Snow removal methods and equipment for power lines

Abstract

The present invention discloses a snow removal method and equipment for power lines. The method defines a main stress area according to a power line stress diagram, and collects images of the main stress area to define a target image; determines the shape and area of ​​snow accumulation according to the target image; defines the priority of power line heating and drone heating according to the shape of snow accumulation; defines the assistance ratio between power line heating and drone heating according to the snow accumulation area, and divides the snow into corresponding snow removal areas; monitors the snow removal progress of each snow removal area, and adjusts the power line heating amount and drone heating amount based on each snow removal progress. At this time, the main stress area is defined based on the power line stress diagram to facilitate key control of the main stress area. At the same time, the snow accumulation shape and area are determined according to the target image to facilitate the introduction of the snow accumulation shape and area, thereby adjusting the power line heating and drone heating by the snow accumulation shape and area.

Description

Technical Field

[0001] The present invention relates to the technical field of snow removal for power lines, and in particular to a method and equipment for snow removal for power lines. Background Art

[0002] With the development of science and technology, power lines are widely used in power equipment or power stations to realize power transmission. At this time, power lines are exposed to the external environment and accumulate snow in winter. Especially in the northern region, the snow accumulation is more serious. In the existing technology, power lines are inspected, and the snow accumulation position of the power lines is defined during the inspection process. The snow is removed by knocking based on the snow accumulation position of the power lines. Physical snow removal is mostly performed on the outer layer, and a single snow removal method is adopted, which affects the snow removal effect of the power lines. Summary of the Invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art. The present invention provides a method and equipment for snow removal on power lines, which defines the stress conditions at various positions in the power lines based on the power line stress diagram, and defines the main stress areas based on the power line stress diagram, so as to focus on the control of the main stress areas. At the same time, the shape of snow and the area of ​​snow are determined according to the target image, so as to introduce the shape of snow and the area of ​​snow, so as to regulate the power line heating and drone heating through the shape of snow and the area of ​​snow, realize the cooperation between the power line heating and the drone heating, ensure the control of various snow removal methods for the power lines, and ensure the snow removal effect of the power lines.

[0004] In order to solve the above technical problems, an embodiment of the present invention provides a snow removal method for power lines, which is applied to power lines. The snow removal method for power lines includes:

[0005] Traverse the power lines and mark where the snow covers them;

[0006] Defining force conditions based on the locations of snow covered power lines to form a power line force diagram;

[0007] Defining the main stress area according to the power line stress diagram, and collecting images of the main stress area to define the target image;

[0008] Determine the shape and area of ​​snow accumulation according to the target image;

[0009] Defining priorities for powerline heating and drone heating based on snowpack shape;

[0010] Define the assistance ratio between power line heating and drone heating based on the snow area, and divide the snow into corresponding snow removal areas;

[0011] Monitor the snow removal progress of each snow removal area and adjust the power line heating and drone heating based on the progress of each snow removal area.

[0012] Optionally, traversing the power lines and marking locations of snow covered power lines includes:

[0013] Locate power lines and traverse them;

[0014] Conduct continuous stress tests along the power lines and define each stress point;

[0015] Visually track each stress point and define snow characteristics;

[0016] Collect the location of snow features along the length of the power lines and mark the locations where the power lines are covered by snow;

[0017] Locate each stress point and define a dense area based on the distribution of each stress point;

[0018] The dense areas are defined as locations where there is continuous snow cover on the power lines.

[0019] Optionally, defining a force condition based on a position of snow covered power lines to form a power line force diagram includes:

[0020] Collect the locations of snow covering power lines;

[0021] Trigger stress tests based on the location of snow covering power lines;

[0022] Perform stress analysis based on the snow-covered locations of power lines to define stress conditions;

[0023] Record the force conditions along the power lines in sequence to form a power line force diagram;

[0024] In the power line stress diagram, an overall stress assessment is performed based on dense locations, and auxiliary support and dynamic snow removal at dense locations are triggered.

