Overhead cable route determination method and system, unmanned aerial vehicle and storage medium

Abstract

The application discloses an overhead cable route determination method and system, a UAV and a storage medium. The method comprises the following steps: identifying the position of a cable support in a measurement area; controlling the UAV to fly to a position area where the position of the cable support is located; obtaining the relative position distance measured by the UAV at each measurement point in the position area; when the relative position distance measured by the UAV at the measurement point matches a preset model, determining the target position of the cable support according to the measurement point corresponding to the matched preset model; determining the position of the next cable support of the cable support according to the target position of the cable support and the cable direction identified by the cable support; taking the position of the next cable support as the initial flight position and taking the target position of the cable support as the flight starting point until the UAV flies out of the measurement area. The application reduces the loss of human and material resources when updating cable route information through the above technical solutions.

Description

Technical Field

[0001] This application relates to the field of surveying and mapping technology, and in particular to methods, systems, unmanned aerial vehicles (UAVs), and storage media for determining overhead cable routes. Background Technology

[0002] Cable routing maps are a crucial part of transmission design. With the ever-expanding scale of cable networks, the workload of cable route re-surveying is increasing. Cable route re-surveying is generally based on construction drawings for verification. Through re-surveying, the specific route locations for cable laying are determined, and accurate distances on the ground are measured, providing necessary data for cable reel placement, laying, and identifying protected areas. Currently, cable routing maps are drawn manually, involving manual alignment, distance measurement, stake marking, line marking, and drawing. However, when cable routes change significantly due to road conditions or other factors, the cable routing information needs to be updated. Due to the inconvenient transportation in rural areas, updating cable routing information requires substantial human and material resources. Summary of the Invention

[0003] This application provides an overhead cable routing determination method, system, drone, and storage medium, thereby reducing the human and material resource consumption for updating cable routing information while improving measurement accuracy.

[0004] This application provides a method for determining the route of overhead cables, the method comprising:

[0005] The location of cable supports within the measurement area is identified based on the initial flight bearing and the route measurement endpoint area; the cable support is either the cable support closest to the initial flight bearing or a specified cable support at a specified bearing.

[0006] Control the drone to fly from the flight start point to the location area where the cable bracket is located;

[0007] Obtain the relative azimuth distance measured by the UAV corresponding to each measurement point in the location area. When the relative azimuth distance measured by the UAV corresponding to the measurement point matches the preset model, determine the target position of the cable bracket based on the measurement point corresponding to the matched preset model.

[0008] The location of the next cable bracket is determined based on the target location of the cable bracket and the direction of the cable connected to the identified cable bracket; the next cable bracket is the cable bracket that is close to the end of the route measurement endpoint area along the direction of the cable.

[0009] Using the orientation of the next cable bracket as the initial flight orientation and the target position of the cable bracket as the flight starting point, return to execute the step of controlling the UAV to fly from the flight starting point to the location area where the cable bracket is located, until the measurement is completed.

[0010] In one embodiment, the step of obtaining the relative azimuth distances measured by the UAV corresponding to each measurement point within the location area, and determining the target position of the cable bracket based on the measurement point corresponding to the matched preset model when the relative azimuth distance measured by the UAV at the measurement point matches the preset model, includes:

[0011] Obtain the vertical altitude of the UAV to the ground at the first measurement point within the location area and the vertical altitude of the UAV to the ground at the second measurement point;

[0012] When the height difference between the vertical height measured by the UAV at the first measurement point and the vertical height measured by the UAV at the second measurement point is within a preset distance range, the second measurement point is marked as the first coordinate point.

[0013] When the difference between the vertical height measured by the UAV at the fourth measurement point and the vertical height measured by the UAV at the third measurement point is within the negative preset distance range,

[0014] The third measurement point is marked as the second coordinate point;

[0015] Taking the midpoint between the first coordinate point and the second coordinate point as the starting point, draw perpendicular lines from both ends of the starting point, and determine the first vertex and the second vertex using the diameter of the cable bracket as the side length;

[0016] The drone is controlled to fly sequentially from the second coordinate point to the first vertex or the second vertex, and when the difference between the vertical height measured by the drone at the sixth measurement point and the vertical height measured by the drone at the fifth measurement point is within a negative preset distance range, the fifth measurement point is marked as the third coordinate point.

[0017] The target position of the cable bracket is determined based on the first coordinate point, the second coordinate point, and the third coordinate point.

[0018] In one embodiment, the step of obtaining the relative azimuth distances measured by the UAV corresponding to each measurement point within the location area, and determining the target position of the cable bracket based on the measurement point corresponding to the matched preset model when the relative azimuth distance measured by the UAV at the measurement point matches the preset model, includes:

[0019] Obtain the relative azimuth distance measured by the UAV for each measurement point within the specified location area;

[0020] Based on the relative azimuth distance measured by the UAV corresponding to each measurement point, a neural network algorithm is used to classify and predict the measurement point of the corresponding cable bracket. The measurement point is located within the preset diameter range of the utility pole.

[0021] The coordinate information of the measurement point of the corresponding cable bracket is determined based on the flight measurement coordinates of the UAV and the relative azimuth distance measured by the UAV at the measurement point of the corresponding cable bracket.

[0022] The target position of the cable bracket is determined based on the coordinate information of the measurement points of the cable bracket.

[0023] In one embodiment, the step of identifying the orientation of the cable support within the measurement area based on the initial flight bearing and the route measurement endpoint area includes:

[0024] The YOLO target detection algorithm is used to identify the orientation of cable supports within the measurement area based on the initial flight orientation.

[0025] In one embodiment, after the step of taking the orientation of the next cable bracket as the initial flight orientation, taking the target position of the cable bracket as the flight starting point, and returning to execute the step of controlling the UAV to fly from the flight starting point to the location area where the orientation of the cable bracket is located, until the measurement is completed, the method further includes:

[0026] A map layer is generated based on the target locations of all the measured cable brackets;

[0027] The map layer is overlaid with the basic road network layer to generate a cable routing map.

