Transmission and distribution line unmanned aerial vehicle adaptive auditing method and system

Abstract

The present application belongs to the field of overhead transmission and distribution line inspection, and provides a transmission and distribution line unmanned aerial vehicle adaptive auditing method and system. The technical scheme is to perform adaptive line searching and tower searching detection according to the received transmission and distribution auditing task in combination with the visual target guiding model of the unmanned aerial vehicle deployment; to plan the pole tower position recording point and the tower material information data collection point, to determine the longitude and latitude information of the pole tower based on the pole tower position recording point according to the line searching and tower searching results, to control the unmanned aerial vehicle to perform data collection based on the planned tower material information data collection point, to statistically collect the tower material information according to the image data collected by all the data collection points, to calculate the transmission and distribution line tower-to-tower conductor length in combination with the longitude and latitude information of the pole tower and the transmission and distribution conductor parameters, and to compare the tower material information and the transmission and distribution line tower-to-tower conductor length with the set auditing standard respectively to generate an auditing report. The efficiency and quality of the present-stage auditing are effectively improved.

Description

Technical Field

[0001] This invention belongs to the field of overhead power transmission and distribution line inspection, and particularly relates to an adaptive auditing method and system for power transmission and distribution lines using unmanned aerial vehicles (UAVs). Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] In traditional power grid construction projects, the auditing of transmission line length relies on on-site audits by auditors. However, some transmission line projects are located in complex environments with high altitudes, rugged terrain, and poor transportation, making them difficult for personnel to access. These factors reduce audit efficiency. Manual on-site audits also have significant shortcomings in terms of cost and reliability. This makes it difficult to conduct audits based on traditional technologies on time and with high quality, creating gaps in project investment auditing and posing a significant challenge to investment auditing in power grid construction projects.

[0004] To address the aforementioned issues, using drones equipped with sensors to collect data for power transmission line auditing is gradually becoming an efficient solution. Current drone auditing primarily relies on hand-operated drones. While this improves efficiency to some extent, on-site audits mainly involve collecting data sequentially from distant power transmission line towers and lines. Power transmission line towers vary widely; for example, the spatial positions of insulator strings on both sides of a tower are complex, making it difficult to collect material information. Traditional random drone inspections, when analyzing images to collect material information, may suffer from significant issues of duplicate or omissions. Similarly, using pre-set locations for drone inspections to collect material information is problematic. This method suffers from issues such as inefficient setups requiring multiple drone adjustments and potential omissions, failing to guarantee both audit efficiency and quality. Summary of the Invention

[0005] To address at least one of the technical problems mentioned above, this invention provides an adaptive auditing method and system for power transmission and distribution lines using unmanned aerial vehicles (UAVs). This system performs autonomous inspections based on planned data collection points for tower-mounted material information, effectively eliminating the problems of duplicate counting and omissions of material information in traditional data collection, and improving the efficiency and quality of auditing at this stage.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A first aspect of the present invention provides an adaptive auditing method for unmanned aerial vehicles (UAVs) of power transmission and distribution lines, comprising the following steps:

[0008] Adaptive line and tower detection is performed based on the received power transmission and distribution audit task and the visual target guidance model deployed by the UAV.

[0009] The system plans the locations of tower positions and data collection points for tower-loaded material information. Based on the results of line tracing and tower location tracking, it determines the latitude and longitude information of the towers based on the tower position recording points. It then controls drones to collect data based on the planned data collection points for tower-loaded material information. Finally, it compiles tower-loaded material information statistics based on the image data collected from all data collection points.

[0010] Based on the latitude and longitude information of the towers and the parameters of the transmission and distribution conductors, the length of the conductors between the towers of the transmission and distribution line is calculated;

[0011] The tower-mounted material information and the inter-tower conductor length of the transmission and distribution line are compared with the set audit standards to generate an audit report.

