Inspection waypoint determination method and device, electronic equipment, storage medium and product

Abstract

The invention discloses an inspection waypoint determination method and device, electronic equipment, a storage medium and a product. The inspection waypoint determination method comprises the following steps: acquiring three-dimensional point cloud data of a tower to be detected; determining longitudes, latitudes and heights of a plurality of target points according to the three-dimensional point cloud data; the inspection waypoint is determined according to the latitude and longitude, the height and the unmanned aerial vehicle pod parameters of each target point, the unmanned aerial vehicle pod parameters comprise the pod type, the safe flight distance and the pitching direction measurement range, and the pod type is a visual pod or a partial discharge pod. According to the technical scheme, inspection waypoints can be planned for different inspection tasks according to the pod type of the unmanned aerial vehicle, the flexibility of waypoint planning is improved, and the method can be suitable for various practical application scenes; and the safe flight distance and the pitching direction measurement range of the pod are considered during waypoint planning, so that the inspection efficiency and the resource utilization rate are improved, and the inspection safety is ensured.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of power inspection technology, and in particular to a method, device, electronic device, storage medium and product for determining inspection waypoints. Background Art

[0002] The existing planning of waypoints or routes for power inspection is mainly for micro-UAVs with a diameter of less than 1m. Such UAVs can generally conduct inspections at a distance of 3-5 meters from the inspection target without causing damage or impact to the inspection equipment. However, with the development of fuel cell UAV technology, most UAVs have the characteristics of larger overall size, stronger load capacity, and longer endurance. They can carry larger or more mission pods to complete inspections of longer distances, longer times, and more diverse and complex towers. In view of this, the original waypoint or route planning method for inspection UAVs is too single, and it is impossible to make flexible planning for different towers, different pods or tasks. Due to the unreasonable and inflexible waypoint or route planning, it ultimately affects the low inspection efficiency and resource utilization. Summary of the invention

[0003] The present application provides a method, device, electronic device, storage medium and product for determining inspection waypoints to improve the flexibility of waypoint planning, which can be applied to a variety of practical application scenarios and is conducive to improving inspection efficiency and resource utilization.

[0004] In a first aspect, an embodiment of the present application provides a method for determining a patrol waypoint, comprising:

[0005] Obtain the three-dimensional point cloud data of the tower to be tested;

[0006] Determine the latitude, longitude and altitude of multiple target points according to the three-dimensional point cloud data;

[0007] The inspection waypoints are determined according to the latitude and longitude, altitude and UAV pod parameters of each target point, wherein the UAV pod parameters include pod type, safe flight distance and pitch direction measurement range, and the pod type is a visual pod or a partial discharge pod.

[0008] In a second aspect, the embodiment of the present application further provides a patrol waypoint determination device, comprising:

[0009] A data acquisition module is used to acquire three-dimensional point cloud data of the tower to be tested;

[0010] A target point determination module, used to determine the latitude, longitude and altitude of multiple target points according to the three-dimensional point cloud data;

[0011] The waypoint determination module is used to determine the inspection waypoints according to the latitude and longitude, altitude and UAV pod parameters of each target point, wherein the UAV pod parameters include pod type, safe flight distance and pitch direction measurement range, and the pod type is a visual pod or a partial discharge pod.

[0012] In a third aspect, an embodiment of the present application provides an electronic device, including:

[0013] one or more processors;

[0014] A storage device for storing one or more programs;

[0015] When the one or more programs are executed by the one or more processors, the one or more processors implement the inspection waypoint determination method as described in the first aspect.

[0016] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the inspection waypoint determination method as described in the first aspect.

[0017] In a fifth aspect, an embodiment of the present application further provides a computer program product, including a computer program and / or instructions, which, when executed by a processor, implements the inspection waypoint determination method as described in any of the above embodiments.

[0018] The embodiments of the present application provide a method, device, electronic device, storage medium and product for determining inspection waypoints, the method for determining inspection waypoints comprising: obtaining three-dimensional point cloud data of the tower to be tested; determining the longitude, latitude and altitude of multiple target points according to the three-dimensional point cloud data; determining the inspection waypoints according to the longitude, latitude and altitude of each target point and the parameters of the drone pod, wherein the drone pod parameters include the pod type, safe flight distance and pitch direction measurement range, and the pod type is a visual pod or a partial discharge pod. According to the type of pod equipped with the drone, inspection waypoints can be planned for different inspection tasks, improving the flexibility of waypoint planning, and being applicable to a variety of practical application scenarios; and the safe flight distance and the pitch direction measurement range of the pod are taken into consideration when planning waypoints, which is conducive to improving inspection efficiency and resource utilization, and ensuring inspection safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. Throughout the accompanying drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic and the originals and elements are not necessarily drawn to scale.

[0020] Figure 1 A schematic diagram of a tower to be tested provided in an embodiment

[0021] Figure 2 A flowchart of a method for determining inspection waypoints provided by an embodiment;

[0022] Figure 3 A schematic diagram of determining the height of an inspection waypoint provided by an embodiment;

[0023] Figure 4 A schematic diagram of determining the longitude and latitude of inspection waypoints of a straight pole tower provided by an embodiment;

[0024] Figure 5 A schematic diagram of paired target points provided by an embodiment;

[0025] Figure 6 A schematic diagram of determining the longitude and latitude of an inspection waypoint of a corner tower provided by an embodiment;

[0026] Figure 7 A schematic diagram of determining the longitude and latitude of inspection waypoints when a partial discharge pod is equipped provided by an embodiment;

[0027] Figure 8 A schematic diagram of generating an inspection route provided by an embodiment;

[0028] Fig. 9 A schematic diagram of the structure of a patrol waypoint determination device provided in an embodiment of the present application;

[0029] Fig.10 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0030] The present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for ease of description, only the parts related to the present application, rather than all structures, are shown in the accompanying drawings.

[0031] It should be mentioned before discussing the exemplary embodiments in more detail that some exemplary embodiments are described as processes or methods depicted as flow charts. Although the flow charts describe the steps as sequential processes, many of the steps therein can be implemented in parallel, concurrently or simultaneously. In addition, the order of the steps can be rearranged. The process can be terminated when its operation is completed, but can also have additional steps not included in the accompanying drawings. The process can correspond to a method, function, procedure, subroutine, subprogram, etc.

[0032] It should be noted that the concepts of "first", "second", etc. mentioned in the embodiments of the present application are only used to distinguish different devices, modules, units or other objects, and are not used to limit the order or interdependence of the functions performed by these devices, modules, units or other objects.