[0028] In one embodiment, after the step of determining the orientation of the next cable bracket based on the target location of the cable bracket and the identified cable routing connected to the cable bracket, the method further includes:

[0029] The image of the cable bracket is obtained based on the target position of the cable bracket and the orientation of the next cable bracket;

[0030] The images captured by each cable bracket are stitched together according to the direction of cable flight to obtain the survey image.

[0031] In one embodiment, the overhead cable routing determination method further includes:

[0032] Obtain the vertical distance between the drone and the ground, and the vertical distance between the drone and the cable support;

[0033] The height of the cable support is determined based on the vertical distance between the drone and the ground and the vertical distance between the drone and the cable support.

[0034] Alternatively, measure the horizontal distance of the cable bracket; move the laser rangefinder upwards along the cable bracket at the same visual angle until it exceeds the measurement range, and determine the height of the measurement point above the ground when the laser rangefinder exceeds the measurement range as the height of the cable bracket.

[0035] Based on the height of the cable bracket, the surveyed images, and the target location of the cable bracket, a cable route retest is performed.

[0036] Furthermore, to achieve the above objectives, this application also provides an overhead cable routing determination system, the overhead cable routing determination system comprising:

[0037] The identification module is used to identify the location of cable supports within the measurement area based on the initial flight bearing and the route measurement endpoint area; the cable support is the cable support closest to the initial flight bearing or a specified cable support at a specified bearing;

[0038] The first control module is used to control the drone to fly from the flight start point to the location area where the cable bracket is located;

[0039] The first determining module is used to obtain the relative azimuth distances measured by the UAV corresponding to each measurement point in the location area. When the relative azimuth distances measured by the UAV corresponding to the measurement points match the preset model, the target position of the cable bracket is determined according to the measurement points corresponding to the matched preset model.

[0040] The second determining module is used to determine the location of the next cable bracket based on the target location of the cable bracket and the identified cable route connected to the cable bracket; the next cable bracket is a cable bracket that is close to the end of the route measurement endpoint area along the cable route.

[0041] The second control module is used to take the orientation of the next cable bracket as the initial flight orientation, take the target position of the cable bracket as the flight starting point, and return to execute the step of controlling the UAV to fly from the flight starting point to the location area where the orientation of the cable bracket is located, until the measurement is completed.

[0042] In addition, to achieve the above objectives, this application also provides a drone including: a memory, a processor, and an overhead cable routing determination program stored in the memory and executable on the processor, wherein when the overhead cable routing determination program is executed by the processor, it implements the steps of the above-described overhead cable routing determination method.

[0043] In addition, to achieve the above objectives, this application also provides a computer-readable storage medium storing an overhead cable routing determination program thereon, which, when executed by a processor, implements the steps of the above-described overhead cable routing determination method.

[0044] The overhead cable route determination method, system, UAV, and storage medium provided in this application embodiment use a recognition model and initial flight orientation to search and identify the nearest cable support within the measurement area in real time. The relative azimuth distance between the UAV and the ground corresponding to the measurement point within the area is measured to determine the target position and altitude information of the cable support. The recognition model then searches and identifies the cables connected to the cable support in real time to determine the route flight measurement direction, thereby automatically measuring and obtaining the complete route information for the cable support. This application not only improves the measurement accuracy of cable supports but also replaces manual route surveying with a fully automated route surveying method, reducing the consumption of human and material resources when updating cable route information. Attached Figure Description

[0045] Figure 1 This is a schematic diagram of the hardware operating environment involved in the embodiments of this application;

[0046] Figure 2 This is a flowchart illustrating the first embodiment of the overhead cable routing determination method of this application;

[0047] Figure 3 This is a schematic diagram of the triangular flight method used in this application.

[0048] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. The accompanying drawings are only one embodiment and not the entirety of the invention. Detailed Implementation

[0049] To better understand the above technical solutions, exemplary embodiments of this disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of this disclosure are shown in the drawings, it should be understood that this disclosure can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of this disclosure to those skilled in the art.

[0050] like Figure 1 As shown, Figure 1 This is a schematic diagram of the hardware operating environment involved in the embodiments of this application.

[0051] It should be noted that, Figure 1 This can be a schematic diagram of the hardware operating environment of the drone.

[0052] like Figure 1As shown, the drone may include: a processor 1001, such as a CPU; a memory 1005; a user interface 1003; a network interface 1004; and a communication bus 1002. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen or an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be high-speed RAM or non-volatile memory, such as a disk drive. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0053] In one embodiment, the drone further includes a drone module, a laser rangefinder, a flight control device, a controller device, and a drawing board. The drone is used to fly along a predetermined path; the laser rangefinder is used to test distances and send test signals to the flight control device. The flight control device controls the drone's flight path and collects test data, which can also be copied directly from a test terminal offline via a USB cable.

[0054] The laser rangefinder can be a communication module integrated into the UAV, or it can be a portable laser rangefinder carried by the UAV. The controller device implements all steps of the overhead cable routing determination method of this application. The drawing module is used to retrieve a map interface and generate a cable routing map based on the measured target location of the cable support.

[0055] Those skilled in the art will understand that Figure 1 The drone structure shown does not constitute a limitation on the drone and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0056] like Figure 1 As shown, the memory 1005, which serves as a storage medium, may include an operating system, a network communication module, a user interface module, and an overhead cable routing determination program. The operating system is a program that manages and controls the operation of the UAV's hardware and software resources, the overhead cable routing determination program, and other software or programs.

[0057] exist Figure 1 In the UAV shown, the user interface 1003 is mainly used to connect to the terminal and communicate with the terminal; the network interface 1004 is mainly used to connect to the backend server and communicate with the backend server; the processor 1001 can be used to call the overhead cable routing determination program stored in the memory 1005.

[0058] In this embodiment, the drone includes: a memory 1005, a processor 1001, and an overhead cable routing determination program stored in the memory and executable on the processor, wherein:

[0059] When processor 1001 calls the overhead cable routing determination program stored in memory 1005, it performs the following operations:

[0060] The location of cable supports within the measurement area is identified based on the initial flight bearing and the route measurement endpoint area; the cable support is either the cable support closest to the initial flight bearing or a specified cable support at a specified bearing.

