Intelligent inspection method and device

Abstract

The present invention discloses an intelligent inspection method and device, wherein the method comprises: obtaining point cloud data of a pole tower, a conductor and a ground wire on a target line; determining a plurality of key shooting points of the pole tower according to the point cloud data of the pole tower; planning to obtain a plurality of shooting strips according to the three-dimensional spatial positional relationship between each group of adjacent key shooting points in the plurality of key shooting points; counting the shooting trigger points of all shooting strips on the pole tower to determine the shooting trigger points of the pole tower; determining the maximum angle and the minimum angle between the conductor, the ground wire and the horizontal ground according to the point cloud data of each conductor and the ground wire; marking the angle adjustment trigger points of the conductor and the ground wire according to the maximum angle and the minimum angle between the conductor, the ground wire and the horizontal ground; performing the inspection task according to the shooting trigger points of the pole tower on the target line and the angle adjustment trigger points of the conductor and the ground wire. The present invention can improve the integrity of the imaging of the pole tower, the conductor or the ground wire, and improve the inspection efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of power system inspection, and in particular to an intelligent inspection method and device. Background Art

[0002] This section is intended to provide a background or context to the embodiments of the invention recited in the claims. No admission is made that the description herein is prior art by inclusion in this section.

[0003] High-voltage overhead transmission lines are the main channels for electric energy transmission in power systems, and the inspection and maintenance of transmission lines is a key link to ensure their safe operation. However, the traditional manual inspection of towers one by one currently adopted has disadvantages such as large workload, low efficiency, and high investment costs. Long-term power inspection work in complex geographical environments may even threaten the lives of operators. During the inspection of transmission lines, high-definition telephoto cameras are required for imaging. The size of the image is difficult to fully cover all the information of the towers, conductors or ground wires, and multiple shots are required to obtain complete images of the towers, conductors or ground wires. Therefore, an intelligent inspection method is urgently needed to solve the above problems. Summary of the invention

[0004] The embodiment of the present invention provides an intelligent inspection method for improving the integrity of imaging of poles, conductors or ground wires and improving inspection efficiency. The method includes:

[0005] Obtain the point cloud data of each tower and each conductor and ground wire on the target line;

[0006] Determine multiple key shooting points of the pole tower according to the point cloud data of the pole tower; plan multiple shooting strips according to the three-dimensional spatial position relationship between each group of adjacent key shooting points in the multiple key shooting points; determine the shooting trigger point of the strip on each shooting strip according to the preset shooting time of each shooting strip, and count the shooting trigger points of all shooting strips on the pole tower to determine the shooting trigger point of the pole tower; the shooting trigger point of the pole tower is used to send a trigger signal to the shooting device to obtain a shot image;

[0007] According to the point cloud data of each conductor and ground wire, the maximum angle and the minimum angle between the conductor and the ground wire and the horizontal ground are determined respectively; according to the maximum angle and the minimum angle between the conductor and the ground wire and the horizontal ground, the angle adjustment trigger point of the conductor and the ground wire is marked; the angle adjustment trigger point is used to send a trigger signal to the shooting device to adjust the shooting angle;

[0008] During the aircraft inspection process, the trigger point is adjusted according to the shooting trigger point of the tower on the target line and the angle of the conductor and ground wire to perform the power inspection task.

[0009] The embodiment of the present invention further provides an intelligent inspection device for improving the integrity of imaging of poles, conductors or ground wires and improving inspection efficiency. The device includes:

[0010] Point cloud data acquisition module, used to acquire point cloud data of each tower and each conductor and ground wire on the target line;

[0011] The shooting trigger point determination module of the pole tower is used to determine multiple key shooting points of the pole tower according to the point cloud data of the pole tower; according to the three-dimensional spatial position relationship between each group of adjacent key shooting points in the multiple key shooting points, multiple shooting strips are planned; according to the preset shooting time of each shooting strip, the shooting trigger point of the strip is determined on each shooting strip, and the shooting trigger points of all shooting strips on the pole tower are counted to determine the shooting trigger point of the pole tower; the shooting trigger point of the pole tower is used to send a trigger signal to the shooting device to obtain a shot image;

