore, preset shooting methods and principles are used to shoot different types of targets. By calculating shooting distance and angle, shooting points are rationally planned to obtain optimal photographic parameters, specifically including:

[0023] For insulator strings:

[0024] First, calculate the shooting distance for vertical photography:

[0025] Gsd = towerh / imgheight, where Gsd is the ground resolution, towerh is the tower height, and imgheight is the image height; shootdis = Gsd * f / cellsize, where shootdis is the vertical shooting distance, f is the focal length, and cellsize is the pixel resolution;

[0026] Calculating shooting distance using oblique photography with field of view:

[0027] Shootdis1 = Length / sin(viewangle / 2) / (1 / sin(90-fangle-viewangle / 2)+1 / sin(90-fangle+viewangle / 2)); where Shootdis1 is the tilt shooting distance, sin() is the sine function, viewangle is the field of view, and fangle is the downward angle.

[0028] Calculate the height of the shooting point:

[0029] H2=H1-shootdis*sin(viewangle / 2) / sin(90-fangle-viewangle / 2);

[0030] Where H1 is the height of the top of the insulator, H2 is the height of the shooting point, and shootdis is the vertical shooting distance;

[0031] Zoom camera design:

[0032] When the shooting distance is less than the safe distance, zoom is required to ensure the clarity of the insulator: Calf = SafeDis * cellsize / Gsd;

[0033] Where SafeDis is the safety distance and Calf is the calculated focal length. Using this focal length, the entire insulator is planned within the image range.

[0034] Furthermore, preset shooting methods and principles are used to shoot different types of targets. By calculating shooting distance and angle, shooting points are rationally planned to obtain optimal photographic parameters, specifically including:

[0035] For the crossarm attachment point:

[0036] When shooting with a fixed-focus camera:

[0037] The shooting distance is calculated based on camera parameters and target resolution: Shootdis = Gsd * f / cellsize; where Gsd is the ground resolution, f is the focal length, and cellsize is the pixel resolution; when the shooting distance is less than the safe distance, this camera is not suitable and a different camera must be used to meet the requirements.

[0038] When shooting with a zoom camera:

[0039] First, calculate the safe distance using the minimum focal length: Shootdis = Gsd * fmin / cellsize, where fmin is the minimum focal length and Shootdis is the shooting distance corresponding to the minimum focal length.

[0040] When the shooting distance is less than the safe distance, zooming is required to obtain a better photo at the safe distance; calculate Calf = Safedis * cellsize / GSD; where Safedis is the safe distance, and Calf is the focal length calculated from the safe distance, which is the focal length at which zooming is required;

[0041] When the shooting distance is greater than the safe distance, the safe distance is used to take the photo, and the photo resolution reaches the target value to obtain a clear image.

[0042] Furthermore, preset shooting methods and principles are used to shoot different types of targets. By calculating shooting distance and angle, shooting points are rationally planned to obtain optimal photographic parameters, specifically including:

[0043] For the conductor end hanging point:

[0044] When shooting with a fixed-focus camera:

[0045] First, calculate the shooting distance to maintain sharpness: Shootdis1 = Gsd * f / cellsize; where Gsd is the ground resolution, f is the focal length, and cellsize is the pixel resolution.

[0046] Then calculate Gsdl = Length / imgheight, shootdis2 = Gsd1 * f / cellsize;

[0047] Where Length is the length of the wire end hanging point component, Gsdl is the resolution when the hanging point component is fully captured, and shootdis2 is the corresponding shooting distance. If shootdis2 is less than 1.2 times shootdis1, then shoot once using the shooting distance of shootdis2. If shootdis2 is greater than 1.2 times shootdis1, then shoot twice using shootdis1 and shootdis2 respectively.

