An overhead cable installation auxiliary method and system based on drone images

Abstract

The present invention relates to the technical field of overhead cable stringing, and provides an overhead cable stringing auxiliary method and system based on drone images. The method comprises: identifying the lowest point of a cable line through a real-time drone image, adjusting the position of the lowest point in the image so that the drone and the lowest point of the cable are level, and obtaining the height of the lowest point of the cable according to the height of the drone; and obtaining the coordinates of a connecting line corresponding to the lowest point of the cable based on the intersection of tower data and drone coordinates, and then calculating the height difference to obtain the sag value. The sag can be quickly obtained through the drone image and drone information, thereby improving the efficiency of cable tension stringing.

Description

Technical Field

[0001] The present invention relates to the technical field of overhead cable stringing, and in particular to an overhead cable stringing auxiliary method and system based on drone images. Background Art

[0002] During the process of tensioning transmission lines, the pulling and tensioning machines may be several kilometers or more than ten kilometers away from the line laying part. The entire process relies on human observation and communication through walkie-talkies. There are a large number of human errors or communication errors, information delays, etc. Moreover, most of the tension line laying in urban areas is carried out at night, which cannot be observed by human eyes, affecting the efficiency of cable laying. Summary of the invention

[0003] The present invention provides an overhead cable installation auxiliary method based on drone images, which is used to solve the problem of low efficiency of cable installation observed by human eyes in the prior art.

[0004] A first aspect of the present invention provides an overhead cable installation auxiliary method based on drone images, comprising:

[0005] Acquire the real-time image of the drone, identify the cable line and the lowest point of the cable line, and send a control signal to the drone based on the position of the lowest point of the cable line and the horizontal center line of the image; when the lowest point of the cable line is on the horizontal center line of the image, obtain the distance between the drone and the lowest point of the cable line and the coordinates of the drone;

[0006] Obtain the pole tower data and establish the spatial expression and horizontal plane expression of the pole tower connection line; establish a circular expression with the horizontal coordinate of the drone coordinate as the center and the distance between the drone and the lowest point of the cable line as the radius, and identify the intersection of the horizontal plane expression and the circular expression of the pole tower connection line; substitute the intersection into the spatial expression of the pole tower connection line to obtain the spatial coordinate of the pole tower connection line corresponding to the lowest point of the cable line; calculate the difference between the spatial coordinate height of the pole tower connection line and the drone coordinate height to obtain the cable sag value.

[0007] Optionally, before establishing a circular expression with the horizontal coordinates of the drone coordinates as the center and the distance between the drone and the lowest point of the cable as the radius, the method further includes:

[0008] Real-time meteorological data is obtained to obtain real-time wind speed and real-time wind direction. The vector component of the wind in the vertical direction of the tower connecting line is calculated according to the real-time wind speed and real-time wind direction to obtain the wind speed swing component. The wind speed swing component is substituted into the distance correction model to obtain the corrected distance between the UAV and the lowest point of the cable line. The distance correction model is specifically as follows:

[0009]

[0010] in, is the vector from the drone to the lowest point of the cable, D2 is the corrected distance between the drone and the lowest point of the cable, is the wind speed swing component, ε is the relationship coefficient between wind speed and swing distance, and s is the swing base distance;

[0011] The method of calculating the difference between the spatial coordinate height of the pole tower connection line and the coordinate height of the drone to obtain the cable sag value is as follows: calculating the difference between the spatial coordinate height of the pole tower connection line and the coordinate height of the drone, substituting the difference into the cable sag value correction model to obtain the corrected cable sag value. The cable sag value correction model is as follows:

[0012]

[0013] Among them, H1 is the difference between the spatial coordinate height of the tower connecting line and the coordinate height of the drone, and H2 is the corrected cable sag value.

[0014] Optionally, the real-time image of the drone is obtained and the cable and the lowest point of the cable are identified as follows:

[0015] Identify the poles and towers in the real-time drone image, establish an area of ​​interest between two adjacent poles and towers with the largest distance between them, and identify the cables and the lowest point of the cables in the area of ​​interest.

