A drone monitoring system and method for overhead power lines

Abstract

This application discloses a drone monitoring system and method for overhead power lines. The monitoring system is applicable to overhead power line systems, which include multiple towers, a tension field located on one side of the towers, and a traction field located on the other side of the towers. Adjacent towers constitute a span. The monitoring system includes a drone platform, a first receiving end located at the traction field, and a second receiving end located at the traction field. The drone platform includes: a sensor module for acquiring cable images of the current span around the clock; a processing module for identifying cables in the current span images, especially under nighttime conditions, identifying multiple quantities and types of cables, and accurately monitoring specific cables to obtain the dynamic height of specific cables in the cable images and comparing the lowest point height of specific cables in the cable images with a preset height; and a communication module for sending information to the first and second receiving ends based on the comparison results of the processing module.

Description

Technical Field

[0001] This application relates to the field of monitoring technology, specifically to a drone monitoring system applied to overhead power lines. Background Technology

[0002] Tension stringing has become the main construction method for power transmission line stringing. The technology is constantly being updated, with increasingly stronger cable materials, upgraded stringing equipment, and longer stringing sections. With economic and social development, the number of crossings between power lines and between power lines and transportation facilities is constantly increasing, making stringing more difficult and dangerous. In particular, crossings between power lines and railways often require nighttime construction, constantly bringing new challenges to stringing work.

[0003] Because most overhead power grids have very long sections, the increased curvature of the lines makes them prone to touching the ground or colliding with ground equipment, especially when crossing highways or railways, which can cause significant damage. Currently, this is mainly addressed by erecting crossing frames. However, the construction site environment is extremely complex and varied, with diverse terrains and numerous obstacles. Different topography and climates significantly increase the difficulty of construction projects. Urban environments, in particular, present immense challenges to the erection and placement of crossing frames. Furthermore, the erection, dismantling, and sealing / removal of crossing frames are carried out under power outages, resulting in substantial economic losses. Even when using crossing frames, the distance between the tensioning and traction machines and the line installation section may be several kilometers or even tens of kilometers, relying entirely on manual observation and walkie-talkie communication. Especially in urban areas, tensioning line installation is mostly carried out at night, increasing the risk of human error, communication breakdowns, and information delays. In practice, lines can also detach from the crossing frames, causing significant losses.

[0004] Application content

[0005] In view of the shortcomings of the existing technology, the purpose of this application is to provide a drone monitoring system for overhead power lines.

[0006] According to one aspect of the present invention, a drone monitoring system for overhead power lines is provided. The monitoring system is applicable to overhead power line systems, which include multiple towers, a tension field disposed on one side of the towers, and a traction field disposed on the other side of the towers, wherein adjacent towers constitute a span. The monitoring system includes a drone platform, a first receiving end disposed on the tension field, and a second receiving end disposed on the traction field. The drone platform includes: a sensor module for acquiring a cable image at the current span; a processing module for identifying the cable in the current span image, acquiring the lowest point height of the cable in the cable image, and comparing the lowest point height of the cable in the cable image with a preset height; and a communication module for sending information to the first receiving end and the second receiving end based on the comparison result of the processing module.

[0007] Optionally, the processing module includes: a data processing module for identifying the cable in the current gear image and obtaining the lowest point height of the cable in the cable image; and a first judgment module for comparing the lowest point height of the cable in the cable image with a preset height; wherein, when the lowest point height of the cable in the cable image is less than the preset height, the communication module sends information to the first receiving end and the second receiving end.