[0025] Optionally, defining a main stress area according to the power line stress diagram and performing image acquisition on the main stress area to define a target image includes:

[0026] Obtain the power line force diagram;

[0027] Define the main stress area according to the continuous stress part in the power line stress diagram, and collect the position of the main stress area;

[0028] Trigger the drone's endpoint position based on the location of the main force area;

[0029] Define the drone's trajectory based on its destination, current location, and the direction of the power lines;

[0030] When the UAV flies along the running track, the camera on the UAV dynamically shoots the power lines as the UAV flies to obtain review images;

[0031] Based on the review image and the power line force diagram, the corresponding positions are compared and the power line force diagram is gradually improved.

[0032] Optionally, the defining of the main force-bearing area according to the power line force diagram and performing image acquisition on the main force-bearing area to define the target image further includes:

[0033] When the UAV reaches the location of the main force-bearing area, the UAV flies around the location of the main force-bearing area and takes photos of the location of the main force-bearing area from multiple angles;

[0034] A target image is defined based on multi-angle photography of the locations of the main force-bearing areas.

[0035] Optionally, determining the shape and area of ​​snow accumulation according to the target image includes:

[0036] Freeze the target image:

[0037] Divide the target image into multiple sub-regions;

[0038] Simultaneously detect multiple sub-areas and determine the corresponding snow characteristics;

[0039] Define the corresponding snow shape and snow area based on snow characteristics;

[0040] determining a snow shape corresponding to a target image according to a plurality of snow shapes;

[0041] The snow area corresponding to the target image is determined according to the multiple snow areas.

[0042] Optionally, defining the priority of power line heating and drone heating according to snow shape includes:

[0043] Freeze the shape of the snow corresponding to the target image;

[0044] Perform shape analysis on the snow shape corresponding to the target image and define the snow collapse point;

[0045] Determine the difficulty factor for power line heating and the difficulty factor for drone heating based on the location of the snow collapse point;

[0046] The priorities of power line heating and drone heating are determined according to the difficulty coefficients of power line heating and drone heating.

[0047] Optionally, defining the assistance ratio between power line heating and drone heating based on the snow accumulation area and dividing the snow accumulation into corresponding snow removal areas includes:

[0048] The snow area corresponding to the freeze target image;

[0049] Performing area analysis on the snow area corresponding to the target image and defining multiple snow processing sections; determining the heating range of the power line heating and the heating range of the drone heating based on the locations of the multiple snow processing sections;

[0050] The assistance ratio between power line heating and drone heating is determined based on the heating range of power line heating and the heating range of drone heating, and the corresponding snow removal areas are divided according to the snow accumulation.

[0051] Optionally, monitoring the snow removal progress of each snow removal area and regulating the power line heating amount and the drone heating amount based on the snow removal progress may include:

[0052] Dynamically monitor each snow removal area;

[0053] Define the snow removal progress of each snow removal area according to the amount of snow melted in each snow removal area;

[0054] Correlate the snow removal progress of each snow removal area to build a progress balance system;

[0055] In the progress balancing system, the heating of power lines and drones is regulated based on the progress of each snow removal.

[0056] Optionally, a snow removal system for power lines is provided, characterized in that the snow removal system for power lines is applied to the above-mentioned snow removal method for power lines, and the snow removal system for power lines comprises:

[0057] A location module, which traverses power lines and marks the locations where snow covers them;

[0058] A power line force diagram module, configured to define force conditions based on positions of snow covered power lines to form a power line force diagram;

[0059] An image module is used to define a main stress area according to the power line stress diagram and to collect images of the main stress area to define a target image;

[0060] Snow accumulation module, used to determine the shape and area of ​​snow accumulation based on the target image;

[0061] A priority module for defining the priority of power line heating and drone heating based on snowpack shape;

[0062] The snow removal area module is used to define the assistance ratio between power line heating and drone heating according to the snow area, and divide the snow into corresponding snow removal areas;

[0063] The heat module is used to monitor the snow removal progress of each snow removal area and adjust the heating of the power lines and the heating of the drone based on the progress of each snow removal area.

