Through line survey method and survey system

Abstract

The invention discloses a through line surveying method and a through line surveying system. The power transmission line surveying method comprises the following steps: remotely controlling an unmanned aerial vehicle to sequentially arrive at each power tower position in a power transmission line, surveying each power tower, and obtaining surveying information of each power tower; and the survey information of each power tower is matched with an actual map to obtain a power through line wiring diagram. The electric power pole tower is surveyed through the remote control unmanned aerial vehicle, the surveying information is matched with the actual map to generate the electric power through line wiring diagram, and the problems that in an existing railway electric power through line manual surveying mode, data acquisition is difficult and inaccurate due to site environment and special position limitation, and follow-up statistical work is time-consuming and labor-consuming are solved; and the surveying accuracy and the working efficiency of the railway power transmission line are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of railway power equipment operation and maintenance, and in particular to a through-line survey method and a survey system. Background Art

[0002] Railway power through-line (self-closing) is a transmission line built along the railway line for railway station buildings, signals, communications and other railway comprehensive electricity use. UAV surveying and mapping technology is a means of quickly acquiring geographic information and environmental information by combining radio remote control equipment with airborne computers, and comprehensively utilizing database technology, communication technology, automatic control technology, and geographic information technology.

[0003] At present, the survey of railway power through-line (self-closing) is conducted manually. Survey and design personnel reach each power tower on foot or by car, take photos of the tower and the equipment installed on it, record various information, and locate and record the longitude and latitude coordinates of the tower through mobile phone positioning. Due to factors such as the on-site environment and the location of existing towers (such as military management areas), it is impossible to reach the location of some power towers, and surveys and records can only be conducted visually, which affects the accuracy of the data. At the same time, various coordinate positioning systems or software are independent of various tower information recording software, and subsequent statistical work requires a lot of time. Summary of the invention

[0004] The present invention provides a through-line survey method and a survey system to solve the problems of inaccurate data due to the limitations of the on-site environment and special locations, as well as time-consuming and labor-intensive subsequent statistical work in the existing manual survey method for railway power through-lines.

[0005] According to one aspect of the present invention, a through-line survey method is provided, comprising:

[0006] The remote-controlled drone arrives at the location of each power tower in the power through-line in turn, surveys each power tower, and obtains survey information of each power tower;

[0007] The survey information of each power tower is matched with the actual map to obtain the power through-line wiring diagram.

[0008] Optionally, the survey information of each power pole tower includes location information of each power pole tower;

[0009] The remote-controlled drone arrives at the location of each power tower in the power transmission line in turn, surveys each power tower, and obtains survey information of each power tower, including:

[0010] The remote-controlled drones are hovered above each power tower in the power transmission line in turn;

[0011] Control the drone to locate each power tower and obtain the location information of each power tower.

[0012] Optionally, the survey information of each power tower includes the tower type and installation equipment information of each power tower;

[0013] The remote-controlled drone arrives at the location of each power tower in the power transmission line in turn, surveys each power tower, and obtains survey information of each power tower, including:

[0014] The remote-controlled drone moves to the side of each power tower in the power transmission line in turn;

[0015] Control the image acquisition device carried by the drone to acquire images of each power tower to obtain images of the power tower;

[0016] Identify the power tower images and determine the tower type and installation equipment information on each power tower.

[0017] Optionally, the power tower image is identified to determine the tower type and installation equipment information on each power tower, including:

[0018] The power pole tower image is identified to determine the height of each power pole tower, the equipment on each power pole tower, and the type of each equipment.

[0019] Optionally, the remote-controlled drone arrives at the location of each power tower in the power through-line in turn, surveys each power tower, and obtains survey information of each power tower, including:

[0020] Select any power pole in the power through-line as the starting power pole, remotely control the drone to reach the starting power pole, survey the starting power pole, and obtain survey information of the starting power pole;

[0021] Along the transmission line connecting two adjacent power towers, the drone is controlled to fly to the location of the next power tower in turn, and the remaining power towers are surveyed to obtain the survey information of the remaining power towers.

[0022] Optionally, the electric power through-line includes a first through-line and a second through-line, and the first through-line and the second through-line are symmetrically distributed along both sides of the railway;

[0023] The remote-controlled drone arrives at the location of each power tower in the power transmission line in turn, surveys each power tower, and obtains survey information of each power tower, including:

[0024] Select any power pole tower in the first through line as a first starting power pole tower, remotely control the drone to reach the location of the first starting power pole tower, survey the first starting power pole tower, and obtain survey information of the first starting power pole tower;

[0025] Control the UAV to fly to the next power tower position in sequence along the power transmission line of the first through line, and survey the remaining power towers in the first through line to obtain survey information of the remaining power towers in the first through line;

[0026] Control the drone to cross the railway and reach the other side of the railway;

[0027] Select any power pole tower in the second through line as the second starting power pole tower, remotely control the drone to reach the location of the second starting power pole tower, survey the second starting power pole tower, and obtain survey information of the second starting power pole tower;

[0028] Along the transmission line of the second through line, the UAV is controlled to fly to the position of the next power tower in sequence, and the remaining power towers in the second through line are surveyed to obtain the survey information of the remaining power towers in the second through line.