[0033] In addition, the embodiments in the present application and the features in the embodiments may be combined with each other if there is no conflict.

[0034] The acquisition, storage, use, and processing of data in the technical solution of this application comply with the relevant provisions of national laws and regulations.

[0035] It should be noted that in the embodiments of the present application, certain software, components, models and other existing solutions in the industry may be mentioned, and they should be regarded as exemplary. Their purpose is only to illustrate the feasibility of implementing the technical solution of the present application, but it does not mean that the applicant has or will necessarily use the relevant content of the solution.

[0036] In the embodiments of the present application, the functional characteristics of the fuel cell are taken into consideration. In order to improve the inspection efficiency of the fuel cell drone and ensure the inspection safety, the functional pod adaptation rules of the drone are formulated. According to the characteristics of different mission pods, the inspection waypoints are determined in a targeted manner. In a specific embodiment, the three-dimensional point cloud can be used to determine the inspection waypoints in combination with different pods and different types of towers, and then the inspection route is determined, aiming to reduce the inspection waypoints and improve the inspection efficiency under the premise of ensuring the inspection safety. In addition, the inspection route of appropriate length can be intercepted according to the endurance of the drone.

[0037] Figure 1 A schematic diagram of a pole tower to be tested is provided in an embodiment. Take a typical four-column angle steel structure pole tower as an example. Figure 1 As shown in the figure, the tower head is the highest area of ​​the tower, and the highest target point that needs to be observed during inspection is the part at the tower head; there can be multiple parallel pole top brackets (top frames) in the area above the tower body near the tower head. When the tower is abstracted and simplified into a geometric model, the center of the tower is perpendicular to the ground as the central axis. For the horizontal plane at any height of the tower body, the tower width can be determined by the length of the line segment intercepted by the four columns in the extension direction of the top frame, and the tower width corresponding to different heights is usually different.

[0038] Figure 2 The flowchart of a method for determining a patrol waypoint provided in an embodiment of the present application is applicable to the case of patrolling a tower. Specifically, the method for determining a patrol waypoint can be executed by a patrol waypoint determination device, which can be implemented by software and / or hardware and integrated in an electronic device. The electronic device includes but is not limited to a computer, a smart phone, a drone, a single-chip microcomputer or a server, etc. Figure 1As shown, the method specifically comprises the following steps:

[0039] S110, obtaining three-dimensional point cloud data of the tower to be tested.

[0040] Specifically, a 3D point cloud is a data structure used to represent an object in a 3D space (i.e., a tower to be measured). 3D point cloud data can be understood as a collection of multiple 3D coordinate points of the object. These points can be obtained by discrete sampling of the surface of an actual object or scene. 3D point cloud data can be regarded as a discrete representation of the tower to be measured in a given coordinate system, which can be obtained by laser radar or stereo vision.

[0041] S120. Determine the longitude, latitude and altitude of multiple target points according to the three-dimensional point cloud data.

[0042] Specifically, there are multiple target points that need to be observed on the tower to be measured. These target points may be distributed at different positions of the tower, such as the tower head, top frame, tower body, tower legs, cable hanging points, etc. The positions of different target points can be described using latitude and longitude coordinates and altitude coordinates.

[0043] For example, the lowest target point at the bottom of the tower to be measured can be the intersection of the tower leg and the ground or the base, which can be used as the first target point, and its latitude and longitude coordinates and altitude coordinates are determined as (lat target1 ,lon target1 ,h target1 ); The highest target point is usually the tower head (i.e. the highest point in the center of the tower to be measured), and its latitude and longitude coordinates and altitude coordinates are expressed as (lat head ,lon head ,h head ); The latitude and longitude coordinates and the altitude coordinates of each target point can be further determined according to the lowest target point and the highest target point. Exemplarily, the target points are scattered at different altitudes, and the altitude intervals can be equal.

[0044] S130, determining the inspection waypoints according to the latitude and longitude, altitude and drone pod parameters of each of the target points.

[0045] In this embodiment, a drone equipped with a pod is used to inspect the tower to be measured. The inspection waypoint can be understood as the position where the drone should reach or stay when observing the target point of the tower to be measured, which is represented by latitude and longitude coordinates and altitude coordinates.

[0046] Different types of pods can be equipped according to different inspection tasks. The pod types mainly include visual pods (also called optical pods) and partial discharge pods. Different types of pods may have different target points, inspection waypoints, and selection methods. The safe flight distance can refer to the minimum horizontal distance that should be maintained between the drone and the tower to be tested. The pitch direction measurement range is used to describe the angle range that the drone can reach in the pitch direction when equipped with a pod. Based on this and the horizontal distance between the drone and the tower to be tested, the highest and lowest target points that can be observed on the tower to be tested can be calculated. On this basis, the inspection waypoints are mainly determined for target points at different heights of the tower to be tested, without considering the horizontal measurement range, and there is no need to determine the inspection waypoints for target points at different positions in the same horizontal plane.

[0047] In addition, pod selection should follow the following functional pod adaptation rules:

[0048] The total weight of at least one pod equipped shall not exceed the maximum permissible payload weight of the fuel cell drone, i.e. Among them, m i is the weight of the i-th pod, M is the maximum permissible payload weight;

[0049] The effective working distance of the payload must cover the minimum safe operating distance of the drone, that is: d min <d safemin <d max , where d min ~d max is the effective working distance range of the load, d safemin The minimum safe operating distance for drones;

[0050] The visual pod for refined inspection of power channels should have an optical zoom function to achieve small target recognition and magnification at a long distance.

[0051] For example, for the power channel inspection task, combined with the functional pod adaptation rules, an optical vision pod (visual pod) weighing less than 2kg and supporting 10x optical zoom is selected; for the channel abnormal discharge detection (partial discharge inspection) task, a partial discharge pod with a weight less than or equal to 1.4kg and an effective working distance range of about 5-12m is selected.