[0048] When shooting with a zoom camera:

[0049] First, calculate the shooting distance for capturing the entire image using the minimum focal length: Gsdl = Length / imgheight, shootdis2 = Gsd1 * f / cellsize;

[0050] Then calculate the focal length required to achieve the target resolution at this distance:

[0051] Calf=shootdis2*cellsize / GSD;

[0052] Where GSD is the target resolution and Calf is the calculated zoom value, the requirements can be met by taking two photos at the same position: first, using the minimum focal length to shoot the overall picture of the wire end hanging point component, and then zooming to shoot the local details.

[0053] According to a second aspect of the present invention, a design device for refined inspection of key parts of main grid towers is provided, the device being used for:

[0054] The shooting targets are divided into different types, including global shooting targets and local shooting targets. The goal is to maximize the field of view of global shooting targets and maximize the image resolution of local shooting targets. Preset shooting methods and principles are used to shoot different types of shooting targets. By calculating the shooting distance and shooting angle, the shooting points are reasonably planned to obtain the best photography parameters.

[0055] Specifically, for the overall frame, oblique photography is used to capture the entire tower or the tower body; for the insulator string, the entire insulator is captured by shooting from a certain overhead angle, focusing on the central area of ​​the insulator string; for the crossarm hanging point, the shooting principle is to ensure that the image is clear; for the conductor end hanging point, the shooting principle is to ensure that the image is both clear and complete.

[0056] According to a third aspect of the present invention, a design system for key parts of a main grid tower for refined inspection is proposed, the system comprising: a processor and a memory;

[0057] The memory is used to store one or more program instructions;

[0058] The processor is configured to run one or more program instructions to perform the method described in any of the preceding methods.

[0059] 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 main grid tower fine inspection key component design system as described in any of the preceding methods.

[0060] The present invention has the following advantages:

[0061] This invention proposes a design method and device for refined inspection of key parts of main grid towers. The method categorizes shooting targets into different types, including global and local targets. The goal is to maximize the field of view for global targets and the image resolution for local targets. Pre-set shooting methods and principles are applied to different target types. By calculating shooting distance and angle, shooting points are rationally planned to obtain optimal photographic parameters. Specifically, for the overall frame, oblique photography is used to capture the entire tower or tower body; for insulator strings, a specific overhead angle is used to capture the central area of ​​the insulator string; for crossarm attachment points, the shooting principle is to ensure clear images; and for conductor end attachment points, the shooting principle is to ensure both clarity and completeness. Inspection routes are automatically generated sequentially according to inspection specifications and different shooting methods, and standardized naming is automatically applied based on the aerial photography point locations. The route for automated safety inspection of the tower is then performed. This method improves the efficiency of designing precise inspection routes for UAV poles, significantly reduces human intervention, and standardizes route sequence and photo naming, thereby enhancing the automation and intelligence level of precise UAV pole inspection to a certain extent. Attached Figure Description

[0062] 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.

[0063] Figure 1 This is a flowchart illustrating a method for designing key components of a main grid tower for refined inspection, as provided in Embodiment 1 of the present invention. Detailed Implementation

[0064] 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.

[0065] Example 1

[0066] like Figure 1 As shown in the figure, this embodiment proposes a design method for key parts of the main grid tower for refined inspection. The method includes:

[0067] S100. The shooting targets are divided into different types, including global shooting targets and local shooting targets. The goal is to maximize the field of view of global shooting targets and maximize the image resolution of local shooting targets. Preset shooting methods and principles are used to shoot different types of shooting targets. By calculating the shooting distance and shooting angle, the shooting points are reasonably planned to obtain the best photography parameters.

[0068] S200. For the overall frame, the tower's entire appearance or tower body is photographed using an oblique photography method; for the insulator string, the insulator is photographed from a certain downward angle, focusing on the central area of ​​the insulator string; for the crossarm hanging point, the shooting principle is to ensure that the image is clear; for the conductor end hanging point, the shooting principle is to ensure that the image is both clear and complete.

