Self-adaptive obstacle avoidance method and system applied to distribution network inspection

Abstract

The invention discloses a self-adaptive obstacle avoidance method and system applied to distribution network inspection. The method comprises the following steps: acquiring an inspection target of an unmanned aerial vehicle; the inspection target comprises a next inspection tower and an inspection direction; when the unmanned aerial vehicle recognizes at least two transmission towers different from the next inspection tower, the unmanned aerial vehicle moves along the inspection direction, recognizes the transmission towers on at least two position points, and obtains coordinates of the transmission towers based on multi-point calculation; obtaining a power transmission line according to the coordinates of the power transmission towers; one power transmission line comprises a line segment formed by two power transmission towers; and according to the inspection direction and the power transmission line, determining whether the current line of the unmanned aerial vehicle has a line crossing risk, and when the line crossing risk exists, automatically performing obstacle avoidance operation. By adopting the embodiment of the invention, the power transmission line can be automatically avoided under the condition that a thin line obstacle identification result is not clear, and the autonomy and the adaptive capacity of the unmanned aerial vehicle in a complex environment are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of distribution network obstacle avoidance algorithms, and in particular to an adaptive obstacle avoidance method and system applied to distribution network inspection. Background Art

[0002] With the rapid development of the power system and the continuous expansion of the power grid, the maintenance of power lines has become particularly important. The traditional power line inspection method mainly relies on manual field inspection, which is not only inefficient, but also poses a high safety risk to workers in complex terrain or severe weather conditions. In recent years, drone adaptive technology has been widely used in the field of power inspection due to its high efficiency, flexibility, and low professional requirements. However, the biggest challenge faced by drones during adaptive inspections, especially in densely tree-covered areas or crossing transmission lines, is how to accurately identify obstacles and adjust the flight path in time to avoid collisions.

[0003] Although existing drones have certain obstacle avoidance functions, their obstacle avoidance capabilities are still limited when facing complex natural environments. Traditional obstacle avoidance algorithms mainly rely on LiDAR or ultrasonic sensors. These devices perform well when monitoring larger obstacles, but have difficulty detecting small obstacles such as cross-wires. Therefore, there are still high false alarm and missed alarm rates in practical applications. Summary of the invention

[0004] The purpose of the embodiments of the present invention is to provide an adaptive obstacle avoidance method and system for distribution network inspection, which is optimized for the safety issues of drones crossing transmission lines. It can automatically generate transmission line obstacle avoidance routes without clear thin line obstacle identification results, thereby improving the autonomy and adaptability of drones in complex environments.

[0005] An embodiment of the present invention provides an adaptive obstacle avoidance method applied to distribution network inspection, including: Obtaining the inspection target of the drone; the inspection target includes the next inspection tower and inspection direction; When the drone identifies at least two transmission towers that are different from the next inspection tower, it moves along the inspection direction, identifies each of the transmission towers at at least two positions, and obtains the coordinates of each of the transmission towers based on multi-point calculation; According to the coordinates of each of the transmission towers, a transmission line is obtained; the transmission line includes a line segment formed by two transmission towers; According to the inspection direction and the power transmission line, it is determined whether the current route of the drone has a risk of crossing lines, and obstacle avoidance operations are automatically performed when there is a risk of crossing lines.

[0006] As an improvement of the above solution, when the drone identifies at least two transmission towers that are different from the next inspection tower, it moves along the inspection direction, identifies each of the transmission towers at at least two position points, and obtains the coordinates of each of the transmission towers based on multi-point calculation, including: When the drone identifies at least two transmission towers that are different from the next inspection towers, obtaining a first position of the drone; Identify the first center point coordinates of each of the transmission pole towers at the first position, and calculate the first angle of each of the transmission pole towers relative to the first position according to the first center point coordinates; Move a preset distance along the inspection direction to reach a second position of the drone, identify the coordinates of the second center point of each of the transmission towers at the second position, and calculate a second angle of each of the transmission towers relative to the second position according to the coordinates of the second center point; The first position is used as a coordinate origin, and the coordinates of each of the transmission towers are calculated according to the first angle and the second angle.

