Intelligent inspection method for power line

Abstract

The invention relates to the technical field of intelligent inspection of a power system, in particular to an intelligent inspection method for a power line, which comprises the following steps of: simultaneously carrying out tower inspection operation and shift inspection operation; tower inspection operation: acquiring a geographic tracking target point and judging a geographic tracking threshold value and an imaging resolution threshold value to correspondingly execute operation; acquiring real-time information of the photoelectric turret to adjust the angle of the two-dimensional swing mirror and shoot until the inspection operation is completed; in-gear inspection operation: acquiring the position of a cable hanging point; acquiring real-time information of the photoelectric turret to adjust the angle of the two-dimensional swing mirror and shoot until all shooting is completed, and ending the tower inspection operation; and after the in-gear inspection operation is finished, executing the tower inspection operation or finishing the overall inspection operation. According to the invention, the shooting position is automatically calculated according to the target resolution requirement, the two-dimensional swing mirror is used for carrying out swing scanning on the key hanging point, and the servo mechanism and the two-dimensional swing mirror are matched to realize no-shooting-missing imaging of the cable in the gear and no hovering of the carrier during operation.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent inspection of power systems, and particularly to an intelligent inspection method for power lines. Background Art

[0002] Traditional power inspection methods achieve imaging of key hanging points on power lines through multiple round trips and hovering operations. However, this inspection operation method has low inspection efficiency, high labor costs, and highly relies on manual operation experience. Therefore, how to achieve efficient and intelligent inspection of power lines has become one of the urgent problems to be solved in the field of power inspection operations. For this reason, technicians in this field have proposed various solutions: For example: In a Chinese patent with the publication number CN116009585A and the name of a method for extracting a refined inspection route of a multi-rotor unmanned aerial vehicle for a transmission line, it is proposed to pre-obtain multiple shooting trigger points through point cloud data and obtain angle adjustment trigger points according to relevant data.

[0003] In a Chinese patent with the publication number CN119402753A and the name of an intelligent inspection method and device, it is proposed to pre-calculate the positions of photo-taking trigger points and control the movement of a single-axis swing mirror to achieve imaging of key hanging points and ground wires. However, the actual use of both methods requires pre-solving the positions of key trigger points and movement angles. The data pre-processing process is complex, time-consuming, and laborious, and there will be a situation where the ground wires in the span are missed when imaging the tower and the wires in the span simultaneously.

[0004] Based on this, how to improve the efficiency of shooting positions and reduce the situation of missed shots has become an urgent technical problem for technicians in this field. Summary of the Invention

[0005] Therefore, the technical problem to be solved by the present invention is to overcome the defects existing in the above-mentioned prior art, so as to provide an intelligent inspection method for power lines.

[0006] An intelligent inspection method for power lines, in which the carrier aircraft does not hover during one-way and single-time inspection operations; the intelligent inspection method for power lines includes: Tower inspection operation and span inspection operation carried out simultaneously; Tower inspection operation: Obtain the geographical tracking target points of the tower to be inspected, and perform judgments on geographical tracking thresholds and imaging resolution thresholds to correspondingly execute control operations for the optoelectronic turret to point to the geographical tracking target points and calculate the shooting sequence strategy for each key hanging point; repeatedly obtain the real-time information of the optoelectronic turret to calculate the current target relative distance and the current two-dimensional swing mirror angle to be adjusted, and correspondingly adjust the two-dimensional swing mirror angle and take pictures according to the current target relative distance until all key hanging points on one side of the tower to be inspected are photographed; similarly, further complete the imaging of all key hanging points on both sides and then end the tower inspection operation; Inspection operation in the span: Pre-establish an error correction model for the geometric relationship of sag; Receive the first coordinate of the cable hanging point position transmitted by the tower inspection operation, and control the optoelectronic turret to point to the latest cable hanging point position; Repeatedly obtain the real-time information of the optoelectronic turret to calculate the target relative distance and the current two-dimensional galvanometer angle to be adjusted, and correspondingly adjust the two-dimensional galvanometer angle, and take pictures according to the current target relative distance until all the key hanging points in the spans of the front tower and the rear tower are photographed, and further complete the imaging of all the key hanging points on both sides to end the tower inspection operation; If the shooting of the key hanging points in the span of the front tower is completed, but the shooting of the key hanging points in the span of the rear tower is not completed, then combine the image overlap rate requirement, the forward distance of the single-component imaging aircraft, and the sag geometric relationship correction model to calculate the latest cable hanging point position for providing the pointing; Among them, the flight direction of the aircraft is the front, and the reverse flight direction of the aircraft is the rear; After the inspection operation in the span is completed, judge whether to end the overall inspection operation. If so, end the overall inspection operation. If not, perform the tower inspection operation.

