Power distribution tower topological relation general survey method and system based on unmanned aerial vehicle

Abstract

The invention discloses a power distribution tower topological relation general survey method and system based on an unmanned aerial vehicle, and the method comprises the steps: carrying out the tower recognition of a target power distribution region through employing the unmanned aerial vehicle, and recording the obtained current tower latitude and longitude information in a tower collection information table; determining a current tower number corresponding to the current tower longitude and latitude information based on a tower standing book information table; performing wire identification on the target power distribution area by using the unmanned aerial vehicle, and calculating a first included angle between each wire and the true north direction to obtain an included angle set; calculating an average angle corresponding to the included angle set; determining the flight direction of the unmanned aerial vehicle based on the tower direction judgment information table; and controlling the unmanned aerial vehicle to continuously fly based on the flight direction until the unmanned aerial vehicle identifies a father node tower number and a child node tower number of the current tower. According to the invention, the unmanned aerial vehicle and the power distribution network topology analysis service are fully combined, and the problems of frequent change of a power distribution tower, poor real-time performance of GIS system data and untimely updating are solved.

Description

Technical Field

[0001] This invention relates to the field of power distribution network technology, and in particular to a method and system for surveying the topological relationships of power distribution towers based on unmanned aerial vehicles (UAVs). Background Technology

[0002] The process of conducting a comprehensive survey of the topology of power distribution towers mainly includes on-site surveying, data collection, and drawing verification. First, staff conduct on-site surveys of the towers, lines, and related equipment in the power distribution network, recording their locations and conditions, and collecting geographic location information using technologies such as GPS. Then, the data is compared with existing power distribution network drawings to confirm consistency, and the integrity and safety of the equipment are checked, with equipment requiring maintenance recorded. Finally, the collected data is organized and entered into a GIS system to establish a topological model of the power distribution towers, clarifying each node and its connection relationships.

[0003] However, existing technologies face multiple shortcomings in the construction and maintenance of power distribution tower topology. For example, the accuracy and completeness of data are often affected by missing historical data and limitations of on-site surveys, leading to unreliable modeling results. Many GIS and modeling tools are complex and require high user skills, making it difficult for beginners to quickly get started. During data integration, inconsistent data formats from different sources can easily lead to information loss or errors. Furthermore, in terms of real-time monitoring, changes in network status cannot be reflected in a timely manner, thus affecting fault response. With load changes and the construction of new lines, existing models lag behind in updates, making it difficult to adapt to dynamic changes and increasing management complexity. Summary of the Invention

[0004] To overcome the aforementioned deficiencies in existing technologies, this invention provides a method and system for surveying the topological relationships of power distribution towers based on unmanned aerial vehicles (UAVs).

[0005] In a first aspect, embodiments of the present invention provide a method for surveying the topological relationships of power distribution towers based on unmanned aerial vehicles (UAVs), including:

[0006] The drone is used to identify power poles in the target power distribution area, and the current latitude and longitude information of the poles is recorded in the pole data acquisition table.

[0007] Based on the pole and tower ledger information table, the current pole number corresponding to the current pole latitude and longitude information is determined, and the current pole number is recorded in the pole and tower data collection table. The pole and tower ledger information table consists of multiple rows of ledger information, and each row of ledger information includes a serial number, pole number, longitude and latitude.

[0008] The UAV is used to identify the conductors in the target power distribution area and calculate the first angle between each conductor and the true north direction to obtain a set of angles;

[0009] Calculate the average angle corresponding to the set of included angles, and characterize the average angle as the second included angle between the current tower and the true north direction;

[0010] The flight direction of the UAV is determined based on the tower direction judgment information table, wherein the tower direction judgment information table consists of multiple rows of direction judgment information, each row of direction judgment information includes a serial number, tower number, second included angle and multiple directions, and the value of each direction is either already flown or not flown;

[0011] The drone is controlled to fly continuously based on the flight direction until it identifies the parent and child tower numbers of the current tower and records the parent and child tower numbers in the tower information collection table.