[0052] Based on the three-dimensional point cloud data, the latitude, longitude and altitude of multiple target points are determined. On this basis, combined with the parameters of the drone pod, the inspection waypoints can be determined for the target points at different heights of the tower to be tested. Taking the visual pod (power channel inspection task) as an example, the process of determining the inspection waypoints mainly includes:

[0053] Determine the latitude and longitude coordinates and height coordinates of the highest target point of the tower to be tested (lat head ,lonhead ,h head ), the latitude and longitude coordinates and altitude coordinates of the lowest target point (lat target ,lon target ,h target ), and determine the latitude and longitude coordinates and altitude coordinates of each target point accordingly;

[0054] Determine the safe flight distance d for drone inspections safe (d max ≥d safe ≥d safemin );

[0055] Determine the measurement range: The horizontal measurement angle range of the vision pod (α 1 , α 2 ), pitch direction measurement angle range (θ 1 ,θ 2 ); Horizontal measurement angle range of the partial discharge pod (α 3 , α 4 ), pitch direction measurement angle range (θ 3 ,θ 4 );

[0056] The inspection waypoints can be determined based on the latitude and longitude coordinates and altitude coordinates of each target point, the safe flight distance, and the pod pitch direction measurement range.

[0057] Taking the partial discharge pod (partial discharge inspection task) as an example, the process of determining the inspection waypoints mainly includes:

[0058] Determine the latitude and longitude coordinates and height coordinates of two cable hanging points at different heights on any side of the tower to be tested;

[0059] Determine whether two cable hanging points can correspond to the same inspection waypoint;

[0060] If yes, the longitude, latitude and altitude coordinates of the inspection waypoint are determined according to the longitude, latitude and altitude coordinates of the two cable hanging points and the parameters of the drone pod;

[0061] Otherwise, for each cable hanging point, the longitude, latitude and altitude coordinates of the corresponding inspection waypoints are determined using their longitude, latitude and altitude coordinates and the UAV pod parameters.

[0062] A method for determining inspection waypoints provided in an embodiment of the present application can plan inspection waypoints for different inspection tasks according to the type of pod equipped by the drone, thereby improving the flexibility of waypoint planning and being applicable to a variety of practical application scenarios; and the safe flight distance and the pitch direction measurement range of the pod are taken into consideration when planning waypoints, which is conducive to improving inspection efficiency and resource utilization, and ensuring inspection safety.

[0063] In one embodiment, the pod type is a visual pod; the inspection waypoints are determined according to the latitude and longitude, altitude and pod parameters of each target point, including:

[0064] S1310, determining the number of inspection waypoints according to the maximum height difference between the highest target point and the lowest target point of the tower to be tested and the pitch direction measurement range of the vision pod;

[0065] S1320, determining the height of each inspection waypoint according to the number of inspection waypoints and the maximum height difference;

[0066] S1330, determining the longitude and latitude coordinates of each inspection waypoint according to the longitude and latitude of each target point, the altitude of each inspection waypoint, and the safe flight distance.

[0067] Specifically, the height of the target point to be detected can be evenly distributed between the highest target point and the lowest target point. Since the measurement range of the visual pod in the pitch direction is limited, that is, the height range of the target point that can be detected at the same position is limited, the number of inspection waypoints can be determined accordingly. For example, the number of inspection waypoints should be sufficient to ensure that the detection range of the visual pod at each inspection waypoint can cover the lowest target point and the highest target point; on the basis of ensuring that the detection range of the visual pod can cover the lowest target point and the highest target point, the number of inspection waypoints should be as small as possible to improve the inspection efficiency. The larger the measurement range in the pitch direction, the smaller the number of inspection waypoints can be. In addition, each inspection waypoint needs to maintain a safe flight distance between the tower to be measured in the horizontal plane to avoid the risk of collision with the tower to be measured and to ensure the shooting quality of the visual pod. The latitude and longitude coordinates of each inspection waypoint are determined comprehensively based on the above factors.

[0068] In one embodiment, the number of inspection waypoints is determined based on the maximum height difference between the highest target point and the lowest target point of the tower to be tested and the pitch direction measurement range of the vision pod, including: determining the maximum detectable height of the vision pod in the pitch direction based on the pitch direction measurement range of the vision pod; dividing the maximum height difference by the maximum detectable height, rounding the value and adding 1 to obtain the number of inspection waypoints.

[0069] Among them, the maximum detectable height in the pitch direction can be understood as the distance between the highest point and the lowest point of the tower to be tested that can be detected by the visual pod at any position between the extreme angles of looking up or looking down. Assuming that the heights of the target points of the tower to be tested are evenly distributed (with fixed height intervals), the maximum height difference between the highest target point and the lowest target point is divided by the maximum detectable height of the visual pod in the pitch direction. If the obtained value is an integer, then the integer is the number of inspection waypoints. If it is a decimal, the integer part can be added by 1 (that is, the decimal is rounded up) to obtain the number of inspection waypoints. For example, the maximum height difference of the tower to be tested is 40 meters, and the maximum detectable height is 6 meters. 40÷6≈6, then the number of inspection waypoints can be 7.

[0070] In one embodiment, the height of each inspection waypoint is determined based on the number of inspection waypoints and the maximum height difference, including: determining the inspection height interval based on the maximum height difference and the number of inspection waypoints; determining the height difference between the lowest inspection waypoint and the lowest target point based on the product of the inspection height interval and a first setting item, and determining the height of the lowest inspection waypoint based on the height difference and the height of the lowest target point, wherein the first setting item is the distance between the lowest point detectable by the vision pod in the pitch direction and the horizontal plane divided by the maximum detectable height; when the number of inspection waypoints is greater than 1, determining the height of each inspection waypoint except the lowest inspection waypoint based on the height of the lowest inspection waypoint and the inspection height interval.

[0071] Specifically, when determining the height of each inspection waypoint, first determine the inspection height interval, that is, the maximum height difference divided by the number of inspection waypoints. For example, if the maximum height difference is 40 meters and the number of inspection waypoints is 7, then the inspection height interval is 40÷7≈5.714;

[0072] The vision pod can detect the lowest point when looking down at the extreme angle, and the highest point when looking up at the extreme angle. Assume that the distance from the lowest point that can be detected to the horizontal plane where the vision pod is located is l 2 , the distance from the highest point that can be detected to the horizontal plane where the vision pod is located is l 1 , then the maximum detectable height can be expressed as l 1 +l 2 , the first setting item can be expressed as Based on this, the height difference between the lowest inspection waypoint and the lowest target point can be determined as If the lowest target point is the intersection of the tower leg and the ground, the height of the lowest target point is h target1 = 0, then the altitude of the lowest inspection waypoint is If the height of the lowest target point h target1 > 0, the height of the lowest inspection waypoint is h point1 =h target1+Δd 1 .