[0029] Optionally, the electric power through-line includes a first through-line and a second through-line, and the first through-line and the second through-line are symmetrically distributed along both sides of the railway;

[0030] The remote-controlled drone arrives at the location of each power tower in the power transmission line in turn, surveys each power tower, and obtains survey information of each power tower, including:

[0031] Select any power pole tower in the first through line as a first starting power pole tower, remotely control the drone to reach the location of the first starting power pole tower, survey the first starting power pole tower, and obtain survey information of the first starting power pole tower;

[0032] Control the drone to cross the railway and reach the other side of the railway;

[0033] Selecting a power pole tower in the second through line that is located opposite to the first starting pole tower as a second starting pole tower, surveying the second starting power pole tower, and obtaining survey information of the second starting power pole tower;

[0034] Control the UAV to fly to the location of the next power pole tower along the transmission line of the second through-line, and survey the next power pole tower in the second through-line to obtain survey information of the next power pole tower;

[0035] Control the drone to cross the railway and reach the other side of the railway;

[0036] The drone is controlled to alternately cross over the two sides of the railway, and fly to the positions of the power poles of the first through-line and the second through-line in turn, survey the remaining power poles in the first through-line and the second through-line, and obtain survey information of the remaining power poles in the first through-line and the second through-line.

[0037] Optionally, before controlling the drone to cross the railway and reach the other side of the railway, it also includes:

[0038] Determine that the railway where the drone is located meets the crossing conditions.

[0039] Optionally, the through-line survey method also includes:

[0040] The remote-controlled drone arrives at the location of each power tower in the power transmission line in turn, surveys each power tower, obtains the survey information of each power tower, and checks the current remaining power of the drone;

[0041] When the current remaining power is higher than the preset power, the drone is controlled to continue the survey mission;

[0042] When the current remaining power is lower than or equal to the preset power, the drone is controlled to return for charging, and after charging is completed, the survey mission is continued.

[0043] According to another aspect of the present invention, a through-line survey system is provided, which is used to perform the through-line survey method as described in any one of the first aspects, and the survey system includes a drone, a drone remote controller, and an information processing module; the drone remote controller is communicatively connected to the drone, and the drone remote controller is used to communicate with the information processing module;

[0044] The drone remote controller is used to remotely control the drone to sequentially reach the locations of each power tower in the power through-line, conduct surveys on each power tower, and obtain survey information of each power tower;

[0045] The information processing module is used to match the survey information of each power tower with the actual map to obtain the power through-line wiring diagram.

[0046] The technical solution of the embodiment of the present invention is to reach the position of each power tower in the power through-line in turn by remotely controlling the drone, survey each power tower, and obtain the survey information of each power tower, thereby solving the problem that it is difficult to reach the position of the power tower for comprehensive survey due to complex terrain environment and special locations (such as military management areas, etc.), and ensuring the accuracy of the survey data; at the same time, a variety of survey information is obtained at one time by the drone, without the need for manual positioning and recording of tower information, saving time and energy for subsequent statistical work; by matching the survey information of each power tower with the actual map, a power through-line wiring diagram is obtained, and then the distribution of the power towers and the detailed information of each power tower are recorded in the power through-line wiring diagram, so as to facilitate the railway power equipment operation and maintenance personnel to carry out overall planning, troubleshooting and maintenance management. The present invention uses a remote-controlled drone to survey power poles and towers, and matches the survey information with the actual map to generate a power through-line wiring diagram, which solves the problems of the existing manual survey method of railway power through-lines, such as difficulty and inaccuracy in data acquisition due to the limitations of the on-site environment and special locations, as well as the time-consuming and labor-intensive subsequent statistical work, thereby improving the accuracy and work efficiency of railway power through-line surveys.

[0047] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0049] Figure 1 A flow chart of a through-line survey method provided by an embodiment of the present invention;

[0050] Figure 2 A flow chart of another through-line survey method provided by an embodiment of the present invention;

[0051] Figure 3 A flow chart of another through-line survey method provided by an embodiment of the present invention;

[0052] Figure 4 A flow chart of another through-line survey method provided by an embodiment of the present invention;

[0053] Figure 5 A flow chart of another through-line survey method provided by an embodiment of the present invention;

[0054] Figure 6 A flow chart of another through-line survey method provided by an embodiment of the present invention;

[0055] Figure 7 A schematic structural diagram of a through-line survey system provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0056] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0057] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0058] Figure 1 A flow chart of a through-line survey method provided by an embodiment of the present invention is as follows: Figure 1 As shown, the method includes:

[0059] S110, the remote-controlled drone arrives at the location of each power tower in the power through-line in turn, surveys each power tower, and obtains survey information of each power tower.

[0060] Among them, the power through-line can be understood as the power supply line laid along the railway line to provide power to the stations, section signal equipment and other railway equipment along the railway; the power pole can be understood as the erection tower used to support the power through-line; the survey information can be understood as various relevant data obtained for the power pole, including the location information of the pole, the model, height, appearance condition (such as cracks, rust, etc.) of the pole, the equipment condition on the pole (such as insulators, disconnectors, lightning arresters, etc.), etc.