[0064] In an embodiment of the present invention, the method in the embodiment of the present invention is used to traverse the power lines and mark the positions of the snow covered by the power lines; the force conditions are defined based on the positions of the snow covered by the power lines to form a power line force diagram; the main force areas are defined according to the power line force diagram, and images of the main force areas are collected to define a target image; the shape of the snow and the area of ​​the snow are determined according to the target image; the priority of power line heating and drone heating is defined according to the shape of the snow; the assistance ratio between power line heating and drone heating is defined according to the area of ​​snow, and the snow is divided into corresponding snow removal areas; and snow removal in each snow removal area is monitored. The progress is calculated, and the heating of the power lines and the heating of the drone are regulated based on the progress of each snow removal. At this time, the stress conditions of various positions in the power lines are defined according to the power line stress diagram, and the main stress areas are defined based on the power line stress diagram, so as to focus on the control of the main stress areas. At the same time, the shape and area of ​​snow accumulation are determined according to the target image, so as to introduce the shape and area of ​​snow accumulation, so as to regulate the heating of the power lines and the heating of the drone through the shape and area of ​​snow accumulation, realize the cooperation between the heating of the power lines and the heating of the drone, ensure the control of various snow removal methods of the power lines, and ensure the snow removal effect of the power lines. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0066] Figure 1 is a schematic flow chart of a method for removing snow from power lines according to an embodiment of the present invention;

[0067] Figure 2 is a schematic flow chart of S11 in the snow removal method for power lines according to an embodiment of the present invention;

[0068] Figure 3 is a schematic flow chart of S12 in the snow removal method for power lines according to an embodiment of the present invention;

[0069] Figure 4is a schematic flow chart of S13 in the snow removal method for power lines according to an embodiment of the present invention;

[0070] Figure 5 is a schematic flow chart of S14 in the snow removal method for power lines according to an embodiment of the present invention;

[0071] Figure 6 is a schematic flow chart of S15 in the snow removal method for power lines according to an embodiment of the present invention;

[0072] Figure 7 is a schematic flow chart of S16 in the snow removal method for power lines according to an embodiment of the present invention;

[0073] Figure 8 Schematic diagram of the structure of a snow removal system for power lines in an embodiment of the present invention;

[0074] Figure 9 The figure shows a hardware diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0075] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0076] Example

[0077] See also Figures 1 to 9 A method for removing snow from a power line is provided, which is applied to a power line; the method for removing snow from a power line comprises:

[0078] Step S11: traverse the power lines and mark the locations of the power lines covered by snow;

[0079] Step S12: defining a force condition based on the position of the power line covered by snow to form a power line force diagram;

[0080] Step S13: defining the main stress area according to the power line stress diagram, and performing image acquisition on the main stress area to define a target image;

[0081] Step S14: determining the shape and area of ​​snow accumulation according to the target image;

[0082] Step S15: defining the priority of power line heating and drone heating according to the snow shape;

[0083] Step S16: defining the assistance ratio between power line heating and drone heating according to the snow accumulation area, and dividing the snow accumulation into corresponding snow removal areas;

[0084] Step S17: Monitor the snow removal progress of each snow removal area, and adjust the power line heating amount and the drone heating amount based on the snow removal progress.

[0085] In an embodiment of the present invention, the method in the embodiment of the present invention is used to traverse the power lines and mark the positions of the snow covered by the power lines; the force conditions are defined based on the positions of the snow covered by the power lines to form a power line force diagram; the main force areas are defined according to the power line force diagram, and images of the main force areas are collected to define a target image; the shape of the snow and the area of ​​the snow are determined according to the target image; the priority of power line heating and drone heating is defined according to the shape of the snow; the assistance ratio between power line heating and drone heating is defined according to the area of ​​snow, and the snow is divided into corresponding snow removal areas; and snow removal in each snow removal area is monitored. The progress is calculated, and the heating of the power lines and the heating of the drone are regulated based on the progress of each snow removal. At this time, the stress conditions of various positions in the power lines are defined according to the power line stress diagram, and the main stress areas are defined based on the power line stress diagram, so as to focus on the control of the main stress areas. At the same time, the shape and area of ​​snow accumulation are determined according to the target image, so as to introduce the shape and area of ​​snow accumulation, so as to regulate the heating of the power lines and the heating of the drone through the shape and area of ​​snow accumulation, realize the cooperation between the heating of the power lines and the heating of the drone, ensure the control of various snow removal methods of the power lines, and ensure the snow removal effect of the power lines.