[0012] An angle adjustment trigger point marking module is used to determine the maximum angle and the minimum angle between the conductor, the ground wire and the horizontal ground according to the point cloud data of each conductor, the ground wire; and mark the angle adjustment trigger point of the conductor, the ground wire according to the maximum angle and the minimum angle between the conductor, the ground wire and the horizontal ground; the angle adjustment trigger point is used to send a trigger signal to the shooting device to adjust the shooting angle;

[0013] The inspection task execution module is used to perform power inspection tasks during the aircraft inspection process according to the shooting trigger point of the tower on the target line and the angle adjustment of the conductor and ground wire.

[0014] An embodiment of the present invention further provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned intelligent inspection method when executing the computer program.

[0015] An embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned intelligent inspection method is implemented.

[0016] An embodiment of the present invention further provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the above-mentioned intelligent inspection method is implemented.

[0017] In an embodiment of the present invention, point cloud data of each pole tower and point cloud data of each conductor and ground wire on a target line are obtained; multiple key shooting points of the pole tower are determined according to the point cloud data of the pole tower; multiple shooting strips are planned according to the three-dimensional spatial position relationship between each group of adjacent key shooting points in the multiple key shooting points; the shooting trigger point of the strip is determined on each shooting strip according to the preset shooting time of each shooting strip, and the shooting trigger points of all shooting strips on the pole tower are counted to determine the shooting trigger point of the pole tower; the shooting trigger point of the pole tower is used to send a trigger signal to a shooting device to obtain a shot image; according to the point cloud data of each conductor and ground wire, the maximum angle and the minimum angle between the conductor, the ground wire and the horizontal ground are respectively determined; according to the maximum angle and the minimum angle between the conductor, the ground wire and the horizontal ground, the angle adjustment trigger point of the conductor and the ground wire is marked; the angle adjustment trigger point is used to send a trigger signal to the shooting device to adjust the shooting angle; during the aircraft inspection process, the inspection task is performed according to the shooting trigger point of the pole tower on the target line and the angle adjustment trigger point of the conductor and the ground wire. In the above process, the embodiment of the present invention obtains multiple shooting strips on the target line according to multiple key shooting points, ensures that all key shooting points are photographed multiple times, determines the shooting trigger points of the pole tower to obtain a complete shooting image, marks the angle adjustment trigger points of the conductor and the ground wire to adjust the shooting angle, and the carrier performs the power inspection task of the target line based on the shooting trigger points of the pole tower and the angle adjustment trigger points of the conductor and the ground wire, thereby improving the integrity of the imaging of the pole tower, conductor or ground wire, and improving the inspection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. 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 creative work. In the drawings:

[0019] Figure 1 Flow chart of the intelligent inspection method in an embodiment of the present invention;

[0020] Figure 2 A flowchart of fine-tuning a shooting strip in an embodiment of the present invention;

[0021] Figure 3 A flowchart of the angle adjustment trigger point for marking the conductor and the ground wire in an embodiment of the present invention;

[0022] Figure 4 A schematic diagram of a method for realizing dynamic scanning imaging by using a fast reflection mirror in an embodiment of the present invention;

[0023] Figure 5Schematic diagram of an intelligent inspection device in an embodiment of the present invention. DETAILED DESCRIPTION

[0024] To make the purpose, technical solution and advantages of the embodiments of the present invention more clear, the embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings. Here, the exemplary embodiments of the present invention and their descriptions are used to explain the present invention, but are not intended to limit the present invention.