[0007] As an improvement of the above solution, the step of identifying the first center point coordinates of each of the transmission towers at the first position, and calculating the first angle of each of the transmission towers relative to the first position according to the first center point coordinates includes: Identify each of the transmission towers at the first position, and obtain the first center point coordinates of each of the transmission towers according to the upper left corner coordinates and the lower right corner coordinates of the camera of the drone; Obtaining the orientation angle and camera parameters of the drone; pass Calculate a first angle of the transmission tower relative to the first position ;in, is the orientation angle of the UAV; is the coordinate of the first center point of the transmission tower; the camera sensor size is ; The focal length of the camera is ; The size of the image captured by the camera is .

[0008] As an improvement of the above solution, taking the first position as the coordinate origin and calculating the coordinates of each of the transmission towers according to the first angle and the second angle includes: Taking the first position as the coordinate origin, and calculating a first straight line formed by the first position and each of the transmission towers according to the first angle; Calculating a second straight line formed by the second position and each of the transmission towers according to the second angle; The coordinates of each of the transmission towers are calculated based on the first straight line and the second straight line.

[0009] As an improvement of the above solution, the coordinates of each transmission tower are calculated according to the first straight line and the second straight line, including: Get the slope of the first straight line ; Get the slope of the second straight line and the coordinates of the second position ; pass Obtaining the horizontal axis coordinate of the transmission tower; pass Obtaining the longitudinal coordinate of the transmission tower; At least one of the rectangular coordinates and the geographical coordinates of the transmission tower is obtained according to the horizontal axis coordinates and the vertical axis coordinates of the transmission tower.

[0010] As an improvement of the above solution, the method of determining whether there is a line crossing risk on the current line of the drone according to the inspection direction and the power transmission line, and automatically performing an obstacle avoidance operation when there is a line crossing risk, includes: Establishing a ray with the drone as an endpoint and the inspection direction as a direction; If there is no intersection between the ray and the power transmission line, it is determined that there is no line crossing risk for the current route of the UAV; If there is an intersection between the ray and the transmission line, a first distance between the endpoint of the ray and the next inspection tower and a second distance between the endpoint of the ray and the intersection are calculated; Obtaining a route intersection risk of a current route of the UAV according to a difference between the first distance and the second distance; When there is a risk of the lines crossing, obstacle avoidance operations are automatically performed by adjusting the gimbal angle of the drone.

[0011] As an improvement of the above solution, obtaining the route intersection risk of the current route of the drone according to the difference between the first distance and the second distance includes: calculating a difference between the first distance and the second distance; When the difference is not greater than a preset difference threshold, it is determined that the current route of the drone has a route crossing risk; otherwise, it is determined that the current route of the drone does not have a route crossing risk.

[0012] As an improvement to the above solution, when there is a risk of the line crossing, the obstacle avoidance operation is automatically performed by adjusting the gimbal angle of the drone, including: When there is a risk of the line crossing, the gimbal angle of the drone is reset, and the drone is controlled to fly upward until the transmission tower is below the horizontal line of the drone's screen, thereby obtaining a first height; Based on the first height, raising the preset height to obtain a second height; At the second height, the distribution network inspection is continued according to the inspection target and the inspection target is updated.

[0013] As an improvement of the above solution, after the preset height is raised based on the first height to obtain the second height, the adaptive obstacle avoidance method applied to distribution network inspection further includes: The second height is entered into the risk information of the next inspection tower.

[0014] The embodiment of the present invention further provides an adaptive obstacle avoidance system for distribution network inspection, including: The inspection target acquisition module is used to acquire the inspection target of the drone; the inspection target includes the next inspection tower and the inspection direction; A transmission tower coordinate calculation module, used for, when the drone identifies at least two transmission towers different from the next inspection tower, moving along the inspection direction, identifying each of the transmission towers at at least two positions, and obtaining the coordinates of each of the transmission towers based on multi-point calculation; A transmission line identification module, used to obtain a transmission line according to the coordinates of each of the transmission towers; the transmission line includes a line segment formed by two transmission towers; The risk avoidance module is used to determine whether there is a line crossing risk on the current line of the drone according to the inspection direction and the power transmission line, and automatically perform obstacle avoidance operations when there is a line crossing risk.

