Ground wire inspection method and related equipment

Abstract

The invention discloses a ground wire inspection method and related equipment, during data acquisition, a laser point cloud acquisition device is utilized to quickly and accurately acquire wire net laser data, the form and position of a ground wire are clearly presented, the problem of difficult focusing during manual inspection with a telescope or a camera is avoided, and a reliable foundation is laid for inspection. In data processing, an operation gear is determined according to a base tower position cut gear, the influence of terrains is avoided, and comprehensive coverage of ground wires is realized. When a work file parabola is fitted, based on a low hanging point, a high hanging point and a file middle point, the ground wire trend is accurately grasped, and the inspection accuracy and efficiency are improved. In the aspect of route planning, a patrol route is automatically generated according to a parabolic equation and flight parameters, and the problems of difficulty in tracking and low efficiency of manual operation of the unmanned aerial vehicle are solved. And finally, aerial photography inspection is performed according to an automatic route, the air crash risk is reduced, and safety and stability of inspection are guaranteed in combination with height difference span ratio conditions.

Description

Technical Field

[0001] The present application relates to the field of high-voltage transmission line operation and inspection, and more specifically, to a ground wire inspection method and related equipment. Background Art

[0002] As the core component of the transmission line, the ground wire faces many external threats in the daily operation of the transmission line. Lightning strikes may directly damage the insulation layer and internal conductor structure of the ground wire; hanging objects may entangle the ground wire, increase its load, and even cause local uneven force; improper operation of large construction machinery may also collide with the ground wire, causing varying degrees of damage. The damaged ground wire is very prone to broken strands, scattered strands, loose strands, etc., and in severe cases it will cause the wire to break, which will not only cause power transmission interruption, affect industrial production and residents' electricity consumption, but also may cause safety accidents, posing a potential threat to the surrounding environment and personnel. Therefore, the inspection of the ground wire is crucial to ensure the stable operation of the transmission line and the reliability of the power supply, and is an indispensable and important part of the operation and maintenance of the transmission line.

[0003] At present, the inspection of ground wires mainly relies on two methods: manual inspection using telescopes or high-power cameras, and manual inspection using drones. However, both methods have obvious limitations. When manually inspecting using telescopes or high-power cameras, since the ground wires are usually far away from the observers, the focusing of the equipment is difficult, and it is difficult to quickly and accurately capture the details of the ground wires; it is also challenging to observe and track the ground wires, and long-term concentration can easily lead to fatigue; at the same time, terrain factors will limit the observation angle, making it difficult to fully observe some areas; when looking up for inspection, it is also easily affected by backlight, reducing the observation effect. Although manual inspection using drones has expanded the scope of observation to a certain extent, the operation is difficult and requires the operator to have professional skills and rich experience; the ground wires are small targets in the field of view, difficult to track, and easy to lose the target; the operation efficiency is low, which increases the inspection time and cost.

[0004] Based on this, the present application provides a ground wire inspection solution, which effectively makes up for the deficiencies of the existing technology and improves the accuracy, efficiency and safety of the inspection. Summary of the invention

[0005] In view of this, the present application provides a ground wire inspection method and related equipment, which obtains wire network laser data through the use of laser point cloud acquisition equipment, switches data according to the base tower position, fits the operating file parabola based on key points, automatically generates the inspection route according to the parabola equation and flight parameters, and implements aerial inspection under specific height difference and span ratio conditions. It shows significant advantages in data acquisition, processing, fitting, route planning and safety assurance, and effectively improves the accuracy, efficiency and safety of the inspection.

[0006] A ground wire inspection method, comprising:

[0007] Obtaining the network laser data collected on-site from the transmission line using laser point cloud acquisition equipment;

[0008] The laser point cloud data is cut into files according to the base tower position included in the wire network laser data, and each operation file including the target grounding line segment is determined;

[0009] Respectively determine the low hanging point, the high hanging point, the midpoint of each working level, and the center points of the tower poles of the base towers at both ends of each working level;

[0010] Generate corresponding parabolas of each operating gear based on the low hanging point, the high hanging point and the gear midpoint of each operating gear;

[0011] Generate each space coordinate point equidistantly according to the parabola equation of each operating file parabola and the set route flight parameters, and obtain each ground wire space coordinate point by spatial plane projection conversion;

[0012] A patrol route is generated according to the spatial coordinate points of each grounding wire, the route flight parameters and the tower center points of the base towers at both ends of each work file, and an aerial photography inspection is performed on the target grounding wire segment according to the patrol route.

[0013] Optionally, for each operating file, the process of generating a corresponding operating file parabola based on the low hanging point, the high hanging point and the file midpoint of the operating file by fitting includes:

[0014] Determine a first projection point obtained by projecting the high hanging point of the work file onto the plane where the low hanging point is located, and generate a first plane equation based on the high hanging point, the low hanging point and the first projection point;

[0015] Projecting the midpoint of the work file onto the first plane corresponding to the first plane equation to obtain a second projection point;

[0016] Based on the vector relationship between the high hanging point, the low hanging point, the first projection point and the second projection point, a new plane coordinate system is constructed with the low hanging point as the origin;

[0017] Determine the coordinates of the newly created high hanging point, the newly created low hanging point, the newly created first projection point and the newly created second projection point corresponding to the high hanging point, the low hanging point, the first projection point and the second projection point in the newly created plane coordinate system;

[0018] The operating file parabola is obtained by solving the newly created high hanging point coordinates, the newly created low hanging point coordinates, the newly created first projection point coordinates and the newly created second projection point coordinates.

[0019] Optionally, also include:

[0020] For each working level, calculating the height difference level ratio of the working level according to the coordinate positions of the low hanging point and the high hanging point;

[0021] If the height difference gear ratio meets the preset range, a process of determining a first projection point obtained by projecting the high hanging point of the working gear onto the plane where the low hanging point is located is executed.

[0022] Optionally, for each operating file, the process of equidistantly generating each space coordinate point according to the parabola equation of the operating file parabola and the set route flight parameters includes:

[0023] Determine the step distance according to the set flight parameters of the route, and based on the step distance, respectively use the newly created low hanging point coordinates and the newly created first projection point coordinates in the work file as the starting and ending points to generate a corresponding horizontal coordinate sequence in arithmetic difference;

[0024] Substituting the horizontal coordinate sequence into the parabola equation of the operating file parabola, generating the corresponding vertical coordinate sequence and forming a plane vector array;

[0025] With the plane vector array, the low hanging point coordinates and the first projection point coordinates as input values, a space vector calculation method is called to convert each plane vector represented by the plane vector array into each space vector to obtain each space coordinate point.