[0086] In step S11, the power lines are traversed and the positions of the power lines covered with snow are marked;

[0087] In the specific implementation process of the present invention, the specific steps may be:

[0088] S111: Locate power lines and traverse the power lines;

[0089] S112: Conduct continuous stress testing along the power line and define each stress point;

[0090] S113: Visually track each stress point and define snow characteristics;

[0091] S114: collecting the position of the snow feature in the length system of the power line, and marking the position of the snow covered by the power line;

[0092] S115: Locate each stress point and define a dense area based on the distribution of each stress point;

[0093] S116: Defining dense locations of continuous snow cover on the power lines according to the dense area.

[0094] In an embodiment of the present application, the power lines are located and traversed to facilitate a full-scale inspection of the power lines, thereby performing continuous stress tests along the power lines and defining various stress points to facilitate the introduction of each stress point and the control of each stress point.

[0095] At this time, visual tracking is performed according to each stress point to facilitate image collection of each stress point, thereby defining snow features so that the snow accumulation situation can be presented through the snow features. At the same time, the position of the snow features in the length system of the power line is collected, and the position of the snow covered by the power line is marked, so as to clarify the position of the snow covered by the power line and ensure the accuracy of the position of the snow covered by the power line.

[0096] Furthermore, each stress point is located, and a dense area is defined based on the distribution of each stress point; dense locations continuously covered with snow in the power lines are defined according to the dense areas. At this time, targeted management is carried out on the dense areas to facilitate the definition of dense locations continuously covered with snow in the power lines, so that these dense locations are given priority processing, and then the corresponding strategies are matched with the dynamic adjustment of the dense locations, thereby realizing comprehensive management and control of the power lines.

[0097] In step S12, force conditions are defined based on the positions of the power lines covered by snow to form a power line force diagram;

[0098] In the specific implementation process of the present invention, the specific steps may be:

[0099] S121: collecting the location of snow covered power lines;

[0100] S122: triggering a stress test based on the position of snow covered power lines;

[0101] S123: Perform stress analysis based on the snow-covered locations of power lines to define stress conditions;

[0102] S124: recording force conditions along the power lines in sequence to form a power line force diagram;

[0103] S125: In the power line force diagram, an overall force assessment is performed based on dense locations, and auxiliary support and dynamic snow removal are triggered at dense locations.

[0104] In an embodiment of the present application, the position of snow covered by power lines is collected, and a stress test is performed on the position of snow covered by power lines, so as to define the stress condition of the position of snow covered by power lines, thereby realizing stress analysis and making full use of the stress analysis to perform a reverse evaluation of the snow.

[0105] At this time, the force conditions are recorded in sequence along the power lines to form a power line force diagram; in the power line force diagram, an overall force assessment is performed based on dense locations, and auxiliary support and dynamic snow removal at dense locations are triggered.

[0106] In step S13, a main force area is defined according to the force diagram of the power lines, and an image of the main force area is captured to define a target image;

[0107] In the specific implementation process of the present invention, the specific steps may be:

[0108] S131: Obtaining a force diagram of power lines;

[0109] S132: defining a main stress area according to the continuous stress portion in the power line stress diagram, and collecting the position of the main stress area;

[0110] S133: triggering the end position of the UAV based on the position of the main force area;

[0111] S134: defining the trajectory of the UAV based on the UAV's final location, current location, and direction of the power line;

[0112] S135: When the UAV flies along the running track, the camera on the UAV dynamically captures the power line as the UAV flies to obtain a review image;

[0113] S136: Comparing corresponding positions based on the review image and the power line force diagram, and gradually improving the power line force diagram;

[0114] S137: When the UAV reaches the location of the main force-bearing area, the UAV flies around the location of the main force-bearing area and photographs the location of the main force-bearing area from multiple angles;

[0115] S138: Define a target image based on the multi-angle shooting of the position of the main force-bearing area.