[0061] Control the drone to fly from the flight start point to the location area where the cable bracket is located;

[0062] Obtain the relative azimuth distance measured by the UAV corresponding to each measurement point in the location area. When the relative azimuth distance measured by the UAV corresponding to the measurement point matches the preset model, determine the target position of the cable bracket based on the measurement point corresponding to the matched preset model.

[0063] The location of the next cable bracket is determined based on the target location of the cable bracket and the direction of the cable connected to the identified cable bracket; the next cable bracket is the cable bracket that is close to the end of the route measurement endpoint area along the direction of the cable.

[0064] Using the orientation of the next cable bracket as the initial flight orientation and the target position of the cable bracket as the flight starting point, return to execute the step of controlling the UAV to fly from the flight starting point to the location area where the cable bracket is located, until the measurement is completed.

[0065] When processor 1001 calls the overhead cable routing determination program stored in memory 1005, it also performs the following operations:

[0066] Obtain the vertical altitude of the UAV to the ground at the first measurement point within the location area and the vertical altitude of the UAV to the ground at the second measurement point;

[0067] When the height difference between the vertical height measured by the UAV at the first measurement point and the vertical height measured by the UAV at the second measurement point is within a preset distance range, the second measurement point is marked as the first coordinate point.

[0068] When the height difference between the vertical height measured by the UAV at the fourth measurement point and the vertical height measured by the UAV at the third measurement point is within a negative preset distance range, the third measurement point is marked as the second coordinate point.

[0069] Taking the midpoint between the first coordinate point and the second coordinate point as the starting point, draw perpendicular lines from both ends of the starting point, and determine the first vertex and the second vertex using the diameter of the cable bracket as the side length;

[0070] The drone is controlled to fly sequentially from the second coordinate point to the first vertex or the second vertex, and when the difference between the vertical height measured by the drone at the sixth measurement point and the vertical height measured by the drone at the fifth measurement point is within a negative preset distance range, the fifth measurement point is marked as the third coordinate point.

[0071] The target position of the cable bracket is determined based on the first coordinate point, the second coordinate point, and the third coordinate point.

[0072] When processor 1001 calls the overhead cable routing determination program stored in memory 1005, it also performs the following operations:

[0073] Obtain the relative azimuth distance measured by the UAV for each measurement point within the specified location area;

[0074] Based on the relative azimuth distance measured by the UAV corresponding to each measurement point, a neural network algorithm is used to classify and predict the measurement point of the corresponding cable bracket. The measurement point is located within the preset diameter range of the utility pole.

[0075] The coordinate information of the measurement point of the corresponding cable bracket is determined based on the flight measurement coordinates of the UAV and the relative azimuth distance measured by the UAV at the measurement point of the corresponding cable bracket.

[0076] The target position of the cable bracket is determined based on the coordinate information of the measurement points of the cable bracket.

[0077] When processor 1001 calls the overhead cable routing determination program stored in memory 1005, it also performs the following operations:

[0078] The YOLO target detection algorithm is used to identify the orientation of cable supports within the measurement area based on the initial flight orientation.

[0079] When processor 1001 calls the overhead cable routing determination program stored in memory 1005, it also performs the following operations:

[0080] A map layer is generated based on the target locations of all the measured cable brackets;

[0081] The map layer is overlaid with the basic road network layer to generate a cable routing map.

[0082] When processor 1001 calls the overhead cable routing determination program stored in memory 1005, it also performs the following operations:

[0083] The image of the cable bracket is obtained based on the target position of the cable bracket and the orientation of the next cable bracket;

[0084] The images captured by each cable bracket are stitched together according to the direction of cable flight to obtain the survey image.

[0085] When processor 1001 calls the overhead cable routing determination program stored in memory 1005, it also performs the following operations:

[0086] Obtain the vertical distance between the drone and the ground, and the vertical distance between the drone and the cable support;

[0087] The height of the cable support is determined based on the vertical distance between the drone and the ground and the vertical distance between the drone and the cable support.

[0088] Alternatively, measure the horizontal distance of the cable bracket; move the laser rangefinder upwards along the cable bracket at the same visual angle until it exceeds the measurement range, and determine the height of the measurement point above the ground when the laser rangefinder exceeds the measurement range as the height of the cable bracket.

[0089] Based on the height of the cable bracket, the surveyed images, and the target location of the cable bracket, a cable route retest is performed.

[0090] The technical solution of this application will be described below by way of examples.

[0091] like Figure 2 As shown, in the first embodiment of this application, the overhead cable routing determination method of this application includes the following steps:

[0092] Step S110: Identify the location of the cable support within the measurement area based on the initial flight bearing and the route measurement endpoint area; the cable support is the cable support closest to the initial flight bearing or a designated cable support at a designated location.

[0093] In this embodiment, to address the issue of high manpower and material resource consumption when updating cable routing information, this application proposes an overhead cable routing determination method. This method uses an identification model and initial flight orientation to search and identify the nearest cable support within the measurement area in real time. It measures the relative azimuth distance between the measurement point and the ground via a UAV within the area, determining the target position and altitude of the cable support. Based on the identification model, it searches and identifies the cables connected to the cable support in real time, determining the route flight measurement direction, thereby automatically measuring and obtaining the complete cable support routing information. This application not only improves the measurement accuracy of cable supports but also replaces manual route surveying with a fully automated route survey method, reducing the manpower and material resource consumption when updating cable routing information.