[0012] Preferably, after controlling the UAV to continue flying based on the flight direction until the UAV identifies the parent node tower number and child node tower number of the current tower and records the parent node tower number and child node tower number in the tower acquisition information table, the method further includes:

[0013] Based on N iterations of the general survey, a target tower collection information table is obtained, where N is the number of towers in the target power distribution area;

[0014] Each iteration of the census includes the following steps:

[0015] The drone is used to identify power poles in the target power distribution area, and the current latitude and longitude information of the poles is recorded in the pole data acquisition table.

[0016] Based on the pole and tower ledger information table, the current pole number corresponding to the current pole latitude and longitude information is determined, and the current pole number is recorded in the pole and tower data collection table. The pole and tower ledger information table consists of multiple rows of ledger information, and each row of ledger information includes a serial number, pole number, longitude and latitude.

[0017] The UAV is used to identify the conductors in the target power distribution area and calculate the first angle between each conductor and the true north direction to obtain a set of angles;

[0018] Calculate the average angle corresponding to the set of included angles, and characterize the average angle as the second included angle between the current tower and the true north direction;

[0019] The flight direction of the UAV is determined based on the tower direction judgment information table, wherein the tower direction judgment information table consists of multiple rows of direction judgment information, each row of direction judgment information includes a serial number, tower number, second included angle and multiple directions, and the value of each direction is either already flown or not flown;

[0020] The drone is controlled to fly continuously based on the flight direction until it identifies the parent and child tower numbers of the current tower and records the parent and child tower numbers in the tower information collection table.

[0021] Preferably, the step of using a drone to identify power poles in the target power distribution area and recording the obtained current pole latitude and longitude information into a pole acquisition information table includes:

[0022] Aerial photography of the target power distribution area using drones was used to obtain images of the tower environment;

[0023] Target detection is performed on the environmental image of the tower to identify the tower location;

[0024] Control the drone to fly to the pole position and obtain the drone's latitude and longitude information in real time;

[0025] The latitude and longitude information of the UAV is represented as the current latitude and longitude information of the pole, and the current latitude and longitude information of the pole is recorded in the pole acquisition information table.

[0026] Preferably, determining the current tower number corresponding to the current tower's latitude and longitude information based on the tower ledger information table, and recording the current tower number in the tower data collection table, includes:

[0027] Each latitude and longitude information in the pole and tower ledger information table is compared with the current pole and tower latitude and longitude information to obtain latitude and longitude information that meets the matching conditions, wherein the matching conditions are that it is closest to the current pole and the distance to the current pole is less than a first preset distance;

[0028] The pole number corresponding to the latitude and longitude information that meets the matching conditions is represented as the current pole number, and the current pole number is recorded in the pole collection information table.

[0029] Preferably, the step of using the UAV to identify conductors in the target power distribution area and calculating the first angle between each conductor and true north to obtain a set of angles includes:

[0030] The drone is used to take orthophotos of the target power distribution area to obtain orthophoto images.

[0031] Target detection is performed on the orthophoto image to obtain multiple wires;

[0032] A temporary coordinate system is constructed based on the orthophoto image, and the first angle between each conductor and the true north direction is calculated according to the temporary coordinate system to obtain the set of angles.

[0033] Preferably, the step of constructing a temporary coordinate system based on the orthophoto image and calculating the first angle between each conductor and the true north direction according to the temporary coordinate system to obtain a set of angles includes:

[0034] A temporary coordinate system is constructed with the bottom of the orthophoto image as the Y-axis direction and the right side of the orthophoto image as the X-axis direction.

[0035] Based on the temporary coordinate system, the first angle between each conductor and the true north direction is calculated using a preset formula, resulting in a set of angles. The preset formula is as follows:

[0036]

[0037] Where β represents the first included angle, θ represents the UAV heading angle, and α represents the angle between the conductor and the Y-axis.

