Traction rope placing method, device and equipment based on paying-off tackle and medium

Abstract

The invention relates to the technical field of artificial intelligence, and provides a traction rope placement method and device based on a paying-off tackle, equipment and a medium. Image processing is carried out by using the traction rope positioning model to obtain real-time position information of the target traction rope relative to the rope threading mechanism, so that accurate real-time positioning is directly carried out on the traction rope according to a real-time image at the rope threading mechanism of the paying-off tackle in combination with an artificial intelligence means; when the target traction rope is in the pre-starting area of the target paying-off tackle within the preset time, the unmanned aerial vehicle carrying the target traction rope is controlled to carry out flight attitude adjustment according to the real-time position information until the target traction rope is in a placeable state, a rope penetrating mechanism is started to place the target traction rope, mechanical triggering is not needed, and the operation is simple and convenient. According to the real-time positioning information, a proper opportunity can be more accurately and quickly selected to carry out stringing operation, so that the success rate is effectively ensured, and meanwhile, the working efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of artificial intelligence technology, and in particular to a method, device, equipment and medium for placing a traction rope based on a line-laying pulley. Background Art

[0002] In the prior art, when installing conductors in power grid line infrastructure construction, it is usually necessary to pull the conductors through a pulley. Currently, it is mainly done manually, and 2-3 workers are required on each tower to manually thread and observe the wires. In addition, the principle of threading is that the wires cannot leave the ground, so a total of 20-30 people are required to stay on the towers of the entire line to wait for helicopters or other auxiliary equipment to thread the traction ropes into the wire-laying pulleys one by one.

[0003] There are also solutions in the prior art that use drones to cooperate with the line-laying pulley to guide the traction rope into the line-laying pulley, but the action of the line-laying pulley when threading the rope is based on mechanical triggering. The drone is not very stable when flying in the air, and the traction rope will also shake due to the influence of wind, so sometimes the pulley will be triggered by mistake, causing the rope threading mechanism of the pulley to be triggered when the traction rope is not in place. At this time, it will be very difficult to reset the rope threading mechanism. The power of the rope threading mechanism is generally gravity. After the personnel go up the tower, they need to use special tools to reset the rope threading mechanism, which is difficult to operate. Summary of the invention

[0004] In view of the above, it is necessary to provide a method, device, equipment and medium for placing a traction rope based on a line-laying pulley, aiming to solve the problem of low success rate and low efficiency in the process of placing the traction rope on the line-laying pulley.

[0005] In a first aspect, an embodiment of the present application provides a method for placing a traction rope based on a line-laying pulley, and the method for placing a traction rope based on a line-laying pulley comprises:

[0006] In response to a target traction rope placement instruction for a target line-laying block, a camera installed at a rope threading mechanism of the target line-laying block is used to collect images in real time as images to be processed;

[0007] The image to be processed is processed using a pre-trained traction rope positioning model to obtain real-time position information of the target traction rope relative to the rope threading mechanism;

[0008] When the real-time position information shows that the target traction rope is in the pre-starting area of ​​the target line-releasing block within a preset time, the UAV carrying the target traction rope is controlled to adjust its flight attitude according to the real-time position information until the target traction rope is in a placeable state;

[0009] The rope threading mechanism is started to place the target traction rope.

[0010] In a second aspect, an embodiment of the present application further provides a traction rope placement device based on a line-laying pulley, and the traction rope placement device based on the line-laying pulley comprises:

[0011] A collection unit, for responding to a target traction rope placement instruction for a target line-laying block, using a camera installed at a rope threading mechanism of the target line-laying block to collect images in real time as images to be processed;

[0012] A processing unit, used to process the image to be processed using a pre-trained traction rope positioning model to obtain real-time position information of the target traction rope relative to the rope threading mechanism;

[0013] A control unit, configured to control the UAV carrying the target traction rope to adjust its flight attitude according to the real-time position information when the real-time position information shows that the target traction rope is in the pre-starting area of ​​the target line-releasing block within a preset time period, until the target traction rope is in a placeable state;

[0014] A placement unit is used to start the rope threading mechanism to place the target traction rope.

[0015] In a third aspect, an embodiment of the present application further provides a computer device, the computer device comprising:

[0016] a memory storing at least one instruction; and

[0017] A processor executes the instructions stored in the memory to implement the traction rope placement method based on the line-laying block.