[0116] In an embodiment of the present application, a power line force diagram is obtained to facilitate the management and control of the power line force diagram, thereby defining the main force area based on the continuous force part in the power line force diagram, and collecting the position of the main force area. At this time, the continuous force part in the power line force diagram is continuously managed, and the main force area is defined for the continuous force part. It is not a single force, but continuous force.

[0117] At this time, the end position of the UAV is triggered based on the position of the main force area, so that the end position of the UAV is transmitted to the UAV and the flight of the UAV is triggered. Therefore, the operation trajectory of the UAV is defined based on the end position of the UAV, the current position and the direction of the power line; when the UAV flies along the operation trajectory, the camera on the UAV dynamically shoots the power line as the UAV flies to obtain a review image.

[0118] Review images were introduced to facilitate comparison of corresponding positions based on the review images and the power line force diagram, and to gradually improve the power line force diagram. This enabled the power line force diagram to be optimized based on the actual scenario, ensuring its accuracy without delaying the drone's arrival at the main force area.

[0119] Furthermore, when the UAV reaches the position of the main force-bearing area, the UAV flies around along the position of the main force-bearing area and photographs the position of the main force-bearing area from multiple angles, so as to facilitate the management and control of the position of the main force-bearing area, thereby defining the target image based on the multi-angle photography of the position of the main force-bearing area, so as to facilitate subsequent processing of the target image.

[0120] S14: determining the shape and area of ​​snow accumulation according to the target image;

[0121] In the specific implementation process of the present invention, the specific steps may be:

[0122] S141: freeze the target image;

[0123] S142: Divide the target image into multiple sub-regions;

[0124] S143: Performing simultaneous detection on multiple sub-areas and determining corresponding snow cover characteristics;

[0125] S144: defining corresponding snow shape and snow area based on snow characteristics;

[0126] S145: Determining a snow shape corresponding to the target image based on the multiple snow shapes;

[0127] S146: Determine the snow area corresponding to the target image based on the multiple snow areas.

[0128] In an embodiment of the present application, a target image is frozen to facilitate region division of the target image, thereby dividing the target image into multiple sub-regions, ensuring the processing of multiple sub-regions. At this time, the multiple sub-regions are synchronously detected, and the corresponding snow accumulation features are determined; the corresponding snow shape and snow accumulation area are defined based on the snow accumulation features.

[0129] Furthermore, the corresponding snow shape and snow area are defined based on the snow characteristics in order to make full use of the snow shape and snow area. At this time, the snow shape corresponding to the target image is determined based on multiple snow shapes; the snow area corresponding to the target image is determined based on multiple snow areas.

[0130] Therefore, the force conditions at various locations in the power line are defined based on the power line force diagram, and the main force areas are defined based on the power line force diagram, so that the main force areas can be focused on and controlled. At the same time, the shape and area of ​​snow accumulation are determined according to the target image, so that the shape and area of ​​snow accumulation can be introduced.

[0131] S15: Define the priority of power line heating and drone heating based on snow shape;

[0132] In the specific implementation process of the present invention, the specific steps may be:

[0133] S151: freeze the snow shape corresponding to the target image;

[0134] S152: performing shape analysis on the snow shape corresponding to the target image and defining a snow collapse point;

[0135] S153: determining a difficulty coefficient for power line heating and a difficulty coefficient for drone heating based on the location of the snow collapse point;

[0136] S154: Determine the priority of power line heating and drone heating according to the difficulty coefficient of power line heating and the difficulty coefficient of drone heating.

[0137] In an embodiment of the present application, the shape of snow corresponding to the target image is frozen to facilitate processing based on the snow shape. At this time, the shape of snow corresponding to the target image is analyzed, and the snow collapse point is defined to clarify the snow collapse point, so as to determine the difficulty coefficient of power line heating and the difficulty coefficient of drone heating according to the location of the snow collapse point, and then determine the priority of power line heating and drone heating according to the difficulty coefficient of power line heating and the difficulty coefficient of drone heating, thereby ensuring mutual assistance between power line heating and drone heating.

