A transmission line intelligent inspection robot and operation method thereof

Abstract

The present application relates to an intelligent inspection robot for power transmission lines and its operation method, computer equipment, storage medium and computer program product. The method includes: obtaining the breakpoint coordinate data of the previous inspection, and outputting a movement instruction to the mobile module, so that the power transmission line inspection robot moves to the breakpoint area corresponding to the power outage coordinate data; obtaining the depth image information of the breakpoint area, adjusting the posture of the mobile module so that the target cable is located within the preset area of ​​the depth image information; obtaining the spacing data between the cable and the depth image acquisition module in the preset target area according to the depth image information; judging whether the spacing data is within the preset spacing range; if not, continuing to adjust the posture of the mobile module according to the change trend of the spacing data in the preset target area so that the spacing data is within the preset spacing range; if so, switching to the inspection mode and starting to inspect the power transmission line. This method can control the inspection robot to automatically return to the breakpoint position of the previous inspection to continue the inspection from the breakpoint, reduce the length of the repeated inspection path, and improve the utilization rate of the inspection robot battery.

Description

Technical Field

[0001] The present application relates to the technical field of power transmission line inspection equipment, and in particular to a power transmission line intelligent inspection robot and its operation method, storage medium, computer program product and computer equipment. Background Art

[0002] During the actual transmission process of overhead high-voltage transmission lines, mechanical failures such as loose installation bolts may occur in the transmission equipment, which requires timely maintenance to ensure the safe operation of the transmission equipment. Inspection robots, as a commonly used maintenance method, have the advantages of flexibility and intelligence, high inspection efficiency, inspection intensity and low risk.

[0003] The existing Chinese invention patent with publication number CN117961919A discloses a multifunctional maintenance robot for distribution network transmission lines, including a frame, and also including: an obstacle-crossing clamping structure installed on the frame; a rear-mounted stabilizing structure installed on the frame; and an air-floating load-reducing structure installed on the frame, wherein the air-floating load-reducing structure includes a pressurized gas cylinder fixedly installed in the frame, and the pressurized gas cylinder is connected to two groups of control valves through a three-way head, one of which is connected to a shunt head, and an elastic airbag is fixedly installed at one end of the shunt head, and a pressure relief valve is fixedly connected to the other end of the shunt head. The present invention cooperates with the obstacle-crossing clamping structure, the rear-mounted stabilizing structure, and the air-floating load-reducing structure, so that the present invention can perform efficient obstacle crossing while inspecting on the transmission line, and in the process of crossing the obstacle, the air-floating load-reducing structure is used to provide the present invention with buoyancy and anti-gravity torque, thereby reducing the pressure on the transmission line during the obstacle crossing process, and facilitating the present invention to stably cross obstacles on the transmission line.

[0004] However, the above-mentioned multifunctional maintenance robot for distribution network transmission lines will stop patrolling when the battery is about to run out, and it is necessary to replace it with another robot to complete the subsequent patrol work. During the handover of the patrol work, the latter robot needs to re-inspect the line that the previous robot has patrolled, wasting unnecessary electricity. Summary of the invention

[0005] Based on this, it is necessary to provide an intelligent inspection robot for power transmission lines that can complete breakpoint tracing and thus improve battery utilization, as well as its operating method, storage medium, computer program product, and computer device in order to address the above technical problems.

[0006] In a first aspect, the present application provides a method for operating a transmission line intelligent inspection robot, the method comprising:

[0007] Obtain the breakpoint coordinate data of the previous inspection, and output a movement instruction to the mobile module so that the transmission line inspection robot moves to the breakpoint area corresponding to the power outage coordinate data;

[0008] Acquire the depth image information of the breakpoint area, and adjust the posture of the mobile module so that the target cable is located within the preset area of ​​the depth image information;

[0009] Acquire the distance data between the cables and the depth image acquisition module in the preset target area according to the depth image information;

[0010] Determine whether the spacing data is within a preset spacing range;

[0011] If not, continue to adjust the posture of the mobile module according to the change trend of the spacing data in the preset target area so that the spacing data is within the preset spacing range;

[0012] If yes, switch to the inspection mode and start inspecting the transmission line.