[0069] The details are as follows:

[0070] 1. Global frame point tilted photography design

[0071] For shooting locations requiring a full view of the tower or its structure, the shooting distance is relatively long due to the large size of the target. Vertical shooting might result in a distant shooting point, so oblique photography is used. Since larger oblique shooting angles result in lower resolution, the downward angle and maximum height must be limited.

[0072] (1) First calculate the shooting distance for vertical photography:

[0073] Gsd = towerh / imgheight, where Gsd is the ground resolution, towerh is the tower height, and imgheight is the image height; shootdis = Gsd * f / cellsize, where shootdis is the vertical shooting distance, f is the focal length, and cellsize is the pixel resolution.

[0074] When shooting at a relatively short distance (less than 50 meters), use a slightly downward angle to shoot. This will result in a larger field of view, less image distortion, and a clearer image.

[0075] (2) Then calculate the shooting distance for oblique photography:

[0076] Calculate the field of view: Viewangle = arctan(imgheight / 2*cellsize / f)*2;

[0077] Where Viewangle is the field of view angle, and arctan() is the arctangent function;

[0078] (3) Calculate the horizontal distance of the aerial photography point:

[0079] Hordis=shootdis*cos(fangle);

[0080] Where Hordis is the horizontal distance of the aerial viewpoint, cos() is the cosine function, and fangle is the angle of view, which should be below the maximum angle of view as much as possible;

[0081] (4) Calculate the height of the aerial photography point:

[0082] ShootH=Hordis*tan(fangle-Viewangle / 2)+H3;

[0083] ShootH is the height of the aerial viewpoint, and H3 is the height of the top of the tower.

[0084] (5) Calculate the height of the target point:

[0085] objh = shootdis * sin(fangle) - ShootH, where objh is the height of the target point.

[0086] When some towers are too tall (greater than 300 meters), try to use the maximum downward angle of 60 degrees. If the calculated relative flight altitude (flight altitude minus tower height) is too large (greater than 500 meters), then replan the flight altitude and recalculate the shooting point height.

[0087] 2. Design for shooting the center of the global insulator

[0088] The key to photographing the middle of an insulator is to use a specific overhead angle, aim at the vicinity of the middle of the insulator, and photograph the entire insulator. Since the longest insulator is only a dozen meters, the target is much smaller than the overall viewpoint of the tower.

[0089] (1) First, calculate the shooting distance using vertical photography, using the following formula.

[0090] Gsd = Length / imgheight;

[0091] Where Gsd is the ground resolution, Length is the insulator length, and imgheight is the image height.

[0092] shootdis = Gsd * f / cellsize;

[0093] shootdis is the shooting distance, f is the focal length, and cellsize is the pixel resolution.

[0094] (2) Calculation of oblique photography distance using field of view

[0095] Shootdis1=Length / sin(viewangle / 2) / (1 / sin(90-fangle-viewangle / 2)+1 / sin(90-fangle+viewangle / 2));

[0096] Where Shootdis1 is the tilt shooting distance, sin is the sine function, viewangle is the field of view, and fangle is the top-down angle.

[0097] (3) Calculate the height of the shooting point

[0098] H2=H1-shootdis*sin(viewangle / 2) / sin(90-fangle-viewangle / 2);

[0099] Where H1 is the height of the top of the insulator, H2 is the height of the shooting point, and shootdis is the vertical shooting distance.

[0100] (4) Zoom camera design

[0101] When the shooting distance is less than the safe distance, zooming is required to ensure the clarity of the insulator image.

[0102] Calf=SafeDis*cellsize / Gsd;

[0103] Where SafeDis is the safety distance and Calf is the calculated focal length. Using this focal length, the entire insulator can be planned within the image range.

[0104] 3. Maintain resolution with crossarm mounting point design

[0105] When shooting from the horizontal support point, it is necessary to ensure sharpness, so a certain resolution is required. According to the analysis, a resolution of 1 mm is needed, so the shooting distance required to achieve this resolution needs to be calculated based on the camera parameters.