[0138] S16: defining the assistance ratio between power line heating and drone heating based on the snow accumulation area, and dividing the snow accumulation into corresponding snow removal areas;

[0139] In the specific implementation process of the present invention, the specific steps may be:

[0140] S161: freeze the snow area corresponding to the target image;

[0141] S162: performing area analysis on the snow area corresponding to the target image and defining multiple snow processing parts;

[0142] S163: Determine a heating range of the power line heating and a heating range of the drone heating according to locations of the plurality of snow treatment parts;

[0143] S164: Determine the assistance ratio between the power line heating and the drone heating according to the heating range of the power line heating and the heating range of the drone heating, and divide the accumulated snow into corresponding snow removal areas.

[0144] In an embodiment of the present application, the shape of snow and the area of ​​snow are determined based on the target image, so as to introduce the shape of snow and the area of ​​snow, thereby regulating the power line heating and the heating of the drone through the shape of snow and the area of ​​snow, realizing the collaboration between the power line heating and the heating of the drone, ensuring the control of various snow removal methods for the power line, and ensuring the snow removal effect of the power line.

[0145] At this time, the snow area corresponding to the target image is frozen to facilitate further analysis of the snow area, so as to perform area analysis on the snow area corresponding to the target image and define multiple snow processing parts. At this time, the heating range of the power line heating and the heating range of the drone heating are determined according to the locations of the multiple snow processing parts; the assistance ratio between the power line heating and the drone heating is determined according to the heating range of the power line heating and the heating range of the drone heating, and the snow is divided into corresponding snow removal areas.

[0146] S17: monitoring the snow removal progress of each snow removal area, and regulating the heating amount of the power lines and the heating amount of the drone based on the snow removal progress;

[0147] In the specific implementation process of the present invention, the specific steps may be:

[0148] Dynamically monitor each snow removal area; define the snow removal progress of each snow removal area based on the amount of snow melted in each snow removal area; correlate the snow removal progress of each snow removal area to build a progress balance system; in the progress balance system, control the heating of power lines and drones based on the progress of each snow removal.

[0149] In an embodiment of the present invention, the method in the embodiment of the present invention is used to traverse the power lines and mark the positions of the snow covered by the power lines; the force conditions are defined based on the positions of the snow covered by the power lines to form a power line force diagram; the main force areas are defined according to the power line force diagram, and images of the main force areas are collected to define a target image; the shape of the snow and the area of ​​the snow are determined according to the target image; the priority of power line heating and drone heating is defined according to the shape of the snow; the assistance ratio between power line heating and drone heating is defined according to the area of ​​snow, and the snow is divided into corresponding snow removal areas; and snow removal in each snow removal area is monitored. The progress is calculated, and the heating of the power lines and the heating of the drone are regulated based on the progress of each snow removal. At this time, the stress conditions of various positions in the power lines are defined according to the power line stress diagram, and the main stress areas are defined based on the power line stress diagram, so as to focus on the control of the main stress areas. At the same time, the shape and area of ​​snow accumulation are determined according to the target image, so as to introduce the shape and area of ​​snow accumulation, so as to regulate the heating of the power lines and the heating of the drone through the shape and area of ​​snow accumulation, realize the cooperation between the heating of the power lines and the heating of the drone, ensure the control of various snow removal methods of the power lines, and ensure the snow removal effect of the power lines.

[0150] Example

[0151] See also Figure 8 , Figure 8 Schematic diagram of the structure of the snow removal system for power lines in an embodiment of the present invention.