[0013] In one embodiment, the specific steps of obtaining the breakpoint coordinate data of the previous inspection and outputting a movement instruction to the movement module so that the power transmission line inspection robot moves to the breakpoint area corresponding to the power outage coordinate data include:

[0014] Get the GPS coordinate information and altitude information recorded at the end of the previous inspection;

[0015] Output movement instructions to make the line patrol robot move to the position corresponding to the same GPS coordinate information;

[0016] Output a movement command to move the line patrol robot to the height position corresponding to the height information.

[0017] In one embodiment, the specific steps of acquiring the depth image information of the breakpoint area and adjusting the posture of the mobile module so that the target cable is located in the preset area of ​​the depth image information include:

[0018] Get the depth image information of the breakpoint area;

[0019] Identify cable boundaries in the depth image using a preset algorithm;

[0020] Determine whether the cable boundary is completely within the preset area;

[0021] If not, the posture of the depth image acquisition module for acquiring the depth map information is adjusted according to the angle between the cable boundary and the preset area boundary, so that the cable boundary is completely located in the preset area.

[0022] In one embodiment, the specific steps of obtaining the distance data between the cables and the depth image acquisition module in the preset target area according to the depth image information include:

[0023] Extracting the spacing data corresponding to the sampling points contained in the preset target area from the depth image;

[0024] Input the spacing data corresponding to each sampling point into a preset spacing data algorithm to calculate the spacing data between the preset target area and the depth image acquisition module;

[0025] The preset spacing data algorithm includes the following formula:

[0026]

[0027] Among them, s ij is the spacing data corresponding to each sampling point in the target area, n is the number of rows of the sampling point array in the preset target area, m is the number of columns of the sampling point array in the preset target area, and s p The calculated distance data between the preset target area and the depth image acquisition module.

[0028] In one embodiment, a specific method of adjusting the posture of a depth image acquisition module for acquiring depth map information according to an angle between a cable boundary and a preset area boundary so that the cable boundary is completely within the preset area includes:

[0029] Obtaining the trajectory information of the cable boundary that intersects with the preset area boundary, and the coordinate information of the intersection;

[0030] The tangent information corresponding to the tangent of the cable boundary at the intersection is calculated according to the trajectory information and the coordinate information of the intersection;

[0031] Calculating the angle between the tangent corresponding to the tangent information and the boundary of the preset area where the intersection point is located to obtain angle adjustment data;

[0032] Output a posture adjustment instruction for adjusting the posture of the depth image acquisition module according to the angle adjustment data.

[0033] In one embodiment, the specific steps of calculating the angle between the tangent corresponding to the tangent information and the boundary of the preset area where the intersection point is located to obtain the angle adjustment data include:

[0034] Obtaining tangent slope data contained in the tangent information and boundary slope data of the preset area boundary;

[0035] Calculate the difference between the boundary slope data and the tangent slope data as the angle adjustment data, and determine whether the angle adjustment data is greater than zero;

[0036] If yes, output a posture adjustment instruction to make the depth image acquisition module rotate clockwise;

[0037] If not, a posture adjustment instruction is output to make the depth image acquisition module rotate counterclockwise.

[0038] In a second aspect, the present application also provides a transmission line intelligent inspection robot, the device comprising:

[0039] Positioning module, used to obtain breakpoint coordinate data;

[0040] The moving module is used to execute the moving instructions to complete the movement to the inspection breakpoint and the line inspection movement in the subsequent inspection process;

[0041] An image acquisition module is used to obtain depth image information and spacing data within a preset area;

[0042] An image analysis module is used to analyze the depth image information to obtain the cable boundary and the spacing data between the cable and the image acquisition module in a preset area, and to determine whether the spacing data is within a preset spacing range;

[0043] The control module is used to generate control instructions based on depth image information, spacing data, preset area and other information and output them to the mobile module to complete movement and line patrol.