[0026] Optionally, calling a spatial vector calculation method to convert each plane vector represented by the plane vector array into each space vector includes:

[0027] Calculating a spatial reference vector based on the coordinate difference between the low hanging point coordinate and the high hanging point coordinate of the work file, and determining a vector angle between each plane vector represented by the plane vector array and the spatial reference vector;

[0028] Determine the rotation angles of the spatial reference vector around the x-axis and the y-axis respectively according to the positive and negative values ​​of the x-axis and y-axis coordinates in the spatial reference vector and the rotation angle judgment condition, and perform rotation processing and unitization processing on the spatial reference vector through a rotation matrix to obtain a rotation unit vector;

[0029] Calibrate the rotation unit vector using each plane vector represented by the plane vector array to generate each calibration rotation vector;

[0030] The coordinate values ​​of the calibration rotation vectors starting from the low hanging point coordinates are calculated by using vector addition to obtain the space vectors.

[0031] Optionally, for each work file, the process of converting each spatial coordinate point into each ground wire spatial coordinate point by spatial plane projection includes:

[0032] Determine the spatial projection vector of the midpoint of the working file, and the second plane equation formed by the low hanging point, the high hanging point and the midpoint of the file;

[0033] The spatial projection vector is calculated with each spatial coordinate point as a starting point, and the intersection points of the second plane corresponding to the second plane equation are calculated, and each of the intersection points is determined as the spatial coordinate point of each ground conductor.

[0034] A ground wire inspection device, comprising:

[0035] A laser point cloud unit is used to obtain the line network laser data collected on-site on the transmission line using a laser point cloud acquisition device;

[0036] A data switching unit, used for switching the laser point cloud data according to the base tower position included in the wire net laser data, and determining each operation file including the target grounding line segment;

[0037] A point determination unit, used to respectively determine the low hanging point, the high hanging point, the midpoint of each operating file, and the center points of the tower poles of the base towers at both ends of each operating file;

[0038] A parabola fitting unit, used for fitting and generating corresponding parabolas of each operating gear based on the low hanging point, the high hanging point and the gear midpoint of each operating gear;

[0039] A spatial coordinate unit, used to generate spatial coordinate points at equal intervals according to the parabolic equations of the parabolas of each operating file and the set flight parameters of the route, and obtain the spatial coordinate points of the grounding wire through spatial plane projection conversion;

[0040] The aerial photography inspection unit is used to generate an inspection route according to the spatial coordinate points of the grounding wire, the route flight parameters and the tower center points of the base towers at both ends of each working file, and perform aerial photography inspection on the target grounding wire segment according to the inspection route.

[0041] A ground wire inspection device, comprising a memory and a processor;

[0042] The memory is used to store programs;

[0043] The processor is used to execute the program to implement each step of the ground wire inspection method as described in any one of the above items.

[0044] A readable storage medium stores a computer program thereon, wherein when the computer program is executed by a processor, each step of the ground wire inspection method as described in any one of the above items is implemented.

[0045] A computer program product includes a computer program, wherein the computer program executes each step of any of the above-mentioned ground wire inspection methods when the computer program is run by a processor.

[0046] It can be seen from the above technical solutions that the ground wire inspection method and related equipment provided by the embodiment of the present application have many significant advantages and can effectively avoid the shortcomings of traditional inspection methods. In terms of data acquisition, a laser point cloud acquisition device is used to obtain the network laser data of the transmission line site. It has the characteristics of fast and accurate, and can clearly present the shape and position of the ground wire, avoiding the problem of focusing caused by the long distance when manually using a telescope or a high-power camera for inspection, and providing a reliable data basis for subsequent inspections.

[0047] In terms of data processing, data is cut according to the base tower position in the wire network laser data to determine the working file where the target ground conductor segment is located. This targeted processing method avoids the problem of poor observation angles due to manual inspections limited by terrain and can fully cover all areas of the ground conductor to achieve inspections without blind spots.

[0048] When fitting and generating the parabola of the working file, operations are performed based on the low hanging point, high hanging point and mid-point of each working file, which can accurately describe the actual shape of the ground wire. Compared with the traditional inspection method, it can more accurately grasp the trend of the ground wire and improve the accuracy and efficiency of the inspection.

[0049] In route planning, spatial coordinate points are generated equidistantly according to the parabola equation of the operating file and the flight parameters of the route. After the spatial coordinate points of the ground wire are converted, the patrol route is automatically generated. This method avoids the problems of high difficulty in manual operation of drone inspections, small and difficult tracking of ground wire targets, and low operating efficiency. The automatically planned route can be optimized according to the actual situation of the ground wire, ensuring that the drone flies stably and accurately captures each part, improving the efficiency and quality of inspections.

[0050] Finally, aerial inspections are carried out according to automatically generated patrol routes, which reduces the uncertainty of manual operations and the risk of crashes. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0052] Figure 1 A flow chart of a ground wire inspection method disclosed in an embodiment of the present application;

[0053] Figure 2 A schematic diagram of a tower center point disclosed in an embodiment of the present application;

[0054] Figure 3 A schematic diagram of the results before and after the spatial plane projection conversion disclosed in an embodiment of the present application;

[0055] Figure 4 A schematic diagram of a patrol route disclosed in an embodiment of the present application;

[0056] Figure 5 A schematic diagram of a ground wire inspection device disclosed in an embodiment of the present application;

[0057] Figure 6 The present invention is a hardware structure block diagram of a ground wire inspection device disclosed in an embodiment of the present application. DETAILED DESCRIPTION

[0058] 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 only 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.

[0059] The present application can be used in many general or special computing device environments or configurations, such as personal computers, server computers, handheld or portable devices, tablet devices, multi-processor devices, distributed computing environments including any of the above devices or equipment, etc.

[0060] Next, the present application scheme is introduced. The present application proposes the following technical scheme, please see below for details.

[0061] Figure 1 The present invention is a flow chart of a ground wire inspection method disclosed in an embodiment of the present application.

[0062] like Figure 1 As shown, the method may include:

[0063] Step S1: Acquire the line network laser data collected on-site on the power transmission line using a laser point cloud acquisition device.

[0064] Specifically, a high-precision 3D laser point cloud acquisition device is selected, which has high-frequency data acquisition capabilities and good environmental adaptability to ensure stable operation under the complex geographical environment and meteorological conditions of the transmission line site. Before data acquisition, the laser point cloud acquisition device needs to be strictly calibrated and debugged to ensure the measurement accuracy of the equipment and data accuracy.

[0065] During the acquisition process, operators need to operate according to the pre-planned acquisition path and sampling density. The acquisition path should cover the entire line of the transmission line, including each tower, ground wire and related ancillary facilities. The sampling density should be reasonably adjusted according to the actual situation of the transmission line. For key parts and complex areas, the sampling density should be appropriately increased to obtain more detailed laser point cloud data.