[0008] Optionally, the processing module includes: a data processing module for identifying cables in the current gear image and obtaining the lowest point height of the cable in the cable image; a second judgment module for obtaining the current wind speed and determining whether the lowest point of the cable in the cable image needs to be corrected based on the wind speed; a correction module for correcting the lowest point height of the cable in the cable image; and a first judgment module for comparing the lowest point height of the cable in the cable image or the corrected lowest point height of the cable with a preset height; wherein, when the wind speed is less than a first preset value, the second judgment module provides a first signal to the data processing module, and the data processing module directly provides the lowest point height of the cable in the cable image to the first judgment module based on the first signal. The communication module compares the height of the lowest point of the cable in the cable image with a preset height. When the height of the lowest point of the cable in the cable image is less than the preset height, the communication module sends information to the first receiving end and the second receiving end. When the wind speed is greater than the first preset value and less than the second preset value, the second judgment module provides a second signal to the data processing module. The data processing module provides the height of the lowest point of the cable in the cable image to the correction module based on the second signal. The correction module corrects the height of the lowest point of the cable in the cable image and provides the corrected height of the lowest point of the cable to the first judgment module. The first judgment module compares the corrected height of the lowest point of the cable with the preset height. When the corrected height of the lowest point of the cable is less than the preset height, the communication module sends information to the first receiving end and the second receiving end.

[0009] Optionally, the correction module performs the following steps to correct the lowest point height of the cable in the cable image: obtaining the parameters of the cable within the current gear position; obtaining the coordinates of the suspension points at both ends of the cable within the current gear position, and calculating the gear span, the slant distance between the suspension points at both ends of the cable, and the height difference between the suspension points at both ends of the cable; obtaining the coordinates of the lowest point of the cable in the cable image; obtaining the wind speed and direction at the time the image was captured; inputting the parameters of the cable within the current gear position, the coordinates of the suspension points at both ends of the cable within the current gear position, the gear span, the slant distance between the suspension points at both ends of the cable, the height difference between the suspension points at both ends of the cable, the coordinates of the lowest point of the cable in the cable image, and the wind speed and direction at the time the image was captured into a preset correction model, and the correction model provides feedback on the correction value; adding the correction value to the lowest point height of the cable in the cable image to obtain the corrected lowest point height of the cable.

[0010] According to another aspect of the present invention, a method for monitoring unmanned aerial vehicles (UAVs) applied to overhead power lines is provided, comprising: the monitoring method is applicable to an overhead power line system, the overhead power line system including multiple towers, a tension field disposed on one side of the multiple towers, and a traction field disposed on the other side of the multiple towers, wherein adjacent towers among the multiple towers constitute a span; acquiring a cable image of the current span, identifying the cable in the current span image, and acquiring the lowest point height of the cable in the cable image; comparing the lowest point height of the cable in the cable image with a preset height, and guiding the operation of the traction field and the tension field according to the comparison result of the processing module.

[0011] Optionally, the method includes: S110: acquiring a cable image of the current gear position, identifying the cable in the current gear position image, and acquiring the lowest point height of the cable in the cable image; S120: comparing the lowest point height of the cable in the cable image with a preset height, and stopping the operation when the lowest point height of the cable in the cable image is less than the preset height.

[0012] Optionally, the method includes: S210: acquiring a cable image of the current gear, identifying the cable in the current gear image, and acquiring the lowest point height of the cable in the cable image; S220: acquiring the current wind speed, and determining whether the lowest point of the cable in the cable image needs to be corrected based on the wind speed; S221: when the wind speed is less than a first preset value, no correction is needed for the lowest point of the cable in the cable image, the lowest point height of the cable in the cable image is compared with a preset height, and the operation is stopped when the lowest point height of the cable in the cable image is less than the preset height; S222: when the wind speed is greater than the first preset value and less than a second preset value, the lowest point height of the cable in the cable image is corrected to obtain the corrected lowest point height of the cable, the corrected lowest point height of the cable is compared with the preset height, and the operation is stopped when the corrected lowest point height of the cable is less than the preset height; S223: when the wind speed is greater than the second preset value, the operation is stopped.

[0013] Optionally, the method for correcting the lowest point height of the cable in the cable image includes: obtaining the parameters of the cable within the current gear; obtaining the coordinates of the suspension points at both ends of the cable within the current gear, and calculating the gear span, the slant distance between the suspension points at both ends of the cable, and the height difference between the suspension points at both ends of the cable; obtaining the coordinates of the lowest point of the cable in the cable image; obtaining the wind speed and wind direction at the time of image capture; inputting the parameters of the cable within the current gear, the coordinates of the suspension points at both ends of the cable within the current gear, the gear span, the slant distance between the suspension points at both ends of the cable, the height difference between the suspension points at both ends of the cable, the coordinates of the lowest point of the cable in the cable image, and the wind speed and wind direction at the time of image capture into a preset correction model, and the correction model feeding back the correction value; adding the correction value to the lowest point height of the cable in the cable image to obtain the corrected lowest point height of the cable.