[0152] like Figure 8 As shown, a snow removal system for power lines, the snow removal system for power lines comprising:

[0153] a location module 21 for traversing the power lines and marking the locations of snow covering the power lines;

[0154] A power line force diagram module 22 is configured to define force conditions based on positions of snow covered power lines to form a power line force diagram;

[0155] An image module 23 is used to define a main stress area according to the power line stress diagram, and to collect images of the main stress area to define a target image;

[0156] A snow accumulation module 24 is configured to determine the shape and area of ​​snow accumulation based on the target image;

[0157] a priority module 25 for defining the priority of power line heating and drone heating according to the shape of snow;

[0158] A snow removal area module 26 is used to define the assistance ratio between power line heating and drone heating according to the snow accumulation area, and divide the snow into corresponding snow removal areas;

[0159] The heat module 27 is used to monitor the snow removal progress of each snow removal area and adjust the power line heating amount and the drone heating amount based on the snow removal progress.

[0160] Example

[0161] See also Figure 9 , refer to the following Figure 9 An electronic device 40 according to this embodiment of the present invention will be described. Figure 9 The electronic device 40 shown is only an example and should not limit the functionality and scope of use of the embodiments of the present invention.

[0162] like Figure 9 As shown, the electronic device 40 is a general-purpose computing device. Components of the electronic device 40 may include, but are not limited to, at least one processing unit 41, at least one storage unit 42, and a bus 43 connecting different system components (including the storage unit 42 and the processing unit 41).

[0163] The storage unit stores program codes, which can be executed by the processing unit 41, so that the processing unit 41 performs the steps according to various exemplary embodiments of the present invention described in the above “Example Method” section of this specification.

[0164] The storage unit 42 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 421 and / or a cache memory unit 422 , and may further include a read-only memory unit (ROM) 423 .

[0165] The storage unit 42 may also include a program / utility 424 having a set (at least one) of program modules 425, such program modules 425 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0166] Bus 43 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0167] The electronic device 40 may also communicate with one or more external devices (e.g., keyboards, pointing devices, Bluetooth devices, etc.), one or more devices that enable a user to interact with the electronic device 40, and / or any device that enables the electronic device 40 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface 44. Furthermore, the electronic device 40 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 45. Figure 9 As shown, the network adapter 45 communicates with other modules of the electronic device 40 via the bus 43. Figure 9 Not shown, other hardware and / or software modules may be used in conjunction with the electronic device 40, including but not limited to microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup planning systems.

[0168] Through the description of the above embodiments, it is easy for those skilled in the art to understand that the example embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solution according to the embodiments of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the embodiments of the present disclosure.

[0169] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments can be completed by a program instructing related hardware. The program can be stored in a computer-readable storage medium, which may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk. Furthermore, the computer program instructions are stored therein, and when the computer executes the computer program instructions, the computer executes the above methods.

[0170] In addition, the above is a detailed introduction to the snow removal method and equipment for power lines provided in the embodiments of the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A method for snow removal from power lines, characterized in that: Applied to power lines; The snow removal method for power lines comprises: Traverse the power lines and mark where the snow covers the power lines; defining force conditions based on the positions of snow covered power lines to form a power line force diagram; Defining the main stress area according to the power line stress diagram, and collecting images of the main stress area to define the target image; Determine the shape and area of ​​snow accumulation according to the target image; Define priorities for power line heating and drone heating based on snowpack shape; Define the assistance ratio between power line heating and drone heating according to the snow area, and divide the snow into corresponding snow removal areas; Monitor the snow removal progress of each snow removal area, and adjust the power line heating and drone heating based on the progress of each snow removal area; The traversing of the power lines and marking the positions of the power lines covered with snow include: Locate power lines and traverse them; Conduct continuous stress tests along the power lines and define the stress points; Visually track and define snow features based on stress points; Collect the location of snow features in the length system of the power line and mark the location of the power line covered by snow; Locate each stress point and define the dense area based on the distribution of each stress point; Dense locations with continuous snow cover on power lines are defined by dense areas.

2. The method for snow removal of power lines according to claim 1, characterized in that: The defining of the force condition based on the position of the snow covered by the power line to form a power line force diagram includes: Collect the location of snow covering power lines; Trigger stress tests based on the location of snow covering power lines; Perform stress analysis based on the snow-covered locations of power lines to define stress conditions; Record the force conditions along the power lines in sequence to form a power line force diagram; In the power line stress diagram, an overall stress assessment is performed based on dense locations, and auxiliary support and dynamic snow removal at dense locations are triggered.