[0066] At the same time, during the acquisition process, auxiliary information such as acquisition time, equipment location, acquisition angle, etc. should be recorded synchronously, which will help in the subsequent processing and analysis of laser point cloud data. After the acquisition is completed, the laser point cloud data will be exported from the acquisition device and stored in a dedicated data storage device to ensure the security and integrity of the data.

[0067] Step S2, cutting the laser point cloud data into files according to the base tower position included in the wire mesh laser data, and determining each operating file including the target grounding line segment.

[0068] Specifically, the acquired line network laser data is first preprocessed, including removing noise points, filtering and other operations to improve the data quality. Then, the location information of the base tower is extracted from the laser point cloud data through data analysis algorithms. This location information is usually presented in the form of three-dimensional coordinates.

[0069] According to the location information of the towers, the laser point cloud data of the entire transmission line is cut into files according to the distance between the towers. The laser point cloud data between every two adjacent towers is divided into a work file, which can divide the complex transmission line data into multiple relatively independent parts, which is convenient for subsequent analysis and processing.

[0070] In order to determine the various work files that contain the target grounding wire segment, it is necessary to combine the design drawings, construction records and other information of the transmission line to clarify the specific location and direction of the target grounding wire segment. Then, through the spatial matching algorithm, the location information of the target grounding wire segment is compared with the range of each work file, and the work files containing the target grounding wire segment are screened out, and these work files are marked and managed.

[0071] Step S3, respectively determining the low hanging point, the high hanging point, the midpoint of each operating level, and the center points of the tower poles at both ends of each operating level.

[0072] Specifically, to determine the low hanging point and high hanging point in each work file, firstly, in each work file, the laser point cloud data of the ground wire is analyzed in detail. By sorting and comparing the elevation information of the ground wire point cloud data, the lowest and highest positions of the ground wire in the work file are found, and they are determined as the low hanging point and high hanging point respectively. In the determination process, the data error and actual situation should be taken into account, and the points with similar elevation values ​​should be further analyzed and judged to ensure that the low hanging point and high hanging point are accurately determined.

[0073] When determining the midpoint of the file, the horizontal and vertical distances between the two towers are calculated based on the position information of the towers at both ends of the working file. Then, according to the midpoint position in the horizontal and vertical directions, the closest point is found in the point cloud data of the ground conductor, and this point is determined as the midpoint of the file. At the same time, the accuracy of the position of the midpoint of the file is evaluated to ensure that its position error is within an acceptable range.

[0074] To determine the center point of each tower pole at both ends of each work file, the laser point cloud data of the tower is preprocessed to remove noise points and outliers to improve the data quality. Then, a geometric fitting algorithm, such as the least squares method, is used to fit the point cloud data of the tower to obtain the geometric shape model of the tower. According to the geometric shape model of the tower, the center point position of the tower is calculated, such as Figure 2 The figure shows the center point of the tower. In the calculation process, the actual structure and shape characteristics of the base tower should be fully considered to ensure that the calculation result of the tower center point is accurate and reliable. Finally, the position information of the determined low hanging point, high hanging point, mid-point and tower center point is recorded and stored in the corresponding database to provide basic data for subsequent transmission line analysis and maintenance work.

[0075] Step S4: generating corresponding parabolas of each operating gear based on the low hanging point, the high hanging point and the gear midpoint of each operating gear.

[0076] Specifically, for each working section of the transmission line, in order to accurately fit the parabola representing the shape of the ground conductor, a series of rigorous steps are required. First, the height difference span ratio of the working section is calculated according to the coordinate positions of the low hanging point and the high hanging point. The height difference span ratio is an important indicator to measure the degree of inclination of the conductor in the working section. It is obtained by dividing the vertical height difference between the high hanging point and the low hanging point by the horizontal distance between the two. Then, this height difference span ratio is compared with a preset range, which is determined based on the transmission line design standards and actual engineering experience. If the height difference span ratio is within the preset range, it means that the parabola model can be used to approximate the shape of the ground conductor in the working section, and then the subsequent fitting operation can be continued.

[0077] If the conditions are met, the first projection point obtained by projecting the high hanging point of the work file on the plane where the low hanging point is located is determined next. The plane where the low hanging point is located is a specific reference plane. Through the method of geometric projection, the high hanging point is vertically projected onto this plane, and the point obtained is the first projection point. Based on the spatial position relationship of the three points, the high hanging point, the low hanging point and the first projection point, the first plane equation can be generated. This plane equation describes a plane containing these three points, providing a specific geometric space for subsequent calculations.

[0078] Afterwards, the midpoint of the work file is projected onto the first plane corresponding to the first plane equation, thereby obtaining the second projection point. The midpoint is the point in the middle of the work file, and is placed on the first plane through the projection operation, so as to facilitate the subsequent coordinate transformation and parabola fitting in the same plane.

[0079] Then, based on the vector relationship between the high hanging point, the low hanging point, the first projection point, and the second projection point, a new plane coordinate system with the low hanging point as the origin is constructed. The vector relationship reflects the relative position and direction between these points. These relationships can be used to determine the coordinate axis direction and scale of the new plane coordinate system. In this new plane coordinate system, the new coordinates corresponding to the high hanging point, the low hanging point, the first projection point, and the second projection point are determined. These new coordinates are a re-representation of the position of each point in the new coordinate system, eliminating the complex spatial relationship in the original space coordinate system and simplifying subsequent calculations.

[0080] Finally, the parabola of the operating file is obtained according to the coordinates of the newly created high hanging point, the newly created low hanging point, the newly created first projection point and the newly created second projection point. Substituting these coordinates into the general equation of the parabola, the various parameters of the parabola equation are solved by mathematical calculation, thereby determining the specific form of the parabola of the operating file. This parabola can more accurately simulate the actual shape of the grounding wire in the operating file.

[0081] Step S5, generating each space coordinate point equidistantly according to the parabola equation of each operating file parabola and the set route flight parameters, and obtaining each ground wire space coordinate point through spatial plane projection conversion.

[0082] Specifically, after obtaining the parabola equation of each work file, the spatial coordinate points are generated by combining the pre-set route flight parameters. Route flight parameters usually include key information such as flight spacing and flight altitude. The flight spacing determines the interval distance between the selected points on the parabola, and the flight altitude determines the vertical position of these points.

[0083] Based on the parabola equation, according to the set flight interval, starting from one end of the parabola, equidistant points are selected on the parabola in sequence. Each time a point is selected, the vertical offset of the point is determined according to the flight height parameter, so as to obtain the coordinates of the point in three-dimensional space. In this way, by continuously selecting points along the parabola, a series of equidistant spatial coordinate points can be generated.