[0015] Compared with the prior art, the present invention discloses an adaptive obstacle avoidance method and system for distribution network inspection, which obtains the inspection target of the drone; the inspection target includes the next inspection tower and the inspection direction; when the drone identifies at least two transmission towers different from the next inspection tower, it moves along the inspection direction, identifies each of the transmission towers at at least two positions, and obtains the coordinates of each of the transmission towers based on multi-point calculation; according to the coordinates of each of the transmission towers, a transmission line is obtained; the transmission line includes a line segment formed by two transmission towers; according to the inspection direction and the transmission line, it is determined whether the current line of the drone has a line crossing risk, and automatically performs obstacle avoidance operations when there is a line crossing risk. The embodiment of the present invention is used to optimize the design for the safety problem of the drone when crossing the transmission line, and can automatically generate a transmission line obstacle avoidance route without a clear thin line obstacle identification result, thereby improving the autonomy and adaptability of the drone in complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the steps of an adaptive obstacle avoidance method applied to distribution network inspection provided by an embodiment of the present invention; Figure 2 It is a schematic diagram of a rectangular coordinate system for identifying and calculating the position of a transmission tower provided by an embodiment of the present invention; Figure 3 is a schematic diagram of determining line crossing risk provided by an embodiment of the present invention; Figure 4 It is a structural schematic diagram of an adaptive obstacle avoidance system applied to distribution network inspection provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] In the description of the specification and claims, it is to be understood that the terms first, second, etc. in the specification and claims are only used for the purpose of describing the same technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated, nor necessarily describing the order or time sequence. The terms are interchangeable where appropriate. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features.

[0019] The embodiment of the present invention provides an adaptive obstacle avoidance method for distribution network inspection. Figure 1 In this embodiment, the adaptive obstacle avoidance method applied to distribution network inspection is specifically performed through steps S1 to S4: S1. Obtain the inspection target of the drone; the inspection target includes the next inspection tower and the inspection direction.

[0020] It should be noted that drones generally have preset inspection rules during distribution network inspections. For example, when inspecting along inspection route 1, they pass through inspection tower A, inspection tower B, etc. in sequence. The inspection direction is determined based on the relative positions of the current inspection tower and the next inspection tower. The drone achieves angle change by adjusting its direction.

[0021] S2. When the drone identifies at least two transmission towers that are different from the next inspection tower, it moves along the inspection direction, identifies each of the transmission towers at at least two positions, and obtains the coordinates of each of the transmission towers based on multi-point calculation.

[0022] It should be noted that the position of the transmission tower in the picture can be obtained through the drone camera, but when the transmission tower is far away from the drone, the position directly calculated may deviate from the actual real position. The embodiment of the present invention determines the coordinates of the transmission tower based on the identification of the transmission tower at least two position points, which does not need to rely on the coordinate position in the picture, effectively improves the recognition accuracy of the transmission tower position, and can further accurately identify the transmission line.

[0023] S3. Obtain a transmission line according to the coordinates of each of the transmission towers; the transmission line includes a line segment formed by two transmission towers.

[0024] The traditional method of identifying transmission lines is to identify the thin lines of the transmission lines, which has a low recognition accuracy and can generally only be identified after being at a close distance to the transmission lines. At this time, obstacle avoidance is difficult. In the embodiments of the present invention, by identifying transmission towers, transmission lines can be determined without accurate thin line recognition results, and whether there are obstacles can be predicted in advance, providing guidance for the flight of drones.

[0025] S4. Determine whether there is a line crossing risk on the current line of the drone based on the inspection direction and the power transmission line, and automatically perform obstacle avoidance operations when there is a line crossing risk.

[0026] In the above scheme, an optimized design is carried out for the safety issues of drones when crossing transmission lines. By identifying transmission towers to determine the risk of line crossing, it can automatically generate a transmission line obstacle avoidance route in the absence of clear thin line obstacle identification results, thereby improving the autonomy and adaptability of drones in complex environments.