[0094] In this embodiment, the cable support can be a communication power pole, power tower, etc. When the cable support is a communication power pole, the communication power pole can be a cylindrical power pole or a power pole of other shapes. Specifically, the UAV can fly along a specified route and obtain the orientation of the cable support. The cable support first identified by the UAV is the cable support closest to the initial flight orientation. Alternatively, a specific cable support at a specified orientation can be determined as the cable support first identified by the UAV. The UAV takes off from the initial flight orientation and identifies the orientation of the cable support within the measurement area based on the initial flight orientation and the route measurement endpoint area. The surveyor can control the UAV to fly to the measurement area where the cable support is located. Alternatively, the UAV's flight time or timed takeoff time can be set in the UAV controller. For example, when the timed takeoff time arrives, the UAV takes off from the initial flight orientation to the measurement area where the cable support is located. The orientation of the cable support is the relative position of the cable support and the UAV. Obtaining the orientation of the cable support can be done through a visual recognition model, specifically by controlling the UAV to take off from the initial flight orientation. During flight, the camera device installed on the drone collects environmental images in real time, and then inputs the environmental images into the visual recognition module to obtain the orientation of the cable bracket.

[0095] In one embodiment, a lidar can also be installed on the drone. Within the location area, the lidar scans to obtain the scan dot matrix data of the cable bracket, and the coordinates of the midpoint or any point on the cable bracket are taken as the coordinates of the cable bracket.

[0096] In one embodiment, when the drone reaches the location area, environmental images of that area can be acquired using a camera on the drone, and the target location of the cable support can be determined by acquiring multiple environmental images. Specifically, the drone flies above the cable support and acquires environmental images from above it.

[0097] In one embodiment, identifying the location of cable supports within the measurement area based on the initial flight bearing and the route measurement endpoint area specifically includes the following steps:

[0098] Step S111: Based on the initial flight orientation, the YOLO target detection algorithm is used to identify the orientation of the cable support within the measurement area.

[0099] In this embodiment, the UAV, based on its initial flight orientation and route measurement endpoint area, acquires images to be detected in real time using a camera mounted on the UAV. These images are also environmental images, which are then input into a visual recognition module to obtain the orientation of the cable bracket. The location of the cable bracket represents the approximate location of the UAV. The visual recognition module uses the YOLO target detection algorithm to process the environmental image. This processing may include grayscale processing and category detection. Through this processing, a target detection box including the cable bracket is obtained. After obtaining the target detection box, the orientation of the cable bracket within the measurement area can be determined based on it.

[0100] In the technical solution of this embodiment, the location of the cable bracket is obtained by acquiring the image to be detected taken by the drone and inputting the image to be detected into the target detection model.

[0101] Step S120: Control the drone to fly from the flight start point to the location area where the cable bracket is located.

[0102] In this embodiment, after obtaining the orientation of the cable bracket, the drone can be controlled to fly from the preset flight starting point to the location area where the cable bracket is located. After the drone arrives at the location area where the cable bracket is located, it will fly in that location area to further determine the specific location of the cable bracket, that is, the target location of the cable bracket.

[0103] Step S130: Obtain the relative azimuth distance measured by the UAV corresponding to each measurement point in the location area. When the relative azimuth distance measured by the UAV corresponding to the measurement point matches the preset model, determine the target position of the cable bracket according to the measurement point corresponding to the matched preset model.

[0104] In this embodiment, when the drone flies to the location area where the cable support is located, it flies within that location area. Upon reaching this area, the drone's relative azimuth distance can be measured at multiple points using its onboard laser rangefinder, thereby determining the target location of the cable support. The measurement points within the location area can be preset points, with the drone flying to each preset point to measure its relative azimuth distance. Multiple measurement points exist, and each point may be at a different altitude from the ground. Alternatively, the measurement points can be non-preset points, manually determined, allowing the drone to acquire its relative azimuth distance at each point.

[0105] In one embodiment, obtaining the relative azimuth distances measured by the UAV for each measurement point within the location area, and determining the target location of the cable bracket based on the measurement point corresponding to the matched preset model when the relative azimuth distance measured by the UAV for each measurement point matches the preset model, specifically includes the following steps:

[0106] Step S131: Obtain the vertical height of the UAV measuring the ground at the first measurement point and the vertical height of the UAV measuring the ground at the second measurement point within the location area.

[0107] Step S132: When the height difference between the vertical height measured by the UAV at the first measurement point and the vertical height measured by the UAV at the second measurement point is within a preset distance range, mark the second measurement point as the first coordinate point.

[0108] Step S133: When the height difference between the vertical height measured by the UAV at the fourth measurement point and the vertical height measured by the UAV at the third measurement point is within the negative preset distance range, mark the third measurement point as the second coordinate point.

[0109] Step S134: Taking the midpoint between the first coordinate point and the second coordinate point as the starting point, draw perpendicular lines from both ends of the starting point, and determine the first vertex and the second vertex using the diameter of the cable bracket as the side length;

[0110] Step S135: Control the UAV to fly sequentially from the second coordinate point to the first vertex or the second vertex, and when the height difference between the vertical height measured by the UAV at the sixth measurement point and the vertical height measured by the UAV at the fifth measurement point is within the negative preset distance range, mark the fifth measurement point as the third coordinate point;

[0111] Step S136: Determine the target position of the cable bracket based on the first coordinate point, the second coordinate point, and the third coordinate point.

[0112] In this embodiment, the drone flies to the location of the cable support and flies in the triangular flight method within that location area. Specifically, the vertical altitude of the UAV at the first measurement point and the vertical altitude of the UAV at the second measurement point within the specified location area are obtained. When the difference between the vertical altitudes of the UAV at the first and second measurement points is within a preset distance range, the second measurement point is marked as a first coordinate point. When the difference between the vertical altitudes of the UAV at the fourth and third measurement points is within a negative preset distance range, the third measurement point is marked as a second coordinate point. Taking the midpoint between the first and second coordinate points as the starting point, perpendicular lines are drawn from both ends of this starting point, and the diameter of the cable support is used as the side length to determine the first and second vertices. The UAV is controlled to fly sequentially from the second coordinate point to the first or second vertices, and when the difference between the vertical altitudes of the UAV at the sixth and fifth measurement points is within a negative preset distance range, the fifth measurement point is marked as a third coordinate point. The target position of the cable support is determined based on the first, second, and third coordinate points.

[0113] The first, second, and third coordinate points were measured using the method described above, and the differences between the altitude of the drone and the altitude of the cable support at these three points were all within a preset distance range. The coordinates of the cable support were then determined using these three points, and the target position of the cable support was obtained from these coordinates.