[0038] Preferably, calculating the average angle corresponding to the set of included angles includes:

[0039] The average angle corresponding to the set of included angles is calculated based on a voting algorithm.

[0040] Preferably, determining the flight direction of the UAV based on the tower direction determination information table includes:

[0041] Record the current tower number and the second included angle in the tower direction determination information table;

[0042] The flight direction of the UAV is controlled based on the values ​​of each direction in the tower direction determination information table.

[0043] Preferably, controlling the flight direction of the UAV based on the values ​​of each direction in the tower direction determination information table includes:

[0044] If the tower direction determination information table contains a direction with the value "not flying", then control the UAV to fly a second preset distance along the "not flying" direction and update the value of the "not flying" direction to "already flying".

[0045] If the tower direction determination information table does not contain a direction with the value of "not flying", then control the UAV to return from the current tower to the next higher tower.

[0046] Secondly, embodiments of the present invention provide a UAV-based system for surveying the topology of power distribution towers, including:

[0047] The pole identification module is used to identify poles in the target power distribution area using drones and record the current pole latitude and longitude information into the pole acquisition information table.

[0048] The ledger association module is used to determine the current pole number corresponding to the latitude and longitude information of the current pole based on the pole ledger information table, and record the current pole number in the pole collection information table. The pole ledger information table consists of multiple rows of ledger information, and each row of ledger information includes a serial number, pole number, longitude and latitude.

[0049] The first included angle calculation module is used to use the UAV to identify the conductors in the target power distribution area and calculate the first included angle between each conductor and the true north direction to obtain the included angle set;

[0050] The second included angle calculation module is used to calculate the average angle corresponding to the included angle set, and to characterize the average angle as the second included angle between the current tower and the true north direction;

[0051] The direction determination module is used to determine the flight direction of the UAV based on the tower direction determination information table. The tower direction determination information table consists of multiple rows of direction determination information. Each row of direction determination information includes a serial number, tower number, second included angle, and multiple directions. The value of each direction is either "already flown" or "not flown".

[0052] The topology construction module is used to control the UAV to fly continuously based on the flight direction until the UAV identifies the parent node tower number and child node tower number of the current tower, and records the parent node tower number and child node tower number in the tower acquisition information table.

[0053] Compared with existing technologies, the present invention provides a method and system for surveying the topology of power distribution towers based on unmanned aerial vehicles (UAVs). The advantages of this method and system are: it is completed entirely autonomously by UAVs combined with target detection, requiring minimal human intervention, and is suitable for continuous surveys around the clock; it fully integrates UAVs with power distribution network topology analysis, solving the problems of frequent changes in power distribution towers and poor real-time data performance and untimely updates in GIS systems. Attached Figure Description

[0054] Figure 1 This is a flowchart illustrating a method for surveying the topology of power distribution towers based on unmanned aerial vehicles (UAVs) according to an embodiment of the present invention.

[0055] Figure 2 This is a schematic diagram of the pole identification process according to an embodiment of the present invention;

[0056] Figure 3 This is a schematic diagram of the ledger association process according to an embodiment of the present invention;

[0057] Figure 4 This is a schematic diagram of the wire identification process according to an embodiment of the present invention;

[0058] Figure 5This is a schematic diagram of the process for calculating the first included angle based on a temporary coordinate system according to an embodiment of the present invention;

[0059] Figure 6 This is a flowchart illustrating the direction determination process according to an embodiment of the present invention;

[0060] Figure 7 This is a flowchart illustrating the process of controlling direction based on direction value in an embodiment of the present invention;

[0061] Figure 8 This is a schematic diagram of a UAV-based power distribution tower topology survey system according to an embodiment of the present invention. Detailed Implementation

[0062] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0063] In the description of this invention, it should be understood that the terms "first" and "second," etc., are used to distinguish different objects, rather than to describe a specific order.