[0106] (1) Shooting with a fixed-focus camera

[0107] The shooting distance can be calculated based on camera parameters and resolution.

[0108] Shootdis = Gsd * f / cellsize;

[0109] This camera is not suitable for use when the shooting distance is less than the safe distance; a different camera must be used to meet the requirements.

[0110] (2) Zoom camera shooting

[0111] First, calculate the safe distance using the minimum focal length: Shootdis = Gsd * fmin / cellsize;

[0112] fmin is the minimum focal length, and Shootdis is the shooting distance corresponding to the minimum focal length.

[0113] 1) When the shooting distance is less than the safe distance, zoom is required so that a better photo can be taken at the safe distance.

[0114] Calf=Safedis*cellsize / GSD;

[0115] Safedis is the safety distance, and Calf is the focal length calculated from the safety distance. This is the focal length that needs to be zoomed.

[0116] 2) When the shooting distance is greater than the safe distance, take photos at the safe distance. This will result in photos with a resolution higher than 1 mm and clearer images.

[0117] 4. Maintain clarity while capturing the entire conductor hanging point design.

[0118] Taking photos of the conductor end attachment point requires both clarity and full coverage. This is certainly possible for low-voltage towers, but it is difficult to guarantee for high-voltage towers.

[0119] (1) Shooting with a fixed-focus camera

[0120] First, calculate the shooting distance to maintain sharpness: Shootdis1 = Gsd * f / cellsize;

[0121] Then calculate and photograph all the hanging points:

[0122] Gsdl = Length / imgheight;

[0123] shootdis2=Gsd1*f / cellsize;

[0124] Where Length is the length of the conductor end component, Gsdl is the resolution when the component is fully captured, and shootdis2 is the corresponding shooting distance. If shootdis2 is less than 1.2 times shootdis1, then the shooting distance of shootdis2 is used to take one shot. If shootdis2 is greater than 1.2 times shootdis1, then shootdis1 and shootdis2 are used to take two shots respectively.

[0125] (2) Zoom camera shooting

[0126] First, calculate the shooting distance to capture the entire image using the minimum focal length:

[0127] Gsdl = Length / imgheight;

[0128] shootdis2=Gsd1*f / cellsize;

[0129] Then calculate the focal length required to achieve 1mm resolution at this distance.

[0130] Calf=shootdis2*cellsize / GSD;

[0131] GSD is 1 mm, and Calf is the calculated zoom value. This allows you to take two photos from the same position: first, use the minimum focal length to capture the entire end of the wire, and then zoom to capture the details. This satisfies the requirements.

[0132] This invention proposes a method for designing key components of main network pole towers for refined inspection. This method automatically calculates aerial photography points for different types of shooting locations, maximizing the field of view for all types of targets, increasing image resolution for local shooting points, and enhancing the safety of aerial photography points. Inspection routes are automatically generated sequentially according to inspection specifications and different shooting methods, and standardized naming is automatically applied based on the location of the aerial photography points. The method also performs automated safety checks on the pole tower routes. This method improves the efficiency of designing refined inspection routes for UAV pole towers, significantly reduces manual intervention, and standardizes route sequence and photo naming, thereby enhancing the automation and intelligence level of refined UAV pole tower inspections to a certain extent.

[0133] Example 2

[0134] Corresponding to Embodiment 1 above, this embodiment proposes a design device for key parts of main grid tower fine-tuning inspection. The device is used for:

[0135] The shooting targets are divided into different types, including global shooting targets and local shooting targets. The goal is to maximize the field of view of global shooting targets and maximize the image resolution of local shooting targets. Preset shooting methods and principles are used to shoot different types of shooting targets. By calculating the shooting distance and shooting angle, the shooting points are reasonably planned to obtain the best photography parameters.