[0114] For example, for cylindrical cable supports, the triangular flight method can be used; for non-cylindrical cable supports, those with sides approximately equal to their diameter can also be shaped using the triangular flight method. (See reference...) Figure 3 The triangular flight method is specifically as follows:

[0115] First, the measured height h1 of the first coordinate point A(x1, y1) differs from the previous measured height h2 by approximately 7 meters, triggering the cable support judgment program. Both the measured height of point A and the previous measured height are obtained using a laser rangefinder on the drone; this first point's coordinates are the drone's coordinates. At this first point, the drone is positioned above the cable support, whereas the previous measurement placed it on the ground.

[0116] Second, until the approximate measurement altitude h2 of the direct flight operation is reached, the coordinates of the previous measurement are obtained as the second coordinate point B(x2, y2).

[0117] Third, starting from the midpoint D of points A and B, draw a perpendicular line with the diameter of the standard cable bracket as the side length to obtain vertices E and F. The drone flies towards E and F in sequence. When it finds that the continuous measurement is approximately at height h1, when it flies straight to approximately the measurement height h2, the coordinates of the previous measurement are obtained as the third coordinate point C(x3, y3).

[0118] Fourth, the coordinates of the point (x0, y0) obtained from A, B, and C are the coordinates of the first cable bracket. (Equations 1, 2, and 3). The specific calculation formula can be expressed as:

[0119] (X3-X0) 2 +(Y3-Y0) 2 =R 2

[0120] (X2-X0) 2 +(Y2-Y0) 2 =R 2

[0121] (X1-X0) 2 +(Y1-Y0) 2 =R 2

[0122] By solving the above equations, the coordinates of the cable bracket can be obtained, and the target location can be determined based on these coordinates.

[0123] In the technical solution of this embodiment, the target position of the cable bracket is determined by adopting the above-mentioned triangular flight method.

[0124] In one embodiment, obtaining the relative azimuth distances measured by the UAV for each measurement point within the location area, and determining the target location of the cable bracket based on the measurement point corresponding to the matched preset model when the relative azimuth distance measured by the UAV for each measurement point matches the preset model, specifically includes the following steps:

[0125] Step S231: Obtain the relative azimuth distances measured by the UAV for each measurement point within the location area;

[0126] Step S232: Based on the relative azimuth distance measured by the UAV corresponding to each measurement point, a neural network algorithm is used to classify and predict the measurement point of the corresponding cable bracket. The measurement point is located within the preset diameter range of the utility pole.

[0127] Step S233: Determine the coordinate information of the measurement point of the corresponding cable bracket based on the UAV flight measurement coordinates and the relative azimuth distance measured by the UAV at the measurement point of the corresponding cable bracket.

[0128] Step S234: Determine the target position of the cable bracket based on the coordinate information of the measurement point of the cable bracket.

[0129] In this embodiment, during actual measurement, the measurement points of the cable supports can be classified according to the pole diameter in the "Theoretical Calculation Comparison Table Model for Pole Height Diameter and Crossarm Clamp". The theoretical calculation comparison table for pole height diameter and crossarm clamp is as follows:

[0130]

[0131] The neural network algorithms include: the SqueezeSeg algorithm model for end-to-end cloud detection based on CNN and CRF, the VoxelNet algorithm model, the Point Yolo model, etc.

[0132] In the technical solution of this embodiment, the target position of the cable bracket is determined by using a neural network algorithm.

[0133] Step S140: Determine the location of the next cable bracket based on the target location of the cable bracket and the direction of the cable connected to the identified cable bracket; the next cable bracket is the cable bracket that is close to the end of the route measurement endpoint area along the direction of the cable.

[0134] In this embodiment, after obtaining the target location of the cable bracket, it is necessary to obtain the target locations of other cable brackets in order to generate a cable routing map. The target locations of other cable brackets can be obtained in the same way as in the first embodiment.

[0135] In one embodiment, obtaining the location of the next cable bracket can also involve identifying the location of the next cable bracket based on the target location of the cable bracket after determining the target location of the cable bracket. This next cable bracket is the cable bracket located near the end of the route measurement terminal area along the cable path.

[0136] In one embodiment, determining the orientation of the next cable bracket specifically involves: determining the orientation of the next cable bracket based on the target location of the cable bracket and the direction of the identified cable connected to it. Specifically, the true north direction of the cable bracket is calculated using the three points A, B, and C measured above. Then, based on the identification model, the predetermined flight angle direction of the next cable bracket relative to true north is calculated. The cable bracket then flies to the location area of ​​the next cable bracket based on this predetermined flight angle direction. In this location area, the target location of the next cable bracket is determined using the same method as in the first embodiment for obtaining the target location of the cable bracket.

[0137] Step S150: Take the orientation of the next cable bracket as the initial flight orientation, take the target position of the cable bracket as the flight starting point, and return to execute the step of controlling the UAV to fly from the flight starting point to the location area where the cable bracket is located, until the measurement is completed.

[0138] In this embodiment, after determining the location of the next cable support, the location of the next cable support is used as the initial flight direction, and the target location of the cable support is used as the flight starting point. The drone is controlled to fly from the flight starting point to the location area where the next cable support is located. This application uses the above technical solution to perform flight and measurement until the measurement is completed. The completion of measurement includes situations such as: the drone running out of power, the system actively terminating, or the drone flying out of the measurement area.

[0139] In this embodiment, the technical solution employs a method that uses a recognition model and initial flight orientation to search and identify the nearest cable support within the measurement area in real time. It measures the relative azimuth distance between the measurement point and the ground via the UAV, determines the target position and altitude of the cable support, and uses the recognition model to search and identify the cable connected to the support in real time, thus determining the route flight measurement direction. This allows for fully automated measurement of the entire cable support route. This application not only improves the measurement accuracy of cable supports but also replaces manual route surveying with a fully automated route surveying method, reducing the consumption of human and material resources when updating cable route information.