[0016] The second aspect of the present application provides an overhead cable installation auxiliary system based on drone images, comprising:

[0017] The drone data analysis module is used to obtain the real-time image of the drone, identify the cable line and the lowest point of the cable line, and send a control signal to the drone according to the position of the lowest point of the cable line and the horizontal center line of the image; when the lowest point of the cable line is on the horizontal center line of the image, the distance between the drone and the lowest point of the cable line and the coordinates of the drone are obtained;

[0018] The sag calculation module is used to obtain the tower data and establish the spatial expression and horizontal plane expression of the tower connection line; establish a circular expression with the horizontal coordinates of the drone coordinates as the center and the distance between the drone and the lowest point of the cable line as the radius, and identify the intersection of the horizontal plane expression and the circular expression of the tower connection line; after substituting the intersection into the spatial expression of the tower connection line, the spatial coordinates of the tower connection line corresponding to the lowest point of the cable line are obtained; the difference between the spatial coordinate height of the tower connection line and the drone coordinate height is calculated to obtain the cable sag value.

[0019] Optionally, in the sag calculation module, before establishing a circular expression with the horizontal coordinates of the drone coordinates as the center and the distance between the drone and the lowest point of the cable as the radius, the following is further included:

[0020] Real-time meteorological data is obtained to obtain real-time wind speed and real-time wind direction. The vector component of the wind in the vertical direction of the tower connecting line is calculated according to the real-time wind speed and real-time wind direction to obtain the wind speed swing component. The wind speed swing component is substituted into the distance correction model to obtain the corrected distance between the UAV and the lowest point of the cable line. The distance correction model is specifically as follows:

[0021]

[0022] in, is the vector from the drone to the lowest point of the cable, D2 is the corrected distance between the drone and the lowest point of the cable, is the wind speed swing component, ε is the relationship coefficient between wind speed and swing distance, and s is the swing base distance;

[0023] The method of calculating the difference between the spatial coordinate height of the pole tower connection line and the coordinate height of the drone to obtain the cable sag value is as follows: calculating the difference between the spatial coordinate height of the pole tower connection line and the coordinate height of the drone, substituting the difference into the cable sag value correction model to obtain the corrected cable sag value. The cable sag value correction model is as follows:

[0024]

[0025] Among them, H1 is the difference between the spatial coordinate height of the tower connecting line and the coordinate height of the drone, and H2 is the corrected cable sag value.

[0026] Optionally, in the drone data analysis module, real-time images of the drone are obtained, and the cable line and the lowest point of the cable line are identified as follows:

[0027] Identify the poles and towers in the real-time drone image, establish an area of ​​interest between two adjacent poles and towers with the largest distance between them, and identify the cables and the lowest point of the cables in the area of ​​interest.

[0028] The third aspect of the present application provides an overhead cable installation auxiliary method device based on drone images, the device comprising a processor and a memory:

[0029] The memory is used to store program code and transmit the program code to the processor;

[0030] The processor is used to execute an overhead cable installation auxiliary method based on drone images as described in any one of the first aspects of the present invention according to the instructions in the program code.

[0031] The fourth aspect of the present application provides a computer-readable storage medium, which is used to store program code, and the program code is used to execute an overhead cable installation auxiliary method based on drone images as described in any one of the first aspects of the present invention.