[0044] In a third aspect, the present application further provides a computer device, the computer device comprising a memory and a processor, the memory storing a computer program, and the processor implementing the following steps when executing the computer program:

[0045] Obtain the breakpoint coordinate data of the previous inspection, and output a movement instruction to the mobile module so that the transmission line inspection robot moves to the breakpoint area corresponding to the power outage coordinate data;

[0046] Acquire the depth image information of the breakpoint area, and adjust the posture of the mobile module so that the target cable is located within the preset area of ​​the depth image information;

[0047] Acquire the distance data between the cables and the depth image acquisition module in the preset target area according to the depth image information;

[0048] Determine whether the spacing data is within a preset spacing range;

[0049] If not, continue to adjust the posture of the mobile module according to the change trend of the spacing data in the preset target area so that the spacing data is within the preset spacing range;

[0050] If yes, switch to the inspection mode and start inspecting the transmission line.

[0051] In a fourth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0052] Obtain the breakpoint coordinate data of the previous inspection, and output a movement instruction to the mobile module so that the transmission line inspection robot moves to the breakpoint area corresponding to the power outage coordinate data;

[0053] Acquire the depth image information of the breakpoint area, and adjust the posture of the mobile module so that the target cable is located within the preset area of ​​the depth image information;

[0054] Acquire the distance data between the cables and the depth image acquisition module in the preset target area according to the depth image information;

[0055] Determine whether the spacing data is within a preset spacing range;

[0056] If not, continue to adjust the posture of the mobile module according to the change trend of the spacing data in the preset target area so that the spacing data is within the preset spacing range;

[0057] If yes, switch to the inspection mode and start inspecting the transmission line.

[0058] In a fifth aspect, the present application further provides a computer program product, the computer program product comprising a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0059] Obtain the breakpoint coordinate data of the previous inspection, and output a movement instruction to the mobile module so that the transmission line inspection robot moves to the breakpoint area corresponding to the power outage coordinate data;

[0060] Acquire the depth image information of the breakpoint area, and adjust the posture of the mobile module so that the target cable is located within the preset area of ​​the depth image information;

[0061] Acquire the distance data between the cables and the depth image acquisition module in the preset target area according to the depth image information;

[0062] Determine whether the spacing data is within a preset spacing range;

[0063] If not, continue to adjust the posture of the mobile module according to the change trend of the spacing data in the preset target area so that the spacing data is within the preset spacing range;

[0064] If yes, switch to the inspection mode and start inspecting the transmission line.

[0065] The above-mentioned intelligent inspection robot for power transmission lines and its operation method, computer equipment, storage medium and computer program product can control the inspection robot to automatically return to the breakpoint position of the previous inspection to continue the inspection from the breakpoint, reduce the length of the repeated inspection path, and improve the utilization rate of the inspection robot battery. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Figure 1 A schematic diagram of a flow chart of an operation method of a power transmission line intelligent inspection robot in one embodiment;

[0067] Figure 2A system topology diagram of a power transmission line intelligent inspection robot in one embodiment;

[0068] Figure 3 An application environment diagram of an operation method of a power transmission line intelligent inspection robot in one embodiment;

[0069] Figure 4 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0070] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0071] In one embodiment, Figure 1 As shown, a method for operating a transmission line intelligent inspection robot is provided, comprising the following steps:

[0072] Step S100: Obtain the breakpoint coordinate data of the previous inspection, and output a movement instruction to the movement module to move the power transmission line inspection robot to the breakpoint area corresponding to the power outage coordinate data. The specific steps include:

[0073] Step S110: Obtain the GPS coordinate information and altitude information recorded at the end of the previous inspection.

[0074] Step S120: outputting a movement instruction to enable the line patrol robot to move to a position corresponding to the same GPS coordinate information.

[0075] Step S130: outputting a movement instruction to enable the line patrol robot to move to a height position corresponding to the height information.