[0073] Figure 3 A schematic diagram of determining the height of an inspection waypoint provided by an embodiment. Figure 3 As shown in the figure, in order to ensure that the inspection target point can be adjusted to the center of the visual pod for easy zoom viewing, the pitch angle rotation range of the visual pod should cover the angle between the line connecting the drone to the target point and the horizontal plane. For example, for the tower head (the highest point of the tower to be measured), the limit angle of the visual pod looking up from the horizontal plane is θ 1 , the limiting angle when looking down from the horizontal plane is θ 2 , the angle between the line connecting the drone to the target point and the horizontal plane is γ, then θ 1 >γ, based on which the maximum detectable height of the drone can be calculated as l max = l 1 +l 2 The highest target point of the tower to be tested (assuming it coincides with the tower head, which can be recorded as h head ) and the lowest target point (which can be recorded as h target1 ), then the maximum height difference is Δh target =h head -h target1 .

[0074] To ensure that the set inspection waypoints can cover all target points, the maximum height difference Δh is used. target Divide by the maximum detectable height l max , and take the integer part (int operation) plus 1 to get the number of inspection waypoints n point ,Right now:

[0075]

[0076] When n point =1, the difference between the altitude of the lowest inspection waypoint and the altitude of the lowest target point is:

[0077]

[0078] The altitude of the lowest inspection waypoint is:

[0079] When n point When >1, the inspection height range (i.e. inspection height interval) that each inspection waypoint needs to cover is Combined with the inspection waypoint height calculation method when the number of inspection waypoints is 1, we can get the height of the first (lowest) inspection waypoint at this time: Based on this, the height of the nth inspection waypoint (also called inspection height) can be obtained:

[0080]

[0081] In one embodiment, the longitude and latitude coordinates of each inspection waypoint are determined based on the longitude and latitude of each target point, the height of each inspection waypoint, and the safe flight distance, including: when the tower to be measured is a straight tower, for the horizontal plane where each height of the inspection waypoint is located, the longitude and latitude coordinates of the farthest target point on each side of the tower to be measured in the horizontal plane are determined; for the farthest target point on any side, the point at which the distance to the farthest target point is the safe flight distance is determined as the inspection waypoint on that side, and the longitude and latitude coordinates of the inspection waypoint on that side are determined based on the longitude difference and latitude difference between the inspection waypoint on that side and the farthest target point.

[0082] Figure 4 A schematic diagram of determining the longitude and latitude of inspection waypoints of a straight pole tower provided by an embodiment. Figure 4 As shown in the figure, for a straight pole tower, from the top view, the flight path angle of the pole tower to be measured in the geodetic coordinates can be calculated according to the pole tower coordinates, that is, the angle (a1) between the extension direction of the pole tower top frame and the horizontal axis of the geodetic coordinate system. For any target point, a parallel line is drawn through the k target point to the pole tower to be measured, and the safe flight distance (d safe ) is taken as the inspection waypoint, Figure 4 It is known that a3 = a2 = a1, so the distances between the inspection waypoint and the k target point along the horizontal and vertical axes in the ground coordinates can be calculated (s 3 、s 4 ), 3 、s 4 According to the longitude and latitude and distance conversion formula, it is converted into the longitude and latitude difference Δlat, Δlon.

[0083] In one embodiment, determining the longitude and latitude coordinates of the inspection waypoint on the side according to the longitude difference and latitude difference between the inspection waypoint on the side and the farthest target point includes:

[0084] When the counterclockwise angle between the line connecting the farthest target point and the inspection waypoint on that side and the geodetic coordinates is greater than or equal to 0 degrees and less than or equal to 180 degrees in the east direction, the longitude value of the inspection waypoint on that side is the sum of the longitude value of the farthest target point and the longitude difference, that is, lon point =lon targetk +Δlon;

[0085] When the angle between the line connecting the farthest target point and the inspection waypoint on that side and the east counterclockwise direction in the geodetic coordinates is greater than 180 degrees and less than or equal to 320 degrees, the longitude value of the inspection waypoint on that side is the difference between the longitude value of the farthest target point and the longitude difference, that is, lon point =lon targetk -Δlon;

[0086] When the counterclockwise angle between the line connecting the farthest target point and the inspection waypoint on this side and the geodetic coordinates is greater than or equal to 0 degrees and less than or equal to 90 degrees, or greater than or equal to 270 degrees and less than or equal to 360 degrees, the latitude of the inspection waypoint on this side is the sum of the latitude of the farthest target point and the latitude difference, that is, lat point =lat targetk +Δlat;

[0087] When the counterclockwise angle between the line connecting the farthest target point and the inspection waypoint on this side and the east direction in the geodetic coordinates is greater than 90 degrees and less than 270 degrees, the latitude value of the inspection waypoint on this side is the difference between the latitude value of the farthest target point and the latitude difference, that is, lat point =lat targetk -Δlat.

[0088] After the above calculations, the coordinates of each inspection waypoint of the drone under the refined inspection condition (lat piont ,lont point ,h pointn );

[0089] In one embodiment, the longitude and latitude coordinates of each inspection waypoint are determined based on the longitude and latitude of each target point, the height of each inspection waypoint, and the safe flight distance, including: when the tower to be measured is a corner tower, for each height of the inspection waypoint, the longitude and latitude coordinates of the paired target points on the two cables in the corner area on each side of the tower to be measured in the horizontal plane are determined; for the corner area on any side, the longitude and latitude coordinates of the inspection waypoints in the corner area are determined based on the longitude and latitude coordinates of the paired target points and the relationship between the angle between the two cables in the corner area and the boundary angle, wherein the boundary angle is used to determine whether the paired target points correspond to the same inspection waypoint.

[0090] Figure 5 FIG. 1 is a schematic diagram of paired target points provided by an embodiment. Figure 5 As shown in the figure, for any horizontal plane where the inspection waypoint height is located, from the top view, the angle between the two cables is a. When a is small, the distance between the paired target points on the two cables is close, and one inspection waypoint can detect the two target points at the same time; when a is large, one inspection waypoint cannot detect the two target points at the same time, and it is necessary to determine the corresponding inspection waypoint for each inspection waypoint (see Figure 4 method).

[0091] In one embodiment, the method also includes: for any corner area, determining the boundary angle based on the angle between the line from the center of the first set circle to any one of the paired target points and the line between the paired target points; wherein the first set circle has a minimum safe flight distance as a radius and is tangent to the lines connecting the two cables and the paired target points, respectively.