[0027] As a preferred implementation, step S2, when the drone identifies at least two transmission towers different from the next inspection tower, moves along the inspection direction, identifies each of the transmission towers at at least two position points, and obtains the coordinates of each of the transmission towers based on multi-point calculation, which is specifically performed through steps S21-S24: S21. When the drone identifies at least two transmission towers that are different from the next inspection tower, obtain a first position of the drone; S22, identifying the first center point coordinates of each of the transmission towers at the first position, and calculating a first angle of each of the transmission towers relative to the first position according to the first center point coordinates; S23, moving a preset distance along the inspection direction to reach a second position of the drone, identifying the coordinates of the second center point of each of the transmission towers at the second position, and calculating a second angle of each of the transmission towers relative to the second position according to the coordinates of the second center point; S24. Taking the first position as a coordinate origin, calculate the coordinates of each of the transmission towers according to the first angle and the second angle.

[0028] It should be noted that, in the embodiment of the present invention, taking two position points as an example, the first position is the position point where the drone initially identifies at least two transmission towers that are different from the next inspection tower, and the second position is the position point reached by the drone after moving a preset distance along the inspection direction. When calculating the coordinates of the transmission tower, the calculation is mainly based on the angles of the transmission towers identified by the drone at two position points at different times, which can eliminate the inaccuracy of identification only through the screen coordinates to a certain extent. Furthermore, each of the transmission towers can be identified at more than two position points to gradually verify the position of the transmission towers.

[0029] For example, see Figure 2 , the first position is point A, and the transmission tower C is identified at point A. At this time, the first angle is ; Move along the inspection direction for a preset distance and reach the second position point B , then the second angle is The coordinates of the transmission tower can be obtained by combining the first angle, the second angle and the second position.

[0030] Further, preferably, step S22, identifying the first center point coordinates of each of the transmission towers at the first position, and calculating the first angle of each of the transmission towers relative to the first position according to the first center point coordinates, comprises: Identify each of the transmission towers at the first position, and obtain the first center point coordinates of each of the transmission towers according to the upper left corner coordinates and the lower right corner coordinates of the camera of the drone; Obtaining the orientation angle and camera parameters of the drone; pass Calculate a first angle of the transmission tower relative to the first position ;in, is the orientation angle of the UAV; is the coordinate of the first center point of the transmission tower; the camera sensor size is ; The focal length of the camera is ; The size of the image captured by the camera is .

[0031] It should be noted that the UAV can obtain the geographic coordinates of the current position point during operation, that is, the longitude and latitude. In the embodiment of the present invention, the calculation is based on the plane rectangular coordinate system, so the coordinate system conversion needs to be performed in advance. Since the distance between the UAV and the tower is generally not too far during the UAV adaptive inspection process, the curvature of the earth has little effect in a small range. Therefore, in the embodiment of the present invention, the geographic coordinates are further converted into coordinates in the Cartesian coordinate system, and the plane rectangular coordinate system is specifically used for approximation.

[0032] Exemplarily, the geographic coordinates of the first location A are , the geographic coordinates of the second location B are , taking A as the origin, the coordinates of A are (0,0), and the coordinates of the second position B are ;in, , .

[0033] Preferably, step S24, taking the first position as the coordinate origin and calculating the coordinates of each of the transmission towers according to the first angle and the second angle, includes: Taking the first position as the coordinate origin, and calculating a first straight line formed by the first position and each of the transmission towers according to the first angle; Calculating a second straight line formed by the second position and each of the transmission towers according to the second angle; The coordinates of each of the transmission towers are calculated based on the first straight line and the second straight line.

[0034] by Figure 2 For example, the coordinates of the first position A are (0,0), and the coordinates of the second position B are , the position of the transmission tower C is expressed as The first straight line formed by the first position A and the transmission tower C can be expressed as ,in , is the first angle; the second straight line formed by the second position B and the transmission tower C can be expressed as ,in , The coordinates of the transmission tower C can be further calculated according to the intersection of the first straight line and the second straight line.

[0035] Specifically, as a preferred implementation, the calculating the coordinates of each of the transmission towers according to the first straight line and the second straight line includes: Get the slope of the first straight line ; Get the slope of the second straight line and the coordinates of the second position ; pass Obtaining the horizontal axis coordinate of the transmission tower; pass Obtaining the longitudinal coordinate of the transmission tower; At least one of the rectangular coordinates and the geographical coordinates of the transmission tower is obtained according to the horizontal axis coordinates and the vertical axis coordinates of the transmission tower.

[0036] It should be noted that, in the embodiment of the present invention, based on the rectangular coordinates of the transmission tower The geographical coordinates of the transmission tower are calculated based on the geographical coordinates of the first position / the second position, and the geographical coordinates can be used to guide the flight route of the drone.