[0064] like Figure 1 As shown, this embodiment of the invention provides a method for surveying the topology of power distribution towers based on unmanned aerial vehicles (UAVs), including the following steps:

[0065] S1. Use drones to identify power poles in the target power distribution area and record the current latitude and longitude information of the power poles in the power pole data acquisition table.

[0066] Specifically, such as Figure 2 As shown, step S1 includes:

[0067] S101. Use drones to take aerial photos of the target power distribution area to obtain images of the tower environment;

[0068] High-definition cameras mounted on drones are used to take aerial photos of the target power distribution area, resulting in high-definition images of the pole and tower environment.

[0069] S102. Perform target detection on the pole and tower environment image to identify the pole and tower location;

[0070] The YOLO image recognition method was used to detect targets in the pole and tower environment images and identify the pole and tower locations.

[0071] S103. Control the drone to fly to the pole position and obtain the drone's latitude and longitude information in real time;

[0072] The drone is controlled to fly to the pole's location and take an orthogonal photograph of the pole's top to obtain an image. The drone's latitude and longitude information is obtained using RTK (Real-Time Kinetic) positioning. It's important to understand that "orthogonal" means directly overhead.

[0073] S104. Represent the latitude and longitude information of the UAV as the current latitude and longitude information of the pole, and record the current latitude and longitude information of the pole in the pole data collection table.

[0074] The pole and tower data collection table consists of multiple rows of collected information. Each row includes a serial number, pole and tower number, longitude, latitude, parent pole and tower number, and multiple child pole and tower numbers. See Table 1 for details. It should be understood that Table 1 is merely a schematic representation of the pole and tower data collection table.

[0075] Table 1. Information Collection Table for Pole Towers

[0076]

[0077] S2. Based on the pole and tower ledger information table, determine the current pole number corresponding to the latitude and longitude information of the current pole and tower, and record the current pole number in the pole and tower data collection table;

[0078] Specifically, such as Figure 3 As shown, step S2 includes:

[0079] S201. Compare each latitude and longitude information in the pole and tower ledger information table with the current latitude and longitude information of the pole and tower to obtain the latitude and longitude information that meets the matching conditions;

[0080] It should be noted that the pole and tower ledger information table is a known table, consisting of multiple rows of ledger information. Each row includes a serial number, pole and tower number, longitude, and latitude, as detailed in Table 2. It is understood that Table 2 is merely a schematic representation of the pole and tower ledger information table.

[0081] Table 2. Pole Tower Ledger Information Sheet

[0082]

[0083] Each latitude and longitude coordinate in the pole and tower ledger information table is compared with the current pole and tower's latitude and longitude coordinates. The matching latitude and longitude coordinates that meet the matching conditions are obtained by calculating the Euclidean distance. The matching conditions are: the pole and tower is closest to the current pole and the distance to the current pole and tower is less than a first preset distance. In this embodiment, the first preset distance is 2 meters.

[0084] S202. Represent the pole number corresponding to the latitude and longitude information that meets the matching conditions as the current pole number, and record the current pole number in the pole collection information table.

[0085] If latitude and longitude information that meets the matching conditions is not obtained, the tower number in the tower acquisition information table should remain empty.

[0086] S3. Use drones to identify conductors in the target power distribution area and calculate the first angle between each conductor and the true north direction to obtain the set of angles.

[0087] Specifically, such as Figure 4 As shown, step S3 includes:

[0088] S301. Use a drone to take orthophotos of the target power distribution area to obtain orthophoto images;

[0089] The target power distribution area is photographed orthophotos using a high-definition camera mounted on a drone to obtain orthophoto images.

[0090] S302. Perform target detection on the orthophoto image to obtain multiple guide lines;

[0091] The YOLO image recognition method was used to detect targets in the orthophoto image, resulting in multiple wires.

[0092] S303. Construct a temporary coordinate system based on the orthophoto image, and calculate the first angle between each conductor and the true north direction according to the temporary coordinate system to obtain the set of angles.