[0092] Figure 6 The following is a schematic diagram of determining the longitude and latitude of the inspection waypoints of a corner tower according to an embodiment. Specifically, for a corner tower, for any horizontal plane where the inspection waypoint height is located, the minimum safe flight distance (d safemin ) is the radius to draw a circle, such as Figure 6 As shown in the figure, when the circle is tangent to the two cables and the line connecting the paired target points on the two cables, the angle between the line connecting the center of the circle to any one of the paired target points and the line connecting the paired target points can be calculated. From this we can infer that the boundary angle is

[0093] In one embodiment, the longitude and latitude coordinates of the inspection waypoints in the corner area are determined according to the longitude and latitude coordinates of the paired target points and the relationship between the angle between the two cables in the corner area and the boundary angle, including:

[0094] When the angle between the two cables is greater than or equal to the boundary angle and less than 180°, the point on the perpendicular bisector of the line connecting the paired target points and at a safe flight distance from the line is determined as the inspection waypoint of the corner area and the latitude and longitude coordinates of the inspection waypoint are calculated;

[0095] When the angle between the two cables is smaller than the boundary angle, the center of the second set circle is used as the inspection waypoint of the corner area and the latitude and longitude coordinates of the inspection waypoint are calculated, wherein the second set circle has a safe flight distance as a radius and is tangent to the two cables respectively;

[0096] When the angle between the two cables is greater than 180°, the method for determining the longitude and latitude of the inspection waypoints for straight towers can be used as a reference, that is, based on the longitude and latitude coordinates of the farthest target point on each side of the tower to be measured in the horizontal plane, for the farthest target point on any side of the tower to be measured in the horizontal plane, the point that is at a safe flight distance from the farthest target point is determined as the inspection waypoint on that side, and based on the longitude and latitude coordinates of the farthest target point, as well as the longitude difference and latitude difference between the inspection waypoint on that side and the farthest target point, the longitude and longitude coordinates of the inspection waypoint on that side are determined.

[0097] Specifically, when the angle between the two cables is greater than or equal to a and less than 180°, the angle d on the perpendicular midline of the two target points can be taken. safe The position is used as the inspection waypoint; when the angle between the two cables is greater than or equal to 180°, the waypoint can be obtained by calculating the same way as when the two cables are in a straight line; when the angle between the two cables is less than a, the safe flight distance d is used. safe Draw a circle with a radius of 1. When the circle is tangent to the two cables, take the center of the circle as the inspection waypoint. Figure 6 Similar, but with a larger circle and longer radius, see similar Figure 6The positional relationship between the paired target points and the inspection waypoints shown can be used to calculate the coordinate values ​​of the inspection waypoints and convert them into longitude and latitude values.

[0098] In one embodiment, the pod type is a partial discharge pod; multiple target points include cable hanging points at different heights on each side of the tower to be measured; the inspection waypoints are determined according to the longitude and latitude, altitude and drone pod parameters of each target point, including: for two cable hanging points at different heights on any one side, when the two cable hanging points meet the first preset condition, a common inspection waypoint is determined for the two cable hanging points according to the longitude and latitude, altitude and drone pod parameters of the two cable hanging points, otherwise, a corresponding inspection waypoint is determined for each cable hanging point according to the longitude and latitude, altitude and drone pod parameters of the two cable hanging points; the first preset condition includes: the height of the intersection of the two circles is greater than the height of the higher cable hanging point, wherein the two circles are centered on each cable hanging point and have the same radius, and the radius is greater than the minimum safe flight distance and belongs to the effective working range of the pod.

[0099] Figure 7 The following is a schematic diagram of determining the longitude and latitude of inspection waypoints when a partial discharge pod is equipped according to an embodiment. Specifically, for a partial discharge pod (i.e., a partial discharge inspection task), the following Figure 7 As shown on the left, looking down at the tower to be tested, the hanging points of two adjacent cables on the same side of the tower to be tested are selected to form a plane with the tower to be tested. Each ellipse has an inspection waypoint and two cable hanging points at different heights. Taking the ellipse where the inspection waypoint 2 is located as an example, it can be expanded according to the right figure, with the two cable hanging points as the center (lat 1 ,lon 1 ,height 1 ), (lat 2 ,lon 2 ,height 2 ) to draw a circle, the radius can be determined based on the safety distance and the effective working distance range (the effective working distance range is d min and d max Between and greater than d safemin ). Considering that the pitch angle range of the PD pod is -90°~0°, when the two circles intersect and the height of the intersection point is higher than the height of the cable hanging point 3 of the tower 1, the cable hanging points at these two heights fall within the measurement range of the PD pod. Therefore, the cable hanging points at these two heights can be inspected for partial discharge at this inspection waypoint. Otherwise, only one cable hanging point can be inspected at this inspection waypoint.

[0100] In one embodiment, the longitude, latitude and altitude of multiple target points are determined based on three-dimensional point cloud data; the inspection waypoints are determined based on the longitude, latitude and altitude of each target point and the parameters of the drone pod, and also include: for two inspection waypoints at the same height on either side, if the two inspection waypoints meet the second preset condition, an inspection waypoint is added between the two inspection waypoints; the second preset condition includes: the difference obtained by subtracting 1 / 2 of the tower width from the set distance is greater than the safe flight distance, wherein the set distance is the distance between the line connecting the two inspection waypoints and the center of the tower head of the tower to be measured.

[0101] Specifically, refer to Figure 7 , calculate a patrol waypoint for each elliptical area, connect two patrol waypoints (such as patrol waypoint 1 and patrol waypoint 2), calculate whether the straight-line distance between the tower head center and the two waypoints minus half the tower width is greater than the safe flight distance, if so, the two patrol waypoints can be flown directly, otherwise there is a risk of colliding with the tower, and an patrol waypoint can be added between the two patrol waypoints, for example, along the extension direction of the tower (top frame), add an patrol waypoint at the intersection of the extension direction in the middle of the line connecting the two patrol waypoints.

[0102] In one embodiment, a method for generating an inspection route is provided based on the above. After the inspection waypoints are determined, the entire inspection route can be segmented and planned according to the distances between the inspection waypoints and the endurance of the drone, so as to ensure that the drone can return in time for endurance charging before the battery runs out.