[0084] However, these generated spatial coordinate points are theoretical coordinates obtained based on parabolic equations and flight parameters. In order to make them more consistent with the actual spatial position of the ground wire, spatial plane projection conversion is required. Figure 3 As shown in the figure, white is the spatial coordinate points before projection conversion, and red is the spatial coordinate points of the ground conductor after projection conversion. First, select a suitable projection plane, which can be a horizontal ground or a specific plane related to the direction of the ground conductor. Then project the generated spatial coordinate points onto this plane to obtain the projected coordinates. During the projection process, the influence of actual factors such as terrain undulations and obstacles on the projection results will be taken into account. Finally, based on the geometric relationship before and after projection, combined with the actual geographic information and the installation of the ground conductor, the projected coordinates are restored to the spatial coordinate points of the ground conductor that take into account the actual spatial position. These coordinate points can accurately reflect the position of the ground conductor in the actual space.

[0085] Step S6, generating a patrol route according to the spatial coordinate points of each grounding wire, the route flight parameters and the center points of the towers at both ends of each work file, and performing aerial photography inspection on the target grounding wire segment according to the patrol route.

[0086] Specifically, after obtaining the spatial coordinate points of each ground wire, the flight parameters of the route, and the tower center point information of the base towers at both ends of each work file, the patrol route is generated. Figure 4 As shown, white represents the spatial coordinate points of each ground wire, and green represents the patrol route.

[0087] First, the spatial coordinate points of the ground wire are used as the basic reference points of the route. These points represent the actual position of the ground wire in space. At the same time, these coordinate points are adjusted in combination with the flight altitude and safety distance requirements in the route flight parameters. The flight altitude determines the vertical distance between the inspection equipment (such as drones) and the ground wire, and the safety distance ensures that the equipment will not collide with the ground wire or other obstacles during the inspection process. According to these requirements, the vertical coordinates of the spatial coordinate points of the ground wire are adjusted accordingly to obtain the preliminary route coordinate points.

[0088] Then, consider the location of the center point of the tower at both ends of each work file. The tower is an important supporting structure of the transmission line. When generating the route, it is necessary to ensure that the inspection equipment can safely bypass the tower. According to the size and shape of the tower, set a safety buffer around the tower. When the preliminary route coordinate points are close to the tower, these points are optimized so that the route bypasses the safety buffer and avoids collision with the tower.

[0089] Use path planning algorithms, such as the A* algorithm or the Dijkstra algorithm, to connect and sort the adjusted and optimized route coordinate points to generate a continuous, smooth and flight-compliant patrol route. This route must be able to cover all parts of the target grounding line segment while ensuring the safety and stability of the inspection equipment during flight.

[0090] Upload the generated patrol route information to the flight control system of the aerial photography inspection equipment (such as drones). Before conducting aerial photography inspections, conduct a comprehensive inspection and debugging of the drone to ensure that all its functions are normal. Set the flight speed and shooting parameters of the drone to ensure that the image and data of the target ground conductor segment can be clearly and accurately obtained during the flight. During the inspection process, the flight status and shooting of the drone are monitored in real time through the ground control station. Once an abnormal situation is found, such as route deviation, signal interruption, etc., take appropriate measures to make adjustments in time to ensure the smooth completion of the aerial photography inspection. After the inspection, the collected images and data are sorted and analyzed to provide a strong basis for the maintenance and management of the transmission line.

[0091] It can be seen from the above technical solutions that the ground wire inspection method and related equipment provided by the embodiment of the present application have many significant advantages and can effectively avoid the shortcomings of traditional inspection methods. In terms of data acquisition, a laser point cloud acquisition device is used to obtain the network laser data of the transmission line site. It has the characteristics of fast and accurate, and can clearly present the shape and position of the ground wire, avoiding the problem of focusing caused by the long distance when manually using a telescope or a high-power camera for inspection, and providing a reliable data basis for subsequent inspections.

[0092] In terms of data processing, data is cut according to the base tower position in the wire network laser data to determine the working file where the target ground conductor segment is located. This targeted processing method avoids the problem of poor observation angles due to manual inspections limited by terrain and can fully cover all areas of the ground conductor to achieve inspections without blind spots.

[0093] When fitting and generating the parabola of the working file, operations are performed based on the low hanging point, high hanging point and mid-point of each working file, which can accurately describe the actual shape of the ground wire. Compared with the traditional inspection method, it can more accurately grasp the trend of the ground wire and improve the accuracy and efficiency of the inspection.

[0094] In route planning, spatial coordinate points are generated equidistantly according to the parabola equation of the operating file and the flight parameters of the route. After the spatial coordinate points of the ground wire are converted, the patrol route is automatically generated. This method avoids the problems of high difficulty in manual operation of drone inspections, small and difficult tracking of ground wire targets, and low operating efficiency. The automatically planned route can be optimized according to the actual situation of the ground wire, ensuring that the drone flies stably and accurately captures each part, improving the efficiency and quality of inspections.

[0095] Finally, aerial inspections are carried out according to automatically generated patrol routes, which reduces the uncertainty of manual operations and the risk of crashes.

[0096] In some embodiments of the present application, the process of generating the corresponding parabola of each operating gear based on the low hanging point, the high hanging point and the gear midpoint of each operating gear in step S4 is further introduced. For each operating gear, the specific execution process may include:

[0097] Step S41, determining a first projection point obtained by projecting the high hanging point of the work file onto the plane where the low hanging point is located, and generating a first plane equation based on the high hanging point, the low hanging point and the first projection point.

[0098] Specifically, in three-dimensional space, the plane where the low hanging point is located can be determined according to its coordinate characteristics. Assume that the coordinates of the low hanging point are , if the plane where the low hanging point is located is a horizontal plane (usually ), the coordinates of the high hanging point are .

[0099] To find the projection point of the high hanging point on the plane where the low hanging point is located (i.e. the first projection point) , since the projection is performed perpendicular to the plane, in the case of a horizontal plane, the first projection point is , The coordinates are the same as the high hanging point. The coordinates are the same as the low hanging point, so .

[0100] Next, generate the first plane equation, given three points on the plane , , , we can first find two vectors and . Calculate the plane normal vector by vector cross product Substitute the coordinates of the low hanging point into the plane equation , we can find , thereby determining the first plane equation.

[0101] Step S42: Project the midpoint of the work file onto the first plane corresponding to the first plane equation to obtain a second projection point.

[0102] Step S43: construct a new plane coordinate system with the low hanging point as the origin based on the vector relationship between the high hanging point, the low hanging point, the first projection point and the second projection point.