[0076] Among them, when moving to the height position corresponding to the height information, the intelligent inspection robot for power transmission lines can be assisted by a drone or other aircraft with a flying function to complete the moving action, or the transmission line inspection robot can use its own flight function to complete the vertical movement or flying action in space. In this embodiment, a circuit inspection robot with a flying function is preferred.

[0077] Step S200: Acquire the depth image information of the breakpoint area, and adjust the posture of the mobile module so that the target cable is located in the preset area of ​​the depth image information. The preset area is a region preset in the depth image information and used to limit the position of the cable in the depth image. When performing posture adjustment, the posture of the mobile module is adjusted through the relative position, angle and other information of the boundary of the preset area and the boundary of the cable, so that the cable is located in the specified area of ​​the depth image. The specific steps include:

[0078] Step S210: identifying cable boundaries in the depth image using a preset algorithm.

[0079] Step S220: Determine whether the cable boundary is completely within the preset area.

[0080] Step S230: If not, adjusting the posture of the depth image acquisition module for acquiring the depth map information according to the angle between the cable boundary and the preset area boundary, so that the cable boundary is completely located in the preset area.

[0081] Specifically, step S230 also includes the following steps:

[0082] Step S231: Acquire the trajectory information of the cable boundary that has an intersection with the preset area boundary, and the coordinate information of the intersection.

[0083] Step S232: Calculate the tangent information corresponding to the tangent of the cable boundary at the intersection according to the trajectory information and the coordinate information of the intersection.

[0084] Step S233: Calculate the angle between the tangent corresponding to the tangent information and the boundary of the preset area where the intersection point is located to obtain angle adjustment data.

[0085] Step S234: Outputting a posture adjustment instruction for adjusting the posture of the depth image acquisition module according to the angle adjustment data. The specific contents of step S234 include:

[0086] Obtaining tangent slope data contained in the tangent information and boundary slope data of the preset area boundary;

[0087] Calculate the difference between the boundary slope data and the tangent slope data as the angle adjustment data, and determine whether the angle adjustment data is greater than zero;

[0088] If yes, output a posture adjustment instruction to make the depth image acquisition module rotate clockwise;

[0089] If not, a posture adjustment instruction is output to make the depth image acquisition module rotate counterclockwise.

[0090] Step S300: Obtain the distance data between the cables and the depth image acquisition module in the preset target area according to the depth image information. The preset target area is a special area located in the preset area and smaller in area than the preset area. Preferably, the preset area in the embodiment of the present application is an isosceles trapezoidal area. The preset target area is a circular area with the center of the inscribed circle of the preset area as the center and 1 / 4 of the radius of the inscribed circle in the preset area as the radius. The specific steps of step S300 include:

[0091] Step S310: extracting the spacing data corresponding to the sampling points contained in the preset target area from the depth image.

[0092] Step S320: inputting the spacing data corresponding to each sampling point into a preset spacing data algorithm to calculate the spacing data between the preset target area and the depth image acquisition module;

[0093] Step S330: The preset spacing data algorithm includes the following formula:

[0094]

[0095] Among them, s ij is the spacing data corresponding to each sampling point in the target area, n is the number of rows of the sampling point array in the preset target area, m is the number of columns of the sampling point array in the preset target area, and s p The calculated distance data between the preset target area and the depth image acquisition module.

[0096] Step S400: determining whether the spacing data is within a preset spacing range.

[0097] Step S510: If not, continue to adjust the posture of the mobile module according to the change trend of the distance data in the preset target area so that the distance data is within the preset distance range.

[0098] Step S520: If yes, switch to the inspection mode and start inspecting the power transmission line.

[0099] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0100] Based on the same inventive concept, the embodiment of the present application also provides a transmission line intelligent inspection robot for realizing the above-mentioned transmission line intelligent inspection robot operation method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above-mentioned method, so the specific limitations in one or more transmission line intelligent inspection robot device embodiments provided below can refer to the above-mentioned limitations on the transmission line intelligent inspection robot operation method, and will not be repeated here.