[0014] Compared with the prior art, the beneficial effects of this application are:

[0015] This application can greatly improve the safety, stability, coordination, and speed of tension stringing, especially for important cross-span nighttime stringing construction, reduce the probability of accidents, reduce the number of workers required for high-altitude operations, improve the safety of tension stringing construction, and increase project profitability.

[0016] This application effectively solves the problems of traditional tension stringing relying on the experience of on-site personnel, using voice communication throughout the process, and the construction supervisor at the tensioning site receiving incomplete and delayed information. It greatly improves emergency response capabilities and enhances the safety of stringing projects.

[0017] This application improves the traditional method of erecting and dismantling scaffolding, avoiding the environmental impact of the scaffolding erection and dismantling process, while effectively reducing power outage time. The project construction process is environmentally friendly and harmless. Attached Figure Description

[0018] Figure 1 A schematic diagram of a overhead line system according to a first embodiment of this application is shown;

[0019] Figure 2 A schematic diagram of the structure of an unmanned aerial vehicle platform according to a first embodiment of this application is shown;

[0020] Figure 3 A schematic diagram of the processing module structure according to the first embodiment of this application is shown;

[0021] Figure 4 A schematic diagram of a target according to a first embodiment of this application is shown;

[0022] Figure 5 A schematic diagram of the overhead line system according to the second embodiment of this application is shown;

[0023] Figure 6 A schematic diagram of the processing module according to a second embodiment of this application is shown;

[0024] Figure 7 A schematic diagram of a modified model according to a second embodiment of this application is shown;

[0025] Figure 8 A schematic diagram of the gear position parameters of a gear position according to a second embodiment of this application is shown. Detailed Implementation

[0026] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0027] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the specification of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0028] A preferred embodiment of this application provides a drone monitoring system for overhead power lines. This drone monitoring system is applicable to overhead power line systems. Figure 1 A schematic diagram of a wiring system according to a first embodiment of this application is shown, such as... Figure 1As shown, the overhead line system includes multiple towers 110, a tension field 120 disposed on one side of the multiple towers 110, and a traction field 130 disposed on the other side of the multiple towers 110. The tension field 120 is equipped with a cable rack 121 and a tensioning machine 122, and the traction field 130 is equipped with a traction machine 131. Adjacent towers 110 among the multiple towers 110 constitute a span. In one embodiment, from the tension field 120 toward the traction field 130, the system sequentially includes a first tower 111, a second tower 112, ..., an i-th tower 11i. The first span is between the first tower 111 and the tension field 120, the first span is between the first tower 111 and the second tower 112, ..., and the (i+1)-th span is between the i-th tower 11i and the traction field 130. During the cable laying process, the tensioning machine 122 lays cables on one side of multiple towers 110, and the cables pass through the first tower 111, the second tower 112, ..., the i-th tower 11i in sequence. The traction machine 131 pulls the cables on the other side of the multiple towers 110 and fixes the cables at each position in sequence.

[0029] During the cable laying process, the cable at each span will have a certain curvature due to gravity. In order to prevent the cable at each span from colliding with the ground, ground equipment, railway, highway, trees, etc., this application proposes a drone monitoring system for cable laying.

[0030] The monitoring system includes a drone platform 20, a first receiving end 30 located in the tension field 120, and a second receiving end 40 located in the traction field 130. During the process of fixing the cable at the current position, the monitoring system 20 monitors the lowest point of the cable at the current position. The tension machine 122 and the traction machine 131 adjust the cable at the current position based on the data obtained from the monitoring system 20 to prevent the cable from having an excessive curvature, which could cause the cable to collide with the ground, ground equipment, railways, highways, trees, etc.