[0025] Figure 1 This is a flow chart of an intelligent inspection method in an embodiment of the present invention, which includes:

[0026] Step 101, obtaining point cloud data of each tower and each conductor and ground wire on the target line;

[0027] Step 102, determining multiple key shooting points of the pole tower according to the point cloud data of the pole tower; planning multiple shooting strips according to the three-dimensional spatial position relationship between each group of adjacent key shooting points in the multiple key shooting points; determining the shooting trigger point of the strip on each shooting strip according to the preset shooting time of each shooting strip, and counting the shooting trigger points of all shooting strips on the pole tower to determine the shooting trigger point of the pole tower; the shooting trigger point of the pole tower is used to send a trigger signal to the shooting device to obtain a shot image;

[0028] Step 103, according to the point cloud data of each wire and ground wire, respectively determine the maximum angle and the minimum angle between the wire and the ground wire and the horizontal ground; according to the maximum angle and the minimum angle between the wire and the ground wire and the horizontal ground, mark the angle adjustment trigger point of the wire and the ground wire; the angle adjustment trigger point is used to send a trigger signal to the shooting device to adjust the shooting angle;

[0029] Step 104, during the aircraft inspection process, the trigger point is adjusted according to the shooting trigger point of the tower on the target line and the angle of the conductor and the ground wire to perform the power inspection task.

[0030] Each step is described in detail below.

[0031] In step 101, the point cloud data of each tower and each conductor and ground wire on the target line are obtained.

[0032] In a specific embodiment, first, point cloud data of multiple electric towers, conductors and ground wires between towers on the target line to be photographed are obtained in advance; secondly, the features of the point cloud data of multiple electric towers, conductors and ground wires between towers are classified, and the point cloud data are divided into towers, conductors, ground wires and other irrelevant features; then, the point cloud data of towers and conductors and ground wires are sparsely processed; finally, key shooting points of different types of towers, conductors and ground wires are extracted, and corresponding shooting strategies are formulated.

[0033] In step 102, multiple key shooting points of the tower are determined based on the point cloud data of the tower; multiple shooting strips are planned based on the three-dimensional spatial position relationship between each group of adjacent key shooting points in the multiple key shooting points; based on the preset shooting time of each shooting strip, the shooting trigger point of the strip is determined on each shooting strip, and the shooting trigger points of all shooting strips on the tower are counted to determine the shooting trigger point of the tower; the shooting trigger point of the tower is used to send a trigger signal to the shooting device to obtain a shot image.

[0034] In one embodiment, according to the three-dimensional spatial position relationship between each group of adjacent key shooting points in the plurality of key shooting points, a plurality of shooting strips are planned, including:

[0035] According to the three-dimensional spatial position relationship between each group of adjacent key shooting points, the number and distribution characteristics of the key shooting points, multiple shooting strips are designed.

[0036] In one embodiment, determining a shooting trigger point of each shooting strip according to a preset shooting duration of each shooting strip includes:

[0037] The shooting trigger point of each shooting strip is determined on each shooting strip according to the preset shooting time of each shooting strip and the interval time between the previous shooting strip and the next shooting strip.

[0038] Figure 2 This is a flow chart of fine-tuning a shooting strip in an embodiment of the present invention. In one embodiment, according to a preset shooting duration of each shooting strip, before determining a shooting trigger point of the strip on each shooting strip, the method further includes:

[0039] Step 201, fine-tuning the length and position of the shooting strip;

[0040] Step 202 : determining a shooting trigger point of each shooting strip on each finely adjusted shooting strip according to the preset shooting duration of each shooting strip.

[0041] In a specific embodiment, multiple strips are formed based on key shooting points on the front or back side to ensure that all key shooting points are photographed multiple times. The strip farthest from the carrier is used as the initial strip. Starting from the key shooting point of the initial strip, the preset shooting time of each shooting strip and the interval time between the previous shooting strip and the next shooting strip are used to establish shooting trigger points until all shooting trigger points of the tower are completed. By analogy, the establishment of shooting trigger points of all towers on the target line is completed, and the shooting trigger points send a trigger signal to the shooting device to obtain a shot image.

[0042] In step 103, the maximum angle and the minimum angle between the conductor wire, the ground wire and the horizontal ground are determined according to the point cloud data of each conductor wire and the ground wire; the angle adjustment trigger points of the conductor wire and the ground wire are marked according to the maximum angle and the minimum angle between the conductor wire, the ground wire and the horizontal ground; the angle adjustment trigger points are used to send a trigger signal to the shooting device to adjust the shooting angle.