[0061] Specifically, the construction workers control the drone through the drone remote control to follow the pre-set route, starting from the starting position, and approaching each power pole in the power through line at a certain flight altitude and speed (such as 10m / s). When arriving at each pole, first, the drone flies to the top of the power tower to locate the position of the power tower. Then fly to the side of the power tower away from the train track, use the camera to take photos of the tower at different angles to obtain detailed image data of the tower appearance, which is used for subsequent analysis of whether the tower has appearance defects; use laser radar and other ranging equipment to measure the distance between the tower and the surrounding objects, record the location information of the tower and its spatial relationship with the surrounding environment; and may also use some professional testing equipment to test the material characteristics of the tower, so as to fully obtain the survey information of each power tower. After completing the survey of one tower, the drone continues to fly to the next tower according to the route, repeating the above operations until the survey of all power towers in the power through line is completed. Afterwards, the large amount of survey information obtained will be transmitted to the ground control center or related data analysis platform, where it will be sorted, analyzed and evaluated by professionals to provide a basis for the maintenance and management of power towers.

[0062] S120: Match the survey information of each power tower with the actual map to obtain a power through-line wiring diagram.

[0063] Among them, the actual map can be understood as a map that reflects real geographic spatial information. The map has the general format of a general map, which is convenient for importing and exporting data; matching can be understood as the process of marking power wiring information on the actual map; the power through-line wiring diagram can be understood as an actual map containing power pole tower survey information.

[0064] This step can be specifically performed by the information processing module. Specifically, the information processing module will parse the data format of the actual map (such as GIS) to ensure that it meets the requirements of integration with the survey information. For the survey information of each power tower, the information processing module "maps" the corresponding power tower and survey information to the corresponding geographical location point on the actual map based on the location information (such as longitude and latitude), and installs the actual through-wires between the power towers to connect them. When displaying the power through-wire wiring diagram, you can click on the tower mark on the map to display relevant survey information, such as tower type, installation equipment information, etc.

[0065] The technical solution of the embodiment of the present invention is to reach the position of each power tower in the power through-line in turn by remotely controlling the drone, survey each power tower, and obtain the survey information of each power tower, thereby solving the problem that it is difficult to reach the position of the power tower for comprehensive survey due to complex terrain environment and special locations (such as military management areas, etc.), and ensuring the accuracy of the survey data; at the same time, a variety of survey information is obtained at one time by the drone, without the need for manual positioning and recording of tower information, saving time and energy for subsequent statistical work; by matching the survey information of each power tower with the actual map, a power through-line wiring diagram is obtained, and then the distribution of the power towers and the detailed information of each power tower are recorded in the power through-line wiring diagram, so as to facilitate the railway power equipment operation and maintenance personnel to carry out overall planning, troubleshooting and maintenance management. The present invention uses a remote-controlled drone to survey power poles and towers, and matches the survey information with the actual map to generate a power through-line wiring diagram, which solves the problems of the existing manual survey method of railway power through-lines, such as difficulty and inaccuracy in data acquisition due to the limitations of the on-site environment and special locations, as well as the time-consuming and labor-intensive subsequent statistical work, thereby improving the accuracy and work efficiency of railway power through-line surveys.

[0066] Optionally, the through-line survey method also includes:

[0067] The remote-controlled drone arrives at the location of each power tower in the power transmission line in turn, surveys each power tower, obtains the survey information of each power tower, and checks the current remaining power of the drone;

[0068] When the current remaining power is higher than the preset power, the drone is controlled to continue the survey mission;

[0069] When the current remaining power is lower than or equal to the preset power, the drone is controlled to return for charging, and after charging is completed, the survey mission is continued.

[0070] The preset power level can be understood as a power threshold used to determine whether the drone needs to return for charging.

[0071] Specifically, during the survey of each power tower in the power transmission line, the drone system will monitor the current remaining power in real time.

[0072] When the remaining power received by the drone is less than or equal to the preset power, the drone will remind the staff that the current drone power is low, and the staff will decide whether to interrupt the current survey mission and return to the preset charging location at a safe flight altitude and speed according to the set return route for charging or battery replacement. When the drone is fully charged and the power reaches the standard for continued flight, the staff will remotely control the drone to continue the survey mission from the last interrupted position according to the original survey plan, and arrive at the remaining power tower locations in turn to survey each power tower until the survey of all power towers in the power through-line is completed, so as to ensure the efficiency and reliability of the drone during use and avoid the situation where the drone needs to be manually recovered due to insufficient power.

[0073] Figure 2 A flowchart of another through-line survey method provided by an embodiment of the present invention. In the embodiment of the present invention, based on the above embodiment, the survey information of each power tower includes the location information of each power tower. Correspondingly, in S110 in the above embodiment, the remote-controlled drone sequentially arrives at the location of each power tower in the power through-line, surveys each power tower, and obtains the survey information of each power tower, which can be specifically refined as follows:

[0074] The remote-controlled drones are hovered above each power tower in the power transmission line in turn;

[0075] Control the drone to locate each power tower and obtain the location information of each power tower.

[0076] like Figure 2 As shown, the method includes:

[0077] S210. The remote-controlled drones are sequentially hovered above the power poles and towers in the power transmission line.