[0031] Figure 2 A schematic diagram of the structure of the unmanned aerial vehicle platform 20 according to the first embodiment of this application is shown, as follows: Figure 2 As shown, the UAV platform 20 is equipped with a sensor module 210, a processing module 220, and a communication module 230.

[0032] The sensor module 210 includes sensing devices such as lidar, infrared, and visible light sensors, making it suitable for both daytime and nighttime working scenarios. The sensor module 210 acquires cable images and fixed-point coordinates for the current gear position, and achieves precise distance measurement.

[0033] Figure 3 A schematic diagram of the processing module structure according to the first embodiment of this application is shown, as follows: Figure 3As shown, the processing module 220 includes a data processing module 221 and a first judgment module 222. The data processing module 221 identifies the cable in the current gear image and obtains the lowest point height L1 of the cable in the cable image. The first judgment module 222 compares the lowest point height L1 of the cable in the cable image with a preset height L0. When the lowest point height L1 of the cable in the current cable image is less than the preset height L0, the communication module 230 sends information to the first receiving end 30 and the second receiving end 40. The first receiving end 30 and the second receiving end 40 provide operation suggestions based on the received height information, such as suggesting stopping the operation of the traction machine 131 and / or the tension machine 122. The preset height depends on the specific environment, specifically the height of trees, railways, highways, ground, and ground equipment within the current gear position.

[0034] Due to differences in shooting angles, the cable in the current cable image will be deformed, causing a deviation in the height of the cable's lowest point. Therefore, this embodiment requires image correction during cable identification.

[0035] Furthermore, the method by which the data processing module 221 identifies cables in the current gear position image includes the following steps:

[0036] S001: Set the target S at the predetermined location.

[0037] In this embodiment, the target S is, for example, a rectangular target, with a horizontal length of, for example, LS0 and a vertical length of, for example, WS0. The preset height of the target S is, for example, HS. Imaging points are set at the four vertices of the target S, and the preset height of the target S is, for example, the distance between the preset recognition point of the target S and the horizontal plane. The preset recognition point of the target S is, for example, one of the four imaging points of the target S or any preset point in the target S.

[0038] The sensing module 210 acquires the cable image of the current gear, including the lowest point of the cable and the target S.

[0039] S002: Measure the lateral length LS1 and longitudinal length WS1 of the target S in the current gear cable image, and compare the lateral length LS1 and longitudinal length WS1 with the actual lateral length LS0 and actual longitudinal length WS0 of the target S to obtain the deviation δS between the lateral length LS1 and longitudinal length WS1 and the actual lateral length LS0 and actual longitudinal length WS0 of the target S.

[0040] Specifically, for example, imaging points are set at the four vertices of the target S. The target S is identified by recognizing the imaging points of the target S, and the transverse measurement length LS1 and longitudinal measurement length WS1 of the target S in the current gear cable image are measured.

[0041] S003: Obtain the distance LSS between the lowest point of the cable and the target S in the current gear cable image, and use the deviation δS to correct the distance LSS between the lowest point of the cable and the target S in the current gear cable image, so as to obtain the actual distance LSS0 between the lowest point of the cable and the target S.

[0042] The distance LSS between the lowest point of the cable and the target S is, for example, the distance between the lowest point of the cable and the preset identification point of the target S.

[0043] S004: Obtain the height L1 of the lowest point of the cable in the current cable image based on the actual distance LSS0 between the lowest point of the cable and the target S and the preset height of the target S.

[0044] Furthermore, since overhead power lines are typically installed outdoors, they are inevitably affected by the outdoor environment, with wind having the greatest impact. Because the cables between each span are suspended between adjacent poles 110, they are inevitably affected by wind. Therefore, this application proposes a second embodiment.

[0045] Figure 5 A schematic diagram of the overhead line system according to the second embodiment of this application is shown. Figure 6 A schematic diagram of the processing module according to a second embodiment of this application is shown, as follows: Figure 5 and Figure 6 As shown, the processing module 220 includes a data processing module 221, a first judgment module 222, a correction module 223, and a second judgment module 224.