[0101] In one embodiment, Figure 2 As shown, a transmission line intelligent inspection robot is provided, comprising: a positioning module, a moving module, an image acquisition module, an image analysis module and a control module, wherein:

[0102] Positioning module, used to obtain breakpoint coordinate data;

[0103] The moving module is used to execute the moving instructions to complete the movement to the inspection breakpoint and the line inspection movement in the subsequent inspection process;

[0104] An image acquisition module is used to obtain depth image information and spacing data within a preset area;

[0105] An image analysis module is used to analyze the depth image information to obtain the cable boundary and the spacing data between the cable and the image acquisition module in a preset area, and to determine whether the spacing data is within a preset spacing range;

[0106] The control module is used to generate control instructions based on depth image information, spacing data, preset area and other information and output them to the mobile module to complete movement and line patrol.

[0107] Each module in the above-mentioned intelligent inspection robot for power transmission lines can be implemented in whole or in part by software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0108] The present application provides a method for operating a power transmission line intelligent inspection robot, which can be applied to Figure 3 In the application environment shown. Among them, the terminal 102 communicates with the server 104 through the network. The data storage system can store the data that the server 104 needs to process. The data storage system can be integrated on the server 104, or it can be placed on the cloud or other network servers. Among them, the terminal 102 can be a transmission line intelligent inspection robot disclosed in the present application, and can also include but not limited to various personal computers, laptops, smart phones, tablet computers, Internet of Things devices and portable wearable devices. The server 104 can be implemented with an independent server or a server cluster consisting of multiple servers.

[0109] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 4As shown. The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WI FI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a method for operating a transmission line intelligent inspection robot is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covered on the display screen, or a button, trackball or touchpad set on the computer device housing, or an external keyboard, touchpad or mouse, etc.

[0110] Those skilled in the art will understand that Figure 4 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0111] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0112] Step S100: Obtain the breakpoint coordinate data of the previous inspection, and output a movement instruction to the movement module to move the power transmission line inspection robot to the breakpoint area corresponding to the power outage coordinate data. The specific steps include:

[0113] Step S110: Obtain the GPS coordinate information and altitude information recorded at the end of the previous inspection.

[0114] Step S120: outputting a movement instruction to enable the line patrol robot to move to a position corresponding to the same GPS coordinate information.

[0115] Step S130: outputting a movement instruction to enable the line patrol robot to move to a height position corresponding to the height information.

[0116] Step S200: Acquire the depth image information of the breakpoint area, and adjust the posture of the mobile module so that the target cable is located in the preset area of ​​the depth image information. The specific steps include:

[0117] Step S210: identifying cable boundaries in the depth image using a preset algorithm.

[0118] Step S220: Determine whether the cable boundary is completely within the preset area.

[0119] Step S230: If not, adjusting the posture of the depth image acquisition module for acquiring the depth map information according to the angle between the cable boundary and the preset area boundary, so that the cable boundary is completely located in the preset area.

[0120] Specifically, step S230 also includes the following steps:

[0121] Step S231: Acquire the trajectory information of the cable boundary that has an intersection with the preset area boundary, and the coordinate information of the intersection.

[0122] Step S232: Calculate the tangent information corresponding to the tangent of the cable boundary at the intersection according to the trajectory information and the coordinate information of the intersection.

[0123] Step S233: Calculate the angle between the tangent corresponding to the tangent information and the boundary of the preset area where the intersection point is located to obtain angle adjustment data.

[0124] Step S234: Outputting a posture adjustment instruction for adjusting the posture of the depth image acquisition module according to the angle adjustment data. The specific contents of step S234 include:

[0125] Obtaining tangent slope data contained in the tangent information and boundary slope data of the preset area boundary;

[0126] Calculate the difference between the boundary slope data and the tangent slope data as the angle adjustment data, and determine whether the angle adjustment data is greater than zero;

[0127] If yes, output a posture adjustment instruction to make the depth image acquisition module rotate clockwise;

[0128] If not, a posture adjustment instruction is output to make the depth image acquisition module rotate counterclockwise.