[0136] Specifically, for the overall frame, oblique photography is used to capture the entire tower or the tower body; for the insulator string, the entire insulator is captured by shooting from a certain overhead angle, focusing on the central area of ​​the insulator string; for the crossarm hanging point, the shooting principle is to ensure that the image is clear; for the conductor end hanging point, the shooting principle is to ensure that the image is both clear and complete.

[0137] The functions of each component in the key part design device for refined inspection of main grid towers provided in this embodiment of the invention have been described in detail in the above embodiment 1, so they will not be repeated here.

[0138] Example 3

[0139] Corresponding to the above embodiments, this embodiment proposes a design system for key parts of the main grid tower fine-tuning inspection, the system including: a processor and a memory;

[0140] The memory is used to store one or more program instructions;

[0141] The processor is configured to run one or more program instructions to perform the method described in Embodiment 1 above.

[0142] Example 4

[0143] Corresponding to the above embodiments, this embodiment proposes a computer storage medium containing one or more program instructions, which are used by a main grid tower fine inspection key part design system to execute the method of Embodiment 1.

[0144] 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 design method for key components of main grid towers for refined inspection, characterized in that, The method includes: The shooting targets are divided into different types, including global shooting targets and local shooting targets. The goal is to maximize the field of view of global shooting targets and maximize the image resolution of local shooting targets. Preset shooting methods and principles are used to shoot different types of shooting targets. By calculating the shooting distance and shooting angle, the shooting points are reasonably planned to obtain the best photography parameters. Specifically, for the overall frame, oblique photography is used to capture the entire tower or the tower body; for the insulator string, the entire insulator is captured by shooting from a certain overhead angle, focusing on the central area of ​​the insulator string; for the crossarm hanging point, the shooting principle is to ensure that the image is clear; for the conductor end hanging point, the shooting principle is to ensure that the image is both clear and complete. For different types of shooting targets, preset shooting methods and principles are adopted. By calculating shooting distance and shooting angle, shooting points are rationally planned to obtain the best photographic parameters, specifically including: For the crossarm attachment point: When shooting with a fixed-focus camera: The shooting distance is calculated based on camera parameters and target resolution: Shootdis = Gsd * f / cellsize; where Gsd is the ground resolution, f is the focal length, and cellsize is the pixel resolution; when the shooting distance is less than the safe distance, this camera is not suitable and a different camera must be used to meet the requirements. When shooting with a zoom camera: First, calculate the safe distance using the minimum focal length: Shootdis = Gsd * fmin / cellsize, where fmin is the minimum focal length and Shootdis is the shooting distance corresponding to the minimum focal length. When the shooting distance is less than the safe distance, zooming is required to obtain a better photo at the safe distance; calculate Calf = Safedis * cellsize / GSD; where Safedis is the safe distance, and Calf is the focal length calculated from the safe distance, which is the focal length at which zooming is required; When the shooting distance is greater than the safe distance, the safe distance is used to take the photo, and the photo resolution reaches the target value to obtain a clear image; For different types of shooting targets, preset shooting methods and principles are adopted. By calculating shooting distance and shooting angle, shooting points are rationally planned to obtain the best photographic parameters, specifically including: For the conductor end hanging point: When shooting with a fixed-focus camera: First, calculate the shooting distance to maintain sharpness: Shootdis1 = Gsd * f / cellsize; where Gsd is the ground resolution, f is the focal length, and cellsize is the pixel resolution. Then calculate Gsdl = Length / imgheight, shootdis2 = Gsd1 * f / cellsize; Where Length is the length of the wire end hanging point component, Gsdl is the resolution when the hanging point component is fully captured, and shootdis2 is the corresponding shooting distance. If shootdis2 is less than 1.2 times shootdis1, then shoot once using the shooting distance of shootdis2. If shootdis2 is greater than 1.2 times shootdis1, then shoot twice using shootdis1 and shootdis2 respectively. When shooting with a zoom camera: First, calculate the shooting distance for capturing the entire image using the minimum focal length: Gsdl = Length / imgheight, shootdis2 = Gsd1 * f / cellsize; Then calculate the focal length required to achieve the target resolution at this distance: Calf=shootdis2*cellsize / GSD; Where GSD is the target resolution and Calf is the calculated zoom value, two photos are taken at the same location: first, the entire component of the wire end hanging point is photographed with the minimum focal length, and then the local details are photographed with zoom.