[0046] The data processing module 221 identifies the cable in the current gear image and obtains the lowest point height L1 of the cable in the cable image. The second judgment module 224 obtains the current wind speed and determines whether the lowest point L1 of the cable in the cable image needs to be corrected based on the wind speed. Specifically, when the wind speed is less than a first preset value, no correction is needed for the lowest point L1 of the cable in the cable image. The second judgment module 224 provides a first signal to the data processing module 221, and the data processing module 221 directly provides the lowest point height L1 of the cable in the cable image to the first judgment module 222 based on the first signal. When the wind speed is greater than the first preset value and less than the second preset value, the second judgment module 224 provides a second signal to the data processing module 221, and the data processing module 221 provides the lowest point height L1 of the cable in the cable image to the correction module 223 based on the second signal. The correction module 223 corrects the lowest point height L1 of the cable in the cable image and provides the corrected lowest point height L2 of the cable to the first judgment module 222. When the wind speed exceeds the second preset value, the second judgment module 224 provides a third signal to the data processing module 221 and the communication module 230 to stop the operation.

[0047] The current wind speed is measured in real time at the work site using wind speed and direction sensors 50. In this embodiment, to avoid the influence of drones on wind speed and direction and to save costs, the wind speed and direction sensors 50 are located in the tension field 120 and / or traction field 130, and are connected to the first judgment module 222 via the communication module 230. In other embodiments, to accurately measure the wind speed and direction at each location, wind speed and direction sensors 50 are installed on each pole, and a first communication module is configured on each pole to communicate with the communication module 230, transmitting the wind speed and direction parameters measured by the wind speed and direction sensors 50 to the second judgment module 224.

[0048] When the wind speed is less than the first preset value, the first judgment module 222 compares the height L1 of the lowest point of the cable in the cable image with the preset height L0. When the height L1 of the lowest point of the cable in the cable image is less than the preset height L0, the communication module 230 sends information to the first receiving end 30 and the second receiving end 40. When the wind speed is greater than the first preset value but less than the second preset value, the first judgment module 222 compares the corrected lowest point L2 of the cable with the preset height L0. When the corrected lowest point L2 of the cable is less than the preset height L0, the communication module 230 sends information to the first receiving end 30 and the second receiving end 40.

[0049] In this embodiment, wind speed and wind direction sensors 50 are added to measure the wind speed at the work site in real time. A correction module 223 is also added. When the wind speed is greater than the first preset value and less than the second preset value, the correction module 223 corrects the height L1 of the lowest point of the cable in the cable image. This is to prevent the measurement error of the lowest point of the cable caused by the wind during the cable laying process, so as to prevent the cable curvature from colliding with the ground, ground equipment, railway, highway, trees, etc. because it does not meet the work requirements.

[0050] Specifically, when the wind speed is less than the first preset value, its impact is negligible. When the wind speed is greater than the first preset value but less than the second preset value, its impact is not negligible, but can be eliminated through adjustments. When the wind speed exceeds the second preset value, it severely affects the overhead line operation, and the operation must be stopped.

[0051] Furthermore, the impact of the same wind direction and speed on different cables varies, and the impact of different wind directions and speeds on the same cable also varies. Meanwhile, parameters such as the current span and the height difference between the suspension points at both ends of the cable also have a certain influence on the correction value. This application collects a large number of data samples and trains them to obtain a correction model. This correction model can be used to represent a neural network model for correcting the lowest point of the cable. The correction model can be trained and generated based on cable parameter samples, span data samples, wind speed and direction data samples, and cable lowest point coordinate samples. Cable parameter samples include, but are not limited to, cable material, cable diameter, and weight per unit length of cable; span data samples include, but are not limited to, the coordinates of the suspension points at both ends of the cable, the span distance, the slant distance between the suspension points at both ends of the cable, and the height difference between the suspension points at both ends of the cable; cable lowest point coordinate samples include, but are not limited to, the coordinates of the cable lowest point in the cable image and the difference between the coordinates of the cable lowest point in the cable image and the actual cable lowest point coordinates (i.e., the correction value).