[0032] It can be seen from the above technical scheme that the present invention has the following advantages: the lowest point of the cable line is identified through the real-time image of the drone, the position of the lowest point in the image is adjusted to make the drone and the lowest point of the cable level, and the height of the lowest point of the cable is obtained according to the height of the drone; and the intersection based on the tower data and the drone coordinates is identified to obtain the connecting line coordinates corresponding to the lowest point of the cable, and then the height difference is calculated to obtain the sag value. The sag can be quickly obtained through the drone image and drone information, thereby improving the efficiency of cable tension stringing. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0034] Figure 1 It is a flowchart of an overhead cable installation auxiliary method based on drone images;

[0035] Figure 2 It is the overhead cable offset diagram in the direction of the tower horizontal plane expression;

[0036] Figure 3 This is a structural diagram of an overhead cable installation auxiliary system based on drone images. DETAILED DESCRIPTION

[0037] In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] The present invention provides an overhead cable erection auxiliary method based on drone images, which is used to solve the problem of overhead cable erection in the prior art.

[0039] See also Figure 1 , Figure 1 A first flow chart of an overhead cable installation auxiliary method based on drone images provided in an embodiment of the present invention.

[0040] S100, obtaining a real-time image of the drone, identifying the cable and the lowest point of the cable, and sending a control signal to the drone according to the position of the lowest point of the cable and the horizontal center line of the image; when the lowest point of the cable is on the horizontal center line of the image, obtaining the distance between the drone and the lowest point of the cable and the coordinates of the drone;

[0041] It should be noted that the camera of the drone shoots the overhead cable in a horizontal direction and transmits real-time images. The tensioning wire stringing step in this embodiment is that the high-voltage cable has been erected on the overhead structure and needs a tension machine and a traction machine to adjust the sag. The tensioning wire stringing process will use a traction line to pull the high-voltage cable stringing step by step. The diameter of the high-voltage cable is large, so it can be well identified in the image. The cable line in the real-time image of the drone is identified based on image recognition technology, and only the cable line with the closest span is identified. By identifying the minimum value of the vertical axis coordinate of the pixel point of the high-voltage cable area in the drone image, the minimum value of the vertical axis coordinate of the pixel point of the high-voltage cable area in the drone image is obtained. To the lowest point of the cable line; when the drone camera is shooting horizontally, the object on the horizontal center line of the image is at the same horizontal height as the drone. Therefore, based on the relative position between the lowest point of the cable line and the horizontal center line of the image, a control signal is sent to the drone, and the lowest point of the cable line is moved to the horizontal center line of the image by controlling the movement of the drone, so that the height of the drone and the lowest point of the cable are consistent, and the height of the lowest point of the cable line is obtained, and the lowest point of the cable line is the corresponding point of the sag; because the overhead cable wiring construction is often carried out at night, the drone’s camera can use infrared photography and be equipped with night vision function, so that the cable line can be clearly identified even in night images;

[0042] When the lowest point of the cable is on the horizontal center line of the image, an infrared ranging method can be used to obtain the distance between the drone and the lowest point of the cable, or the drone camera can use a binocular camera to obtain the distance between the drone and the lowest point of the cable based on the binocular ranging principle; and the drone has a built-in GPS positioning to obtain its own height data and position data, and then obtain the drone coordinates. The drone coordinates in this embodiment include spatial coordinates and horizontal coordinates. The horizontal coordinates are the position coordinates of the drone on the horizontal plane, ignoring the height.

[0043] S200, obtain tower data and establish spatial expressions and horizontal plane expressions of tower connection lines; establish a circular expression with the horizontal coordinates of the drone coordinates as the center and the distance between the drone and the lowest point of the cable line as the radius, and identify the intersection of the horizontal plane expression and the circular expression of the tower connection line; substitute the intersection into the spatial expression of the tower connection line to obtain the spatial coordinates of the tower connection line corresponding to the lowest point of the cable line; calculate the difference between the spatial coordinate height of the tower connection line and the drone coordinate height to obtain the cable sag value.

[0044] It should be noted that the cable line identified in the drone image corresponds to two pole towers. The information of the two pole towers can be identified according to the drone coordinates. The height position of the pole tower can be obtained in the database planning and construction plan to obtain the spatial coordinates of each pole tower. According to the spatial coordinates of two adjacent pole towers, the spatial expression of a pole tower connection line can be determined in space, and the spatial coordinates ignore the height coordinates to determine the horizontal plane expression of the pole tower connection line. The two ends of the cable line between each span are connected to the pole tower. When not affected by wind, the cable line should be in the same plane as the pole tower connection line.