[0007] Preferably, the specific operation process of the tower inspection includes: A1. Determine the tower to be inspected, calculate the geographical tracking target point on one side of the tower to be inspected, and continuously judge whether it meets the geographical tracking threshold. If so, perform step A2. If not, wait for the next moment to judge again; A2. The optoelectronic turret control system controls the optoelectronic turret to point to the geographical tracking target point; A3. Continuously judge whether it meets the imaging resolution threshold. If so, calculate the shooting sequence strategy of each key hanging point according to the optimal path algorithm. If not, wait for the next moment to judge again; A4. Calculate the current target relative distance and the two-dimensional galvanometer angle to be adjusted according to the real-time position and attitude information of the optoelectronic turret fed back by the inertial measurement unit; Among them, the current target relative distance is the real-time distance between the optoelectronic turret and the current key hanging point to be photographed; A5. Control the movement of the two-dimensional galvanometer based on the current two-dimensional galvanometer angle to be adjusted, and control the camera to focus and image based on the current target relative distance; And judge whether all the key hanging points on one side of the tower to be inspected are imaged. If so, perform step A6. If not, loop to execute steps A4 to A5 until the judgment result of step A5 is yes; A6. Judge whether all the key hanging points on both sides of the tower to be inspected are imaged. If so, end the tower shooting operation and perform the inspection operation in the span. If not, loop to execute steps A2 to A6 until the judgment result of step A6 is yes.

[0008] Preferably, the geographical tracking target point is the middle position of the key hanging points on one side of the tower to be inspected.

[0009] Preferably, judging whether it meets the geographical tracking threshold is specifically: judging whether it holds; Among them, is the maximum relative distance between the optoelectronic turret and each key hanging point calculated based on the real-time position information of the optoelectronic turret fed back by the inertial measurement unit and the positions of each key hanging point of the pole tower; is the trigger distance threshold between the geographical guidance before the imaging of the optoelectronic turret pole tower and the outermost hanging point of the pole tower; and, ; is the trigger distance threshold between the carrier aircraft and the outermost hanging point of the pole tower.

[0010] Preferably, it is judged in real time whether the imaging resolution threshold is met. Specifically: judge whether holds; Among them, is the real-time maximum relative distance between the optoelectronic turret and each key hanging point after the optoelectronic turret stably points to the geographical tracking target point.

[0011] Preferably, the specific operation process for the inspection operation in the span includes: B1. Pre-establish an error correction model for the geometric relationship of the sag; B2. Obtain the cable hanging point position to the optoelectronic turret control system, and the optoelectronic turret control system controls the optoelectronic turret to point to the cable hanging point position; B3. Calculate the current target relative distance and the current two-dimensional gimbal angle to be adjusted according to the real-time position and attitude information of the optoelectronic turret fed back by the inertial measurement unit; B4. Control the movement of the two-dimensional gimbal based on the current two-dimensional gimbal angle to be adjusted, and control the camera focusing and imaging based on the current target relative distance; and judge whether all the key hanging points in the front pole tower in the span have been imaged. If so, execute step B5. If not, loop and execute steps B3 to B4 until the judgment result in step B4 is yes; B5. Judge whether all the key hanging points in the rear pole tower in the span have been imaged. If so, end the shooting operation in the span and execute step B6. If not, calculate the latest cable hanging point position for providing guidance in combination with the image overlap rate requirement, the forward distance of the carrier aircraft for single-group imaging, and the sag geometric relationship correction model, and send it to the optoelectronic turret control system, and further loop and execute steps B3 - B5 until the judgment result in step S5 is yes.