[0129] Step S300: Obtaining the distance data between the cables in the preset target area and the depth image acquisition module according to the depth image information. The specific steps include:

[0130] Step S310: extracting the spacing data corresponding to the sampling points contained in the preset target area from the depth image.

[0131] Step S320: inputting the spacing data corresponding to each sampling point into a preset spacing data algorithm to calculate the spacing data between the preset target area and the depth image acquisition module;

[0132] Step S330: The preset spacing data algorithm includes the following formula:

[0133]

[0134] Among them, s ij is the spacing data corresponding to each sampling point in the target area, n is the number of rows of the sampling point array in the preset target area, m is the number of columns of the sampling point array in the preset target area, and s p The calculated distance data between the preset target area and the depth image acquisition module.

[0135] Step S400: determining whether the spacing data is within a preset spacing range.

[0136] Step S510: If not, continue to adjust the posture of the mobile module according to the change trend of the distance data in the preset target area so that the distance data is within the preset distance range.

[0137] Step S520: If yes, switch to the inspection mode and start inspecting the power transmission line.

[0138] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0139] Step S100: Obtain the breakpoint coordinate data of the previous inspection, and output a movement instruction to the movement module to move the power transmission line inspection robot to the breakpoint area corresponding to the power outage coordinate data. The specific steps include:

[0140] Step S110: Obtain the GPS coordinate information and altitude information recorded at the end of the previous inspection.

[0141] Step S120: outputting a movement instruction to enable the line patrol robot to move to a position corresponding to the same GPS coordinate information.

[0142] Step S130: outputting a movement instruction to enable the line patrol robot to move to a height position corresponding to the height information.

[0143] Step S200: Acquire the depth image information of the breakpoint area, and adjust the posture of the mobile module so that the target cable is located in the preset area of ​​the depth image information. The specific steps include:

[0144] Step S210: identifying cable boundaries in the depth image using a preset algorithm.

[0145] Step S220: Determine whether the cable boundary is completely within the preset area.

[0146] Step S230: If not, adjusting the posture of the depth image acquisition module for acquiring the depth map information according to the angle between the cable boundary and the preset area boundary, so that the cable boundary is completely located in the preset area.

[0147] Specifically, step S230 also includes the following steps:

[0148] Step S231: Acquire the trajectory information of the cable boundary that has an intersection with the preset area boundary, and the coordinate information of the intersection.

[0149] Step S232: Calculate the tangent information corresponding to the tangent of the cable boundary at the intersection according to the trajectory information and the coordinate information of the intersection.

[0150] Step S233: Calculate the angle between the tangent corresponding to the tangent information and the boundary of the preset area where the intersection point is located to obtain angle adjustment data.

[0151] Step S234: Outputting a posture adjustment instruction for adjusting the posture of the depth image acquisition module according to the angle adjustment data. The specific contents of step S234 include:

[0152] Obtaining tangent slope data contained in the tangent information and boundary slope data of the preset area boundary;

[0153] Calculate the difference between the boundary slope data and the tangent slope data as the angle adjustment data, and determine whether the angle adjustment data is greater than zero;

[0154] If yes, output a posture adjustment instruction to make the depth image acquisition module rotate clockwise;

[0155] If not, a posture adjustment instruction is output to make the depth image acquisition module rotate counterclockwise.

[0156] Step S300: Obtaining the distance data between the cables in the preset target area and the depth image acquisition module according to the depth image information. The specific steps include:

[0157] Step S310: extracting the spacing data corresponding to the sampling points contained in the preset target area from the depth image.

[0158] Step S320: inputting the spacing data corresponding to each sampling point into a preset spacing data algorithm to calculate the spacing data between the preset target area and the depth image acquisition module;

[0159] Step S330: The preset spacing data algorithm includes the following formula:

[0160] Among them, s ij is the spacing data corresponding to each sampling point in the target area, n is the number of rows of the sampling point array in the preset target area, m is the number of columns of the sampling point array in the preset target area, and sp The calculated distance data between the preset target area and the depth image acquisition module.