[0093] Specifically, such as Figure 5 As shown, step S303 includes:

[0094] S303-A. Construct a temporary coordinate system with the bottom of the orthophoto as the Y-axis and the right side of the orthophoto as the X-axis.

[0095] S303-B: Based on a temporary coordinate system, the first angle between each conductor and the true north direction is calculated using a preset formula to obtain the set of angles.

[0096] Specifically, the preset formula is as follows:

[0097]

[0098] Where β represents the first included angle, θ represents the UAV heading angle, and α represents the angle between the conductor and the Y-axis.

[0099] Furthermore, we have:

[0100]

[0101] Among them are:

[0102] dx = x2 - x1

[0103] dy = y2 - y1

[0104] db=180°fabs(atan(dy / dx)) / π

[0105] Here, (x1,y1) and (x2,y2) represent any two non-overlapping pixels on the conductor.

[0106] By comparing whether the error between any two first angles is within a preset range, it is determined whether the principle of parallel conductor layout is met. In this embodiment, the preset range is -5° to 5°.

[0107] S4. Calculate the average angle corresponding to the set of included angles, and characterize the average angle as the second included angle between the current tower and the true north direction;

[0108] The average angle corresponding to the set of included angles is calculated based on a voting algorithm. Specifically, the average angle is calculated by selecting the first included angle that has the most votes based on the voting algorithm.

[0109] S5. Determine the flight direction of the UAV based on the tower direction judgment information table;

[0110] Specifically, such as Figure 6 As shown, step S5 includes:

[0111] S501. Record the current tower number and the second included angle into the tower direction judgment information table;

[0112] The tower orientation determination information table consists of multiple rows of orientation determination information. Each row includes a serial number, tower number, second included angle, and multiple directions. The value for each direction is either "already in flight" or "not in flight." See Table 3 for details. It should be understood that Table 3 is merely a schematic representation of the tower orientation determination information table.

[0113] Table 3 Information Table for Determining the Direction of Towers

[0114] Serial Number Tower number Second angle Direction 1 Direction 2 Direction 3 Direction 4

[0115] S502. Based on the values ​​of each direction in the tower direction determination information table, control the flight direction of the UAV.

[0116] Specifically, such as Figure 7 As shown, step S502 includes:

[0117] S502-A: If the tower direction judgment information table contains a direction with the value "not flying", then control the UAV to fly a second preset distance along the "not flying" direction and update the value of the "not flying" direction to "already flying".

[0118] In this embodiment, the second preset distance is 1m. That is, if there is a direction in the tower direction judgment information table with the value of "not flying", the drone is controlled to fly 1m in the "not flying" direction and the value of the "not flying" direction is updated to "already flying".

[0119] S502-B: If the tower direction determination information table does not contain a direction with the value of "not flying", then control the drone to return from the current tower to the next higher tower.

[0120] If all directions of the current tower have been flown in the tower direction determination information table, then control the drone to return to the previous tower.

[0121] S6. Control the drone to fly continuously based on the flight direction until the drone identifies the parent node tower number and child node tower number of the current tower, and record the parent node tower number and child node tower number in the tower acquisition information table.

[0122] The drone continues to fly based on its flight direction until it finds the next level tower. The tower number of the previous level tower is represented as the parent tower number of the next level tower and recorded in the tower acquisition information table. The tower number of the next level tower is represented as the child tower number of the previous level tower and recorded in the tower acquisition information table, thus forming a bidirectional topological connection relationship.

[0123] It should be noted that steps S1 to S6 only obtain the current tower's data acquisition information and record it in the tower data acquisition information table. To obtain the data acquisition information for all towers within the target power distribution area, after step S6, the following steps are also included:

[0124] Based on N iterative survey steps, a target tower data collection table is obtained. Here, N represents the number of towers in the target power distribution area.