[0012] The technical solution of the present invention has the following advantages: The data pre - processing process of the existing power inspection operation method is complex. Limited by the multiple adjustments of the optoelectronic turret, the operation speed of the carrier aircraft is restricted. And if clear imaging of the tower poles and the conductors between spans is to be achieved without missing any shots of the cables, multiple flights are required to complete the shooting completely, which seriously affects the actual operation efficiency. Compared with the existing power inspection operation method, the efficient power line intelligent inspection method proposed in this invention patent can effectively improve the automation level of the system, reduce the manual intensity and experience dependence, can effectively increase the flight speed of the carrier aircraft, and complete the shooting of all target points without missing any shots without hovering, greatly improving the inspection efficiency and reducing the inspection operation cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0014] Figure 1 It is a schematic flowchart of the method in Embodiment 2 of the present invention; Figure 2 It is a schematic diagram of the imaging principle of the tower pole inspection operation of the present invention; Figure 3 It is a schematic diagram of the key hanging point scanning of the straight tower pole inspection of the present invention; Figure 4 It is a schematic diagram of the imaging principle of the inspection operation between spans of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0015] The following will clearly and completely describe the technical solutions of the present invention with reference to the drawings. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art without creative efforts based on the embodiments of the present invention belong to the scope of protection of the present invention.

[0016] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0017] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0018] In addition, the technical features involved in different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0019] Embodiment 1 An intelligent inspection method for power lines, in which the carrier aircraft does not hover during a one-way single inspection operation; the intelligent inspection method for power lines includes: The tower inspection operation and the mid-span inspection operation carried out simultaneously; Tower inspection operation: Obtain the geographical tracking target points of the towers to be inspected, and perform judgments on the geographical tracking threshold and the imaging resolution threshold to correspondingly execute the control operation of the optoelectronic turret pointing to the geographical tracking target points and calculate the shooting sequence strategy for each key hanging point; repeatedly obtain the real-time information of the optoelectronic turret to calculate the current target relative distance and the current two-dimensional swing mirror angle to be adjusted, and correspondingly adjust the two-dimensional swing mirror angle and take pictures according to the current target relative distance until all the key hanging points on one side of the tower to be inspected are photographed; similarly, further complete the imaging of all the key hanging points on both sides and then end the tower inspection operation; Mid-span inspection operation: Pre-establish an error correction model for the sag geometric relationship; receive the first coordinate of the cable hanging point position transmitted by the tower inspection operation, and control the optoelectronic turret to point to the latest cable hanging point position; repeatedly obtain the real-time information of the optoelectronic turret to calculate the target relative distance and the current two-dimensional swing mirror angle to be adjusted, and correspondingly adjust the two-dimensional swing mirror angle, and take pictures according to the current target relative distance until all the key hanging points in the mid-span between the front tower and the rear tower are photographed, and further complete the imaging of all the key hanging points on both sides, and end the tower inspection operation; if the shooting of the key hanging points in the mid-span of the front tower is completed, but the shooting of the key hanging points in the mid-span of the rear tower is not completed, then calculate the latest cable hanging point position for providing pointing in combination with the image overlap rate requirement, the forward distance of the carrier aircraft for single-component imaging, and the sag geometric relationship correction model; where the flight direction of the carrier aircraft is the front and the reverse flight direction of the carrier aircraft is the rear; After the mid-span inspection operation is completed, judge whether to end the overall inspection operation. If so, end the overall inspection operation; if not, execute the tower inspection operation.

[0020] The specific operation process of the tower inspection includes: A1. Determine the tower to be inspected, calculate the geographical tracking target points on one side of the tower to be inspected, and continuously judge whether the geographical tracking threshold is met. If so, execute step A2; if not, wait until the next moment to judge again. A2. The optoelectronic turret control system controls the optoelectronic turret to point to the geographical tracking target points. A3. Continuously judge whether the imaging resolution threshold is met. If so, calculate the shooting sequence strategy for each key hanging point according to the optimal path algorithm; if not, wait until the next moment to judge again. A4. Calculate the current target relative distance and the two-dimensional mirror angle to be adjusted based on the real-time position and attitude information of the optoelectronic turret fed back by the inertial measurement unit. Among them, the current target relative distance is the real-time distance between the optoelectronic turret and the current key hanging point to be photographed. A5. Control the movement of the two-dimensional mirror based on the current two-dimensional mirror angle to be adjusted, and control the camera to focus and image based on the current target relative distance. Then judge whether all the key hanging points on one side of the tower to be inspected have been imaged. If so, execute step A6; if not, loop and execute steps A4 to A5 until the judgment result in step A5 is yes. A6. Judge whether all the key hanging points on both sides of the tower to be inspected have been imaged. If so, end the tower shooting operation and execute the inspection operation in the span; if not, loop and execute steps A2 to A6 until the judgment result in step A6 is yes.