[0018] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, wherein at least one instruction is stored in the computer-readable storage medium, and the at least one instruction is executed by a processor in a computer device to implement the traction rope placement method based on a line-laying pulley.

[0019] The embodiment of the present application provides a method, device, equipment and medium for placing a traction rope based on a line-laying pulley. It has the following beneficial effects: using a camera installed at the rope threading mechanism of the target line-laying pulley to collect images in real time as images to be processed, and using a traction rope positioning model to process the images to be processed to obtain real-time position information of the target traction rope relative to the rope threading mechanism, so as to accurately and in real time position the traction rope directly according to the real-time image at the rope threading mechanism of the line-laying pulley in combination with artificial intelligence means; when the target traction rope is in the pre-starting area of ​​the target line-laying pulley within a preset time, the drone carrying the target traction rope is controlled to adjust its flight attitude according to the real-time position information, until the target traction rope is in a placeable state, the rope threading mechanism is started to place the target traction rope, without mechanical triggering, and the appropriate time can be selected more accurately and quickly for the rope threading operation according to the real-time positioning information, which effectively guarantees the success rate and improves the work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 It is a flow chart of a preferred embodiment of the method for placing a traction rope based on a line-laying pulley of the present application;

[0022] Figure 2 This is a schematic diagram of the operation scene when placing a traction rope on a line-laying pulley in the present application;

[0023] Figure 3 It is a functional module diagram of a preferred embodiment of the traction rope placing device based on the line-laying pulley of the present application;

[0024] Figure 4 It is a structural schematic diagram of a computer device of a preferred embodiment of the present application to implement a traction rope placement method based on a line-laying pulley. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0026] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0027] It should also be understood that the terms used in this application specification are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in this application specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0028] It should be further understood that the term “and / or” used in the specification and appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0029] The embodiments of the present application provide a method, device, equipment and medium for placing a traction rope based on a line-laying pulley, wherein the method can be applied to a server.

[0030] The executor of the traction rope placement method based on the line-paying pulley may be the traction rope placement device based on the line-paying pulley provided in the embodiment of the present application, or an electronic device integrating the traction rope placement device based on the line-paying pulley, wherein the traction rope placement device based on the line-paying pulley may be implemented in hardware or software, and the electronic device may be a server, specifically a control device in the server, or a terminal having a communication connection with the control device.

[0031] See also Figure 1 , Figure 1 This is a flow chart of a preferred embodiment of the traction rope placement method based on the line-laying block of the present application. Specifically, the traction rope placement method based on the line-laying block includes the following steps S110-S140.

[0032] S110, in response to a target traction rope placement instruction for a target line-paying block, using a camera installed at a rope threading mechanism of the target line-paying block to collect images in real time as images to be processed.

[0033] In this embodiment, the cable pulley is also called a cable pulley or a cable traction machine, which is a lifting device that can provide uniform, stable and continuous pulling force. It is mainly composed of a motor, a reducer, a brake and a pulley, and has a simple structure and is easy to operate.

[0034] In this embodiment, the method further includes:

[0035] When it is detected that the target traction rope is on the guide frame of the target line-releasing pulley and the UAV has established communication with the target line-releasing pulley, it is determined that the target traction rope placement instruction has been received.

[0036] See also Figure 2 , is a schematic diagram of the operation scene when placing the traction rope on the line-laying pulley in this application. Figure 2 (a) It can be seen that the drone will carry a traction rope and pass the traction rope through an intelligent pulley (such as the target line-laying pulley in this embodiment). Therefore, in this embodiment, when it is detected that the target traction rope is on the guide frame of the target line-laying pulley, the drone will search for the signal of the target line-laying pulley and establish communication with the target line-laying pulley. When it is detected that the drone has established communication with the target line-laying pulley, it can be determined that the target traction rope placement instruction has been received and subsequent operations can be performed.

[0037] In this embodiment, a camera is installed at the threading mechanism of the target line-releasing pulley, which can identify the state of the target traction rope in real time, so as to trigger the placement operation of the target traction rope at an accurate time. Compared with the traditional mechanical triggering method, the triggering timing is more accurate, which can effectively avoid the problem of mis-triggering the pulley due to the shaking of the drone.