[0125] Each iteration of the census includes the following steps:

[0126] S1. Use drones to identify power poles in the target power distribution area and record the current latitude and longitude information of the power poles in the power pole data acquisition table.

[0127] S2. Based on the pole and tower ledger information table, determine the current pole number corresponding to the latitude and longitude information of the current pole and tower, and record the current pole number in the pole and tower data collection table;

[0128] Specifically, the pole and tower ledger information table consists of multiple rows of ledger information, each row including serial number, pole and tower number, longitude and latitude.

[0129] S3. Use drones to identify conductors in the target power distribution area and calculate the first angle between each conductor and the true north direction to obtain the set of angles.

[0130] S4. Calculate the average angle corresponding to the set of included angles, and characterize the average angle as the second included angle between the current tower and the true north direction;

[0131] S5. Determine the flight direction of the UAV based on the tower direction judgment information table;

[0132] Specifically, the tower direction determination information table consists of multiple rows of direction determination information. Each row of direction determination information includes a serial number, tower number, second included angle, and multiple directions. The value for each direction is either "already flown" or "not flown".

[0133] S6. Control the drone to fly continuously based on the flight direction until the drone identifies the parent node tower number and child node tower number of the current tower, and record the parent node tower number and child node tower number in the tower acquisition information table.

[0134] This invention provides a method for surveying the topology of power distribution towers based on unmanned aerial vehicles (UAVs). The survey is completed entirely autonomously by UAVs combined with target detection, requiring minimal human intervention and suitable for continuous surveys around the clock. By fully integrating UAVs with power distribution network topology analysis, this method solves the problems of frequent changes in power distribution towers and poor real-time data performance and untimely updates in GIS systems.

[0135] Based on the above-mentioned method for surveying the topology of power distribution towers using unmanned aerial vehicles (UAVs), such as Figure 8 As shown, this embodiment of the invention provides a UAV-based power distribution tower topology survey system, including:

[0136] The pole identification module 01 is used to identify poles in the target power distribution area using a drone and record the current pole latitude and longitude information into the pole acquisition information table.

[0137] The ledger association module 02 is used to determine the current pole number corresponding to the latitude and longitude information of the current pole based on the pole ledger information table, and record the current pole number in the pole collection information table. The pole ledger information table consists of multiple rows of ledger information, and each row of ledger information includes serial number, pole number, longitude and latitude.

[0138] The first included angle calculation module 03 is used to identify the conductors in the target power distribution area using the UAV and calculate the first included angle between each conductor and the true north direction to obtain the included angle set;

[0139] The second included angle calculation module 04 is used to calculate the average angle corresponding to the included angle set, and to characterize the average angle as the second included angle between the current tower and the true north direction;

[0140] The direction determination module 05 is used to determine the flight direction of the UAV based on the tower direction determination information table. The tower direction determination information table consists of multiple rows of direction determination information. Each row of direction determination information includes a serial number, tower number, second included angle, and multiple directions. The value of each direction is either "already flown" or "not flown".

[0141] Topology building module 06 is used to control the drone to fly continuously based on the flight direction until the drone identifies the parent node tower number and child node tower number of the current tower, and records the parent node tower number and child node tower number to the tower acquisition information table.

[0142] It should be noted that each unit in the aforementioned UAV-based power distribution pole topology survey system can be implemented entirely or partially through software, hardware, or a combination thereof. These units can be embedded in or independent of the processor in a computer device, or stored in the computer device's memory as software, so that the processor can call and execute the operations corresponding to each module. For specific limitations regarding the UAV-based power distribution pole topology survey system, please refer to the limitations of the UAV-based power distribution pole topology survey method described above; both have the same function and role, and will not be repeated here.

[0143] In summary, the present invention provides a method and system for surveying the topology of power distribution towers based on unmanned aerial vehicles (UAVs). This method and system is fully autonomously completed by UAVs in conjunction with target detection, requiring minimal human intervention and is suitable for continuous surveying scenarios around the clock. By fully integrating UAVs with power distribution network topology analysis, the invention solves the problems of frequent changes in power distribution towers and poor real-time data performance and untimely updates in GIS systems.