[0021] The geographical tracking target points are the intermediate positions of the key hanging points on one side of the tower to be inspected.

[0022] Judge whether the geographical tracking threshold is met. Specifically, judge whether it holds. Among them, is the maximum relative distance between the optoelectronic turret and each key hanging point calculated based on the real-time position information of the optoelectronic turret fed back by the inertial measurement unit combined with the positions of each key hanging point of the tower. is the trigger distance threshold between the geographical guidance before the optoelectronic turret images the tower and the outermost hanging point of the tower. And, ; is the trigger distance threshold between the carrier aircraft and the outermost hanging point of the tower.

[0023] Continuously judge whether the imaging resolution threshold is met. Specifically, judge whether it holds. Among them, is the real-time maximum relative distance between the optoelectronic turret and each key hanging point after the optoelectronic turret stably points to the geographical tracking target points.

[0024] For the inspection operation in the span, the specific operation process includes: B1. Pre - establish an error correction model for the sag geometric relationship; B2. Obtain the cable hanging point position to the optoelectronic turret control system, and the optoelectronic turret control system controls the optoelectronic turret to point to the cable hanging point position; B3. Calculate the current target relative distance and the current two - dimensional mirror angle to be adjusted according to the real - time position and attitude information of the optoelectronic turret fed back by the inertial measurement unit; B4. Control the movement of the two - dimensional mirror based on the current two - dimensional mirror angle to be adjusted, and control the camera focusing and imaging based on the current target relative distance; and determine whether the imaging of the key hanging points in all spans of the front tower is completed. If so, execute step B5. If not, loop and execute steps B3 to B4 until the judgment result of step B4 is yes; B5. Determine whether the imaging of the key hanging points in all spans of the rear tower is completed. If so, end the shooting operation in the span and execute step B6. If not, calculate the latest cable hanging point position for providing pointing in combination with the image overlap rate requirement, the forward distance of the single - component imaging carrier, and the sag geometric relationship correction model, and send it to the optoelectronic turret control system, and further loop and execute steps B3 - B5 until the judgment result of step S5 is yes.

[0025] Embodiment 2 To further introduce the technical solution of the present application, on the basis of Embodiment 1, specific application examples are further disclosed: The technical solution of this embodiment can automatically calculate the shooting position according to the target resolution requirement, use the two - dimensional mirror to perform swing scanning on the key hanging points, and realize the non - missed imaging of the cables in the span through the cooperation of the servo mechanism and the two - dimensional mirror, improve the inspection operation efficiency and automation level, and ensure reliable camera imaging effects. It should be noted that the inspection equipment used in this embodiment is an aircraft carrying an optoelectronic turret; the optoelectronic turret is specifically an optoelectronic turret with azimuth and elevation rotation axes; for the convenience of understanding, the components used when obtaining relevant information in Embodiment 1 are described: the visible - light camera carried by the optoelectronic turret itself is used to image the tower and the key hanging points to be inspected in the span; the two - dimensional mirror carried by the optoelectronic turret itself is arranged in front of the incident surface of the visible - light camera or in the middle of the incident light path, and realizes the two - dimensional expansion of the field of view through the two - dimensional swing of the mirror surface; the inertial measurement unit carried by the optoelectronic turret itself is used to obtain the real - time position and attitude information of the optoelectronic turret, so that the optoelectronic turret has the ability of geographical tracking, and is used to calculate the relative spatial distance between the key hanging points to be photographed and the optoelectronic turret; the optoelectronic turret control system is used to control the operation of the optoelectronic turret.

[0026] Taking the 110 kV AC transmission line as an example, the method of Embodiment 1 is specifically described in this embodiment. The main tower types of the 110 kV AC transmission line are straight towers and tension towers. The hanging points on the front and back of the straight tower are the same, while for the tension tower, due to more key hanging points, the hanging points on the front and back are different. The number of cables to be photographed in the span is 3. According to the target size of this line, it is determined that the target resolution needs to meet 1.5 mm. From the parameters of the visible light camera, it can be inferred that the maximum distance from the key hanging points to be photographed to the carrier aircraft at this time should not be greater than 130 meters. The number of hanging points on one side of the straight tower is 9, and the number of hanging points on one side of the tension tower is 11.