[0078] Specifically, the operator issues commands through the drone remote control to control the drone to fly along the planned route and arrive at the position directly above each power tower in the power transmission line in turn. When approaching the top of the tower, the drone adjusts its flight attitude and hovers above the power tower while ensuring that the drone maintains a safe distance from the tower and surrounding objects. For example, depending on the height of the tower and the surrounding environment, the hovering height can be set at 3-5 meters from the top of the tower. During the hovering process, the drone remains relatively stationary.

[0079] S220: Control the drone to locate each power tower and obtain the location information of each power tower.

[0080] Specifically, when the drone stably hovers above the power tower, the positioning module on the drone (such as GPS (Global Positioning System), Beidou Satellite Navigation System, etc.) receives signals transmitted by multiple satellites and uses the principle of triangulation to determine the coordinate information of the drone's current location. Since the drone is hovering directly above the tower, the coordinate information can be approximately considered as the location information of the power tower. The positioning module transmits the acquired location information (such as latitude and longitude coordinates and altitude information) to the drone remote control for storage, and the information processing module performs preliminary processing and verification on these data.

[0081] S230: Match the survey information of each power tower with the actual map to obtain a power through-line wiring diagram.

[0082] The embodiment of the present invention allows the drone to accurately hover above each power tower in turn, and uses the positioning module to obtain location information based on the triangulation positioning principle of satellite signals. Compared with the traditional manual acquisition of the tower position through mobile phone positioning on the ground, it can effectively avoid positioning errors caused by factors such as terrain and building obstruction, and improve the accuracy of obtaining the power tower position information. At the same time, with the help of drones to perform positioning tasks, operators only need to remotely control through a remote control, and do not need to approach or reach the tower position like manual surveying, which reduces the risk of personnel working in complex environments (such as the wild, dangerous areas, etc.) and ensures personnel safety.

[0083] Figure 3 A flowchart of another through-line survey method provided by an embodiment of the present invention is a refinement or optimization of the above embodiment. Specifically, in S110 of the above embodiment, the remote-controlled drone sequentially reaches the position of each power tower in the power through-line, surveys each power tower, and obtains survey information of each power tower. It can be specifically refined as follows:

[0084] The remote-controlled drone moves to the side of each power tower in the power transmission line in turn;

[0085] Control the image acquisition device carried by the drone to acquire images of each power tower to obtain images of the power tower;

[0086] Identify the power tower images and determine the tower type and installation equipment information on each power tower.

[0087] like Figure 3 As shown, the method includes:

[0088] S310, the remote-controlled drone moves to the side of each power tower in the power through-line in turn.

[0089] Specifically, the operator issues commands through the drone remote control to control the drone to fly along the planned route and arrive at the side of each power tower in the power transmission line in turn. When approaching the side of the tower, the drone adjusts its flight attitude and approaches the side of the power tower from a direction away from the track while ensuring that the drone maintains a safe distance from the tower and surrounding objects. For example, depending on the environment around the tower, the hovering position can be set at 3-5 meters away from one side of the tower. During the hovering process, the drone remains relatively stationary.

[0090] S320, controlling the image acquisition device carried by the UAV to acquire images of each power pole tower to obtain images of the power pole tower.

[0091] Specifically, when the drone moves to the side of each power tower, the operator starts the image acquisition module on the drone through the drone remote control or pre-set program instructions to obtain image information of the tower. During the acquisition process, the operator photographs the power tower in a certain order and angle. According to the survey requirements, multiple shots are taken to ensure that all parts of the tower, including the tower body, crossarms, insulators, various electrical equipment, etc., can be clearly recorded.

[0092] S330: Identify the power pole tower image and determine the pole tower type and installation equipment information on each power pole tower.

[0093] Among them, the pole tower type can be understood as different categories divided according to the material, structure, purpose and other factors of the power pole tower, such as cement pole, iron tower, wooden pole, etc.; the installed equipment information can be understood as the equipment name, equipment quantity, installation location, equipment status, etc. of various equipment installed on the power pole tower.

[0094] Specifically, the image information of the pole tower is transmitted to the information processing module through the drone remote controller. The information processing module uses machine learning or deep learning-based methods to identify the type of pole tower and the information of the installed equipment, and obtains the specific equipment name and corresponding specifications of the equipment installed on the pole tower, the specific number of each equipment on the pole tower, and the specific location of the equipment on the pole tower. In addition, image recognition can also be used to determine whether the equipment is damaged, aged, deformed, or in other abnormal conditions.

[0095] Optionally, the power tower image is identified to determine the tower type and installation equipment information on each power tower, including:

[0096] The power pole tower image is identified to determine the height of each power pole tower, the equipment on each power pole tower, and the type of each equipment.

[0097] Specifically, the information processing module uses the image information of the pole tower to determine the type of power pole tower and the corresponding pole tower height by using a method based on machine learning or deep learning. After determining the type of pole tower, the information processing module further identifies the equipment installed on the power tower pole through the image information of the pole tower, and obtains the specific equipment name and corresponding specification model of the equipment installed on the pole tower, the specific number of each equipment on the pole tower, and the specific location of the equipment on the pole tower. Exemplarily, the equipment type may include the insulator type, disconnector type, lightning arrester type, etc. In addition, image recognition can be used to determine whether the equipment is damaged, aged, deformed, or other abnormal conditions.