[0045] Taking the horizontal coordinates of the drone coordinates as the center of the circle and the distance between the drone and the lowest point of the cable line as the radius, an equation expression of a circle can be obtained. Since the cable line and the pole tower connection line are in the same plane, the intersection of the circular expression and the horizontal plane expression of the pole tower connection line should be consistent with the horizontal coordinates of the lowest point of the cable line. In the process of identifying the intersection, since it is a process of calculating the intersection of a straight line and a circle, there may be two intersections. The correct intersection can be determined based on the coordinates of the two towers and the vector of the drone camera direction. Substituting the intersection of the horizontal plane expression of the pole tower connection line and the circular expression into the spatial expression of the pole tower connection line, the spatial coordinates corresponding to the lowest point of the cable line on the pole tower connection line can be obtained. The height of the drone is the height of the lowest point of the cable, and the height of the spatial coordinates is the corresponding height of the lowest point of the cable on the suspension point connection line. The difference between the height of the spatial coordinates and the height of the drone is the vertical distance from the lowest point of the cable to the suspension point connection line, that is, the current sag value of the overhead cable. During the installation of the overhead cable, the current sag value can guide the installation work and be used for subsequent adjustment of the cable tension to ensure that the sag value meets the preset standard requirements.

[0046] In this embodiment, the lowest point of the cable line is identified through the real-time image of the drone, and the drone is made level with the lowest point of the cable by adjusting the position of the lowest point in the image, and the height of the lowest point of the cable is obtained according to the height of the drone; and the intersection point is identified based on the tower data and the drone coordinates to obtain the connecting line coordinates corresponding to the lowest point of the cable, and then the height difference is calculated to obtain the sag value. The sag can be quickly obtained through drone images and drone information, thereby improving the efficiency of cable tension stringing.

[0047] The above is a detailed description of the first embodiment of an overhead cable installation auxiliary method based on drone images provided by the present application. The following is a detailed description of the second embodiment of an overhead cable installation auxiliary method based on drone images provided by the present application.

[0048] In this embodiment, an overhead cable installation auxiliary method based on drone images is further provided. In the aforementioned step S200, before the circular expression is established with the horizontal coordinates of the drone coordinates as the center and the distance between the drone and the lowest point of the cable line as the radius, the following is further included:

[0049] Real-time meteorological data is obtained to obtain real-time wind speed and real-time wind direction. The vector component of the wind in the vertical direction of the tower connecting line is calculated according to the real-time wind speed and real-time wind direction to obtain the wind speed swing component. The wind speed swing component is substituted into the distance correction model to obtain the corrected distance between the UAV and the lowest point of the cable line. The distance correction model is specifically as follows:

[0050]

[0051] in, is the vector from the drone to the lowest point of the cable, D2 is the corrected distance between the drone and the lowest point of the cable, is the wind speed swing component, ε is the relationship coefficient between wind speed and swing distance, and s is the swing base distance;

[0052] The method of calculating the difference between the spatial coordinate height of the pole tower connection line and the coordinate height of the drone to obtain the cable sag value is as follows: calculating the difference between the spatial coordinate height of the pole tower connection line and the coordinate height of the drone, substituting the difference into the cable sag value correction model to obtain the corrected cable sag value. The cable sag value correction model is as follows:

[0053]

[0054] Among them, H1 is the difference between the spatial coordinate height of the tower connecting line and the coordinate height of the drone, and H2 is the corrected cable sag value.