[0037] As a preferred implementation, step S3, obtaining a transmission line according to the coordinates of each transmission tower, includes: According to the coordinates of each of the transmission towers, the transmission towers are connected in a plane rectangular coordinate system to obtain a transmission line, and each end point of the transmission line includes two of the transmission towers.

[0038] It should be noted that when the line connection relationship between the transmission towers is known, the transmission lines are generated according to the known connection relationship; when the line connection relationship between the transmission towers is unknown, the transmission towers are connected in pairs to generate at least one group of transmission lines, and when avoiding obstacles, it is ensured that each group of transmission lines can be avoided.

[0039] As a preferred implementation, step S4, according to the inspection direction and the power transmission line, determines whether there is a line crossing risk on the current line of the drone, and automatically performs obstacle avoidance operation when there is a line crossing risk, and is executed through steps S41-S45: S41, establishing a ray with the drone as an endpoint and the inspection direction as a direction; S42: If there is no intersection between the ray and the power transmission line, it is determined that there is no line crossing risk for the current route of the UAV; S43, if there is an intersection between the ray and the transmission line, calculating a first distance between the endpoint of the ray and the next inspection tower, and a second distance between the endpoint of the ray and the intersection; S44, obtaining a route intersection risk of a current route of the drone according to a difference between the first distance and the second distance; S45. When there is a risk of the lines crossing, automatically perform obstacle avoidance operations by adjusting the gimbal angle of the drone.

[0040] It should be noted that in the embodiment of the present invention, the transmission line is a line segment. The intersection of the ray and the line segment can intuitively indicate whether the inspection direction of the drone will pass through the transmission line. If the drone will pass through the transmission line during inspection, obstacle avoidance operations need to be performed in advance.

[0041] For example, see Figure 3 , the current position of the drone is (x, y), and the ray can be expressed as The two endpoints of the line segment are the first transmission tower C1 and the second transmission tower C2 , the straight line where the line segment lies is represented by By combining the ray and the line where the line segment is located, the coordinates of the intersection point D can be solved. , , If the intersection point D obtained by the solution is not on the line segment C1C2, or the intersection point D does not exist, there is no risk of line crossing; if the intersection point D obtained by the solution is not on the line segment C1C2, or the intersection point D does not exist, there is no risk of line crossing; exist and If there is an intersection between the ray and the transmission line, there may be a risk of line crossing, which needs to be further determined based on the positional relationship between the transmission line and the next inspection tower.

[0042] Further, preferably, step S44, obtaining the route intersection risk of the current route of the drone according to the difference between the first distance and the second distance, includes: calculating a difference between the first distance and the second distance; When the difference is not greater than a preset difference threshold, it is determined that the current route of the drone has a route crossing risk; otherwise, it is determined that the current route of the drone does not have a route crossing risk.

[0043] It should be noted that if the difference between the first distance and the second distance is greater than 0, it means that the drone will not cross the transmission line when reaching the next inspection tower, so in some embodiments, the difference threshold is set to 0.

[0044] Considering that when the drone inspects the poles and towers in the distribution network, it does not only inspect the position of the inspection poles and towers, but also needs to conduct a comprehensive inspection in the vicinity, in other preferred embodiments, the preset difference threshold is 5 meters. That is, if the drone crosses the transmission line when going to the next inspection pole and tower, or the intersection is close to the position of the next inspection pole and tower, it is determined that the current route of the drone has a risk of crossing the line.

[0045] Preferably, step S45, when there is a risk of the line crossing, automatically performing an obstacle avoidance operation by adjusting the gimbal angle of the drone, includes: When there is a risk of the line crossing, the gimbal angle of the drone is reset, and the drone is controlled to fly upward until the transmission tower is below the horizontal line of the drone's screen, thereby obtaining a first height; Based on the first height, raising the preset height to obtain a second height; At the second height, the distribution network inspection is continued according to the inspection target and the inspection target is updated.