[0043] In a specific embodiment, considering the different degrees of natural sag of the conductors and the ground wires, they are divided into different shooting groups, and the conductors and the ground wires are shot separately by shooting in a mode of shooting in groups of conductors and in groups of ground wires.

[0044] Figure 3 The flowchart of marking the angle adjustment trigger point of the conductor and the ground wire in an embodiment of the present invention, in one embodiment, marking the angle adjustment trigger point of the conductor and the ground wire according to the maximum angle and the minimum angle between the conductor and the ground wire and the horizontal ground, includes:

[0045] Step 301, calculating the number of trigger points for adjusting the angles of the conductor and the ground wire according to the maximum angle and the minimum angle between the conductor and the ground wire and the horizontal ground;

[0046] Step 302, according to the position deviation of the conductor and the ground wire at the center of the lens of the shooting device and the number of angle adjustment trigger points of the conductor and the ground wire, mark the corresponding angle adjustment trigger points on the conductor and the ground wire respectively, so as to send a trigger signal to the shooting device through the angle adjustment trigger points to adjust the conductor and the ground wire to the center of the lens.

[0047] In one embodiment, the number of angle adjustment trigger points of the conductor and the ground wire is calculated according to the maximum angle and the minimum angle between the conductor and the ground wire and the horizontal ground, including:

[0048] Calculate the number of trigger points for angle adjustment of the conductor and ground wire according to the following formula:

[0049]

[0050] Among them, the maximum angle is D max , the minimum angle is D min , the preset angle change threshold is D , the number of angle adjustment trigger points is Num .

[0051] In step 104, during the aircraft inspection process, the trigger point is adjusted according to the shooting trigger point of the tower on the target line and the angle of the conductor and the ground wire to perform the power inspection task.

[0052] In a specific embodiment, the carrier begins to perform a power inspection task of the target line. During the inspection task, the system always obtains high-precision position information of the carrier for focusing of the photoelectric load and determining whether the trigger position has been reached.

[0053] When shooting the key shooting point of the tower, the control device aims at the initial key shooting point of the initial strip. When the high-precision position information of the carrier is at the shooting trigger point of the initial key shooting point, the photoelectric load shooting task is triggered. The relative distance between the initial key shooting point and the current position of the carrier is calculated, and the relative distance is fed back to the photoelectric load as the target object distance to control its focus for clear imaging. During the shooting process, the fast reflector completes the image motion compensation and image stabilization functions; wherein, Figure 4 The schematic diagram of the embodiment of the present invention using a fast reflector to realize dynamic scanning imaging is shown in FIG. After the shooting is completed, the fast reflector is controlled to swing back to the original position and wait for the position of the next shooting trigger point. When the shooting task of all key shooting points in the strip is completed, the control device is aimed at the initial key shooting point of the second strip, and the above steps are repeated until all the key shooting points of the tower are completely imaged.

[0054] When shooting wires and ground wires, multiple angle adjustment trigger points need to be set due to the large amount of natural droop of wires and ground wires. Taking the shooting of wires as an example, the control device keeps the first wire at the center of the shooting device lens (center of the field of view), and calculates the relative distance between the wire at the center of the field of view and the current position of the carrier as the object distance to feed back to the photoelectric load to control its focus for clear imaging. During the shooting process, the fast reflector completes the image shift compensation and image stabilization function, and then controls the swing mirror to move to the second wire and completes the imaging of the second wire, and so on, until the target wires in all tasks are photographed at once. After completing one shot of the target wire, control the swing mirror to return to the original angle, so that the first wire is at the center of the field of view, and repeat the above operation. During the above operation, a trigger signal is sent to the shooting device through the angle adjustment trigger point of the wire, and the shooting device controls the swing mirror to increase or decrease the set value based on the original preset angle to compensate for the deviation from the center of the field of view due to the natural droop of the wire, thereby ensuring that even if there is natural droop during the wire shooting process, the target is still within the center of the field of view. Among them, the wire shooting task is stopped until the current position of the carrier aircraft is at the preset end position, otherwise the optoelectronic payload always performs target shooting to ensure the overlap rate of wire imaging.