[0103] Specifically, with low hanging point As the origin of the new plane coordinate system. First select the vector As a new plane coordinate system In order to determine the positive direction of the axis. Axis positive direction, need to find a A vector that is perpendicular and lies in the first plane. You can first calculate the vector exist The projection vector on , which is calculated according to the projection vector formula. Then Get the vertical component .right Normalize it, that is, find its unit vector, which will be used as the coordinate system of the new plane. In this way, the construction of a new plane coordinate system with the low hanging point as the origin is completed.

[0104] Step S44, determining the high hanging point, the low hanging point, the first projection point and the second projection point corresponding to the newly created high hanging point coordinates, the newly created low hanging point coordinates, the newly created first projection point coordinates and the newly created second projection point coordinates in the newly created plane coordinate system.

[0105] Step S45, obtaining the operating file parabola according to the newly created high hanging point coordinates, the newly created low hanging point coordinates, the newly created first projection point coordinates and the newly created second projection point coordinates.

[0106] Specifically, after constructing a new plane coordinate system with the low hanging point as the origin, the next step is to determine the corresponding coordinates of the high hanging point, the low hanging point, the first projection point and the second projection point in this new coordinate system.

[0107] New low hanging point coordinates: Because the new plane coordinate system is constructed with the low hanging point as the origin, the coordinates of the new low hanging point are clearly the position of the origin, that is, (0,0).

[0108] New coordinates of the first projection point: The position of the first projection point in the new coordinate system mainly depends on its position in the x-axis and y-axis directions of the new coordinate system. Since the y-axis of the new coordinate system is deliberately selected to be perpendicular to the line from the low hanging point to the first projection point, the first projection point has no offset in the y-axis direction, and its y coordinate is 0. Its position in the x-axis direction is equal to the actual distance from the low hanging point to the first projection point, so the coordinates of the new first projection point are (the distance from the low hanging point to the first projection point, 0).

[0109] New high hanging point coordinates: To determine the position of the high hanging point in the new coordinate system, you need to look at its position relative to the origin (low hanging point) in the x-axis and y-axis directions. The position in the x-axis direction is obtained by projecting the line from the low hanging point to the high hanging point onto the x-axis. The length of this projection is the x-coordinate of the high hanging point in the new coordinate system. The position in the y-axis direction is the projecting of the line from the low hanging point to the high hanging point onto the y-axis. The length of the projection is the y-coordinate of the high hanging point in the new coordinate system. In this way, the coordinates of the newly created high hanging point are obtained.

[0110] Create the coordinates of the second projection point: Similar to the method of determining the coordinates of the high hanging point, project the line from the low hanging point to the second projection point onto the x-axis and y-axis of the new coordinate system. The length of the x-axis projection is the x-coordinate of the second projection point in the new coordinate system, and the length of the y-axis projection is its y-coordinate, thereby determining the coordinates of the newly created second projection point.

[0111] After determining the coordinates of the new high hanging point, the new low hanging point, the new first projection point and the new second projection point, these coordinates can be used to determine the parabola equation that conforms to the positional relationship of these points, that is, the working file parabola.

[0112] In addition to the above, it also includes:

[0113] For each working level, calculating the height difference level ratio of the working level according to the coordinate positions of the low hanging point and the high hanging point;

[0114] If the height difference gear ratio meets the preset range, a process of determining a first projection point obtained by projecting the high hanging point of the working gear onto the plane where the low hanging point is located is executed.

[0115] Specifically, for each work file, we must first calculate the height difference to span ratio of the work file based on the coordinate positions of the low hanging point and the high hanging point. The low hanging point and the high hanging point have their own clear positions in space, which are represented by their coordinates respectively. The height difference refers to the height difference between the high hanging point and the low hanging point in the vertical direction, that is, the height of the high hanging point minus the height of the low hanging point. The span is the distance between the low hanging point and the high hanging point in the horizontal direction. Through a specific distance calculation method, this horizontal distance can be calculated using their coordinates. Then, divide the calculated height difference by the span to get the height difference to span ratio of the work file.

[0116] After obtaining the height difference span ratio, it is necessary to compare it with the preset range. This preset range is determined based on relevant theoretical knowledge, practical experience or industry standards, and it specifies under what circumstances the subsequent parabola fitting process is applicable and effective. If the calculated height difference span ratio is within this preset range, it means that the subsequent method of fitting the parabola based on projection and coordinate transformation is feasible. At this time, the process of determining the high hanging point of the work file on the plane where the low hanging point is located to obtain the first projection point can be continued.

[0117] When the height difference span ratio meets the preset range, the first projection point is determined. The plane where the low hanging point is located is a specific plane. We need to project the high hanging point vertically onto this plane, and the resulting projection point is the first projection point. After determining the first projection point, the first plane equation can be generated based on this projection point and information such as the high hanging point and the low hanging point. After that, the midpoint of the operating file will be projected onto this first plane to obtain the second projection point. Then, based on the positional relationship between the high hanging point, the low hanging point, the first projection point and the second projection point, a new plane coordinate system with the low hanging point as the origin is constructed. In this new coordinate system, the new coordinates corresponding to the high hanging point, the low hanging point, the first projection point and the second projection point are determined. Finally, the operating file parabola is solved based on these newly created coordinates. This parabola can more accurately describe the actual shape of the conductor in the operating file, providing an important reference for subsequent transmission line inspections and other work.

[0118] In some embodiments of the present application, step S5 is further introduced, in which each spatial coordinate point is equidistantly generated according to the parabolic equation of each operating file parabola and the set route flight parameters, and the process of obtaining the spatial coordinate point of each ground wire by spatial plane projection conversion is further introduced.

[0119] For each operating file, the specific execution process of equidistantly generating each space coordinate point according to the parabola equation of the operating file parabola and the set route flight parameters may include:

[0120] Step S51, determining a stepping distance according to the set flight parameters of the route, and based on the stepping distance, generating a corresponding horizontal coordinate sequence by taking the newly created low hanging point coordinates and the newly created first projection point coordinates in the work file as the starting and ending points.

[0121] Specifically, before the operation, we have set the flight parameters according to actual needs, one of the key parameters is the step distance. The step distance determines the interval between points selected on the parabola, which is the basis for the subsequent equidistant generation of spatial coordinate points.

[0122] For each work file, we use the coordinates of the newly created low hanging point and the coordinates of the newly created first projection point as the starting and ending points. The coordinates of the newly created low hanging point and the newly created first projection point are the coordinates in the newly created plane coordinate system that have been determined in the previous steps. Based on the set step distance, we generate the horizontal coordinate sequence in the form of an arithmetic progression. This is like marking points in a straight line from the starting point at a fixed interval, and the horizontal coordinates of these marked points constitute the horizontal coordinate sequence. For example, if the step distance is 1 meter, the horizontal coordinate of the newly created low hanging point is 0, and the horizontal coordinate of the newly created first projection point is 10 meters, then the horizontal coordinate sequence may be 0, 1, 2, 3...10.