[0144] The various embodiments in this specification are described in a progressive manner. For directly identical or similar parts of the embodiments, refer to each other. Each embodiment focuses on its differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments. It should be noted that the technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification.

[0145] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and substitutions can be made without departing from the technical principles of the present invention, and these improvements and substitutions should also be considered within the scope of protection of the present invention.

Claims

1. A distribution tower topology survey method based on drones, characterized in that: include: Use drones to identify poles and towers in the target distribution area, and record the current pole and tower latitude and longitude information into the pole and tower collection information table; Determine the current tower number corresponding to the current tower longitude and latitude information based on the tower ledger information table, and record the current tower number in the tower collection information table, wherein the tower ledger information table is composed of multiple rows of ledger information, and each row of the ledger information includes a serial number, a tower number, longitude and latitude; Using the drone to identify the wires in the target power distribution area, and calculating the first angle between each wire and the true north direction to obtain an angle set; Calculating an average angle corresponding to the angle set, and characterizing the average angle as a second angle between the current tower and the true north direction; Determine the flight direction of the UAV based on the tower direction judgment information table, wherein the tower direction judgment information table is composed of multiple rows of direction judgment information, each row of the direction judgment information includes a sequence number, a tower number, a second angle and multiple directions, and the value of each direction is either already flown or not flown; The drone is controlled to continue flying based on the flight direction until the drone identifies the parent node tower number and the child node tower number of the current tower, and records the parent node tower number and the child node tower number in the tower collection information table.

2. The method for surveying the topological relationship of distribution towers according to claim 1, characterized in that: After the drone is controlled to continue flying based on the flight direction until the drone identifies the parent node tower number and the child node tower number of the current tower and records the parent node tower number and the child node tower number in the tower collection information table, the method further includes: Based on N iterative survey steps, a target tower collection information table is obtained, where N is the number of towers in the target distribution area; Each iterative survey step includes: Use drones to identify poles and towers in the target distribution area, and record the current pole and tower latitude and longitude information into the pole and tower collection information table; Determine the current tower number corresponding to the current tower longitude and latitude information based on the tower ledger information table, and record the current tower number in the tower collection information table, wherein the tower ledger information table is composed of multiple rows of ledger information, and each row of the ledger information includes a serial number, a tower number, longitude and latitude; Using the drone to identify the wires in the target power distribution area, and calculating the first angle between each wire and the true north direction to obtain an angle set; Calculating an average angle corresponding to the angle set, and characterizing the average angle as a second angle between the current tower and the true north direction; Determine the flight direction of the UAV based on the tower direction judgment information table, wherein the tower direction judgment information table is composed of multiple rows of direction judgment information, each row of the direction judgment information includes a sequence number, a tower number, a second angle and multiple directions, and the value of each direction is either already flown or not flown; The drone is controlled to continue flying based on the flight direction until the drone identifies the parent node tower number and the child node tower number of the current tower, and records the parent node tower number and the child node tower number in the tower collection information table.

3. The method for surveying the topological relationship of distribution towers according to claim 1, characterized in that: The method of using a drone to identify the towers in the target distribution area and recording the obtained current tower latitude and longitude information into the tower collection information table includes: Use drones to take aerial photos of the target power distribution area to obtain images of the tower environment; Performing target detection on the pole tower environment image to identify the position of the pole tower; Control the UAV to fly to the tower position, and obtain the longitude and latitude information of the UAV in real time; The longitude and latitude information of the drone is characterized as the longitude and latitude information of the current tower, and the longitude and latitude information of the current tower is recorded in the tower collection information table.