[0140] In one embodiment, after taking the orientation of the next cable bracket as the initial flight orientation, taking the target position of the cable bracket as the flight starting point, and returning to execute the step of controlling the UAV to fly from the flight starting point to the location area where the cable bracket is located, until the measurement is completed, the following steps may also be included:

[0141] Step S310: Generate a map layer based on the measured target locations of all the cable supports;

[0142] Step S320: Overlay the map layer with the basic road network layer to generate a cable routing map.

[0143] In this embodiment, after obtaining the target locations of all cable supports, a map interface is invoked to generate a cable routing map based on the measured target locations of all cable supports. Specifically, the map layer can be a MapInfo layer, a Google Maps layer, or a Baidu Maps layer, etc. Optionally, a MapInfo layer is generated based on the measured target locations of the cable supports, and a basic road network layer is overlaid to generate the cable routing map.

[0144] Optionally, a Google or Baidu map layer can be generated based on the measured target location of the cable support, and a basic road network layer can be overlaid to generate a cable routing map.

[0145] Optionally, based on the above cable routing diagram and the set publication drawing size, the diagram can be trimmed, and the CAD drawing API interface can be called to draw cable routing diagrams with A4 and A3 page widths according to the actual scale.

[0146] In the technical solution of this embodiment, the coordinates of the cable bracket are automatically and accurately measured, survey images are captured, a map interface is retrieved, and a cable routing map is generated.

[0147] In one embodiment, after determining the location of the next cable bracket based on the target location of the cable bracket and the identified cable routing connected to the cable bracket, the process specifically includes the following steps:

[0148] Step S410: Obtain an image of the cable bracket based on the target position of the cable bracket and the orientation of the next cable bracket;

[0149] Step S420: The captured images corresponding to each cable bracket are stitched together according to the cable flight direction to obtain the survey image.

[0150] In this embodiment, the direction of the cable support is determined based on the camera's capture model. The camera then flies towards the target point coordinates near the cable support, or to the other side of the set measurement area, continuing to the next cable support until it reaches the target position of the next cable support. During the flight, images of each cable support are acquired in real time. After obtaining the images of each cable support, the images are stitched together according to the cable flight direction to obtain a survey image. This survey image can be used to re-measure the cable route.

[0151] In this embodiment, the survey images are obtained by stitching together the images captured for each cable support. After determining the target location of the cable support and the target location of the next cable support, the due north direction is calculated based on points A, B, and C. Then, based on the recognition model, the predetermined flight angle direction of the next cable support relative to due north is calculated, and an image is captured facing the next cable support. The survey images of the cable supports are stored according to the correspondence between the next cable support, the flight angle, and the image.

[0152] Optionally, the drawing panel stitches together the survey images based on the cable bracket survey images. Optionally, the image clarity of the cable bracket survey image P can be degraded to facilitate the storage of long-distance survey overall images.

[0153] Based on the above technical solution, this embodiment enables the stitching of long images from the survey, facilitating a quick understanding of the pole and line conditions across the entire route, thereby achieving fully automated optical cable route surveying, re-surveying, and cable route mapping.

[0154] In one embodiment, during cable route measurement, it is generally necessary to determine the coordinates, height, and environment of the utility poles along the route. The survey environment can typically be determined by taking photographs. Therefore, while determining the target location of the cable supports along the route, the height of the cable supports can also be determined for subsequent cable route re-measurement. Therefore, the overhead cable route determination method of this application further includes the following steps:

[0155] Step S510: Obtain the vertical distance between the drone and the ground, and the vertical distance between the drone and the cable support.

[0156] Step S520: Determine the height of the cable bracket based on the vertical distance between the drone and the ground and the vertical distance between the drone and the cable bracket.

[0157] Alternatively, in step S530, the horizontal cable bracket is measured to measure the distance; the laser rangefinder is moved upward along the cable bracket at the same visual angle until it exceeds the measurement range, and the height of the measurement point above the ground when the laser rangefinder exceeds the measurement range is determined as the height of the cable bracket.

[0158] Step S540: Based on the height of the cable bracket, the survey image, and the target location of the cable bracket, a cable route retest is performed.

[0159] In this embodiment, the drone flies to the area above the cable support and measures the vertical distance between the drone and the ground using a laser rangefinder on the drone. The altitude of the cable support is determined based on the vertical distance between the drone and the ground, the vertical distance between the drone and the cable support, and the altitude of the drone.

[0160] In one embodiment, a laser rangefinder can be used to measure the distance to the cable support horizontally; the rangefinder can then be moved upwards along the cable support at the same visual angle until it exceeds the measurement range, and the altitude of the cable support can be determined based on the last n measurements.

[0161] In the technical solution of this embodiment, the application determines the altitude of the cable support by measuring the vertical distance between the drone and the ground, the vertical distance between the drone and the cable support, and the altitude of the drone.

[0162] This application provides an embodiment of an overhead cable routing determination method. It should be noted that although the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than that shown here.

[0163] Based on the same inventive concept, this application also provides an overhead cable routing determination system, the overhead cable routing determination system comprising:

[0164] The identification module is used to identify the location of cable supports within the measurement area based on the initial flight bearing and the route measurement endpoint area; the cable support is either the cable support closest to the initial flight bearing or a designated cable support at a designated location. In one embodiment, the identification module is further used to identify the location of cable supports within the measurement area using the YOLO target detection algorithm based on the initial flight bearing.

[0165] The first control module is used to control the drone to fly from the flight start point to the location area where the cable bracket is located.