[0123] Step S52: Substitute the horizontal coordinate sequence into the parabola equation of the operating file parabola to generate a corresponding vertical coordinate sequence and form a plane vector array.

[0124] Specifically, after obtaining the horizontal coordinate sequence, we substitute these horizontal coordinates into the parabola equation of the operating file parabola in sequence. The parabola equation has been solved in step S4, which describes the approximate shape of the ground wire in the operating file. By substituting the horizontal coordinates, we can calculate the corresponding vertical coordinates according to the parabola equation. Each horizontal coordinate has a corresponding vertical coordinate, thus forming a series of coordinate pairs. These coordinate pairs can be represented by vectors on the plane, and these vectors are combined together to form a plane vector array. This plane vector array contains the position information of a series of equidistant points on the parabola on the plane.

[0125] Step S53, using the plane vector array, the low hanging point coordinates and the first projection point coordinates as input values, calling the space vector calculation method to convert each plane vector represented by the plane vector array into each space vector, and obtaining each space coordinate point.

[0126] The process of calling the spatial vector calculation method to convert each plane vector represented by the plane vector array into each space vector may include:

[0127] ① Calculating a spatial reference vector based on the coordinate difference between the low hanging point coordinate and the high hanging point coordinate of the work file, and determining the vector angle between each plane vector represented by the plane vector array and the spatial reference vector;

[0128] ② Determine the rotation angles of the spatial reference vector around the x-axis and the y-axis respectively according to the positive and negative values ​​of the x-axis and y-axis coordinates in the spatial reference vector and the rotation angle judgment condition, and rotate and normalize the spatial reference vector through a rotation matrix to obtain a rotation unit vector;

[0129] ③ Using each plane vector represented by the plane vector array to calibrate the rotation unit vector to generate each calibration rotation vector;

[0130] ④ Use vector addition to calculate the coordinate values ​​of each calibration rotation vector starting from the low hanging point coordinates to obtain each space vector.

[0131] Specifically, first, we calculate the spatial reference vector based on the coordinate difference between the low hanging point coordinates and the high hanging point coordinates of the work file. The coordinate difference is the difference between the coordinate components of the high hanging point and the corresponding coordinate components of the low hanging point, and the difference constitutes the components of the spatial reference vector. This spatial reference vector represents the direction and distance from the low hanging point to the high hanging point. Then, we determine the vector angle between each plane vector represented by the plane vector array and this spatial reference vector. The vector angle reflects the relative direction relationship between the plane vector and the spatial reference vector.

[0132] Next, we determine the rotation angles of the spatial reference vector around the x-axis and y-axis respectively according to the positive and negative values ​​of the x-axis and y-axis coordinates in the spatial reference vector and the rotation angle judgment conditions. The rotation angle judgment conditions are rules determined based on the actual spatial geometric relationship and coordinate system. After determining the rotation angle, we use the rotation matrix to rotate the spatial reference vector. The rotation matrix is ​​a mathematical tool that can rotate a vector at a specified angle. The rotated vector is then normalized, that is, the length of the vector is changed to 1 to obtain a rotated unit vector. The rotated unit vector provides a standard direction for subsequent calibration.

[0133] The rotation unit vector is calibrated using each plane vector represented by the plane vector array. The calibration process is to adjust the rotation unit vector according to the size and direction of the plane vector so that the rotation unit vector is more consistent with the actual spatial position relationship. Through calibration, we can obtain a series of calibrated rotation vectors, which more accurately reflect the direction of each point on the parabola in space.

[0134] Finally, use vector addition to calculate the coordinate values ​​of each calibration rotation vector starting from the low hanging point coordinates. Vector addition is to add each component of the calibration rotation vector to the coordinate components of the low hanging point, and the result is the coordinate value of each space vector in space. In this way, we have completed the transformation from plane vector to space vector and obtained each space coordinate point.

[0135] Further, the rotation angle judgment conditions are as follows:

[0136] 1)P13[0]<0andP13[1]>0, angle_x=angle,angle_y=angle.

[0137] 2)P13[0]<0andP13[1]<0, angle_x=-angle,angle_y=angle.

[0138] 3)P13[0]>0andP13[1]<0,angle_x=-angle,angle_y=-angle.

[0139] 4)P13[0]>0andP13[1]>0,angle_x=angle,angle_y=-angle.

[0140] The rotation matrix of the space reference vector around the x-axis is:

[0141] R_x = np.array([[1,0,0],

[0142] [0,np.cos(angle_x),-np.sin(angle_x)],

[0143] [0,np.sin(angle_x),np.cos(angle_x)]])

[0144] The rotation matrix of the space reference vector around the y-axis is:

[0145] R_y=np.array([[np.cos(angle_y),0,np.sin(angle_y)],

[0146] [0,1,0],

[0147] [-np.sin(angle_y),0,np.cos(angle_y)]])

[0148] The spatial rotation matrix is ​​the dot product of R_y and R_x, R=np.dot(R_y,R_x)=R_y·R_x.

[0149] For each work file, the specific execution process of converting each spatial coordinate point by spatial plane projection to obtain each ground wire spatial coordinate point may include:

[0150] Step S54, determining the spatial projection vector of the midpoint of the work file, and the second plane equation formed by the low hanging point, the high hanging point and the midpoint of the file.

[0151] Specifically, for each work file, we need to determine the spatial projection vector of the file midpoint. The file midpoint is the point in the middle of the work file, and its spatial projection vector represents the direction and length of the file midpoint in space. At the same time, we determine the second plane equation formed by the low hanging point, high hanging point and file midpoint based on their coordinate information. This second plane equation describes a plane containing these three points, which is an important reference plane for subsequent projection calculations.

[0152] Step S55, calculating the intersection points of the spatial projection vector with the second plane corresponding to the second plane equation, taking each spatial coordinate point as a starting point, and determining each intersection point as the spatial coordinate point of each ground conductor.

[0153] Specifically, after obtaining the spatial projection vector of the midpoint and the equation of the second plane, we calculate the intersection of the spatial projection vector with each spatial coordinate point as the starting point and the second plane corresponding to the equation of the second plane. Specifically, starting from each spatial coordinate point, extend along the direction of the spatial projection vector until it intersects with the second plane, and the intersection point obtained is the point we need. These intersection points are determined as the spatial coordinate points of each ground wire. These spatial coordinate points of the ground wire take into account the actual spatial geometric relationship and projection conditions, and more accurately reflect the actual position of the ground wire in space, providing an accurate data basis for the subsequent generation of patrol routes.