[0055] It should be noted that the meteorological data of the current location can be obtained in real time through the network, and the wind direction and wind speed within the current span range can be considered to be consistent. A vector corresponding to the wind force can be established based on the real-time wind direction and real-time wind speed. The greater the wind speed, the larger the vector. The direction of the vector reflects the wind direction, and only the wind force vector in the horizontal direction is considered, ignoring the vertical image of the height. This embodiment only considers the influence of the wind force in the horizontal and vertical directions of the pole tower connecting line, and the wind force in the direction of the pole tower connecting line is ignored. Therefore, the wind force vector is projected onto the horizontal plane expression of the pole tower connecting line to obtain the projection component. After subtracting the projection component from the wind force vector, the vector component of the wind in the vertical direction of the pole tower connecting line can be obtained, that is, the wind speed swing component. This component brings a disturbance effect of rotation around the pole tower connecting line to the overhead cable. When the overhead cable is affected by wind and swings, the cable line and the pole tower connecting line will not be in the same vertical plane. At this time, the method of the intersection of the circle and the connecting line used in the aforementioned step S200 cannot correctly obtain the pole tower connecting line coordinates corresponding to the lowest point of the cable. Therefore, it is necessary to correct the distance between the drone and the lowest point of the cable line. The vector from the drone to the lowest point of the cable can be obtained according to the coordinates of the drone and the direction of the camera. The wind speed swing component at the lowest point position caused by the wind is subtracted to obtain the distance between the drone and the lowest point of the cable line in the windless state; the wind speed swing component is only related to the wind force and wind direction, while the actual cable swing is also related to the cable density. Under the same cable quality, the smaller the cable density and the larger the windward surface area, the greater the swing. The relationship coefficient between wind speed and swing distance is constructed based on the cable density, which can be adaptively adjusted according to the work site environment, and the basic swing distance converts the wind speed vector into a distance vector, and the basic swing distance is set according to the empirical value;

[0056] See also Figure 2 , Figure 2 This is the displacement diagram of the overhead cable in the direction of the tower horizontal plane expression. Because the overhead cable swings around the tower connection line due to wind force, in addition to the displacement of the lowest point of the cable line, the lowest point of the cable will also rise. The displacement distance caused by the wind and the sag value calculated after correction and the corrected sag value form a right triangle. Figure 2 In the figure, a is the corrected sag value H2, b is the difference between the spatial coordinate height of the tower connection line and the coordinate height of the drone H1, and c is the offset of the lowest point of the cable line.

[0057] Furthermore, in the aforementioned step S100, the real-time image of the drone is obtained, and the cable and the lowest point of the cable are identified as follows:

[0058] Identify the poles and towers in the real-time UAV image, establish an area of ​​interest between the two adjacent poles and towers with the largest spacing, and identify the cable and the lowest point of the cable in the area of ​​interest. It should be noted that other poles and towers and cables of other gears may be captured in the real-time UAV image, and the UAV should move to the gap between the two poles and towers to be identified when performing sag value identification in order to detect the accurate distance parameters. Because the distance between the two towers in the image is the largest when the UAV is at the gap between the two towers, and the identification of the poles and towers is easier than that of the cables, the pole-tower spacing can be identified first to establish the area of ​​interest, thereby reducing the impact of other cables on subsequent image recognition.

[0059] The above is a detailed description of an overhead cable installation auxiliary method based on drone images provided in the first aspect of the present application. The following is a detailed description of an embodiment of an overhead cable installation auxiliary system based on drone images provided in the second aspect of the present application.

[0060] See also Figure 3 , Figure 3 This is a structural diagram of an overhead cable installation auxiliary system based on drone images. This embodiment provides an overhead cable installation auxiliary system based on drone images, including:

[0061] The drone data analysis module 10 is used to obtain the real-time image of the drone, identify the cable line and the lowest point of the cable line, and send a control signal to the drone according to the position of the lowest point of the cable line and the horizontal center line of the image; when the lowest point of the cable line is on the horizontal center line of the image, the distance between the drone and the lowest point of the cable line and the coordinates of the drone are obtained;

[0062] The sag calculation module 20 is used to obtain the pole tower data and establish the spatial expression and horizontal plane expression of the pole tower connection line; establish a circular expression with the horizontal coordinates of the drone coordinates as the center and the distance between the drone and the lowest point of the cable line as the radius, and identify the intersection of the horizontal plane expression and the circular expression of the pole tower connection line; after substituting the intersection into the spatial expression of the pole tower connection line, the spatial coordinates of the pole tower connection line corresponding to the lowest point of the cable line are obtained; the difference between the spatial coordinate height of the pole tower connection line and the drone coordinate height is calculated to obtain the cable sag value.