[0046] The above scheme provides a specific obstacle avoidance method, which is to adjust the flight altitude to achieve obstacle avoidance operation on the power transmission line. The purpose of resetting the gimbal angle of the drone is to ensure that the image currently captured by the drone is relatively parallel to the ground. At this time, the drone is lifted. If the transmission tower is below the horizontal line of the drone's image, it means that the drone's flight altitude is at least not lower than the height of the power transmission line. Then the drone is lifted to a preset height to avoid the flight line being affected by the power transmission line. In some preferred embodiments, the preset height is 10 meters.

[0047] It should be noted that at the second height, the next inspection tower may not be identified, but it is understandable that the geographical location of the next inspection tower and the current geographical location of the drone are both known. The drone can perform distribution network inspection based on this, and when it reaches the destination geographical location, it can then perform the positioning and height inspection process normally.

[0048] Furthermore, as a preferred implementation, after the preset height is raised based on the first height to obtain the second height, the adaptive obstacle avoidance method applied to distribution network inspection further includes: The second height is entered into the risk information of the next inspection tower.

[0049] An adaptive obstacle avoidance method for distribution network inspection provided by an embodiment of the present invention is used to optimize the design for the safety of drones crossing transmission lines. By identifying transmission towers to determine the risk of line crossing, it is possible to automatically generate a transmission line obstacle avoidance route in the absence of clear thin-line obstacle identification results, thereby improving the autonomy and adaptability of drones in complex environments.

[0050] The embodiment of the present invention provides an adaptive obstacle avoidance system for distribution network inspection. Figure 4 The adaptive obstacle avoidance system applied to distribution network inspection includes an inspection target acquisition module 11, a transmission tower coordinate calculation module 12, a transmission line identification module 13 and a risk avoidance module 14, wherein: The inspection target acquisition module 11 is used to acquire the inspection target of the drone; the inspection target includes the next inspection tower and the inspection direction; A transmission tower coordinate calculation module 12 is used for, when the drone identifies at least two transmission towers different from the next inspection tower, to move along the inspection direction, identify each of the transmission towers at at least two positions, and obtain the coordinates of each of the transmission towers based on multi-point calculation; The transmission line identification module 13 is used to obtain the transmission line according to the coordinates of each transmission tower; the transmission line includes a line segment formed by two transmission towers; The risk avoidance module 14 is used to determine whether there is a line crossing risk on the current line of the drone according to the inspection direction and the power transmission line, and automatically perform obstacle avoidance operations when there is a line crossing risk.

[0051] As a preferred implementation, the transmission tower coordinate calculation module 12 includes: A first position acquisition unit, configured to obtain a first position of the drone when the drone identifies at least two transmission towers different from the next inspection tower; A first angle calculation unit, configured to identify the first center point coordinates of each of the transmission towers at the first position, and calculate a first angle of each of the transmission towers relative to the first position according to the first center point coordinates; a multi-point data acquisition unit, configured to move a preset distance along the inspection direction to reach a second position of the drone, identify the coordinates of a second center point of each of the transmission towers at the second position, and calculate a second angle of each of the transmission towers relative to the second position according to the coordinates of the second center point; A coordinate calculation unit is used to calculate the coordinates of each of the transmission towers according to the first angle and the second angle, using the first position as a coordinate origin.

[0052] Further, preferably, the first angle calculation unit is specifically used to: Identify each of the transmission towers at the first position, and obtain the first center point coordinates of each of the transmission towers according to the upper left corner coordinates and the lower right corner coordinates of the camera of the drone; Obtaining the orientation angle and camera parameters of the drone; pass Calculate a first angle of the transmission tower relative to the first position ;in, is the orientation angle of the UAV; is the coordinate of the first center point of the transmission tower; the camera sensor size is ; The focal length of the camera is ; The size of the image captured by the camera is .

[0053] Preferably, the coordinate calculation unit is specifically used for: Taking the first position as the coordinate origin, and calculating a first straight line formed by the first position and each of the transmission towers according to the first angle; Calculating a second straight line formed by the second position and each of the transmission towers according to the second angle; The coordinates of each of the transmission towers are calculated based on the first straight line and the second straight line.

[0054] Furthermore, as a preferred implementation, the calculating the coordinates of each of the transmission towers according to the first straight line and the second straight line includes: Get the slope of the first straight line ; Get the slope of the second straight line and the coordinates of the second position ; pass Obtaining the horizontal axis coordinate of the transmission tower; pass Obtaining the longitudinal coordinate of the transmission tower; At least one of the rectangular coordinates and the geographical coordinates of the transmission tower is obtained according to the horizontal axis coordinates and the vertical axis coordinates of the transmission tower.