[0103] Figure 8 A schematic diagram of generating an inspection route provided by an embodiment. Figure 8 As shown, in the process of generating the inspection route, the Qianxun network can be used to mark points and verify and correct the laser point cloud to obtain the target point position on the tower and the longitude, latitude and altitude coordinates, and then the inspection waypoints can be determined using the method of any of the above embodiments; for all inspection waypoints, the optimization of the firefly algorithm can be used to find the best autonomously planned overall inspection route. This process can also use deep learning to identify target points to optimize the inspection route; based on the inspection route, the inspection route can be split and planned according to the flight time of the drone.

[0104] Optionally, after obtaining the route path, the total route mission duration can be estimated based on the estimated track point operation time and the total route flight time, and combined with the drone's endurance time, the mission length under the premise of ensuring safe return can be intercepted. Specifically, the flight time between each waypoint of the route can be calculated in turn. where t ki is the estimated mission duration of the i-th inspection waypoint, t li is the flight time between two inspection waypoints; the maximum number of towers allowed for inspection is calculated according to the following limiting formula: tmax >t task ,Right now Where T max For the maximum endurance of the fuel cell of the new energy drone, calculate N point value as the maximum number of towers allowed for inspection.

[0105] Fig. 9 A schematic diagram of the structure of a patrol waypoint determination device provided in an embodiment of the present application. The patrol waypoint determination device provided in this embodiment includes:

[0106] The data acquisition module 210 is used to acquire the three-dimensional point cloud data of the tower to be tested;

[0107] A target point determination module 220, configured to determine the latitude, longitude and altitude of multiple target points according to the three-dimensional point cloud data;

[0108] The waypoint determination module 230 is used to determine the inspection waypoints according to the latitude and longitude, altitude and UAV pod parameters of each target point, wherein the UAV pod parameters include pod type, safe flight distance and pitch direction measurement range, and the pod type is a visual pod or a partial discharge pod.

[0109] In one embodiment, the pod type is a visual pod; the waypoint determination module 230 includes:

[0110] A quantity determination unit, used to determine the number of inspection waypoints according to the maximum height difference between the highest target point and the lowest target point of the tower to be tested and the pitch direction measurement range of the vision pod;

[0111] an altitude determining unit, configured to determine the altitude of each inspection waypoint according to the number of the inspection waypoints and the maximum altitude difference;

[0112] The longitude and latitude determination unit is used to determine the longitude and latitude coordinates of each inspection waypoint according to the longitude and latitude of each target point, the altitude of each inspection waypoint and the safe flight distance.

[0113] In one embodiment, the quantity determination unit is specifically configured to:

[0114] Determining a maximum detectable height of the vision pod in the pitch direction according to a pitch direction measurement range of the vision pod;

[0115] The value obtained by dividing the maximum height difference by the maximum detectable height is rounded up and added with 1 to obtain the number of inspection waypoints.

[0116] In one embodiment, the height determination unit is specifically configured to:

[0117] Determine the inspection height interval according to the maximum height difference and the number of inspection waypoints;

[0118] Determine the height difference between the lowest inspection waypoint and the lowest target point according to the product of the inspection height interval and a first setting item, and determine the height of the lowest inspection waypoint according to the height of the lowest target point and the height difference, wherein the first setting item is the distance between the lowest point detectable by the vision pod in the pitch direction and the horizontal plane divided by the maximum detectable height;

[0119] When the number of inspection waypoints is greater than 1, the height of each inspection waypoint except the lowest inspection waypoint is determined according to the height of the lowest inspection waypoint and the inspection height interval.

[0120] In one embodiment, the latitude and longitude determination unit is specifically used for:

[0121] In the case where the pole tower to be measured is a straight pole tower, for the horizontal plane at each height of the inspection waypoint, determine the longitude and latitude coordinates of the farthest target point on each side of the pole tower to be measured in the horizontal plane;

[0122] For the farthest target point on any side, a point at a safe flight distance from the farthest target point is determined as the inspection waypoint on that side, and the latitude and longitude coordinates of the inspection waypoint on that side are determined based on the longitude difference and latitude difference between the inspection waypoint on that side and the farthest target point.

[0123] In one embodiment, the latitude and longitude determination unit is specifically used for:

[0124] In the case where the pole tower to be tested is a corner tower, for each height of the inspection waypoint, determine the longitude and latitude coordinates of paired target points on two cables in the corner area on each side of the pole tower to be tested in the horizontal plane;

[0125] For the corner area on any side, the longitude and latitude coordinates of the inspection waypoint in the corner area are determined based on the longitude and latitude coordinates of the paired target points and the relationship between the angle between the two cables in the corner area and the boundary angle, wherein the boundary angle is used to determine whether the paired target points correspond to the same inspection waypoint.

[0126] In one embodiment, the device further comprises:

[0127] A boundary angle determination module, for determining the boundary angle for any of the corner areas according to an angle between a line from the center of the first set circle to any one of the paired target points and a line between the paired target points;

[0128] The first set circle has a minimum safe flight distance as its radius and is tangent to the lines connecting the two cables and the paired target points respectively.

[0129] In one embodiment, according to the longitude and latitude coordinates of the paired target points and the relationship between the angle between the two cables in the corner area and the boundary angle, determining the longitude and latitude coordinates of the inspection waypoints in the corner area includes:

[0130] When the angle between the two cables is greater than or equal to the boundary angle and less than 180°, a point on the perpendicular bisector of the line connecting the paired target points and at a distance from the line that is the safe flight distance is determined as an inspection waypoint of the corner area and the latitude and longitude coordinates of the inspection waypoint are calculated;

[0131] When the angle between the two cables is smaller than the boundary angle, the center of a second set circle is used as the inspection waypoint of the corner area and the longitude and latitude coordinates of the inspection waypoint are calculated, wherein the second set circle has a safe flight distance as a radius and is tangent to the two cables respectively;

[0132] In the case where the angle between the two cables is greater than 180°, based on the latitude and longitude coordinates of the farthest target point on each side of the tower to be measured in the horizontal plane, for the farthest target point on any side of the tower to be measured in the horizontal plane, the point at the safe flight distance from the farthest target point is determined as the inspection waypoint on that side, and based on the latitude and longitude coordinates of the farthest target point, as well as the longitude difference and latitude difference between the inspection waypoint on that side and the farthest target point, the latitude and longitude coordinates of the inspection waypoint on that side are determined.