[0063] Furthermore, in the sag calculation module 20, before establishing a circular expression with the horizontal coordinates of the drone coordinates as the center and the distance between the drone and the lowest point of the cable as the radius, it also includes:

[0064] Real-time meteorological data is obtained to obtain real-time wind speed and real-time wind direction. The vector component of the wind in the vertical direction of the tower connecting line is calculated according to the real-time wind speed and real-time wind direction to obtain the wind speed swing component. The wind speed swing component is substituted into the distance correction model to obtain the corrected distance between the UAV and the lowest point of the cable line. The distance correction model is specifically as follows:

[0065]

[0066] in, is the vector from the drone to the lowest point of the cable, D2 is the corrected distance between the drone and the lowest point of the cable, is the wind speed swing component, ε is the relationship coefficient between wind speed and swing distance, and s is the swing base distance;

[0067] The method of calculating the difference between the spatial coordinate height of the pole tower connection line and the coordinate height of the drone to obtain the cable sag value is as follows: calculating the difference between the spatial coordinate height of the pole tower connection line and the coordinate height of the drone, substituting the difference into the cable sag value correction model to obtain the corrected cable sag value. The cable sag value correction model is as follows:

[0068]

[0069] Among them, H1 is the difference between the spatial coordinate height of the tower connecting line and the coordinate height of the drone, and H2 is the corrected cable sag value.

[0070] Furthermore, in the drone data analysis module 10, real-time images of the drone are obtained, and the cable line and the lowest point of the cable line are identified as follows:

[0071] Identify the poles and towers in the real-time drone image, establish an area of ​​interest between two adjacent poles and towers with the largest distance between them, and identify the cables and the lowest point of the cables in the area of ​​interest.

[0072] The third aspect of the present application also provides an overhead cable installation auxiliary method device based on drone images, including a processor and a memory: the memory is used to store program code and transfer the program code to the processor; the processor is used to execute the above-mentioned overhead cable installation auxiliary method based on drone images according to the instructions in the program code.

[0073] The fourth aspect of the present application provides a computer-readable storage medium, characterized in that the computer-readable storage medium is used to store program code, and the program code is used to execute the above-mentioned overhead cable installation auxiliary method based on drone images.

[0074] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and equipment can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0075] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0076] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0077] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0078] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0079] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An overhead cable installation auxiliary method based on drone images, characterized in that include: Acquire the real-time image of the drone, identify the cable line and the lowest point of the cable line, and send a control signal to the drone based on the position of the lowest point of the cable line and the horizontal center line of the image; when the lowest point of the cable line is on the horizontal center line of the image, obtain the distance between the drone and the lowest point of the cable line and the coordinates of the drone; Obtain tower data and establish spatial expressions and horizontal expressions of tower connecting lines; obtain real-time meteorological data to obtain real-time wind speed and real-time wind direction, calculate the vector component of wind in the vertical direction of the tower connecting line according to the real-time wind speed and real-time wind direction, and obtain the wind speed swing component; substitute the wind speed swing component into the distance correction model to obtain the corrected distance between the UAV and the lowest point of the cable line, and the distance correction model is specifically as follows: in, is the vector from the drone to the lowest point of the cable, is the corrected distance between the drone and the lowest point of the cable line, is the wind speed swing component, is the relationship coefficient between wind speed and swing distance, is the swing foundation distance; a circular expression is established with the horizontal coordinates of the drone coordinates as the center of the circle and the distance between the drone and the lowest point of the cable line as the radius, and the intersection of the horizontal plane expression of the pole tower connection line and the circular expression is identified; after substituting the intersection into the spatial expression of the pole tower connection line, the spatial coordinates of the pole tower connection line corresponding to the lowest point of the cable line are obtained; the difference between the spatial coordinate height of the pole tower connection line and the coordinate height of the drone is calculated to obtain the cable sag value, specifically: the difference between the spatial coordinate height of the pole tower connection line and the coordinate height of the drone is calculated, and the difference is substituted into the cable sag value correction model to obtain the corrected cable sag value, and the cable sag value correction model is specifically: in, is the difference between the spatial coordinate height of the tower connection line and the coordinate height of the drone, is the corrected cable sag value.