[0027] Schematic diagram of the intelligent inspection operation method for power line towers is as Figure 2-3 shown, in which Figure 2 the flight path of the carrier aircraft and three example hanging points: Point 1, Point 2, and Point 3 are exemplified; In this embodiment, the intelligent inspection operation method for power line towers is as follows: To ensure unobstructed imaging of the key hanging points of the tower, multi-angle imaging of the key hanging points is performed from both the front and back of the tower. Taking two straight towers in the line to be inspected: Tower 1 and Tower 2 and their spans as examples for illustration, the number of towers to be inspected in the line is each, and the number of key hanging points on one side of each tower to be inspected is . The position of the th key hanging point of the th tower is pre-collected , where , ; in this embodiment ; . On this basis, the intermediate position of the key hanging points on one side of the th tower is calculated by the following formula, and is used as the geographical tracking target point of the optoelectronic turret during the inspection operation on one side of the th tower.

[0028] (1); To reduce the data pre-processing work intensity of power inspection operations and ensure clear and reliable target imaging, combined with the actual size of the tower and cable targets, the trigger distance threshold between the carrier aircraft and the farthest hanging point of the tower is set, and the trigger distance threshold for the geographical guidance of the optoelectronic turret before tower imaging and the farthest hanging point of the tower is set, and ; in this embodiment ; .

[0029] First, the carrier aircraft equipped with an optoelectronic turret performs tower inspection tasks on one side of the power line without hovering. When inspecting the When performing inspection operations on a pole tower, the optoelectronic turret is based on the position information fed back by the inertial measurement unit and combines with the position of each key hanging point of the th pole tower, and calculates the maximum relative distance between the optoelectronic turret and each key hanging point in real time through formula (2) . When the maximum relative distance is reached, the geographical tracking target point during the inspection operation of the th pole tower is sent to the optoelectronic turret control system, and the optoelectronic turret control system controls the movement of the azimuth and elevation axes of the optoelectronic turret and keeps the central visual axis of the optoelectronic turret stably pointing to the geographical tracking target point .

[0030] (2); Then, after the optoelectronic turret stably points to the geographical tracking target point, calculate the maximum relative distance between the optoelectronic turret and each key hanging point in real time . When is reached, calculate the shooting sequence strategy of each key hanging point according to the optimal path algorithm, and sort the key hanging points. After determining the optimal shooting strategy, through the real-time position information and attitude information of the optoelectronic turret fed back by the inertial measurement unit, and combining with the position coordinates of the sorted key hanging points, solve the required movement angle of the two-dimensional swing mirror of the optoelectronic turret on the premise of pointing to the geographical tracking target point , and send to the optoelectronic turret control system to control the movement angle of the two-dimensional swing mirror; after the two-dimensional swing mirror moves stably, control the visible light camera to focus and shoot according to the current relative distance between the optoelectronic turret and the key hanging point to be photographed. After the shooting is completed, re-acquire the current pose information of the optoelectronic turret and calculate the required movement angle of the two-dimensional swing mirror for the next key hanging point to be photographed, and so on, until the optoelectronic turret completes the clear imaging of all the key hanging points to be photographed on one side of the pole tower

[0031] Finally, if there is a contradiction between the clear imaging distance and the imaging operation time under the high-speed flight of the carrier aircraft due to factors such as the large size of the pole tower or the large number of key hanging points, then image different key hanging points respectively when imaging the front and back sides of the pole tower. At this time, when imaging all the key hanging points on the other side, it is necessary to recalculate the geographical tracking target point according to all the key hanging points on the other side, and repeat the above steps until all the key hanging points of the pole tower complete the imaging operation

[0032] The schematic diagram of the intelligent inspection operation method in the power line span is as shown in Figure 4 and the specific method process is as follows In this embodiment, the number of inspection cables required in the line to be inspected is , , due to the influence of factors such as gravity, the cable in the span will have a certain sag, and the sag will vary under different temperature conditions. Therefore, relying solely on the laser point cloud data cannot ensure that the optical axis of the visible light camera accurately points to the cable hanging point. Therefore, it is necessary to establish a cable sag equation in the span, compare the sag equation with the actually measured laser point cloud data, and further reduce the systematic error generated by the cable sag equation in the span, so as to achieve accurate pointing to the cable hanging point.