[0133] In one embodiment, determining the longitude and latitude coordinates of the inspection waypoint on the side according to the longitude difference and latitude difference between the inspection waypoint on the side and the farthest target point includes:

[0134] When the counterclockwise angle between the line connecting the farthest target point and the inspection waypoint on this side and the east direction in the geodetic coordinates is greater than or equal to 0 degrees and less than or equal to 180 degrees, the longitude value of the inspection waypoint on this side is the sum of the longitude value of the farthest target point and the longitude difference;

[0135] When the counterclockwise angle between the line connecting the farthest target point and the inspection waypoint on this side and the east direction in the geodetic coordinates is greater than 180 degrees and less than or equal to 320 degrees, the longitude value of the inspection waypoint on this side is the difference between the longitude value of the farthest target point and the longitude difference;

[0136] When the counterclockwise angle between the line connecting the farthest target point and the inspection waypoint on this side and the geodetic coordinates is greater than or equal to 0 degrees and less than or equal to 90 degrees, or greater than or equal to 270 degrees and less than or equal to 360 degrees, the latitude value of the inspection waypoint on this side is the sum of the latitude value of the farthest target point and the latitude difference;

[0137] When the counterclockwise angle between the line between the farthest target point and the inspection waypoint on this side and the east direction in the geodetic coordinates is greater than 90 degrees and less than 270 degrees, the latitude value of the inspection waypoint on this side is the difference between the latitude value of the farthest target point and the latitude difference.

[0138] In one embodiment, the pod type is a partial discharge pod; the multiple target points include cable hanging points at different heights on each side of the tower to be measured; the waypoint determination module 230 is specifically used for:

[0139] Determining the inspection waypoints according to the latitude and longitude, altitude and drone pod parameters of each target point includes:

[0140] For two cable hanging points at different heights on any one side, if the two cable hanging points meet the first preset condition, a common inspection waypoint is determined for the two cable hanging points according to the latitude and longitude, altitude and drone pod parameters of the two cable hanging points; otherwise, a corresponding inspection waypoint is determined for each cable hanging point according to the latitude and longitude, altitude and drone pod parameters of the two cable hanging points;

[0141] The first preset condition includes: the height of the intersection of the two circles is greater than the height of the higher cable hanging point, wherein the two circles have the same radius with each cable hanging point as the center, and the radius is greater than the minimum safe flight distance and falls within the effective working range of the pod.

[0142] In one embodiment, the waypoint determination module 230 is further configured to:

[0143] For two inspection waypoints at the same height on either side, if the two inspection waypoints meet the second preset condition, add an inspection waypoint between the two inspection waypoints;

[0144] The second preset condition includes: the difference obtained by subtracting 1 / 2 of the tower width from the set distance is greater than the safe flight distance, wherein the set distance is the distance between the line connecting the two inspection waypoints and the center of the tower head of the tower to be tested.

[0145] The inspection waypoint determination device provided in the embodiment of the present application can be used to execute the inspection waypoint determination method provided in any of the above embodiments, and has corresponding functions and beneficial effects.

[0146] Fig.10A schematic diagram of an electronic device 10 that can be used to implement an embodiment of the present application is shown. The electronic device 10 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device 10 can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, user equipment, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present application described and / or required herein.

[0147] like Fig.10 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0148] Multiple components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks, wireless networks.

[0149] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above.

[0150] In some embodiments, the method of the above embodiment may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform any of the above embodiment methods in any other appropriate manner (e.g., by means of firmware).

[0151] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0152] The computer programs for implementing the methods of the present application may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer programs are executed by the processor, the functions / operations specified in the flow charts and / or block diagrams are implemented. The computer programs may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0153] In the context of the present application, a computer readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device or equipment. A computer readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer readable storage medium may be a machine readable signal medium. A more specific example of a machine readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0154] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device 10 having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device 10. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0155] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0156] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0157] An embodiment of the present application also provides a computer program product, including a computer program and / or instructions, which, when executed by a processor, implements the inspection waypoint determination method as described in any of the above embodiments.

[0158] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this application can be executed in parallel, sequentially or in different orders, as long as the expected results of the technical solution of this application can be achieved, and this document is not limited here.

[0159] The above specific implementations do not constitute a limitation on the protection scope of this application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of this application should be included in the protection scope of this application.

Claims

1. A method for determining inspection waypoints, characterized in that: include: Obtain the three-dimensional point cloud data of the tower to be tested; Determine the latitude, longitude and altitude of multiple target points according to the three-dimensional point cloud data; The inspection waypoints are determined according to the latitude and longitude, altitude and UAV pod parameters of each target point, wherein the UAV pod parameters include pod type, safe flight distance and pitch direction measurement range, and the pod type is a visual pod or a partial discharge pod.

2. The method according to claim 1, characterized in that: The pod type is a visual pod; Determining the inspection waypoints according to the latitude and longitude, altitude and drone pod parameters of each target point includes: Determine the number of inspection waypoints according to the maximum height difference between the highest target point and the lowest target point of the tower to be tested and the pitch direction measurement range of the vision pod; Determine the height of each inspection waypoint according to the number of the inspection waypoints and the maximum height difference; The longitude and latitude coordinates of each inspection waypoint are determined according to the longitude and latitude of each target point, the altitude of each inspection waypoint and the safe flight distance.

3. The method according to claim 2, characterized in that The method of determining the number of inspection waypoints according to the maximum height difference between the highest target point and the lowest target point of the tower to be tested and the pitch direction measurement range of the vision pod includes: Determining a maximum detectable height of the vision pod in the pitch direction according to a pitch direction measurement range of the vision pod; The value obtained by dividing the maximum height difference by the maximum detectable height is rounded up and added with 1 to obtain the number of inspection waypoints.

4. The method according to claim 2, characterized in that: Determining the height of each inspection waypoint according to the number of the inspection waypoints and the maximum height difference includes: Determine the inspection height interval according to the maximum height difference and the number of inspection waypoints; Determine the height difference between the lowest inspection waypoint and the lowest target point according to the product of the inspection height interval and a first setting item, and determine the height of the lowest inspection waypoint according to the height of the lowest target point and the height difference, wherein the first setting item is the distance between the lowest point detectable by the vision pod in the pitch direction and the horizontal plane divided by the maximum detectable height; When the number of inspection waypoints is greater than 1, the height of each inspection waypoint except the lowest inspection waypoint is determined according to the height of the lowest inspection waypoint and the inspection height interval.