[0055] The present invention also provides an intelligent inspection device, as described in the following embodiments. Since the principle of solving the problem by the device is similar to that of the intelligent inspection method, the implementation of the device can refer to the implementation of the intelligent inspection method, and the repeated parts will not be repeated.

[0056] Figure 5This is a schematic diagram of an intelligent inspection device in an embodiment of the present invention, the device comprising:

[0057] Point cloud data acquisition module 501, used to acquire point cloud data of each tower and each conductor and ground wire on the target line;

[0058] The shooting trigger point determination module 502 of the pole tower is used to determine multiple key shooting points of the pole tower according to the point cloud data of the pole tower; according to the three-dimensional spatial position relationship between each group of adjacent key shooting points in the multiple key shooting points, plan to obtain multiple shooting strips; according to the preset shooting time of each shooting strip, determine the shooting trigger point of the strip on each shooting strip, and count the shooting trigger points of all shooting strips on the pole tower to determine the shooting trigger point of the pole tower; the shooting trigger point of the pole tower is used to send a trigger signal to the shooting device to obtain a shot image;

[0059] Angle adjustment trigger point marking module 503 is used to determine the maximum angle and the minimum angle between the conductor, the ground wire and the horizontal ground according to the point cloud data of each conductor and the ground wire; mark the angle adjustment trigger point of the conductor and the ground wire according to the maximum angle and the minimum angle between the conductor, the ground wire and the horizontal ground; the angle adjustment trigger point is used to send a trigger signal to the shooting device to adjust the shooting angle;

[0060] The inspection task execution module 504 is used to perform the power inspection task according to the shooting trigger point of the tower on the target line and the angle adjustment trigger point of the conductor and the ground wire during the aircraft inspection process.

[0061] In one embodiment, the tower shooting trigger point determination module 502 is specifically used to:

[0062] According to the three-dimensional spatial position relationship between each group of adjacent key shooting points, the number and distribution characteristics of the key shooting points, multiple shooting strips are designed.

[0063] In one embodiment, the tower shooting trigger point determination module 502 is specifically used to:

[0064] The shooting trigger point of each shooting strip is determined on each shooting strip according to the preset shooting time of each shooting strip and the interval time between the previous shooting strip and the next shooting strip.

[0065] In one embodiment, the pole tower shooting trigger point determination module 502 is further used to:

[0066] Make fine adjustments to the length and position of the captured strips;

[0067] According to the preset shooting time of each shooting strip, the shooting trigger point of each shooting strip is determined on each shooting strip, including:

[0068] According to the preset shooting time of each shooting strip, the shooting trigger point of the strip is determined on each fine-tuned shooting strip.

[0069] In one embodiment, the angle adjustment trigger point marking module 503 is specifically used to:

[0070] According to the maximum and minimum angles between the conductor, the ground wire and the horizontal ground, the number of angle adjustment trigger points of the conductor and the ground wire is calculated;

[0071] According to the position deviation of the conductive wire and the ground wire in the center of the lens of the shooting device and the number of angle adjustment trigger points of the conductive wire and the ground wire, the corresponding angle adjustment trigger points are marked on the conductive wire and the ground wire respectively, so as to send a trigger signal to the shooting device through the angle adjustment trigger points to adjust the conductive wire and the ground wire to the center of the lens.

[0072] In one embodiment, the angle adjustment trigger point marking module 503 is specifically used to:

[0073] According to the maximum and minimum angles between the conductor, ground wire and the horizontal ground, calculate the number of angle adjustment trigger points of the conductor and ground wire according to the following formula:

[0074]

[0075] Among them, the maximum angle is D max , the minimum angle is D min , the preset angle change threshold is D , the number of angle adjustment trigger points is Num .

[0076] An embodiment of the present invention further provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned intelligent inspection method when executing the computer program.

[0077] An embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned intelligent inspection method is implemented.

[0078] An embodiment of the present invention further provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the above-mentioned intelligent inspection method is implemented.