[0033] First, comprehensively consider various factors including but not limited to the type and parameters of the cable in the span, the span in the span, the height difference between adjacent towers, and temperature, etc., and establish a geometric relationship between the above factors and the sag size , substitute the actually measured laser point cloud data and the corresponding sag size, and compare the relative error between the laser point cloud and the geometric relationship between, and correct the error of the geometric relationship according to the error size to obtain , so as to establish an accurate model of the sag in the span.

[0034] Secondly, the inspection of the cable in the span and the inspection of the tower are completed in a single-side inspection operation. After the inspection of the tower is completed, the cable hanging point position is sent as the first group of aiming points , , o represents the number of groups of aiming points, and k represents the kth coordinate in the group of aiming points; and the first coordinate of the first group of aiming points is sent to the optoelectronic turret control system, and the optoelectronic turret control system controls the movement of the optoelectronic turret and keeps it pointing ; the accurate pointing of can be used for later error analysis and fault troubleshooting, and let be the initial reference point for inspection in the span. It should be noted that the cable hanging point is included in the key hanging points to be photographed during the tower inspection operation.

[0035] Then, during the inspection in the span, the carrier aircraft is always in the forward flight state. After the pointing of the point is completed, the optoelectronic turret control system calculates the position and the real-time position information of the optoelectronic turret and sends the distance to the visible light camera for focusing and imaging. After the imaging of is completed, according to the real-time position information and attitude information fed back by the inertial measurement unit, and combined with the second coordinate of the first aiming point , control the movement angle of the two-dimensional swing mirror , complete the focusing and imaging of the second cable hanging point position coordinate, and so on until the completion of Shooting at the hanging point position of the point cable.

[0036] Next, when , After the imaging of the cable hanging point is completed, by calculating the relative distance between the current aircraft position and the aircraft position at the previous moment , combining the imaging overlap rate requirement in the span and the sag relationship formula calculate the second group of target aiming points of the cable in the span , , send the second group of target aiming points to the optoelectronic turret control system, and the optoelectronic turret control system controls the movement of the optoelectronic turret and always keeps pointing to the first point of the second group of aiming points , and feed back the current relative distance between the optoelectronic turret and to the visible light camera for focusing and imaging, and so on until all the imaging of the second group of target observation points is completed.

[0037] Finally, similarly, generate multiple groups of target aiming points again and complete the target imaging of all points until all the target imaging before the key hanging points of the next pole tower is completed. At this time, the imaging operation in the span is completed, and the working mode is switched to the pole tower operation imaging and ready to execute the pole tower operation imaging mode, or the power inspection operation process is ended; the number of groups of target aiming points is set according to the actual situation, generally three groups. In addition, in the invention, x, y, and z are the x-axis, y-axis, and z-axis coordinates of the three-dimensional coordinates respectively.

[0038] Obviously, the above embodiments are only examples given for clear illustration and are not limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to enumerate all the implementation manners here. And the obvious changes or modifications derived therefrom are still within the protection scope of the present invention.

Claims

1. An intelligent inspection method for power lines, characterized in that, During the one-way single inspection operation of the carrier aircraft, the carrier aircraft does not hover; the intelligent inspection method for power lines includes: The tower inspection operation and the mid-span inspection operation carried out simultaneously; Tower inspection operation: Obtain the geographical tracking target point of the tower to be inspected, and perform judgments on the geographical tracking threshold and the imaging resolution threshold to correspondingly execute the control operation of the optoelectronic turret pointing to the geographical tracking target point and calculate the shooting sequence strategy for each key hanging point; repeatedly obtain the real-time information of the optoelectronic turret to calculate the current target relative distance and the current two-dimensional swing mirror angle to be adjusted, and correspondingly adjust the two-dimensional swing mirror angle and take pictures according to the current target relative distance until all key hanging points on one side of the tower to be inspected are photographed; similarly, further complete the imaging of all key hanging points on both sides and then end the tower inspection operation; Mid-span inspection operation: Pre-establish an error correction model for the geometric relationship of sag; Receive the first coordinate of the cable hanging point position transmitted by the tower inspection operation, and control the optoelectronic turret to point to the latest cable hanging point position; repeatedly obtain the real-time information of the optoelectronic turret to calculate the target relative distance and the current two-dimensional swing mirror angle to be adjusted, and correspondingly adjust the two-dimensional swing mirror angle, and take pictures according to the current target relative distance until all mid-span key hanging points of the front tower and the rear tower are photographed, further complete the imaging of all key hanging points on both sides, and end the tower inspection operation; If the mid-span key hanging points of the front tower are photographed, but the mid-span key hanging points of the rear tower are not photographed, then calculate the latest cable hanging point position for providing the pointing in combination with the image overlap rate requirement, the forward distance of the single-component imaging carrier aircraft, and the sag geometric relationship correction model; where, the flight direction of the carrier aircraft is the front, and the reverse direction of the carrier aircraft flight is the rear; After the mid-span inspection operation is completed, judge whether to end the overall inspection operation. If so, end the overall inspection operation. If not, execute the tower inspection operation.