[0098] S340: Match the survey information of each power tower with the actual map to obtain a power through-line wiring diagram.

[0099] The embodiment of the present invention obtains image information of the tower on the side of the power tower, and determines information such as the tower type, tower height, equipment name, specification model, quantity, location and status based on a recognition method based on machine learning or deep learning, thereby saving manpower and time costs.

[0100] Figure 4 A flowchart of another through-line survey method provided by an embodiment of the present invention is a refinement or optimization of the above embodiment. Specifically, in S110 of the above embodiment, a remote-controlled drone sequentially reaches the position of each power tower in the power through-line, surveys each power tower, and obtains survey information of each power tower. It can be specifically refined as follows:

[0101] Select any power pole in the power through-line as the starting power pole, remotely control the drone to reach the starting power pole, survey the starting power pole, and obtain survey information of the starting power pole;

[0102] Along the transmission line connecting two adjacent power towers, the drone is controlled to fly to the location of the next power tower in turn, and the remaining power towers are surveyed to obtain the survey information of the remaining power towers.

[0103] like Figure 4 As shown, the method includes:

[0104] S410, selecting any power pole tower in the power through-line as the starting power pole tower, remotely controlling the drone to arrive at the location of the starting power pole tower, surveying the starting power pole tower, and obtaining survey information of the starting power pole tower.

[0105] Specifically, the operator selects one of the power towers as the starting power tower based on actual working conditions, such as the overall layout of the power transmission line and the take-off position of the drone. After selection, the drone is controlled by the remote controller to reach the starting power tower. When the drone approaches the starting power tower, it obtains the tower location information, tower type and installation equipment information in turn to complete the scheduled survey task.

[0106] S420, along the power transmission line connecting two adjacent power towers, control the drone to fly to the location of the next power tower in turn, and survey the remaining power towers to obtain survey information of the remaining power towers.

[0107] Specifically, after completing the survey of the starting power tower, the UAV is guided by the transmission line connecting the starting power tower and the adjacent power tower. The operator uses the UAV remote control to control the UAV to survey other power towers on the transmission line in turn, and obtains the location information, tower type and installation equipment information of the remaining power towers in turn according to the survey task to complete the acquisition of survey information.

[0108] S430: Match the survey information of each power tower with the actual map to obtain a power through-line wiring diagram.

[0109] The embodiment of the present invention provides an orderly execution path for drone survey by selecting a starting power pole and surveying the transmission lines along adjacent poles in sequence, thereby avoiding blind flight of drones during the survey process, effectively saving flight time and power, and improving overall survey efficiency.

[0110] Figure 5 A flowchart of another through-line survey method provided for an embodiment of the present invention. Based on the above embodiment, the embodiment of the present invention further takes into account the situation that the power through-line includes a first through-line and a second through-line, and the first through-line and the second through-line are symmetrically distributed along both sides of the railway. Specifically, in S110 in the above embodiment, the remote-controlled drone arrives at the position of each power tower in the power through-line in turn, surveys each of the power towers, and obtains survey information of each of the power towers. It can be specifically refined as follows:

[0111] Select any one of the power poles in the first through line as a first starting power pole, remotely control the drone to reach the location of the first starting power pole, survey the first starting power pole, and obtain survey information of the first starting power pole;

[0112] Control the UAV to fly to the next power tower position in sequence along the power transmission line of the first through line, and survey the remaining power towers in the first through line to obtain survey information of the remaining power towers in the first through line;

[0113] Control the drone to cross the railway and reach the other side of the railway;

[0114] Select any power pole tower in the second through line as the second starting power pole tower, remotely control the drone to reach the location of the second starting power pole tower, survey the second starting power pole tower, and obtain survey information of the second starting power pole tower;

[0115] Along the transmission line of the second through line, the UAV is controlled to fly to the position of the next power tower in sequence, and the remaining power towers in the second through line are surveyed to obtain the survey information of the remaining power towers in the second through line.

[0116] like Figure 5 As shown, the method includes:

[0117] S510, selecting any power pole tower in the first through line as a first starting power pole tower, remotely controlling a drone to reach the location of the first starting power pole tower, surveying the first starting power pole tower, and obtaining survey information of the first starting power pole tower.

[0118] Among them, the first through-line can be understood as one of the two transmission lines (such as through-line and self-closing line) symmetrically distributed along both sides of the railway. Exemplarily, the first through-line is a power supply line that provides power supply to stations, section signal equipment, communication equipment, station buildings and other railway comprehensive power equipment along the railway; correspondingly, the second through-line is a self-closing line, which is a power supply line used to provide power for railway automatic blocking signal equipment. The first starting power pole tower can be understood as a power pole tower at the starting point of the drone survey operation.

[0119] Specifically, the operator selects a power pole from the first through line as the first starting power pole based on the actual situation on site, such as the initial position of the drone and the terrain around the railway. Then, the operator controls the drone remote controller to remotely control the drone to the starting power pole position. When the drone approaches the first starting power pole, the remote-controlled drone reaches the first starting power pole position, obtains the tower position information, tower type and installation equipment information in turn, completes the predetermined survey task, and obtains the survey information of the first starting power pole.