[0038] S120, using a pre-trained traction rope positioning model to process the image to be processed, to obtain real-time position information of the target traction rope relative to the rope threading mechanism.

[0039] In this embodiment, before processing the image to be processed using the pre-trained traction rope positioning model, the method further includes:

[0040] Access to historical dragline images collected;

[0041] Marking the position information of the traction rope in each historical traction rope image relative to the corresponding rope threading mechanism;

[0042] Each marked historical traction rope image is used as a training sample, the marked position information is used as a training target, and an initial model with a position recognition function is trained to obtain the traction rope positioning model.

[0043] Among them, the initial model may include, but is not limited to: Convolutional Neural Networks (CNN), Faster R-CNN (Faster Region-based Convolutional Neural Networks, region-based convolutional neural network) model, YOLO (You Only Look Once) and SSD (Single Shot MultiBox Detector, single-stage target detector), etc.

[0044] Specifically, the marked position information is used as a training target to continuously fit the model parameters until the model converges, thereby obtaining the traction rope positioning model.

[0045] S130, when the real-time position information shows that the target towing rope is in the pre-start area of ​​the target line-releasing pulley within a preset time period, the drone carrying the target towing rope is controlled to adjust its flight attitude according to the real-time position information until the target towing rope is in a placeable state.

[0046] Among them, the preset duration can be customized according to the actual operation scenario. For example, the preset duration can be configured to 15 seconds to ensure that the target towing rope is not in the pre-start area of ​​the target line-releasing pulley due to instantaneous disturbance, thereby improving the accuracy of the triggering timing to avoid affecting the accuracy of recognition due to factors such as unstable flight or weather.

[0047] Among them, the pre-start area can be an area close to the pulley groove of the line-releasing pulley. When the target traction rope enters the pre-start area, the flight state of the drone can be adjusted so that the target traction rope is in a placeable state.

[0048] Specifically, controlling the UAV carrying the target towing rope to adjust the flight attitude according to the real-time position information includes:

[0049] The displacement of the UAV is controlled to change the distance between the target traction rope and the pulley slot of the rope threading mechanism.

[0050] For example, the displacement, rise or fall of the UAV can be controlled to change the distance between the target traction rope and the pulley slot of the rope threading mechanism.

[0051] In this embodiment, the method further includes:

[0052] When the UAV carrying the target traction rope is controlled to adjust its flight attitude according to the real-time position information, the reel at the other end of the target traction rope is controlled to scale the target traction rope so that the tension of the target traction rope is within the configured tension range.

[0053] Among them, the configuration tension range can be configured based on a large number of experiments in actual operation scenarios and the operating parameters of the target line-releasing pulley to ensure that the target traction rope can have sufficient tension to overcome the friction force of starting the target line-releasing pulley without affecting the normal flight of the drone.

[0054] In this embodiment, the method further includes:

[0055] When it is detected that the distance between the target traction rope and the inner cross section of the pulley slot is less than or equal to the configuration distance, and the tension is within the configuration tension range, calculating the area ratio of the target traction rope relative to the inner cross section;

[0056] When the area ratio is greater than or equal to the configuration ratio, calculating the sag of the target traction rope in the vertical direction and calculating the span of the target traction rope;

[0057] calculating a quotient between the sag and the span as a target value;

[0058] When the target value is less than or equal to the configuration threshold, it is determined that the target traction rope is in the placeable state.

[0059] The configuration distance may be configured according to actual operation requirements, such as 0.5 cm.

[0060] The configuration ratio may also be configured according to actual operation requirements, such as 80%.

[0061] The configuration threshold may also be configured according to actual operation requirements, such as 1%-2%.

[0062] Through the above embodiment, after meeting the distance and tension requirements, the ratio between the sag and the span can be further calculated so as to effectively press down the target line-laying pulley wheel to trigger the action, thereby improving the success rate of the operation.

[0063] S140, starting the rope threading mechanism to place the target traction rope.