3. The snow removal method for power lines according to claim 2, characterized in that: Defining the main stress area according to the power line stress diagram, and collecting images of the main stress area to define a target image, includes: Get the force diagram of the power lines; Define the main stress area according to the continuous stress part in the power line stress diagram, and collect the position of the main stress area; Trigger the drone’s endpoint position based on the location of the main force area; Define the trajectory of the drone based on its destination location, current location, and the direction of the power lines; When the UAV flies along the running track, the camera in the UAV takes dynamic pictures of the power lines as the UAV flies to obtain review images; Based on the review image, the corresponding positions are compared with the power line force diagram, and the power line force diagram is gradually improved.

4. The snow removal method for power lines according to claim 3, characterized in that: The method further includes defining the main stress area according to the power line stress diagram, and collecting images of the main stress area to define a target image. When the UAV reaches the location of the main stress-bearing area, the UAV flies around the location of the main stress-bearing area and photographs the location of the main stress-bearing area from multiple angles; A target image is defined based on multi-angle photography of the locations of the main force-bearing areas.

5. The snow removal method for power lines according to claim 4, characterized in that: The step of determining the snow shape and snow area according to the target image includes: Freeze the target image: Divide a target image into multiple sub-regions; Simultaneously detect multiple sub-areas and determine the corresponding snow characteristics; Define the corresponding snow shape and snow area based on the snow characteristics; Determine a snow shape corresponding to the target image according to a plurality of snow shapes; The snow area corresponding to the target image is determined according to the multiple snow areas.

6. The snow removal method for power lines according to claim 5, characterized in that: Defining the priority of power line heating and drone heating according to the snow shape includes: Freeze the shape of snow corresponding to the target image; Perform shape analysis on the snow shape corresponding to the target image and define the snow collapse point; Determine the difficulty factor of power line heating and the difficulty factor of drone heating based on the location of the snow collapse point; The priority of power line heating and drone heating is determined according to the difficulty coefficient of power line heating and the difficulty coefficient of drone heating.

7. The method for snow removal from power lines according to claim 6, characterized in that: The method of defining the assistance ratio between power line heating and drone heating according to the snow accumulation area and dividing the snow accumulation into corresponding snow removal areas includes: The snow area corresponding to the freeze target image; Perform area analysis on the snow area corresponding to the target image and define multiple snow processing parts; determining a heating range for power line heating and a heating range for drone heating based on locations of the plurality of snow treatment sections; The assistance ratio between power line heating and drone heating is determined based on the heating range of power line heating and the heating range of drone heating, and the corresponding snow removal areas are divided according to the accumulated snow.

8. The method for snow removal from power lines according to claim 7, characterized in that: The monitoring of the snow removal progress of each snow removal area and regulating the heating amount of the power line and the heating amount of the drone based on the snow removal progress include: Dynamically monitor each snow removal area; Define the snow removal progress of each snow removal area according to the amount of snow melted in each snow removal area; The snow removal progress of each snow removal area is correlated to build a progress balance system; In the progress balance system, the heating of power lines and drones is regulated based on the progress of each snow removal.

9. A snow removal system for power lines, characterized in that: The snow removal system for power lines is applied to the snow removal method for power lines as claimed in any one of claims 1 to 8, and the snow removal system for power lines comprises: A location module that traverses power lines and marks locations where snow covers them; A power line force diagram module, used for defining force conditions based on positions of snow covered power lines to form a power line force diagram; An image module is used to define a main stress area according to a force diagram of electric lines, and to collect images of the main stress area to define a target image; Snow accumulation module, used to determine the shape and area of ​​snow accumulation based on the target image; A priority module to define the priority of power line heating and drone heating based on snowpack shape; Snow removal area module, which is used to define the assistance ratio between power line heating and drone heating according to the snow area, and divide the snow into corresponding snow removal areas; The heat module is used to monitor the snow removal progress of each snow removal area and adjust the heating of the power lines and the heating of the drone based on the progress of each snow removal area.

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