[0161] Step S400: determining whether the spacing data is within a preset spacing range.

[0162] Step S510: If not, continue to adjust the posture of the mobile module according to the change trend of the distance data in the preset target area so that the distance data is within the preset distance range.

[0163] Step S520: If yes, switch to the inspection mode and start inspecting the power transmission line.

[0164] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0165] Step S100: Obtain the breakpoint coordinate data of the previous inspection, and output a movement instruction to the movement module to move the power transmission line inspection robot to the breakpoint area corresponding to the power outage coordinate data. The specific steps include:

[0166] Step S110: Obtain the GPS coordinate information and altitude information recorded at the end of the previous inspection.

[0167] Step S120: outputting a movement instruction to enable the line patrol robot to move to a position corresponding to the same GPS coordinate information.

[0168] Step S130: outputting a movement instruction to enable the line patrol robot to move to a height position corresponding to the height information.

[0169] Step S200: Acquire the depth image information of the breakpoint area, and adjust the posture of the mobile module so that the target cable is located in the preset area of ​​the depth image information. The specific steps include:

[0170] Step S210: identifying cable boundaries in the depth image using a preset algorithm.

[0171] Step S220: Determine whether the cable boundary is completely within the preset area.

[0172] Step S230: If not, adjusting the posture of the depth image acquisition module for acquiring the depth map information according to the angle between the cable boundary and the preset area boundary, so that the cable boundary is completely located in the preset area.

[0173] Specifically, step S230 also includes the following steps:

[0174] Step S231: Acquire the trajectory information of the cable boundary that has an intersection with the preset area boundary, and the coordinate information of the intersection.

[0175] Step S232: Calculate the tangent information corresponding to the tangent of the cable boundary at the intersection according to the trajectory information and the coordinate information of the intersection.

[0176] Step S233: Calculate the angle between the tangent corresponding to the tangent information and the boundary of the preset area where the intersection point is located to obtain angle adjustment data.

[0177] Step S234: Outputting a posture adjustment instruction for adjusting the posture of the depth image acquisition module according to the angle adjustment data. The specific contents of step S234 include:

[0178] Obtaining tangent slope data contained in the tangent information and boundary slope data of the preset area boundary;

[0179] Calculate the difference between the boundary slope data and the tangent slope data as the angle adjustment data, and determine whether the angle adjustment data is greater than zero;

[0180] If yes, output a posture adjustment instruction to make the depth image acquisition module rotate clockwise;

[0181] If not, a posture adjustment instruction is output to make the depth image acquisition module rotate counterclockwise.

[0182] Step S300: Obtaining the distance data between the cables in the preset target area and the depth image acquisition module according to the depth image information. The specific steps include:

[0183] Step S310: extracting the spacing data corresponding to the sampling points contained in the preset target area from the depth image.

[0184] Step S320: inputting the spacing data corresponding to each sampling point into a preset spacing data algorithm to calculate the spacing data between the preset target area and the depth image acquisition module;

[0185] Step S330: The preset spacing data algorithm includes the following formula:

[0186]

[0187] Among them, s ij is the spacing data corresponding to each sampling point in the target area, n is the number of rows of the sampling point array in the preset target area, m is the number of columns of the sampling point array in the preset target area, and s p The calculated distance data between the preset target area and the depth image acquisition module.

[0188] Step S400: determining whether the spacing data is within a preset spacing range.

[0189] Step S510: If not, continue to adjust the posture of the mobile module according to the change trend of the distance data in the preset target area so that the distance data is within the preset distance range.

[0190] Step S520: If yes, switch to the inspection mode and start inspecting the power transmission line.