[0154] A ground wire inspection device provided in an embodiment of the present application is described below. The ground wire inspection device described below and the ground wire inspection method described above can refer to each other.

[0155] See also Figure 5 , Figure 5 A schematic diagram of a ground wire inspection device disclosed in an embodiment of the present application.

[0156] like Figure 5 As shown, the ground wire inspection device may include:

[0157] The laser point cloud unit 110 is used to obtain the line network laser data collected on-site from the transmission line using the laser point cloud acquisition equipment;

[0158] A data switching unit 120 is used to switch the laser point cloud data according to the base tower position included in the wire mesh laser data, and determine each operation file including the target grounding line segment;

[0159] A point determination unit 130, for respectively determining a low hanging point, a high hanging point, a midpoint of each operating file, and a tower center point of each base tower at both ends of each operating file;

[0160] The parabola fitting unit 140 is used to fit and generate the corresponding parabola of each operating gear based on the low hanging point, the high hanging point and the gear midpoint of each operating gear;

[0161] The spatial coordinate unit 150 is used to generate spatial coordinate points at equal intervals according to the parabolic equations of the parabolas of the operating files and the set flight parameters of the route, and obtain the spatial coordinate points of the grounding wire through spatial plane projection conversion;

[0162] The aerial photography inspection unit 160 is used to generate an inspection route according to the spatial coordinate points of the grounding wire, the route flight parameters and the tower center points of the base towers at both ends of each work file, and perform aerial photography inspection on the target grounding wire segment according to the inspection route.

[0163] It can be seen from the above technical solutions that the ground wire inspection method and related equipment provided by the embodiment of the present application have many significant advantages and can effectively avoid the shortcomings of traditional inspection methods. In terms of data acquisition, a laser point cloud acquisition device is used to obtain the network laser data of the transmission line site. It has the characteristics of fast and accurate, and can clearly present the shape and position of the ground wire, avoiding the problem of focusing caused by the long distance when manually using a telescope or a high-power camera for inspection, and providing a reliable data basis for subsequent inspections.

[0164] In terms of data processing, data is cut according to the base tower position in the wire network laser data to determine the working file where the target ground conductor segment is located. This targeted processing method avoids the problem of poor observation angles due to manual inspections limited by terrain and can fully cover all areas of the ground conductor to achieve inspections without blind spots.

[0165] When fitting and generating the parabola of the working file, operations are performed based on the low hanging point, high hanging point and mid-point of each working file, which can accurately describe the actual shape of the ground wire. Compared with the traditional inspection method, it can more accurately grasp the trend of the ground wire and improve the accuracy and efficiency of the inspection.

[0166] In route planning, spatial coordinate points are generated equidistantly according to the parabola equation of the operating file and the flight parameters of the route. After the spatial coordinate points of the ground wire are converted, the patrol route is automatically generated. This method avoids the problems of high difficulty in manual operation of drone inspections, small and difficult tracking of ground wire targets, and low operating efficiency. The automatically planned route can be optimized according to the actual situation of the ground wire, ensuring that the drone flies stably and accurately captures each part, improving the efficiency and quality of inspections.

[0167] Finally, aerial inspections are carried out according to automatically generated patrol routes, which reduces the uncertainty of manual operations and the risk of crashes.

[0168] The ground wire inspection device provided in the embodiment of the present application can be applied to ground wire inspection equipment. Figure 6 The hardware structure diagram of the ground wire inspection equipment is shown in FIG. Figure 6 , the hardware structure of the ground wire inspection device may include: at least one processor 1, at least one communication interface 2, at least one memory 3 and at least one communication bus 4;

[0169] In the embodiment of the present application, the number of the processor 1, the communication interface 2, the memory 3, and the communication bus 4 is at least one, and the processor 1, the communication interface 2, and the memory 3 communicate with each other through the communication bus 4;

[0170] The processor 1 may be a central processing unit CPU, or an application-specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present invention, etc.;

[0171] The memory 3 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), etc., such as at least one disk memory;

[0172] The memory stores a program, and the processor can call the program stored in the memory, wherein the program is used to:

[0173] Obtaining the network laser data collected on-site from the transmission line using laser point cloud acquisition equipment;

[0174] The laser point cloud data is cut into files according to the base tower position included in the wire network laser data, and each operation file including the target grounding line segment is determined;

[0175] Respectively determine the low hanging point, the high hanging point, the midpoint of each working level, and the center points of the tower poles of the base towers at both ends of each working level;

[0176] Generate corresponding parabolas of each operating gear based on the low hanging point, the high hanging point and the gear midpoint of each operating gear;

[0177] Generate each space coordinate point equidistantly according to the parabola equation of each operating file parabola and the set route flight parameters, and obtain each ground wire space coordinate point by spatial plane projection conversion;

[0178] A patrol route is generated according to the spatial coordinate points of each grounding wire, the route flight parameters and the tower center points of the base towers at both ends of each work file, and an aerial photography inspection is performed on the target grounding wire segment according to the patrol route.

[0179] Optionally, the detailed functions and extended functions of the program may refer to the above description.

[0180] The embodiment of the present application further provides a readable storage medium, which may store a program suitable for execution by a processor, wherein the program is used to:

[0181] Obtaining the network laser data collected on-site from the transmission line using laser point cloud acquisition equipment;

[0182] The laser point cloud data is cut into files according to the base tower position included in the wire network laser data, and each operation file including the target grounding line segment is determined;

[0183] Respectively determine the low hanging point, the high hanging point, the midpoint of each working level, and the center points of the tower poles of the base towers at both ends of each working level;

[0184] Generate corresponding parabolas of each operating gear based on the low hanging point, the high hanging point and the gear midpoint of each operating gear;

[0185] Generate each space coordinate point equidistantly according to the parabola equation of each operating file parabola and the set route flight parameters, and obtain each ground wire space coordinate point by spatial plane projection conversion;

[0186] A patrol route is generated according to the spatial coordinate points of each grounding wire, the route flight parameters and the tower center points of the base towers at both ends of each work file, and an aerial photography inspection is performed on the target grounding wire segment according to the patrol route.

[0187] Optionally, the detailed functions and extended functions of the program may refer to the above description.