2. A design device for refined inspection of key parts of main grid towers, characterized in that, The device is used for: The shooting targets are divided into different types, including global shooting targets and local shooting targets. The goal is to maximize the field of view of global shooting targets and maximize the image resolution of local shooting targets. Preset shooting methods and principles are used to shoot different types of shooting targets. By calculating the shooting distance and shooting angle, the shooting points are reasonably planned to obtain the best photography parameters. Specifically, for the overall frame, oblique photography is used to capture the entire tower or the tower body; for the insulator string, the entire insulator is captured by shooting from a certain overhead angle, focusing on the central area of ​​the insulator string; for the crossarm hanging point, the shooting principle is to ensure that the image is clear; for the conductor end hanging point, the shooting principle is to ensure that the image is both clear and complete. For different types of shooting targets, preset shooting methods and principles are adopted. By calculating shooting distance and shooting angle, shooting points are rationally planned to obtain the best photographic parameters, specifically including: For the crossarm attachment point: When shooting with a fixed-focus camera: The shooting distance is calculated based on camera parameters and target resolution: Shootdis = Gsd * f / cellsize; where Gsd is the ground resolution, f is the focal length, and cellsize is the pixel resolution; when the shooting distance is less than the safe distance, this camera is not suitable and a different camera must be used to meet the requirements. When shooting with a zoom camera: First, calculate the safe distance using the minimum focal length: Shootdis = Gsd * fmin / cellsize, where fmin is the minimum focal length and Shootdis is the shooting distance corresponding to the minimum focal length. When the shooting distance is less than the safe distance, zooming is required to obtain a better photo at the safe distance; calculate Calf = Safedis * cellsize / GSD; where Safedis is the safe distance, and Calf is the focal length calculated from the safe distance, which is the focal length at which zooming is required; When the shooting distance is greater than the safe distance, the safe distance is used to take the photo, and the photo resolution reaches the target value to obtain a clear image; For different types of shooting targets, preset shooting methods and principles are adopted. By calculating shooting distance and shooting angle, shooting points are rationally planned to obtain the best photographic parameters, specifically including: For the conductor end hanging point: When shooting with a fixed-focus camera: First, calculate the shooting distance to maintain sharpness: Shootdis1 = Gsd * f / cellsize; where Gsd is the ground resolution, f is the focal length, and cellsize is the pixel resolution. Then calculate Gsdl = Length / imgheight, shootdis2 = Gsd1 * f / cellsize; Where Length is the length of the wire end hanging point component, Gsdl is the resolution when the hanging point component is fully captured, and shootdis2 is the corresponding shooting distance. If shootdis2 is less than 1.2 times shootdis1, then shoot once using the shooting distance of shootdis2. If shootdis2 is greater than 1.2 times shootdis1, then shoot twice using shootdis1 and shootdis2 respectively. When shooting with a zoom camera: First, calculate the shooting distance for capturing the entire image using the minimum focal length: Gsdl = Length / imgheight, shootdis2 = Gsd1 * f / cellsize; Then calculate the focal length required to achieve the target resolution at this distance: Calf=shootdis2*cellsize / GSD; Where GSD is the target resolution and Calf is the calculated zoom value, two photos are taken at the same location: first, the entire component of the wire end hanging point is photographed with the minimum focal length, and then the local details are photographed with zoom.

3. A design system for key components of a main power grid tower for refined inspection, 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 claim 1.

4. A computer storage medium, characterized in that, The computer storage medium contains one or more program instructions, which are used by a main grid tower fine inspection key component design system to execute the method as described in claim 1.

Images