[0120] S520, along the transmission line of the first through line, control the drone to fly to the next power tower position in sequence, and survey the remaining power towers in the first through line to obtain survey information of the remaining power towers in the first through line.

[0121] Specifically, after completing the survey of the first starting power tower, the UAV is guided by the transmission line connecting the first starting power tower and the adjacent power tower. The operator controls the UAV through the UAV remote control to survey other power towers on the transmission line in turn, and obtains the location information, tower type and installation equipment information of the remaining power towers in the current through line in turn according to the survey task to complete the acquisition of survey information.

[0122] S530, control the UAV to cross the railway and reach the other side of the railway.

[0123] Specifically, after completing the survey task on one side of the railway (i.e., all power towers on the through line where the first starting power tower is located), the operator uses the drone remote control to control the drone to cross the railway to the other side for subsequent survey.

[0124] Optionally, before controlling the drone to cross the railway and reach the other side of the railway, it also includes:

[0125] Determine whether the railway where the UAV is located meets the crossing conditions.

[0126] Among them, the crossing conditions can be understood as a series of conditions that need to be met to ensure that the drone can safely pass through the railway line;

[0127] Specifically, before controlling the drone to cross the railway line, the operator determines whether the environment in which the drone is located meets the conditions for crossing the railway line, such as weather conditions and railway operation status. If the conditions for crossing the railway line are met, the operator controls the drone to rise to a safe height for crossing the railway through the drone remote control.

[0128] For example, before controlling the drone to cross the railway line, the operator checks the current weather conditions to ensure that there are no strong winds or other weather factors that affect the stable flight of the drone; in addition, it should also be confirmed whether there are trains running on the railway. If there are trains passing by, in order to avoid the drone interfering with the train operation or causing a collision accident, it is necessary to wait for the train to pass before performing the crossing operation. If all the above conditions meet the conditions for crossing the railway line, the operator controls the drone to rise to a safe height of the railway through the drone remote control and then crosses the railway, preparing to conduct a survey of the power poles and towers on the other side of the through line.

[0129] S540, selecting any power pole tower in the second through line as a second starting power pole tower, remotely controlling the drone to reach the location of the second starting power pole tower, surveying the second starting power pole tower, and obtaining survey information of the second starting power pole tower.

[0130] The second starting power tower pole may be understood as the survey starting point in the second through line corresponding to the first starting power tower pole.

[0131] Specifically, when the UAV successfully crosses the railway and reaches the through-line on the other side, the operator selects a power pole from the through-line on this side as the second starting power pole as the starting point for the survey of the through-line on this side based on the actual on-site conditions, such as the pole tower layout of the through-line on this side, the surrounding environment, and the convenience of subsequent surveys.

[0132] After selecting the second starting power pole, the operator controls the drone remote controller to remotely control the drone to the location of the starting power pole. When the drone approaches the second starting power pole, the remotely controlled drone reaches the location of the second starting power pole, obtains the location information of the tower, obtains the tower type and installation equipment information in sequence, completes the predetermined survey task, obtains the survey information of the second starting power pole, and completes the survey of the second starting power pole.

[0133] S550, along the transmission line of the second through line, control the drone to fly to the next power tower position in sequence, and survey the remaining power towers in the second through line to obtain survey information of the remaining power towers in the second through line.

[0134] Specifically, after completing the survey of the second starting power tower, the UAV is guided by the transmission line connecting the second starting power tower and the adjacent power tower. The operator controls the UAV through the UAV remote control to survey other power towers on the transmission line in turn, and obtains the location information, tower type and installation equipment information of the remaining power towers in the current through line in turn according to the survey task, thereby completing the acquisition of the survey information on this side.

[0135] S560: Match the survey information of each power tower with the actual map to obtain a power through-line wiring diagram.

[0136] The embodiment of the present invention targets the through-lines (first through-lines) and self-closing lines (second through-lines) symmetrically distributed on both sides of the railway. By selecting the first starting power tower and the second starting power tower respectively, all the towers are surveyed in turn along their respective through-lines, thereby ensuring comprehensive coverage of the railway power line survey and improving the overall survey efficiency.

[0137] Figure 6 A flowchart of another through-line survey method provided for an embodiment of the present invention. Based on the above embodiment, the embodiment of the present invention further takes into account the situation that the power through-line includes a first through-line and a second through-line, and the first through-line and the second through-line are symmetrically distributed along both sides of the railway. Specifically, in S110 in the above embodiment, the remote-controlled drone arrives at the position of each power tower in the power through-line in turn, surveys each of the power towers, and obtains survey information of each of the power towers. It can be specifically refined as follows:

[0138] Select any power pole tower in the first through line as a first starting power pole tower, remotely control the drone to reach the location of the first starting power pole tower, survey the first starting power pole tower, and obtain survey information of the first starting power pole tower;

[0139] Control the drone to cross the railway and reach the other side of the railway;

[0140] Selecting a power pole tower in the second through line that is located opposite to the first starting pole tower as a second starting pole tower, surveying the second starting power pole tower, and obtaining survey information of the second starting power pole tower;

[0141] Control the UAV to fly to the location of the next power pole tower along the transmission line of the second through-line, and survey the next power pole tower in the second through-line to obtain survey information of the next power pole tower;

[0142] Control the drone to cross the railway and reach the other side of the railway;

[0143] The drone is controlled to alternately cross over the two sides of the railway, and fly to the positions of the power poles of the first through-line and the second through-line in turn, survey the remaining power poles in the first through-line and the second through-line, and obtain survey information of the remaining power poles in the first through-line and the second through-line.