[0064] For example: Please continue to Figure 2 ,Depend on Figure 2(b) It can be seen that when the camera detects that the target traction rope is in a placeable state, the drive motor is automatically triggered to drive the rope threading wheel of the rope threading mechanism to rotate. At the same time, the UAV carrying the target traction rope is controlled to adjust its flight attitude according to the recognized real-time position information to assist in calibrating the relative position between the target traction rope and the rope threading mechanism, until the target traction rope is accurately placed in the rope threading wheel slot, thereby completing the rope threading operation of the target traction rope to the target line-releasing pulley.

[0065] This embodiment can accurately trigger the line release operation by combining machine vision, thus improving the operation efficiency. Compared with the previous operation mode where the pilot needs to observe the state of the traction rope through the camera and looking up, it effectively solves the problem of low operation efficiency and avoids the occurrence of misoperation.

[0066] In this embodiment, after the rope threading mechanism is activated to place the target traction rope, the method further includes:

[0067] Sending a towing rope placement instruction to the drone;

[0068] When receiving a traction rope placement instruction from another line-laying block, obtaining the line-laying block closest to the UAV, and controlling the UAV to fly to the operation point of the nearest line-laying block; or

[0069] When no traction rope placement instruction is received from the other line-releasing pulleys, the drone is controlled to return.

[0070] In the above embodiment, when other line-paying pulleys need to place traction ropes, the drone selects the next line-paying pulley for operation based on the principle of proximity, thereby further improving operation efficiency; when no other line-paying pulleys need to place traction ropes, the drone returns directly.

[0071] It can be seen from the above technical scheme that the present application can utilize the camera installed at the rope threading mechanism of the target line-paying pulley to collect images in real time as images to be processed, and use the traction rope positioning model to process the images to be processed to obtain the real-time position information of the target traction rope relative to the rope threading mechanism, so as to combine artificial intelligence means to directly perform accurate real-time positioning of the traction rope according to the real-time image at the rope threading mechanism of the line-paying pulley; when the target traction rope is in the pre-starting area of ​​the target line-paying pulley within a preset time period, the drone carrying the target traction rope is controlled to adjust its flight attitude according to the real-time position information, and the rope threading mechanism is started to place the target traction rope when the target traction rope is in a placeable state, without the need for mechanical triggering, and the appropriate time can be selected more accurately and quickly for the rope threading operation according to the real-time positioning information, which effectively ensures the success rate and improves work efficiency.

[0072] Figure 3 A schematic block diagram of a traction rope placement device based on a line-laying pulley is provided in an embodiment of the present application. Figure 3 In the embodiment, corresponding to the above-mentioned traction rope placement method based on the wire-laying pulley, the present application also provides a traction rope placement device based on the wire-laying pulley. The traction rope placement device based on the wire-laying pulley includes a unit for executing the above-mentioned traction rope placement method based on the wire-laying pulley, and the device can be configured on a server. Specifically, please refer to Figure 3 The traction rope placement device 300 based on the line-laying pulley includes a collection unit 301, a processing unit 302, a control unit 303, and a placement unit 304, wherein:

[0073] The acquisition unit 301 is used to respond to the target traction rope placement instruction of the target line-laying block and use the camera installed at the rope threading mechanism of the target line-laying block to collect images in real time as images to be processed;

[0074] The processing unit 302 is used to process the image to be processed using a pre-trained traction rope positioning model to obtain real-time position information of the target traction rope relative to the rope threading mechanism;

[0075] The control unit 303 is used to control the UAV carrying the target towing rope to adjust its flight attitude according to the real-time position information when the real-time position information shows that the target towing rope is in the pre-starting area of ​​the target line-releasing block within a preset time period, until the target towing rope is in a placeable state;

[0076] The placement unit 304 is used to activate the rope threading mechanism to place the target traction rope.

[0077] It can be seen from the above technical scheme that the present application can utilize the camera installed at the rope threading mechanism of the target line-paying pulley to collect images in real time as images to be processed, and use the traction rope positioning model to process the images to be processed to obtain the real-time position information of the target traction rope relative to the rope threading mechanism, so as to combine artificial intelligence means to directly perform accurate real-time positioning of the traction rope according to the real-time image at the rope threading mechanism of the line-paying pulley; when the target traction rope is in the pre-starting area of ​​the target line-paying pulley within a preset time period, the drone carrying the target traction rope is controlled to adjust its flight attitude according to the real-time position information, and the rope threading mechanism is started to place the target traction rope when the target traction rope is in a placeable state, without the need for mechanical triggering, and the appropriate time can be selected more accurately and quickly for the rope threading operation according to the real-time positioning information, which effectively ensures the success rate and improves work efficiency.