[0012] Furthermore, the adaptive line-finding and tower-finding detection based on the received power transmission and distribution audit task and the visual target guidance model deployed by the UAV includes:

[0013] In the adaptive line-finding stage, the visual target guidance model identifies the guide wire target and determines the direction of the guide wire. The downward viewing angle of the UAV gimbal is fixed, and the virtual joystick is adjusted according to the line wire and direction to guide the UAV to follow the line.

[0014] In the adaptive tower-finding phase, the target detection model of the tower is activated simultaneously with the line-finding phase. When the tower target enters the drone's camera lens, the tower is switched as the target for flight. During the flight, the drone gimbal is adjusted to keep the tower target in the center of the camera's view. In the tower-finding flight phase, the drone uses the gimbal's downward viewing angle as the independent variable and the drone's forward speed as the dependent variable to control the drone to fly towards the tower.

[0015] Furthermore, in the tower-finding flight phase, the UAV uses the gimbal's downward-looking angle as the independent variable and the UAV's forward speed as the dependent variable to control the UAV's flight towards the tower, which can be expressed as:

[0016] ,

[0017] in, This is the downward viewing angle of the gimbal; when looking straight ahead, When looking down, The range is ,

[0018] This is the critical angle at which the velocity begins to decay. The range is , For drones At a constant speed, when At that time, the speed remains constant. , When, the speed decreases linearly; when At that time, the speed dropped to 0.

[0019] Furthermore, the planning of data collection points for tower-mounted material information specifically includes:

[0020] The specific locations of tower position recording points and tower-loaded material information data collection points include:

[0021] Establish a rectangular coordinate system with the top of the tower as the origin, and the direction of the crossarm at the top of the tower as the coordinate system. x In the axial direction, the direction of the tower crossarm perpendicular to the large side is... y Positive axis direction, perpendicular x , y Plane upwards z In terms of axis direction, the direction of the drone's nose pointing towards the target tower is called the large side, and the direction of the drone's tail pointing towards the starting tower is called the small side.

[0022] Based on the established three-dimensional rectangular coordinate system, the tower location recording points and tower-loaded material information data collection points are planned. The tower-loaded material information data collection points include three points. The three points are respectively set as the first shooting point at a set distance on the back of the tower, the second shooting point at a set angle on one side of the tower, and the third shooting point at a set angle on the other side of the tower. The second and third shooting points are mirror-symmetrical about the tower as the center line.

[0023] Furthermore, the coordinates of the pole position recording point are as follows:

[0024] ,

[0025] The location of the first data collection point is represented as follows:

[0026] ,

[0027] The pose of the drone at the first data acquisition point is: the angle of the drone's nose. Negative direction, the on-view angle θ2 of the drone gimbal;

[0028] The location of the second data collection point is represented as follows:

[0029] ,

[0030] The drone's shooting posture at the second data acquisition point is as follows: the drone's nose is facing... y The positive axis direction, the downward viewing angle θ1 of the UAV gimbal; the position of the third data acquisition point is represented as:

[0031] ,

[0032] The drone's shooting posture at the third data acquisition point is: the drone's nose is facing the negative direction of angle β2, and the drone's gimbal is looking up at angle θ2.

[0033] in, The distance between the drone and the top of the tower. To maintain a safe distance between the drone and the tower, The angle of the photo point on the left side of the tower is given, with the negative direction 180 + β1 representing the direction of the camera head. This refers to the distance between the drone and the area below the top of the tower. The angle of the camera point on the right side of the tower is 180 + β2, and the negative direction is the direction of the camera head.

[0034] Furthermore, based on the image data collected from all data collection points, the information on the tower-loaded materials is statistically analyzed, including:

[0035] The tower type is detected by image recognition based on the first data acquisition point, the number of insulator strings on one side of the tower is detected by image recognition based on the second data acquisition point, and the number of insulator strings on the other side of the tower is detected by image recognition based on the third data acquisition point. The tower material information is obtained by collaboratively capturing images from the three data acquisition points.