[0166] The first determining module is used to obtain the relative azimuth distances measured by the UAV corresponding to each measurement point in the location area. When the relative azimuth distance measured by the UAV corresponding to the measurement point matches the preset model, the target position of the cable bracket is determined according to the measurement point corresponding to the matched preset model. In one embodiment, the first determining module is further configured to acquire the vertical altitude of the UAV measured by the ground at the first measurement point and the vertical altitude of the UAV measured by the ground at the second measurement point within the location area; when the height difference between the vertical altitude of the UAV measured by the ground at the first measurement point and the vertical altitude of the UAV measured by the ground at the second measurement point is within a preset distance range, mark the second measurement point as a first coordinate point; when the height difference between the vertical altitude of the UAV measured by the ground at the fourth measurement point and the vertical altitude of the UAV measured by the ground at the third measurement point is within a negative preset distance range, mark the third measurement point as a second coordinate point; take the midpoint between the first coordinate point and the second coordinate point as the starting point, draw perpendicular lines from both ends of the starting point, and determine the first vertex and the second vertex with the diameter of the cable bracket as the side length; control the UAV to fly sequentially from the second coordinate point to the first vertex or the second vertex, and when the height difference between the vertical altitude of the UAV measured by the ground at the sixth measurement point and the vertical altitude of the UAV measured by the ground at the fifth measurement point is within a negative preset distance range, mark the fifth measurement point as a third coordinate point; determine the target position of the cable bracket based on the first coordinate point, the second coordinate point, and the third coordinate point. In one embodiment, the first determining module is further configured to acquire the relative azimuth distances measured by the UAV corresponding to each measurement point within the location area; classify and predict the measurement points of the corresponding cable brackets using a neural network algorithm based on the relative azimuth distances measured by the UAVs corresponding to each measurement point, wherein the measurement points are located within a preset pole diameter range; determine the coordinate information of the measurement points of the corresponding cable brackets based on the UAV flight measurement coordinates and the relative azimuth distances measured by the UAVs corresponding to the measurement points of the corresponding cable brackets; and determine the target position of the cable brackets based on the coordinate information of the measurement points of the cable brackets.

[0167] The second determining module is used to determine the location of the next cable bracket based on the target location of the cable bracket and the direction of the cable connected to the identified cable bracket; the next cable bracket is a cable bracket that is close to the end of the route measurement endpoint area along the direction of the cable.

[0168] In one embodiment, after the second determining module, a stitching module is also connected. The stitching module is used to acquire a captured image of the cable bracket based on the target position of the cable bracket and the orientation of the next cable bracket; and stitch the captured images corresponding to each cable bracket according to the cable flight direction to obtain an inspection image.

[0169] The second control module is used to take the orientation of the next cable bracket as the initial flight orientation, take the target position of the cable bracket as the flight starting point, and return to execute the step of controlling the UAV to fly from the flight starting point to the location area where the orientation of the cable bracket is located, until the measurement is completed.

[0170] In one embodiment, a cable routing map generation module is connected after the second control module. This cable routing map generation module is used to generate a map layer based on the measured target locations of all the cable supports; and to overlay the map layer with the basic road network layer to generate a cable routing map.

[0171] In one embodiment, this application further includes a cable bracket height determination module, which is used to acquire the vertical distance between the UAV and the ground, and the vertical distance between the UAV and the cable bracket; determine the height of the cable bracket based on the vertical distance between the UAV and the ground, and the vertical distance between the UAV and the cable bracket; or, measure the cable bracket horizontally to measure the distance; move upward along the cable bracket at the same visual angle until the laser rangefinder is out of the measurement range, and determine the height of the measurement point above the ground when the laser rangefinder is out of the measurement range as the height of the cable bracket; and re-measure the cable route based on the height of the cable bracket, the survey image, and the target location of the cable bracket.

[0172] The specific implementation of the overhead cable routing determination system in this application is basically the same as the embodiments of the overhead cable routing determination method described above, and will not be repeated here.

[0173] Based on the same inventive concept, this application also provides a computer-readable storage medium storing an overhead cable routing determination program. When the overhead cable routing determination program is executed by a processor, it implements the various steps of the overhead cable routing determination method described above and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0174] Since the storage medium provided in this application embodiment is the storage medium used to implement the method of this application embodiment, those skilled in the art can understand the specific structure and variations of the storage medium based on the method described in this application embodiment, and therefore will not be repeated here. All storage media used in the method of this application embodiment are within the scope of protection of this application.

[0175] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0176] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0177] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0178] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0179] It should be noted that any reference signs placed between parentheses in the claims should not be construed as limiting the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claims. The word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. This application can be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names.

[0180] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0181] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A method for determining the route of overhead cables, characterized in that, Applied to drones, the overhead cable routing determination method includes: The location of cable supports within the measurement area is identified based on the initial flight bearing and the route measurement endpoint area; the cable support is either the cable support closest to the initial flight bearing or a specified cable support at a specified bearing. Control the drone to fly from the flight start point to the location area where the cable bracket is located; Obtain the relative azimuth distance of each measurement point in the location area corresponding to the UAV's ground measurement. When the relative azimuth distance of the measurement point corresponding to the UAV's ground measurement matches the preset model, determine the target position of the cable bracket based on the measurement point corresponding to the matched preset model. The location of the next cable bracket is determined based on the target location of the cable bracket and the direction of the cable connected to the identified cable bracket; the next cable bracket is the cable bracket that is close to the end of the route measurement endpoint area along the direction of the cable. The position of the next cable bracket is taken as the initial flight position, and the target position of the cable bracket is taken as the flight starting point. The process of controlling the UAV to fly from the flight starting point to the position area where the cable bracket is located is repeated until the measurement is completed. The step of obtaining the relative azimuth distance measured by the UAV to the ground for each measurement point within the location area, and determining the target position of the cable bracket based on the measurement point corresponding to the matched preset model when the relative azimuth distance measured by the UAV to the ground for each measurement point matches the preset model, includes: Obtain the vertical altitude of the UAV to the ground at the first measurement point within the location area and the vertical altitude of the UAV to the ground at the second measurement point; When the height difference between the vertical height measured by the UAV at the first measurement point and the vertical height measured by the UAV at the second measurement point is within a preset distance range, the second measurement point is marked as the first coordinate point. When the height difference between the vertical height measured by the UAV at the fourth measurement point and the vertical height measured by the UAV at the third measurement point is within a negative preset distance range, the third measurement point is marked as the second coordinate point. Taking the midpoint between the first coordinate point and the second coordinate point as the starting point, draw perpendicular lines from both ends of the starting point, and determine the first vertex and the second vertex using the diameter of the cable bracket as the side length; The drone is controlled to fly sequentially from the second coordinate point to the first vertex or the second vertex, and when the difference between the vertical height measured by the drone at the sixth measurement point and the vertical height measured by the drone at the fifth measurement point is within a negative preset distance range, the fifth measurement point is marked as the third coordinate point. The target position of the cable bracket is determined based on the first coordinate point, the second coordinate point, and the third coordinate point.