[0078] The above-mentioned traction rope placing device based on the line-laying block can be realized in the form of a computer program, which can be used in Figure 4runs on the electronic device indicated.

[0079] See also Figure 4 , Figure 4 4 is a schematic block diagram of an electronic device provided in an embodiment of the present application. The electronic device 400 may be a server, specifically a control device in the server, or a terminal having a communication connection with the control device.

[0080] See also Figure 4 The electronic device 400 includes a processor 402 , a memory and a network interface 405 connected via a system bus 401 , wherein the memory may include a non-volatile storage medium 403 and an internal memory 404 .

[0081] The non-volatile storage medium 403 can store an operating system 4031 and a computer program 4032. The computer program 4032 includes program instructions, and when the program instructions are executed, the processor 402 can execute a traction rope placement method based on a line-laying block.

[0082] The processor 402 is used to provide computing and control capabilities to support the operation of the entire electronic device 400 .

[0083] The internal memory 404 provides an environment for the operation of the computer program 4032 in the non-volatile storage medium 403. When the computer program 4032 is executed by the processor 402, the processor 402 can execute a traction rope placement method based on a line-laying block.

[0084] The network interface 405 is used to communicate with other devices over the network. Figure 4 The structure shown in the figure is merely a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the electronic device 400 to which the scheme of the present application is applied. The specific electronic device 400 may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0085] The processor 402 is used to run the computer program 4032 stored in the memory to implement the following steps:

[0086] In response to a target traction rope placement instruction for a target line-laying block, a camera installed at a rope threading mechanism of the target line-laying block is used to collect images in real time as images to be processed;

[0087] The image to be processed is processed using a pre-trained traction rope positioning model to obtain real-time position information of the target traction rope relative to the rope threading mechanism;

[0088] When the real-time position information shows that the target traction rope is in the pre-starting area of ​​the target line-releasing block within a preset time, the UAV carrying the target traction rope is controlled to adjust its flight attitude according to the real-time position information until the target traction rope is in a placeable state;

[0089] The rope threading mechanism is started to place the target traction rope.

[0090] It should be understood that in the embodiment of the present application, the processor 402 may be a central processing unit (CPU), and the processor 402 may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0091] It can be understood by those skilled in the art that all or part of the processes in the method for implementing the above embodiment can be completed by instructing the relevant hardware through a computer program. The computer program includes program instructions, and the computer program can be stored in a storage medium, which is a computer-readable storage medium. The program instructions are executed by at least one processor in the computer system to implement the process steps of the embodiment of the above method.

[0092] Therefore, the present application also provides a storage medium. The storage medium may be a computer-readable storage medium. The storage medium stores a computer program, wherein the computer program includes program instructions. When the program instructions are executed by a processor, the processor executes the following steps:

[0093] In response to a target traction rope placement instruction for a target line-laying block, a camera installed at a rope threading mechanism of the target line-laying block is used to collect images in real time as images to be processed;

[0094] The image to be processed is processed using a pre-trained traction rope positioning model to obtain real-time position information of the target traction rope relative to the rope threading mechanism;

[0095] When the real-time position information shows that the target traction rope is in the pre-starting area of ​​the target line-releasing block within a preset time, the UAV carrying the target traction rope is controlled to adjust its flight attitude according to the real-time position information until the target traction rope is in a placeable state;

[0096] The rope threading mechanism is started to place the target traction rope.

[0097] The storage medium may be a USB flash drive, a mobile hard disk, a read-only memory (ROM), a magnetic disk, or an optical disk, etc., which are computer-readable storage media that can store program codes.

[0098] It should be noted that the data involved in this application were obtained legally.

[0099] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0100] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of each unit is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed.

[0101] The steps in the method of the embodiment of the present application can be adjusted in order, combined and deleted according to actual needs. The units in the device of the embodiment of the present application can be combined, divided and deleted according to actual needs. In addition, the functional units in the various embodiments of the present application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0102] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for an electronic device (which can be a personal computer, terminal, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application.