[0079] In an embodiment of the present invention, point cloud data of each pole tower and point cloud data of each conductor and ground wire on a target line are obtained; multiple key shooting points of the pole tower are determined according to the point cloud data of the pole tower; multiple shooting strips are planned according to the three-dimensional spatial position relationship between each group of adjacent key shooting points in the multiple key shooting points; the shooting trigger point of the strip is determined on each shooting strip according to the preset shooting time of each shooting strip, and the shooting trigger points of all shooting strips on the pole tower are counted to determine the shooting trigger point of the pole tower; the shooting trigger point of the pole tower is used to send a trigger signal to a shooting device to obtain a shot image; according to the point cloud data of each conductor and ground wire, the maximum angle and the minimum angle between the conductor, the ground wire and the horizontal ground are respectively determined; according to the maximum angle and the minimum angle between the conductor, the ground wire and the horizontal ground, the angle adjustment trigger point of the conductor and the ground wire is marked; the angle adjustment trigger point is used to send a trigger signal to the shooting device to adjust the shooting angle; during the aircraft inspection process, the inspection task is performed according to the shooting trigger point of the pole tower on the target line and the angle adjustment trigger point of the conductor and the ground wire. In the above process, the embodiment of the present invention obtains multiple shooting strips on the target line according to multiple key shooting points, ensures that all key shooting points are photographed multiple times, determines the shooting trigger points of the pole tower to obtain a complete shooting image, marks the angle adjustment trigger points of the conductor and the ground wire to adjust the shooting angle, and the carrier performs the power inspection task of the target line based on the shooting trigger points of the pole tower and the angle adjustment trigger points of the conductor and the ground wire, thereby improving the integrity of the imaging of the pole tower, conductor or ground wire, and improving the inspection efficiency.

[0080] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0081] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0082] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0083] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0084] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An intelligent inspection method, characterized in that: include: Obtain the point cloud data of each tower and each conductor and ground wire on the target line; Determine multiple key shooting points of the pole tower according to the point cloud data of the pole tower; plan multiple shooting strips according to the three-dimensional spatial position relationship between each group of adjacent key shooting points in the multiple key shooting points; determine the shooting trigger point of the strip on each shooting strip according to the preset shooting time of each shooting strip and the interval time between the previous shooting strip and the next shooting strip, and count the shooting trigger points of all shooting strips on the pole tower to determine the shooting trigger point of the pole tower; the shooting trigger point of the pole tower is used to send a trigger signal to the shooting device to obtain a shot image; According to the point cloud data of each conductor and ground wire, the maximum angle and the minimum angle between the conductor and the ground wire and the horizontal ground are determined respectively; according to the maximum angle and the minimum angle between the conductor and the ground wire and the horizontal ground, the angle adjustment trigger point of the conductor and the ground wire is marked; the angle adjustment trigger point is used to send a trigger signal to the shooting device to adjust the shooting angle; During the drone inspection process, the trigger point is adjusted according to the shooting trigger point of the tower on the target line and the angle of the conductor and ground wire to perform the power inspection task; According to the maximum and minimum angles between the conductor, ground wire and the horizontal ground, mark the angle adjustment trigger points of the conductor and ground wire, including: According to the maximum and minimum angles between the conductor, the ground wire and the horizontal ground, the number of angle adjustment trigger points of the conductor and the ground wire is calculated; According to the position deviation of the conductive wire and the ground wire in the center of the lens of the shooting device and the number of the angle adjustment trigger points of the conductive wire and the ground wire, the corresponding angle adjustment trigger points are marked on the conductive wire and the ground wire respectively, so as to send a trigger signal to the shooting device through the angle adjustment trigger points, control the swing mirror to increase or decrease the set value based on the original preset angle, and adjust the conductive wire and the ground wire to the center of the lens.

2. The method according to claim 1, characterized in that According to the three-dimensional spatial position relationship between each group of adjacent key shooting points in the multiple key shooting points, multiple shooting strips are planned, including: According to the three-dimensional spatial position relationship between each group of adjacent key shooting points, the number and distribution characteristics of the key shooting points, multiple shooting strips are designed.