[0052] Figure 8 A schematic diagram of the gear position parameters of a gear position according to a second embodiment of this application is shown, as follows: Figure 8 As shown, the suspension points at both ends of the current gear (e.g., the 3rd gear) are suspension point S1 and suspension point S2, the lowest point of the cable is S3, the gear spacing of the current gear is, for example, HD, the slant distance between the suspension points at both ends of the cable is, for example, SD, and the height difference between the suspension points at both ends of the cable is, for example, VD.

[0053] Figure 7 This diagram illustrates the principle of training and generating a correction model based on cable parameter samples, speed range data samples, wind speed and direction data samples, and the coordinates of the lowest point of the cable, according to the second embodiment of this application. Specifically, the second embodiment generates the correction model based on a neural network model, as shown below. Figure 6As shown, the neural network model includes an input layer 610, a hidden layer 620, and an output layer 630. The input layer 610 includes multiple neurons i1-im. The multiple neurons i1-im of the input layer 610 select the cable material, cable diameter, weight per unit length of cable, coordinates of the suspension points at both ends of the cable, the span of the cable, the slant distance between the suspension points at both ends of the cable, the height difference between the suspension points at both ends of the cable, wind speed, wind direction, and the coordinates of the lowest point of the cable in the cable image.

[0054] Hidden layer 620 includes neurons h11-h1n and neurons h21-h2n. In this application, the number of hidden layers and the number of neurons in each hidden layer can be set. Output layer 630 includes neurons o1-ox. The neurons o1-ox of output layer 630 are, for example, selected from the difference (correction value) between the coordinates of the lowest point of the cable in the cable image and the actual coordinates of the lowest point of the cable.

[0055] In this application, a correction model is trained and generated based on cable parameter samples, gear data samples, wind speed and direction data samples, and cable lowest point coordinate samples. The correction module 223 obtains the cable parameters within the current gear, the coordinates of the suspension points (e.g., suspension points S1 and S2) at both ends of the cable within the current gear, the gear distance HD of the current gear, the slope distance SD between the suspension points at both ends of the cable, the height difference VD between the suspension points at both ends of the cable, the coordinates of the lowest point of the cable (e.g., lowest point S3) in the cable image, and the wind speed and direction at the time of image capture, and inputs them into the preset correction model. The correction model feeds back the correction value δ. The correction module 223 adds the correction value δ to the height L1 of the lowest point of the cable in the cable image to obtain the corrected height L2 of the lowest point of the cable, i.e., L2 = L1 + δ.

[0056] This application also provides a method for monitoring unmanned aerial vehicles (UAVs) used in overhead power lines, the method comprising:

[0057] S110: Obtain the cable image of the current gear, identify the cable in the current gear image, and obtain the height of the lowest point of the cable in the cable image;

[0058] S120: Compare the lowest point height of the cable in the cable image with the preset height. If the lowest point height of the cable in the cable image is less than the preset height, stop the operation.

[0059] This application also provides a method for monitoring unmanned aerial vehicles (UAVs) used in overhead power lines, the method comprising:

[0060] S210: Obtain the cable image of the current gear, identify the cable in the current gear image, and obtain the height of the lowest point of the cable in the cable image;

[0061] S220: Obtain the current wind speed and determine whether the lowest point of the cable in the cable image needs to be corrected based on the wind speed.

[0062] S221: When the wind speed is less than the first preset value, it is not necessary to correct the lowest point of the cable in the cable image. Instead, compare the height of the lowest point of the cable in the cable image with the preset height. If the height of the lowest point of the cable in the cable image is less than the preset height, stop the operation.

[0063] S222: When the wind speed is greater than the first preset value and less than the second preset value, the lowest point height of the cable in the cable image is corrected to obtain the corrected lowest point height of the cable. The corrected lowest point height of the cable is compared with the preset height. When the corrected lowest point height of the cable is less than the preset height, the operation is stopped.