[0188] The present application also provides a computer program product, including a computer program. When the computer program is executed by a processor, the execution method is as follows:

[0189] Obtaining the network laser data collected on-site from the transmission line using laser point cloud acquisition equipment;

[0190] The laser point cloud data is cut into files according to the base tower position included in the wire network laser data, and each operation file including the target grounding line segment is determined;

[0191] Respectively determine the low hanging point, the high hanging point, the midpoint of each working level, and the center points of the tower poles of the base towers at both ends of each working level;

[0192] Generate corresponding parabolas of each operating gear based on the low hanging point, the high hanging point and the gear midpoint of each operating gear;

[0193] Generate each space coordinate point equidistantly according to the parabola equation of each operating file parabola and the set route flight parameters, and obtain each ground wire space coordinate point by spatial plane projection conversion;

[0194] A patrol route is generated according to the spatial coordinate points of each grounding wire, the route flight parameters and the tower center points of the base towers at both ends of each work file, and an aerial photography inspection is performed on the target grounding wire segment according to the patrol route.

[0195] Optionally, the detailed functions and extended functions of the program may refer to the above description.

[0196] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0197] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0198] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A ground wire inspection method, characterized in that: include: Obtaining the network laser data collected on-site from the transmission line using laser point cloud acquisition equipment; The laser point cloud data is cut into files according to the base tower position included in the wire network laser data, and each operation file including the target grounding line segment is determined; Respectively determine the low hanging point, the high hanging point, the midpoint of each working level, and the center points of the tower poles of the base towers at both ends of each working level; Generate corresponding parabolas of each operating gear based on the low hanging point, the high hanging point and the gear midpoint of each operating gear; Generate each space coordinate point equidistantly according to the parabola equation of each operating file parabola and the set route flight parameters, and obtain each ground wire space coordinate point by spatial plane projection conversion; A patrol route is generated according to the spatial coordinate points of each grounding wire, the route flight parameters and the tower center points of the base towers at both ends of each work file, and an aerial photography inspection is performed on the target grounding wire segment according to the patrol route.

2. The method according to claim 1, characterized in that For each operating file, a process of generating a corresponding operating file parabola by fitting based on the low hanging point, the high hanging point and the file midpoint of the operating file includes: Determine a first projection point obtained by projecting the high hanging point of the work file onto the plane where the low hanging point is located, and generate a first plane equation based on the high hanging point, the low hanging point and the first projection point; Projecting the midpoint of the work file onto the first plane corresponding to the first plane equation to obtain a second projection point; Based on the vector relationship between the high hanging point, the low hanging point, the first projection point and the second projection point, a new plane coordinate system is constructed with the low hanging point as the origin; Determine the coordinates of the newly created high hanging point, the newly created low hanging point, the newly created first projection point, and the newly created second projection point corresponding to the high hanging point, the low hanging point, the first projection point, and the second projection point in the newly created plane coordinate system; The operating file parabola is obtained by solving the newly created high hanging point coordinates, the newly created low hanging point coordinates, the newly created first projection point coordinates and the newly created second projection point coordinates.

3. The method according to claim 2, characterized in that Also includes: For each working level, calculating the height difference level ratio of the working level according to the coordinate positions of the low hanging point and the high hanging point; If the height difference gear ratio meets the preset range, a process of determining a first projection point obtained by projecting the high hanging point of the working gear onto the plane where the low hanging point is located is executed.

4. The method according to claim 2, characterized in that: For each operating file, the process of equidistantly generating each space coordinate point according to the parabola equation of the operating file parabola and the set route flight parameters includes: Determine the step distance according to the set flight parameters of the route, and based on the step distance, respectively use the newly created low hanging point coordinates and the newly created first projection point coordinates in the work file as the starting and ending points to generate a corresponding horizontal coordinate sequence in arithmetic difference; Substituting the horizontal coordinate sequence into the parabola equation of the operating file parabola, generating the corresponding vertical coordinate sequence and forming a plane vector array; With the plane vector array, the low hanging point coordinates and the first projection point coordinates as input values, a space vector calculation method is called to convert each plane vector represented by the plane vector array into each space vector to obtain each space coordinate point.

5. The method according to claim 4, characterized in that The calling of the spatial vector calculation method to convert each plane vector represented by the plane vector array into each space vector includes: Calculating a spatial reference vector based on the coordinate difference between the low hanging point coordinate and the high hanging point coordinate of the work file, and determining a vector angle between each plane vector represented by the plane vector array and the spatial reference vector; Determine the rotation angles of the spatial reference vector around the x-axis and the y-axis respectively according to the positive and negative values ​​of the x-axis and y-axis coordinates in the spatial reference vector and the rotation angle judgment condition, and perform rotation processing and unitization processing on the spatial reference vector through a rotation matrix to obtain a rotation unit vector; Calibrate the rotation unit vector using each plane vector represented by the plane vector array to generate each calibration rotation vector; The coordinate values ​​of the calibration rotation vectors starting from the low hanging point coordinates are calculated by using vector addition to obtain the space vectors.

6. The method according to claim 1, characterized in that For each work file, the process of converting each spatial coordinate point into each ground wire spatial coordinate point through spatial plane projection includes: Determine the spatial projection vector of the midpoint of the working file, and the second plane equation formed by the low hanging point, the high hanging point and the midpoint of the file; The spatial projection vector is calculated with each spatial coordinate point as a starting point, and the intersection points of the second plane corresponding to the second plane equation are calculated, and each of the intersection points is determined as the spatial coordinate point of each ground conductor.

7. A ground wire inspection device, characterized in that: include: A laser point cloud unit is used to obtain the line network laser data collected on-site on the transmission line using a laser point cloud acquisition device; A data switching unit, used for switching the laser point cloud data according to the base tower position included in the wire net laser data, and determining each operation file including the target grounding line segment; A point determination unit, used to respectively determine the low hanging point, the high hanging point, the midpoint of each operating file, and the center points of the tower poles of the base towers at both ends of each operating file; A parabola fitting unit, used for fitting and generating corresponding parabolas of each operating gear based on the low hanging point, the high hanging point and the gear midpoint of each operating gear; A spatial coordinate unit, used to generate spatial coordinate points at equal intervals according to the parabolic equations of the parabolas of each operating file and the set flight parameters of the route, and obtain the spatial coordinate points of the grounding wire through spatial plane projection conversion; The aerial photography inspection unit is used to generate an inspection route according to the spatial coordinate points of the grounding wire, the route flight parameters and the tower center points of the base towers at both ends of each working file, and perform aerial photography inspection on the target grounding wire segment according to the inspection route.

8. A ground wire inspection device, characterized in that: including memory and processor; The memory is used to store programs; The processor is used to execute the program to implement each step of the ground wire inspection method according to any one of claims 1 to 6.

9. A readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, each step of the ground wire inspection method according to any one of claims 1 to 6 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, each step of the ground wire inspection method according to any one of claims 1 to 6 is executed.

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