2. The intelligent inspection method for power lines according to claim 1, characterized in that The specific operation process of tower inspection includes: A1. Determine the tower to be inspected, calculate the geographical tracking target point on one side of the tower to be inspected, and continuously judge whether it meets the geographical tracking threshold. If so, execute step A2. If not, wait for the next moment to judge again; A2. The optoelectronic turret control system controls the optoelectronic turret to point to the geographical tracking target point; A3. Continuously judge whether it meets the imaging resolution threshold. If so, calculate the shooting sequence strategy for each key hanging point according to the optimal path algorithm. If not, wait for the next moment to judge again; A4. Calculate the current target relative distance and the two-dimensional swing mirror angle to be adjusted according to the real-time position and attitude information of the optoelectronic turret fed back by the inertial measurement unit; where, the current target relative distance is the real-time distance between the optoelectronic turret and the current key hanging point to be photographed; A5. Control the movement of the two-dimensional swing mirror based on the current two-dimensional swing mirror angle to be adjusted, and control the camera to focus and image based on the current target relative distance; and judge whether all key hanging points on one side of the tower to be inspected are imaged. If so, execute step A6. If not, loop and execute steps A4 to A5 until the judgment result of step A5 is yes; A6. Judge whether all key hanging points on both sides of the tower to be inspected are imaged. If so, end the tower shooting operation and execute the mid-span inspection operation. If not, loop and execute steps A2 to A6 until the judgment result of step A6 is yes.

3. The intelligent inspection method for power lines according to claim 2, wherein The geographical tracking target point is the middle position of the key hanging point on one side of the tower to be inspected.

4. The intelligent inspection method for power lines according to claim 3, characterized in that, Determine whether the geographic tracking threshold is met, specifically: Determine whether it holds; Among them, is the maximum relative distance between the optoelectronic turret and each key hanging point calculated based on the real-time position information of the optoelectronic turret fed back by the inertial measurement unit and the positions of each key hanging point of the pole tower; is the geographical guidance before the imaging of the optoelectronic turret tower and the trigger distance threshold of the hanging point at the farthest end of the tower; and, ; It is the trigger distance threshold between the carrier aircraft and the outermost hanging point of the pole tower.

5. The intelligent inspection method for power lines according to claim 3, wherein, Judge in real time whether the imaging resolution threshold is met, specifically: judge whether it holds; Among them, is the real-time maximum relative distance between the optoelectronic turret and each key hanging point after the optoelectronic turret stably points to the geographical tracking target point.

6. The intelligent inspection method for power lines according to claim 1, characterized in that, For the specific operation process of in-span inspection work, it includes: B1. Pre-establish an error correction model for the sag geometric relationship. B2. Obtain the cable hanging point position to the optoelectronic turret control system, and the optoelectronic turret control system controls the optoelectronic turret to point to the cable hanging point position. B3. Calculate the current target relative distance and the current two-dimensional gimbal angle to be adjusted according to the real-time position and attitude information of the optoelectronic turret fed back by the inertial measurement unit. B4. Control the movement of the two-dimensional gimbal based on the current two-dimensional gimbal angle to be adjusted, and control the camera focusing and imaging based on the current target relative distance; and determine whether the imaging of all key hanging points in the front tower spans has been completed. If so, execute step B5. If not, loop and execute steps B3 to B4 until the judgment result of step B4 is yes. B5. Determine whether the imaging of all key hanging points in the rear tower spans has been completed. If so, end the in-span shooting operation and execute step B6. If not, calculate the latest cable hanging point position for providing pointing in combination with the image overlap rate requirement, the forward distance of the single-component imaging aircraft, and the sag geometric relationship correction model, and send it to the optoelectronic turret control system, and further loop and execute steps B3 - B5 until the judgment result of step S5 is yes.

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