[0064] S223: Stop operation when the wind speed exceeds the second preset value.

[0065] The methods for correcting the height of the lowest point of the cable in the cable image include:

[0066] S310: Obtain the parameters of the cable in the current gear position, including but not limited to the cable material, cable diameter, and weight per unit length of cable.

[0067] S320: Obtain the coordinates of the suspension points at both ends of the cable within the current gear position, and calculate the current gear position gap HD, the slope distance SD between the suspension points at both ends of the cable, and the height difference VD between the suspension points at both ends of the cable.

[0068] S330: Obtain the coordinates of the lowest point of the cable in the cable image;

[0069] S340: Acquires wind speed and direction at the moment the image was captured;

[0070] S350: Input the parameters of the cable in the current gear, the coordinates of the suspension points at both ends of the cable in the current gear, the gear distance HD of the current gear, the slant distance SD between the suspension points at both ends of the cable, the height difference VD between the suspension points at both ends of the cable, the coordinates of the lowest point of the cable in the cable image, and the wind speed and wind direction at the time of image capture into the preset correction model, and the correction model feeds back the correction value δ.

[0071] S360: Add the correction value δ to the lowest point height of the cable in the cable image to obtain the corrected lowest point height of the cable.

[0072] The above description is a detailed description of the preferred embodiments of this application. However, the embodiments are not intended to limit the scope of the patent application of this application. All equivalent changes or modifications made under the technical spirit of this application should fall within the patent scope covered by this application.

Claims

1. A drone monitoring system for overhead power lines, the monitoring system being applicable to overhead power line systems, the overhead power line system comprising multiple towers, a tension field disposed on one side of the multiple towers, and a traction field disposed on the other side of the multiple towers, wherein, Adjacent towers in a group of towers constitute a span; The monitoring system includes a drone platform, a first receiving end set up in the tension field, and a second receiving end set up in the traction field; The unmanned aerial vehicle platform includes: The sensor module is used to acquire the cable image at the current gear position; The processing module is used to identify the cable in the current gear image, obtain the lowest point height of the cable in the cable image, and compare the lowest point height of the cable in the cable image with a preset height; and The communication module sends information to the first receiving end and the second receiving end based on the comparison result of the processing module to guide the operation of the traction field and the tension field. The processing module includes: The correction module takes the parameters of the cable in the current gear position, the coordinates of the suspension points at both ends of the cable in the current gear position, the gear distance of the current gear position, the slant distance between the suspension points at both ends of the cable, the height difference between the suspension points at both ends of the cable, the coordinates of the lowest point of the cable in the cable image, and the wind speed and direction at the time of image capture and inputs them into the preset correction model. The correction model feeds back the correction value. The correction value is added to the height of the lowest point of the cable in the cable image to obtain the corrected height of the lowest point of the cable. The cable parameters consist of the cable material, the cable diameter, and the weight of the cable per unit length.

2. The UAV monitoring system for overhead power lines according to claim 1, wherein, The processing module includes: The data processing module is used to identify the cable in the current gear image and obtain the lowest point height of the cable in the cable image; The second judgment module is used to obtain the current wind speed and determine whether the lowest point of the cable in the cable image needs to be corrected based on the wind speed; and The first judgment module is used to compare the lowest point height of the cable in the cable image or the corrected lowest point height of the cable with a preset height. When the wind speed is less than the first preset value, the second judgment module provides a first signal to the data processing module. The data processing module directly provides the height of the lowest point of the cable in the cable image to the first judgment module based on the first signal. The first judgment module compares the height of the lowest point of the cable in the cable image with the preset height. When the height of the lowest point of the cable in the cable image is less than the preset height, the communication module sends information to the first receiving end and the second receiving end to stop the operation. When the wind speed is greater than the first preset value and less than the second preset value, the second judgment module provides a second signal to the data processing module. The data processing module provides the correction module with the height of the lowest point of the cable in the cable image based on the second signal. The correction module corrects the height of the lowest point of the cable in the cable image and provides the corrected height of the lowest point of the cable to the first judgment module. The first judgment module compares the corrected height of the lowest point of the cable with the preset height. When the corrected height of the lowest point of the cable is less than the preset height, the communication module sends information to the first receiving end and the second receiving end to stop the operation. When the wind speed exceeds the second preset value, the operation shall be stopped.