[0144] like Figure 6 As shown, the method includes:

[0145] S610: Select any power pole tower in the first through line as a first starting power pole tower, remotely control the drone to reach the location of the first starting power pole tower, survey the first starting power pole tower, and obtain survey information of the first starting power pole tower.

[0146] Specifically, the operator selects a power pole as the first starting power pole from the first through-line and the second through-line symmetrically distributed on both sides of the railway, based on the actual situation on site, such as the initial position of the drone and the terrain around the railway. Subsequently, the operator controls the drone remote controller to remotely control the drone to the starting power pole position. When the drone approaches the first starting power pole, the remote-controlled drone reaches the first starting power pole position, obtains the tower position information, the tower type and the installation equipment information in turn, completes the predetermined survey task, and obtains the survey information of the first starting power pole.

[0147] S620, control the UAV to cross the railway and reach the other side of the railway.

[0148] Specifically, after completing the survey task of the first starting power tower, the operator uses the drone remote control to control the drone to cross the railway to the other side for subsequent survey.

[0149] S630: Select a power pole tower in the second through line that is located opposite to the first starting pole tower as a second starting pole tower, survey the second starting power pole tower, and obtain survey information of the second starting power pole tower.

[0150] Specifically, after the drone completes the survey task of the first starting power pole, the operator controls the drone to cross the railway to the other side through the drone remote control. At this time, on the second through line, the corresponding power pole is selected as the second starting pole based on the relative position relationship with the first starting pole based on the railway symmetry.

[0151] After selecting the second starting power pole, the operator controls the drone remote controller to remotely control the drone to the location of the starting power pole. When the drone approaches the second starting power pole, the remotely controlled drone reaches the location of the second starting power pole, obtains the location information of the tower, obtains the tower type and installation equipment information in sequence, completes the predetermined survey task, obtains the survey information of the second starting power pole, and completes the survey of the second starting power pole.

[0152] S640, control the UAV to fly to the location of the next power tower along the transmission line of the second through line, and survey the next power tower in the second through line to obtain survey information of the next power tower.

[0153] Specifically, the operator controls the drone remote control to fly the drone along the through line where the first starting power tower is located to the location of the next power tower, survey the next power tower, obtain the location information of the next power tower, tower type and installation equipment information, and complete the survey information acquisition of the power tower.

[0154] S650, control the drone to cross the railway and reach the other side of the railway.

[0155] Specifically, after completing the survey task on one side of the first starting power tower, the operator uses the drone remote control to control the drone to cross the railway and return to the second starting power tower side for subsequent survey.

[0156] S660, control the UAV to alternately cross over to both sides of the railway, and fly to the positions of the power poles of the first through-line and the second through-line in turn, survey the remaining power poles in the first through-line and the second through-line, and obtain survey information of the remaining power poles in the first through-line and the second through-line.

[0157] Specifically, after completing the survey of the power towers on one side, the operator controls the drone through the drone remote control to alternately survey the power towers on both sides of the railway until all the remaining power towers have been surveyed, ensuring that all tower information in the power through-lines on both sides of the railway has been surveyed.

[0158] S670: Match the survey information of each power tower with the actual map to obtain a power through-line wiring diagram.

[0159] The embodiment of the present invention ensures comprehensive coverage of railway power line surveys by alternately surveying power towers based on symmetrical positions on both sides of the railway and simultaneously recommends survey operations on power towers on through lines and self-closing lines, thereby improving overall survey efficiency.

[0160] Figure 7 A schematic diagram of the structure of a through-line survey system provided by an embodiment of the present invention is shown in FIG. Figure 7 As shown, an embodiment of the present invention further provides a through-line survey system for executing the through-line survey method in any of the above embodiments, the survey system includes a drone, a drone remote controller and an information processing module; the drone remote controller is communicatively connected to the drone, and the drone remote controller is used to communicate with the information processing module;

[0161] The drone remote controller is used to remotely control the drone to sequentially reach the locations of each power tower in the power through-line, conduct surveys on each power tower, and obtain survey information of each power tower;

[0162] The information processing module is used to match the survey information of each power tower with the actual map to obtain the power through-line wiring diagram.

[0163] The through-line survey system provided in the embodiment of the present invention can execute the through-line survey method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0164] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0165] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A through-line survey method, characterized in that: The method includes: The remote-controlled drone arrives at the location of each power tower in the power through-line in turn, surveys each power tower, and obtains survey information of each power tower; The survey information of each power pole tower is matched with the actual map to obtain a power through-line wiring diagram.