2. The overhead cable routing determination method as described in claim 1, characterized in that, The step of obtaining the relative azimuth distances measured by the UAV to the ground for each measurement point within the location area, and determining the target position of the cable bracket based on the measurement point corresponding to the matched preset model when the relative azimuth distance measured by the UAV to the ground for each measurement point matches the preset model, includes: Obtain the relative azimuth distance of each measurement point within the specified location area as measured by the UAV to the ground. Based on the relative azimuth distances measured by the UAV at each measurement point, a neural network algorithm is used to classify and predict the corresponding measurement points of the cable brackets. The measurement points are located within the preset diameter range of the utility pole. The coordinate information of the measurement point of the corresponding cable bracket is determined based on the flight measurement coordinates of the UAV and the relative azimuth distance measured by the UAV to the ground corresponding to the measurement point of the corresponding cable bracket. The target position of the cable bracket is determined based on the coordinate information of the measurement points of the cable bracket.

3. The overhead cable routing determination method as described in claim 1, characterized in that, The step of identifying the location of the cable support within the measurement area based on the initial flight azimuth and the route measurement endpoint area includes: The YOLO target detection algorithm is used to identify the orientation of cable supports within the measurement area based on the initial flight orientation.

4. The overhead cable routing determination method as described in claim 1, characterized in that, After the step of taking the orientation of the next cable bracket as the initial flight orientation, taking the target position of the cable bracket as the flight starting point, and returning to execute the step of controlling the UAV to fly from the flight starting point to the location area where the cable bracket is located, until the measurement is completed, the method further includes: A map layer is generated based on the target locations of all the measured cable brackets; The map layer is overlaid with the basic road network layer to generate a cable routing map.

5. The overhead cable routing determination method as described in claim 1, characterized in that, After the step of determining the orientation of the next cable bracket based on the target location of the cable bracket and the identified cable routing connected to the cable bracket, the method further includes: The image of the cable bracket is obtained based on the target position of the cable bracket and the orientation of the next cable bracket; The images captured by each cable bracket are stitched together according to the direction of cable flight to obtain the survey image.

6. The overhead cable routing determination method as described in claim 5, characterized in that, The method for determining the route of overhead cables also includes: Obtain the vertical distance between the drone and the ground, and the vertical distance between the drone and the cable support; The height of the cable support is determined based on the vertical distance between the drone and the ground and the vertical distance between the drone and the cable support. Alternatively, measure the horizontal distance of the cable bracket; move the laser rangefinder upwards along the cable bracket at the same visual angle until it exceeds the measurement range, and determine the height of the measurement point above the ground when the laser rangefinder exceeds the measurement range as the height of the cable bracket. The cable route was re-measured based on the height of the cable bracket, the survey image, and the target location of the cable bracket.

7. An overhead cable routing determination system, characterized in that, The overhead cable routing determination system includes: The identification module is used to identify the location of cable supports within the measurement area based on the initial flight bearing and the route measurement endpoint area; the cable support is the cable support closest to the initial flight bearing or a specified cable support at a specified bearing; The first control module is used to control the drone to fly from the flight start point to the location area where the cable bracket is located; A first determining module is used to acquire the relative azimuth distances measured by the UAV to the ground corresponding to each measurement point within the location area. When the relative azimuth distance measured by the UAV to the ground corresponding to the measurement point matches a preset model, the target position of the cable bracket is determined based on the measurement point corresponding to the matched preset model. The step of acquiring the relative azimuth distances measured by the UAV to the ground corresponding to each measurement point within the location area, and determining the target position of the cable bracket based on the measurement point corresponding to the matched preset model when the relative azimuth distance measured by the UAV to the ground corresponds to the measurement point within the location area, includes: acquiring the vertical height measured by the UAV to the ground corresponding to a first measurement point and the vertical height measured by the UAV to the ground corresponding to a second measurement point within the location area; when the vertical height measured by the UAV to the ground corresponding to the first measurement point and the vertical height measured by the UAV to the ground corresponding to the second measurement point... When the vertical height difference between the measured values ​​is within a preset distance range, the second measurement point is marked as the first coordinate point; when the vertical height difference between the UAV measured by the fourth measurement point and the UAV measured by the third measurement point is within a negative preset distance range, the third measurement point is marked as the second coordinate point; taking the midpoint between the first and second coordinate points as the starting point, perpendicular lines are drawn from both ends of this starting point, and the diameter of the cable bracket is used as the side length to determine the first and second vertices; the UAV is controlled to fly sequentially from the second coordinate point to the first or second vertices, and when the vertical height difference between the UAV measured by the sixth measurement point and the UAV measured by the fifth measurement point is within a negative preset distance range, the fifth measurement point is marked as the third coordinate point; the target position of the cable bracket is determined based on the first, second, and third coordinate points. The second determining module is used to determine the location of the next cable bracket based on the target location of the cable bracket and the identified cable route connected to the cable bracket; the next cable bracket is a cable bracket that is close to the end of the route measurement endpoint area along the cable route. The second control module is used to take the orientation of the next cable bracket as the initial flight orientation, take the target position of the cable bracket as the flight starting point, and return to execute the step of controlling the UAV to fly from the flight starting point to the location area where the orientation of the cable bracket is located, until the measurement is completed.

8. A drone, characterized in that, The drone includes: a memory, a processor, and an overhead cable routing determination program stored in the memory and executable on the processor. When the overhead cable routing determination program is executed by the processor, it implements the steps of the overhead cable routing determination method as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores an overhead cable routing determination program, which, when executed by a processor, implements the steps of the overhead cable routing determination method according to any one of claims 1-6.

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