3. The UAV monitoring system for overhead power lines according to claim 1 or 2, wherein, The data processing module performs the following steps: identifies the cable in the current gear image, and obtains the lowest point height of the cable in the cable image: Set the target at the predetermined location; Measure the lateral and longitudinal lengths of the target in the current gear cable image, and compare the lateral and longitudinal lengths with the actual lateral and longitudinal lengths of the target to obtain the deviation between the lateral and longitudinal lengths and the actual lateral and longitudinal lengths of the target. Obtain the distance between the lowest point of the cable and the target in the current gear cable image, and use the deviation amount to correct the distance between the lowest point of the cable and the target in the current gear cable image to obtain the actual distance between the lowest point of the cable and the target. The height of the lowest point of the cable in the current cable image is obtained based on the actual distance between the lowest point of the cable and the target, as well as the preset height of the target.

4. A method for monitoring unmanned aerial vehicles (UAVs) used in overhead power lines, comprising: The monitoring method is applicable to overhead line systems, which include multiple towers, a tension field set on one side of the multiple towers, and a traction field set on the other side of the multiple towers, wherein adjacent towers among the multiple towers constitute a span. Acquire the cable image for the current gear position, identify the cable in the current gear position image, and obtain the height of the lowest point of the cable in the cable image; Compare the lowest point height of the cable in the cable image with the preset height, and guide the operation of the traction field and tension field based on the comparison results; This also includes a method for correcting the height of the lowest point of the cable in the cable image, including: Input the parameters of the cable in the current gear, the coordinates of the suspension points at both ends of the cable in the current gear, the gear distance of the current gear, the slant distance between the suspension points at both ends of the cable, the height difference between the suspension points at both ends of the cable, the coordinates of the lowest point of the cable in the cable image, and the wind speed and wind direction at the time of image capture into the preset correction model, and the correction model will provide feedback correction values. The correction value is added to the lowest point height of the cable in the cable image to obtain the corrected lowest point height of the cable. The cable parameters consist of the cable material, the cable diameter, and the weight per unit length of cable.

5. The method according to claim 4, wherein, The method includes: S210: Obtain the cable image of the current gear, identify the cable in the current gear image, and obtain the height of the lowest point of the cable in the cable image; S220: Obtain the current wind speed and determine whether the lowest point of the cable in the cable image needs to be corrected based on the wind speed. S221: When the wind speed is less than the first preset value, it is not necessary to correct the lowest point of the cable in the cable image. Instead, compare the height of the lowest point of the cable in the cable image with the preset height. If the height of the lowest point of the cable in the cable image is less than the preset height, stop the operation. S222: When the wind speed is greater than the first preset value and less than the second preset value, the lowest point height of the cable in the cable image is corrected to obtain the corrected lowest point height of the cable. The corrected lowest point height of the cable is compared with the preset height. When the corrected lowest point height of the cable is less than the preset height, the operation is stopped. S223: Stop operation when the wind speed exceeds the second preset value.

6. The method according to claim 4 or 5, wherein, The method for acquiring the cable image at the current gear level, identifying the cable in the current gear level image, and obtaining the height of the lowest point of the cable in the cable image includes: Set the target at the predetermined location; Measure the lateral and longitudinal lengths of the target in the current gear cable image, and compare the lateral and longitudinal lengths with the actual lateral and longitudinal lengths of the target to obtain the deviation between the lateral and longitudinal lengths and the actual lateral and longitudinal lengths of the target. Obtain the distance between the lowest point of the cable and the target in the current gear cable image, and use the deviation amount to correct the distance between the lowest point of the cable and the target in the current gear cable image to obtain the actual distance between the lowest point of the cable and the target. The height of the lowest point of the cable in the current cable image is obtained based on the actual distance between the lowest point of the cable and the target, as well as the preset height of the target.

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