[0103] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A method for placing a traction rope based on a line-laying pulley, characterized in that: The traction rope placement method based on the line-laying block comprises: In response to a target traction rope placement instruction for a target line-laying block, a camera installed at a rope threading mechanism of the target line-laying block is used to collect images in real time as images to be processed; The image to be processed is processed using a pre-trained traction rope positioning model to obtain real-time position information of the target traction rope relative to the rope threading mechanism; When the real-time position information shows that the target traction rope is in the pre-starting area of ​​the target line-releasing block within a preset time, the UAV carrying the target traction rope is controlled to adjust its flight attitude according to the real-time position information until the target traction rope is in a placeable state; The rope threading mechanism is started to place the target traction rope.

2. The method for placing a traction rope based on a line-laying pulley according to claim 1, characterized in that: The method further comprises: When it is detected that the target traction rope is on the guide frame of the target line-releasing pulley and the UAV has established communication with the target line-releasing pulley, it is determined that the target traction rope placement instruction has been received.

3. The method for placing a traction rope based on a line-laying pulley according to claim 1, characterized in that: Before processing the image to be processed using the pre-trained traction rope positioning model, the method further includes: Access to historical dragline images collected; Marking the position information of the traction rope in each historical traction rope image relative to the corresponding rope threading mechanism; Each marked historical traction rope image is used as a training sample, the marked position information is used as a training target, and an initial model with a position recognition function is trained to obtain the traction rope positioning model.

4. The method for placing a traction rope based on a line-laying pulley according to claim 1, characterized in that: The controlling the UAV carrying the target traction rope to adjust the flight attitude according to the real-time position information includes: The displacement of the UAV is controlled to change the distance between the target traction rope and the pulley slot of the rope threading mechanism.

5. The method for placing a traction rope based on a line-laying pulley according to claim 4, characterized in that: The method further comprises: When the UAV carrying the target traction rope is controlled to adjust its flight attitude according to the real-time position information, the reel at the other end of the target traction rope is controlled to scale the target traction rope so that the tension of the target traction rope is within the configured tension range.

6. The method for placing a traction rope based on a line-laying pulley according to claim 5, characterized in that: The method further comprises: When it is detected that the distance between the target traction rope and the inner cross section of the pulley slot is less than or equal to the configuration distance, and the tension is within the configuration tension range, calculating the area ratio of the target traction rope relative to the inner cross section; When the area ratio is greater than or equal to the configuration ratio, calculating the sag of the target traction rope in the vertical direction and calculating the span of the target traction rope; calculating a quotient between the sag and the span as a target value; When the target value is less than or equal to the configuration threshold, it is determined that the target traction rope is in the placeable state.

7. The method for placing a traction rope based on a line-laying pulley according to claim 1, characterized in that: After the rope threading mechanism is activated to place the target traction rope, the method further includes: Sending a towing rope placement instruction to the drone; When receiving a traction rope placement instruction from another line-laying block, obtaining the line-laying block closest to the UAV, and controlling the UAV to fly to the operation point of the nearest line-laying block; or When no traction rope placement instruction is received from the other line-releasing pulleys, the drone is controlled to return.

8. A traction rope placement device based on a line-laying pulley, characterized in that: The traction rope placing device based on the line-laying pulley comprises: A collection unit, for responding to a target traction rope placement instruction for a target line-laying block, using a camera installed at a rope threading mechanism of the target line-laying block to collect images in real time as images to be processed; A processing unit, used to process the image to be processed using a pre-trained traction rope positioning model to obtain real-time position information of the target traction rope relative to the rope threading mechanism; A control unit, configured to control the UAV carrying the target traction rope to adjust its flight attitude according to the real-time position information when the real-time position information shows that the target traction rope is in the pre-starting area of ​​the target line-releasing block within a preset time period, until the target traction rope is in a placeable state; A placement unit is used to start the rope threading mechanism to place the target traction rope.

9. A computer device, characterized in that: The computer device comprises: a memory storing at least one instruction; and A processor executes the instructions stored in the memory to implement the traction rope placement method based on the line-laying block as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores at least one instruction, and the at least one instruction is executed by a processor in a computer device to implement the traction rope placement method based on a line-laying block as described in any one of claims 1 to 7.

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