5. The method according to claim 2, characterized in that: Determining the longitude and latitude coordinates of each inspection waypoint according to the longitude and latitude of each target point, the altitude of each inspection waypoint, and the safe flight distance includes: In the case where the pole tower to be measured is a straight pole tower, for the horizontal plane at each height of the inspection waypoint, determine the longitude and latitude coordinates of the farthest target point on each side of the pole tower to be measured in the horizontal plane; For the farthest target point on any side, a point at a safe flight distance from the farthest target point is determined as the inspection waypoint on that side, and the latitude and longitude coordinates of the inspection waypoint on that side are determined based on the longitude difference and latitude difference between the inspection waypoint on that side and the farthest target point.

6. The method according to claim 2, characterized in that Determining the longitude and latitude coordinates of each inspection waypoint according to the longitude and latitude of each target point, the altitude of each inspection waypoint, and the safe flight distance includes: In the case where the pole tower to be tested is a corner tower, for each height of the inspection waypoint, determine the longitude and latitude coordinates of paired target points on two cables in the corner area on each side of the pole tower to be tested in the horizontal plane; For the corner area on any side, the longitude and latitude coordinates of the inspection waypoint in the corner area are determined based on the longitude and latitude coordinates of the paired target points and the relationship between the angle between the two cables in the corner area and the boundary angle, wherein the boundary angle is used to determine whether the paired target points correspond to the same inspection waypoint.

7. The method according to claim 6, characterized in that Also includes: For any of the corner areas, the boundary angle is determined according to the angle between a line from the center of the first set circle to any one of the paired target points and a line between the paired target points; The first set circle has a minimum safe flight distance as its radius and is tangent to the lines connecting the two cables and the paired target points respectively.

8. The method according to claim 6, characterized in that Determining the longitude and latitude coordinates of the inspection waypoints in the corner area according to the longitude and latitude coordinates of the paired target points and the relationship between the angle between the two cables in the corner area and the boundary angle includes: When the angle between the two cables is greater than or equal to the boundary angle and less than 180°, a point on the perpendicular bisector of the line connecting the paired target points and at a distance from the line that is the safe flight distance is determined as an inspection waypoint of the corner area and the latitude and longitude coordinates of the inspection waypoint are calculated based on the latitude and longitude coordinates of the paired target points; When the angle between the two cables is smaller than the boundary angle, the center of the second set circle is used as the inspection waypoint of the corner area and the longitude and latitude coordinates of the inspection waypoint are calculated according to the longitude and latitude coordinates of the paired target points, wherein the second set circle has a safe flight distance as a radius and is tangent to the two cables respectively; In the case where the angle between the two cables is greater than 180°, based on the latitude and longitude coordinates of the farthest target point on each side of the tower to be measured in the horizontal plane, for the farthest target point on any side of the tower to be measured in the horizontal plane, the point at the safe flight distance from the farthest target point is determined as the inspection waypoint on that side, and based on the latitude and longitude coordinates of the farthest target point, as well as the longitude difference and latitude difference between the inspection waypoint on that side and the farthest target point, the latitude and longitude coordinates of the inspection waypoint on that side are determined.

9. The method according to claim 5 or 8, characterized in that: Determining the longitude and latitude coordinates of the inspection waypoint on the side according to the longitude difference and latitude difference between the inspection waypoint on the side and the farthest target point includes: When the counterclockwise angle between the line connecting the farthest target point and the inspection waypoint on this side and the east direction in the geodetic coordinates is greater than or equal to 0 degrees and less than or equal to 180 degrees, the longitude value of the inspection waypoint on this side is the sum of the longitude value of the farthest target point and the longitude difference; When the counterclockwise angle between the line connecting the farthest target point and the inspection waypoint on this side and the east direction in the geodetic coordinates is greater than 180 degrees and less than or equal to 320 degrees, the longitude value of the inspection waypoint on this side is the difference between the longitude value of the farthest target point and the longitude difference; When the counterclockwise angle between the line connecting the farthest target point and the inspection waypoint on this side and the geodetic coordinates is greater than or equal to 0 degrees and less than or equal to 90 degrees, or greater than or equal to 270 degrees and less than or equal to 360 degrees, the latitude value of the inspection waypoint on this side is the sum of the latitude value of the farthest target point and the latitude difference; When the counterclockwise angle between the line between the farthest target point and the inspection waypoint on this side and the east direction in the geodetic coordinates is greater than 90 degrees and less than 270 degrees, the latitude value of the inspection waypoint on this side is the difference between the latitude value of the farthest target point and the latitude difference.

10. The method according to claim 1, characterized in that The pod type is a partial discharge pod; The multiple target points include cable hanging points at different heights on each side of the pole tower to be measured; Determining the inspection waypoints according to the latitude and longitude, altitude and drone pod parameters of each target point includes: For two cable hanging points at different heights on any one side, if the two cable hanging points meet the first preset condition, a common inspection waypoint is determined for the two cable hanging points according to the latitude and longitude, altitude and drone pod parameters of the two cable hanging points; otherwise, a corresponding inspection waypoint is determined for each cable hanging point according to the latitude and longitude, altitude and drone pod parameters of the two cable hanging points; The first preset condition includes: the height of the intersection of the two circles is greater than the height of the higher cable hanging point, wherein the two circles have the same radius with each cable hanging point as the center, and the radius is greater than the minimum safe flight distance and falls within the effective working range of the pod.

11. The method according to claim 10, characterized in that The method of determining the inspection waypoints according to the latitude and longitude, altitude and drone pod parameters of each target point also includes: For two inspection waypoints at the same height on either side, if the two inspection waypoints meet the second preset condition, add an inspection waypoint between the two inspection waypoints; The second preset condition includes: the difference obtained by subtracting 1 / 2 of the tower width from the set distance is greater than the safe flight distance, wherein the set distance is the distance between the line connecting the two inspection waypoints and the center of the tower head of the tower to be tested.

12. A device for determining an inspection route, characterized in that: include: A data acquisition module is used to acquire three-dimensional point cloud data of the tower to be tested; A target point determination module, used to determine the latitude, longitude and altitude of multiple target points according to the three-dimensional point cloud data; The waypoint determination module is used to determine the inspection waypoints according to the latitude and longitude, altitude and UAV pod parameters of each target point, wherein the UAV pod parameters include pod type, safe flight distance and pitch direction measurement range, and the pod type is a visual pod or a partial discharge pod.

13. An electronic device, characterized in that: include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the inspection waypoint determination method as described in any one of claims 1-11.

14. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the inspection waypoint determination method as described in any one of claims 1 to 11 is implemented.

15. A computer program product, characterized in that It comprises a computer program / instruction, which, when executed by a processor, implements the inspection waypoint determination method as described in any one of claims 1-11.

Images