4. The method for surveying the topological relationship of distribution towers according to claim 1, characterized in that: The determining the current pole tower number corresponding to the current pole tower longitude and latitude information based on the pole tower ledger information table, and recording the current pole tower number in the pole tower collection information table, includes: Compare each longitude and latitude information in the tower ledger information table with the longitude and latitude information of the current tower to obtain longitude and latitude information that meets the matching condition, wherein the matching condition is that the distance to the current tower is the shortest and the distance to the current tower is less than a first preset distance; The pole tower number corresponding to the longitude and latitude information satisfying the matching condition is represented as the current pole tower number, and the current pole tower number is recorded in the pole tower collection information table.

5. The method for surveying the topological relationship of distribution towers according to claim 1, characterized in that: The using the drone to identify the wires in the target power distribution area and calculating the first angle between each wire and the true north direction to obtain an angle set includes: Using the drone to orthophotograph the target power distribution area to obtain an orthophoto image; Performing target detection on the orthophoto image to obtain a plurality of wires; A temporary coordinate system is constructed based on the orthophoto image, and a first angle between each wire and the true north direction is calculated according to the temporary coordinate system to obtain an angle set.

6. The method for surveying the topological relationship of distribution towers according to claim 5 is characterized in that: The step of constructing a temporary coordinate system based on the orthophoto image and calculating a first angle between each wire and the true north direction according to the temporary coordinate system to obtain an angle set includes: A temporary coordinate system is constructed with the bottom of the orthophoto image as the Y-axis direction and the right of the orthophoto image as the X-axis direction; Based on the temporary coordinate system, a preset formula is used to calculate the first angle between each wire and the true north direction to obtain an angle set, wherein the preset formula is as follows: Among them, β represents the first angle, θ represents the heading angle of the UAV, and α represents the angle between the wire and the Y axis.

7. The method for surveying the topological relationship of distribution towers according to claim 1, characterized in that: The calculating the average angle corresponding to the set of included angles includes: The average angle corresponding to the angle set is calculated based on a voting algorithm.

8. The method for surveying the topological relationship of distribution towers according to claim 1, characterized in that: The determining the flight direction of the UAV based on the tower direction judgment information table includes: Record the current tower number and the second angle into the tower direction determination information table; Based on the values ​​of each direction in the tower direction judgment information table, the flight direction of the UAV is controlled.

9. The method for surveying the topological relationship of distribution towers according to claim 8, characterized in that: The controlling the flight direction of the UAV based on the values ​​of each direction in the tower direction judgment information table includes: If there is a direction whose value is not flown in the tower direction judgment information table, the drone is controlled to fly a second preset distance along the direction that has not flown, and the value of the direction that has not flown is updated to have been flown; If there is no direction whose value is not flown in the tower direction judgment information table, the drone is controlled to return from the current tower to the previous tower.

10. A distribution tower topology survey system based on drones, characterized in that: include: The tower identification module is used to use the drone to identify the towers in the target distribution area and record the current tower latitude and longitude information into the tower collection information table; A ledger association module is used to determine the current tower number corresponding to the current tower longitude and latitude information based on the tower ledger information table, and record the current tower number in the tower collection information table, wherein the tower ledger information table is composed of multiple rows of ledger information, and each row of the ledger information includes a serial number, a tower number, longitude and latitude; A first angle calculation module is used to use the drone to identify the wires in the target power distribution area, and calculate a first angle between each wire and the true north direction to obtain an angle set; A second angle calculation module, used for calculating an average angle corresponding to the angle set, and representing the average angle as a second angle between the current tower and the true north direction; A direction determination module, used to determine the flight direction of the UAV based on a pole tower direction determination information table, wherein the pole tower direction determination information table is composed of multiple rows of direction determination information, each row of the direction determination information includes a sequence number, a pole tower number, a second angle and multiple directions, and the value of each direction is either already flown or not flown; A topology construction module is used to control the drone to continue flying based on the flight direction until the drone identifies the parent node tower number and the child node tower number of the current tower, and records the parent node tower number and the child node tower number in the tower collection information table.

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