[0191] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for operating a power transmission line intelligent inspection robot, characterized in that: The method comprises: Obtain the breakpoint coordinate data of the previous inspection, and output a movement instruction to the movement module so that the transmission line inspection robot moves to the breakpoint area corresponding to the power outage coordinate data; Acquire the depth image information of the breakpoint area, and adjust the posture of the mobile module so that the target cable is located within the preset area of ​​the depth image information; Acquire the distance data between the cables and the depth image acquisition module in the preset target area according to the depth image information; Determine whether the spacing data is within a preset spacing range; If not, continue to adjust the posture of the mobile module according to the change trend of the spacing data in the preset target area so that the spacing data is within the preset spacing range; If yes, it switches to the inspection mode and starts inspecting the transmission line; The specific steps of obtaining the breakpoint coordinate data of the previous inspection and outputting a movement instruction to the movement module so that the power transmission line inspection robot moves to the breakpoint area corresponding to the power outage coordinate data include: Get the GPS coordinate information and altitude information recorded at the end of the previous inspection; Output movement instructions to make the line patrol robot move to the position corresponding to the same GPS coordinate information; Output movement instructions to make the line patrol robot move to the height position corresponding to the height information; The specific steps of acquiring the depth image information of the breakpoint area and adjusting the posture of the mobile module so that the target cable is located in the preset area of ​​the depth image information include: Get the depth image information of the breakpoint area; Identify cable boundaries in the depth image using a preset algorithm; Determine whether the cable boundary is completely within the preset area; If not, the posture of the depth image acquisition module is adjusted according to the angle between the cable boundary and the preset area boundary, so that the cable boundary is completely located in the preset area.

2. The method according to claim 1, characterized in that The specific steps of obtaining the distance data between the cables and the depth image acquisition module in the preset target area according to the depth image information include: Extracting the spacing data corresponding to the sampling points contained in the preset target area from the depth image; Input the spacing data corresponding to each sampling point into a preset spacing data algorithm to calculate the spacing data between the preset target area and the depth image acquisition module; The preset spacing data algorithm includes the following formula: ， Among them, s ij is the spacing data corresponding to each sampling point in the target area, n is the number of rows of the sampling point array in the preset target area, m is the number of columns of the sampling point array in the preset target area, and s p The calculated distance data between the preset target area and the depth image acquisition module.

3. The method according to claim 2, characterized in that The specific method of adjusting the posture of the depth image acquisition module for acquiring depth map information according to the angle between the cable boundary and the preset area boundary so that the cable boundary is completely within the preset area includes: Obtaining the trajectory information of the cable boundary that intersects with the preset area boundary, and the coordinate information of the intersection; The tangent information corresponding to the tangent of the cable boundary at the intersection is calculated according to the trajectory information and the coordinate information of the intersection; Calculating the angle between the tangent corresponding to the tangent information and the boundary of the preset area where the intersection point is located to obtain angle adjustment data; Output a posture adjustment instruction for adjusting the posture of the depth image acquisition module according to the angle adjustment data.

4. The method according to claim 3, characterized in that The specific steps of calculating the angle between the tangent corresponding to the tangent information and the boundary of the preset area where the intersection point is located to obtain the angle adjustment data include: Obtaining tangent slope data contained in the tangent information and boundary slope data of the preset area boundary; Calculate the difference between the boundary slope data and the tangent slope data as the angle adjustment data, and determine whether the angle adjustment data is greater than zero; If yes, output a posture adjustment instruction to make the depth image acquisition module rotate clockwise; If not, a posture adjustment instruction is output to make the depth image acquisition module rotate counterclockwise.

5. A transmission line intelligent inspection robot, the robot is based on the method according to claim 1, characterized in that: The inspection robot comprises: Positioning module, used to obtain breakpoint coordinate data; The moving module is used to execute the moving instructions to complete the movement to the inspection breakpoint and the line inspection movement in the subsequent inspection process; An image acquisition module is used to obtain depth image information and spacing data within a preset area; An image analysis module is used to analyze the depth image information to obtain the cable boundary and the spacing data between the cable and the image acquisition module in a preset area, and to determine whether the spacing data is within a preset spacing range; The control module is used to generate control instructions based on depth image information, spacing data, preset area and other information and output them to the mobile module to complete movement and line patrol.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented.

7. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 4 are implemented.

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