2. The through-line survey method according to claim 1, characterized in that: The survey information of each of the power poles and towers includes location information of each of the power poles and towers; The remote-controlled drone arrives at the location of each power tower in the power through-line in turn, surveys each power tower, and obtains survey information of each power tower, including: Remotely control the drone to hover above each of the power towers in the power through-line in turn; The drone is controlled to locate each of the power poles and towers to obtain the position information of each of the power poles and towers.

3. The through-line survey method according to claim 1, characterized in that: The survey information of each of the power towers includes the tower type and installation equipment information of each of the power towers; The remote-controlled drone arrives at the location of each power tower in the power through-line in turn, surveys each power tower, and obtains survey information of each power tower, including: Remotely control the drone to move to the side of each power tower in the power through-line in sequence; Control the image acquisition device carried by the drone to acquire images of each power tower to obtain images of the power tower; The power pole tower image is identified to determine the pole tower type and installation equipment information on each power pole tower.

4. The through-line survey method according to claim 3, characterized in that: Identify the power tower image and determine the tower type and installation equipment information on each power tower, including: The power pole tower image is identified to determine the height of each power pole tower and the equipment on each power pole tower and the type of each equipment.

5. The through-line survey method according to claim 1, characterized in that: The remote-controlled drone arrives at the location of each power tower in the power through-line in turn, surveys each power tower, and obtains survey information of each power tower, including: Select any one of the power poles in the power through-line as the starting power pole, remotely control the drone to reach the location of the starting power pole, survey the starting power pole, and obtain survey information of the starting power pole; The drone is controlled to fly to the next power tower position in sequence along the power transmission line connecting two adjacent power towers, and the remaining power towers are surveyed to obtain survey information of the remaining power towers.

6. The through-line survey method according to claim 1, characterized in that: The electric power through-line includes a first through-line and a second through-line, and the first through-line and the second through-line are symmetrically distributed along both sides of the railway; The remote-controlled drone arrives at the location of each power tower in the power through-line in turn, surveys each power tower, and obtains survey information of each power tower, including: Select any one of the power poles in the first through line as a first starting power pole, remotely control the drone to reach the location of the first starting power pole, survey the first starting power pole, and obtain survey information of the first starting power pole; Controlling the drone to fly to the next power tower position in sequence along the power transmission line of the first through line, and surveying the remaining power towers in the first through line to obtain survey information of the remaining power towers in the first through line; Controlling the UAV to cross the railway to reach the other side of the railway; Select any one of the power poles in the second through line as a second starting power pole, remotely control the drone to reach the location of the second starting power pole, survey the second starting power pole, and obtain survey information of the second starting power pole; Along the transmission line of the second through-line, the UAV is controlled to fly to the next power tower position in sequence, and the remaining power towers in the second through-line are surveyed to obtain survey information of the remaining power towers in the second through-line.

7. The through-line survey method according to claim 1, characterized in that: The electric power through-line includes a first through-line and a second through-line, and the first through-line and the second through-line are symmetrically distributed along both sides of the railway; The remote-controlled drone arrives at the location of each power tower in the power through-line in turn, surveys each power tower, and obtains survey information of each power tower, including: Select any one of the power poles in the first through line as a first starting power pole, remotely control the drone to reach the location of the first starting power pole, survey the first starting power pole, and obtain survey information of the first starting power pole; Controlling the UAV to cross the railway to reach the other side of the railway; Selecting a power pole tower in the second through line that is located opposite to the first starting pole tower as a second starting pole tower, surveying the second starting power pole tower, and obtaining survey information of the second starting power pole tower; Controlling the UAV to fly to the location of the next power pole tower along the power transmission line of the second through-line, and surveying the next power pole tower in the second through-line to obtain survey information of the next power pole tower; Controlling the UAV to cross the railway to reach the other side of the railway; The drone is controlled to alternately cross over both sides of the railway, and fly to the positions of the power poles of the first through-line and the second through-line in turn, survey the remaining power poles in the first through-line and the second through-line, and obtain survey information of the remaining power poles in the first through-line and the second through-line.

8. The through-line survey method according to claim 6 or 7, characterized in that: Before controlling the drone to cross the railway and reach the other side of the railway, the method further includes: Determine whether the railway where the UAV is located meets the crossing conditions.

9. The through-line survey method according to claim 1, characterized in that: Also includes: The remote-controlled drone arrives at the location of each power tower in the power through-line in turn, surveys each power tower, obtains survey information of each power tower, and checks the current remaining power of the drone; When the current remaining power is higher than the preset power, controlling the drone to continue the survey mission; When the current remaining power is lower than or equal to the preset power, the drone is controlled to return for charging, and after charging is completed, the survey mission is continued.

10. A through-line survey system, characterized in that: Used to perform the through-line survey method according to any one of claims 1 to 9, the survey system comprises a drone, a drone remote controller and an information processing module; the drone remote controller is communicatively connected to the drone, and the drone remote controller is used to communicate with the information processing module; The drone remote controller is used to remotely control the drone to sequentially reach the location of each power tower in the power through-line, survey each power tower, and obtain survey information of each power tower; The information processing module is used to match the survey information of each power pole tower with the actual map to obtain a power through-line wiring diagram.

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