3. The method according to claim 1, characterized in that According to the preset shooting time of each shooting strip, before determining the shooting trigger point of each shooting strip, the method further includes: Make fine adjustments to the length and position of the captured strips; According to the preset shooting time of each shooting strip, the shooting trigger point of each shooting strip is determined on each shooting strip, including: According to the preset shooting time of each shooting strip, the shooting trigger point of the strip is determined on each fine-tuned shooting strip.

4. The method according to claim 1, characterized in that According to the maximum and minimum angles between the conductor, the ground wire and the horizontal ground, the number of angle adjustment trigger points of the conductor and the ground wire is calculated, including: Calculate the number of trigger points for angle adjustment of the conductor and ground wire according to the following formula: ； Among them, the maximum angle is D max , the minimum angle is D min , the preset angle change threshold is D , the number of angle adjustment trigger points is Num .

5. An intelligent inspection device, characterized in that: include: Point cloud data acquisition module, used to acquire point cloud data of each tower and each conductor and ground wire on the target line; The shooting trigger point determination module of the pole tower is used to determine multiple key shooting points of the pole tower according to the point cloud data of the pole tower; according to the three-dimensional spatial position relationship between each group of adjacent key shooting points in the multiple key shooting points, multiple shooting strips are planned; according to the preset shooting time of each shooting strip and the interval time between the previous shooting strip and the next shooting strip, the shooting trigger point of the strip is determined on each shooting strip, and the shooting trigger points of all shooting strips on the pole tower are counted to determine the shooting trigger point of the pole tower; the shooting trigger point of the pole tower is used to send a trigger signal to the shooting device to obtain a shot image; An angle adjustment trigger point marking module is used to determine the maximum angle and the minimum angle between the conductor, the ground wire and the horizontal ground according to the point cloud data of each conductor, the ground wire; and mark the angle adjustment trigger point of the conductor, the ground wire according to the maximum angle and the minimum angle between the conductor, the ground wire and the horizontal ground; the angle adjustment trigger point is used to send a trigger signal to the shooting device to adjust the shooting angle; The inspection task execution module is used to adjust the trigger point according to the shooting trigger point of the tower on the target line and the angle of the conductor and ground wire during the aircraft inspection process to execute the power inspection task; Angle adjustment trigger point marking module, specifically used for: According to the maximum and minimum angles between the conductor, the ground wire and the horizontal ground, the number of angle adjustment trigger points of the conductor and the ground wire is calculated; According to the position deviation of the conductive wire and the ground wire in the center of the lens of the shooting device and the number of the angle adjustment trigger points of the conductive wire and the ground wire, the corresponding angle adjustment trigger points are marked on the conductive wire and the ground wire respectively, so as to send a trigger signal to the shooting device through the angle adjustment trigger points, control the swing mirror to increase or decrease the set value based on the original preset angle, and adjust the conductive wire and the ground wire to the center of the lens.

6. The device according to claim 5, characterized in that The shooting trigger point determination module of the tower is specifically used for: According to the three-dimensional spatial position relationship between each group of adjacent key shooting points, the number and distribution characteristics of the key shooting points, multiple shooting strips are designed.

7. The device according to claim 5, characterized in that The shooting trigger point determination module of the tower is also used for: Make fine adjustments to the length and position of the captured strips; According to the preset shooting time of each shooting strip, the shooting trigger point of each shooting strip is determined on each shooting strip, including: According to the preset shooting time of each shooting strip, the shooting trigger point of the strip is determined on each fine-tuned shooting strip.

8. The device according to claim 5, characterized in that Angle adjustment trigger point marking module, specifically used for: According to the maximum and minimum angles between the conductor, ground wire and the horizontal ground, calculate the number of angle adjustment trigger points of the conductor and ground wire according to the following formula: ； Among them, the maximum angle is D max , the minimum angle is D min , the preset angle change threshold is D , the number of angle adjustment trigger points is Num .

9. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 4 is implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 4 is implemented.

11. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 4 is implemented.

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