2. According to claim 1, the method for assisting the installation of overhead cables based on drone images is characterized in that: The method of obtaining the real-time image of the drone and identifying the cable and the lowest point of the cable is as follows: Identify the poles and towers in the real-time drone image, establish an area of ​​interest between two adjacent poles and towers with the largest distance between them, and identify the cables and the lowest point of the cables in the area of ​​interest.

3. An overhead cable installation auxiliary system based on drone images, characterized in that: include: The drone data analysis module is used to obtain the real-time image of the drone, identify the cable line and the lowest point of the cable line, and send a control signal to the drone according to the position of the lowest point of the cable line and the horizontal center line of the image; when the lowest point of the cable line is on the horizontal center line of the image, the distance between the drone and the lowest point of the cable line and the coordinates of the drone are obtained; The sag calculation module is used to obtain tower data and establish the spatial expression and horizontal plane expression of the tower connection line; obtain real-time meteorological data, obtain real-time wind speed and real-time wind direction, calculate the vector component of the wind in the vertical direction of the tower connection line according to the real-time wind speed and real-time wind direction, and obtain the wind speed swing component; substitute the wind speed swing component into the distance correction model to obtain the corrected distance between the drone and the lowest point of the cable line, and the distance correction model is specifically as follows: in, is the vector from the drone to the lowest point of the cable, is the corrected distance between the drone and the lowest point of the cable line, is the wind speed swing component, is the relationship coefficient between wind speed and swing distance, is the swing foundation distance; a circular expression is established with the horizontal coordinates of the drone coordinates as the center of the circle and the distance between the drone and the lowest point of the cable line as the radius, and the intersection of the horizontal plane expression of the pole tower connection line and the circular expression is identified; after substituting the intersection into the spatial expression of the pole tower connection line, the spatial coordinates of the pole tower connection line corresponding to the lowest point of the cable line are obtained; the difference between the spatial coordinate height of the pole tower connection line and the coordinate height of the drone is calculated to obtain the cable sag value, specifically: the difference between the spatial coordinate height of the pole tower connection line and the coordinate height of the drone is calculated, and the difference is substituted into the cable sag value correction model to obtain the corrected cable sag value, and the cable sag value correction model is specifically: in, is the difference between the spatial coordinate height of the tower connection line and the coordinate height of the drone, is the corrected cable sag value.

4. The overhead cable installation auxiliary system based on drone images according to claim 3 is characterized in that: In the drone data analysis module, the real-time image of the drone is obtained, and the cable line and the lowest point of the cable line are identified as follows: Identify the poles and towers in the real-time drone image, establish an area of ​​interest between two adjacent poles and towers with the largest distance between them, and identify the cables and the lowest point of the cables in the area of ​​interest.

5. An overhead cable installation auxiliary device based on drone images, characterized in that: The device comprises a processor and a memory: The memory is used to store program code and transmit the program code to the processor; The processor is used to execute an overhead cable installation auxiliary method based on drone images as described in any one of claims 1-2 according to the instructions in the program code.

6. A computer-readable storage medium, characterized in that: The computer-readable storage medium is used to store program code, and the program code is used to execute the overhead cable installation auxiliary method based on drone images as described in any one of claims 1-2.

Images