[0055] As a preferred implementation, the risk avoidance module 14 includes: A ray establishing unit, used to establish a ray with the drone as an endpoint and the inspection direction as a direction; A first risk determination unit, configured to determine that there is no line crossing risk for the current route of the UAV if there is no intersection between the ray and the power transmission line; A distance calculation unit, configured to calculate a first distance between an endpoint of the ray and the next inspection tower, and a second distance between the endpoint of the ray and the intersection, if there is an intersection between the ray and the transmission line; a second risk determination unit, configured to obtain a route intersection risk of a current route of the drone according to a difference between the first distance and the second distance; The automatic obstacle avoidance unit is used to automatically perform obstacle avoidance operations by adjusting the gimbal angle of the drone when there is a risk of the line crossing.

[0056] Further, preferably, the second risk determination unit is specifically used to: calculating a difference between the first distance and the second distance; When the difference is not greater than a preset difference threshold, it is determined that the current route of the drone has a route crossing risk; otherwise, it is determined that the current route of the drone does not have a route crossing risk.

[0057] Preferably, the automatic obstacle avoidance unit is specifically used for: When there is a risk of the line crossing, the gimbal angle of the drone is reset, and the drone is controlled to fly upward until the transmission tower is below the horizontal line of the drone's screen, thereby obtaining a first height; Based on the first height, raising the preset height to obtain a second height; At the second height, the distribution network inspection is continued according to the inspection target and the inspection target is updated.

[0058] Furthermore, after the automatic obstacle avoidance unit performs the operation of raising the preset height based on the first height to obtain the second height, it is further configured to perform: The second height is entered into the risk information of the next inspection tower.

[0059] An adaptive obstacle avoidance system for distribution network inspection provided by an embodiment of the present invention is optimized for the safety of drones crossing transmission lines. By identifying transmission towers to determine the risk of line crossing, it can automatically generate a transmission line obstacle avoidance route in the absence of clear thin-line obstacle identification results, thereby improving the autonomy and adaptability of drones in complex environments.

[0060] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above-mentioned methods. The storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0061] The above is a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. An adaptive obstacle avoidance method for distribution network inspection, characterized in that: include: Get the inspection target of the drone; The inspection target includes the next inspection tower and the inspection direction; When the drone identifies at least two transmission towers that are different from the next inspection tower, it moves along the inspection direction, identifies each of the transmission towers at at least two positions, and obtains the coordinates of each of the transmission towers based on multi-point calculation; According to the coordinates of each of the transmission towers, a transmission line is obtained; the transmission line includes a line segment formed by two transmission towers; According to the inspection direction and the power transmission line, it is determined whether the current route of the drone has a risk of crossing lines, and obstacle avoidance operations are automatically performed when there is a risk of crossing lines.

2. The adaptive obstacle avoidance method for distribution network inspection according to claim 1, characterized in that: When the drone identifies at least two transmission towers different from the next inspection tower, it moves along the inspection direction, identifies each of the transmission towers at at least two positions, and obtains the coordinates of each of the transmission towers based on multi-point calculation, including: When the drone identifies at least two transmission towers that are different from the next inspection towers, obtaining a first position of the drone; Identify the first center point coordinates of each of the transmission pole towers at the first position, and calculate the first angle of each of the transmission pole towers relative to the first position according to the first center point coordinates; Move a preset distance along the inspection direction to reach a second position of the drone, identify the coordinates of the second center point of each of the transmission towers at the second position, and calculate a second angle of each of the transmission towers relative to the second position according to the coordinates of the second center point; The first position is used as a coordinate origin, and the coordinates of each of the transmission towers are calculated according to the first angle and the second angle.

3. The adaptive obstacle avoidance method for distribution network inspection according to claim 2, characterized in that: The step of identifying the first center point coordinates of each of the transmission pole towers at the first position, and calculating the first angle of each of the transmission pole towers relative to the first position according to the first center point coordinates, comprises: Identify each of the transmission towers at the first position, and obtain the first center point coordinates of each of the transmission towers according to the upper left corner coordinates and the lower right corner coordinates of the camera of the drone; Obtaining the orientation angle and camera parameters of the drone; pass Calculate a first angle of the transmission tower relative to the first position ;in, is the orientation angle of the UAV; is the coordinate of the first center point of the transmission tower; the camera sensor size is ; The focal length of the camera is ; The size of the image captured by the camera is .

4. The adaptive obstacle avoidance method for distribution network inspection according to claim 2, characterized in that: The step of taking the first position as the coordinate origin and calculating the coordinates of each of the transmission towers according to the first angle and the second angle includes: Taking the first position as the coordinate origin, and calculating a first straight line formed by the first position and each of the transmission towers according to the first angle; Calculating a second straight line formed by the second position and each of the transmission towers according to the second angle; The coordinates of each of the transmission towers are calculated based on the first straight line and the second straight line.

5. The adaptive obstacle avoidance method for distribution network inspection according to claim 4, characterized in that: Calculating the coordinates of each of the transmission towers according to the first straight line and the second straight line includes: Get the slope of the first straight line ; Get the slope of the second straight line and the coordinates of the second position ; pass Obtaining the horizontal axis coordinate of the transmission tower; pass Obtaining the longitudinal coordinate of the transmission tower; At least one of the rectangular coordinates and the geographical coordinates of the transmission tower is obtained according to the horizontal axis coordinates and the vertical axis coordinates of the transmission tower.

6. The adaptive obstacle avoidance method for distribution network inspection according to claim 1, characterized in that: The determining, based on the inspection direction and the power transmission line, whether there is a line crossing risk on the current line of the drone, and automatically performing an obstacle avoidance operation when there is a line crossing risk, includes: Establishing a ray with the drone as an endpoint and the inspection direction as a direction; If there is no intersection between the ray and the power transmission line, it is determined that there is no line crossing risk for the current route of the UAV; If there is an intersection between the ray and the transmission line, a first distance between the endpoint of the ray and the next inspection tower and a second distance between the endpoint of the ray and the intersection are calculated; Obtaining a route intersection risk of a current route of the UAV according to a difference between the first distance and the second distance; When there is a risk of the lines crossing, obstacle avoidance operations are automatically performed by adjusting the gimbal angle of the drone.

7. The adaptive obstacle avoidance method for distribution network inspection according to claim 6, characterized in that: The obtaining, according to the difference between the first distance and the second distance, the route intersection risk of the current route of the drone includes: calculating a difference between the first distance and the second distance; When the difference is not greater than a preset difference threshold, it is determined that the current route of the drone has a route crossing risk; otherwise, it is determined that the current route of the drone does not have a route crossing risk.

8. The adaptive obstacle avoidance method for distribution network inspection according to claim 6, characterized in that: When there is a risk of the line crossing, automatically performing an obstacle avoidance operation by adjusting the gimbal angle of the drone includes: When there is a risk of the line crossing, the gimbal angle of the drone is reset, and the drone is controlled to fly upward until the transmission tower is below the horizontal line of the drone's screen, thereby obtaining a first height; Based on the first height, raising the preset height to obtain a second height; At the second height, the distribution network inspection is continued according to the inspection target and the inspection target is updated.

9. The adaptive obstacle avoidance method for distribution network inspection according to claim 8, characterized in that: After the preset height is raised based on the first height to obtain the second height, the adaptive obstacle avoidance method applied to distribution network inspection further includes: The second height is entered into the risk information of the next inspection tower.

10. An adaptive obstacle avoidance system for distribution network inspection, characterized in that: include: Inspection target acquisition module, used to obtain the inspection target of the drone; The inspection target includes the next inspection tower and the inspection direction; A transmission tower coordinate calculation module, used for, when the drone identifies at least two transmission towers different from the next inspection tower, moving along the inspection direction, identifying each of the transmission towers at at least two positions, and obtaining the coordinates of each of the transmission towers based on multi-point calculation; A transmission line identification module, used to obtain a transmission line according to the coordinates of each of the transmission towers; the transmission line includes a line segment formed by two transmission towers; The risk avoidance module is used to determine whether there is a line crossing risk on the current line of the drone according to the inspection direction and the power transmission line, and automatically perform obstacle avoidance operations when there is a line crossing risk.

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