[0036] Furthermore, the formula for calculating the conductor length between transmission and distribution line towers is as follows:

[0037] Without considering conductor suspension, the formula for calculating the conductor length between adjacent towers is:

[0038]

[0039] When considering suspended conductors, the formula for calculating the conductor length between adjacent towers is:

[0040] ,

[0041] ,

[0042] ,

[0043] ,

[0044] , , ,

[0045] in, For the length of the conductor, For horizontal span, Given the Earth's radius, the latitude and longitude of tower 1 are... Altitude is The latitude and longitude of tower 2 are Altitude is , Due to latitude difference, Due to poor accuracy, It is a sag.

[0046] A second aspect of the present invention provides an adaptive auditing system for unmanned aerial vehicles (UAVs) of power transmission and distribution lines, comprising:

[0047] The line-finding and tower-finding module is used to perform adaptive line-finding and tower-finding detection based on the received power transmission and distribution audit task and the visual target guidance model deployed by the UAV.

[0048] The data acquisition and deduplication module is used to plan the tower location recording points and tower material information data acquisition points. Based on the line finding and tower finding results, it determines the latitude and longitude information of the tower based on the tower location recording points. Based on the planned tower material information data acquisition points, it controls the drone to collect data and statistically analyzes the tower material information based on the image data collected from all data acquisition points.

[0049] The line-finding and tower-finding conductor measurement module is used to calculate the conductor length between transmission and distribution line towers by combining the latitude and longitude information of the towers and the parameters of the transmission and distribution conductors.

[0050] The audit report generation module is used to compare the tower-mounted material information and the inter-tower conductor length of the transmission and distribution line with the set audit standards to generate an audit report.

[0051] A third aspect of the present invention provides a computer-readable storage medium.

[0052] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps in the above-described adaptive auditing method for power transmission and distribution lines by unmanned aerial vehicles.

[0053] A fourth aspect of the present invention provides a computer device.

[0054] A computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps in the above-described adaptive auditing method for power transmission and distribution lines by unmanned aerial vehicles.

[0055] Compared with the prior art, the beneficial effects of the present invention are:

[0056] 1. This invention innovatively proposes an adaptive auditing method for power transmission and distribution lines using unmanned aerial vehicles (UAVs). Based on adaptive line-finding and tower-finding flight, and combined with data collection points for planned tower-mounted material information, it binds line tower information, material information, and inter-tower conductor distance information to ultimately generate a power transmission line audit report. This improves the efficiency and quality of auditing and solves the problem of low efficiency and quality in existing power transmission and distribution line audits.

[0057] 2. This invention proposes a three-point photo dataset collection method for power transmission and distribution lines and an image recognition and statistical algorithm for deduplication of materials based on towers as boundaries. This solves the problem of duplicate counting of materials in previous data collection, realizes the deduplication and statistics of tower-mounted material information, and further improves the efficiency and quality of auditing.

[0058] 3. This invention proposes a method for calculating the conductor length between transmission and distribution line towers. By combining recorded tower latitude and longitude information, tower height difference, long-distance conductor sag, and other data, the method calculates the conductor length between transmission and distribution line towers for different line types. This solves the problem of the current measurement method that estimates based on the distance between two towers, and further improves the efficiency and quality of auditing.

[0059] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0060] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0061] Figure 1 This is a flowchart of the UAV adaptive auditing method for power transmission and distribution lines provided in an embodiment of the present invention;

[0062] Figure 2 This is a schematic diagram of the adaptive line-finding and tower-finding scenario provided in an embodiment of the present invention;

[0063] Figure 3 This is a schematic diagram of data collection point planning provided in an embodiment of the present invention;

[0064] Figure 4 This is a schematic diagram of the calculation parameters for the conductor length of adjacent towers provided in an embodiment of the present invention. Detailed Implementation

[0065] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0066] It should be noted that the following detailed description is illustrative and intended to provide further explanation of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0067] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0068] As mentioned in the background section, using drones equipped with sensors to collect data for power transmission line auditing is gradually becoming an efficient solution. However, currently, it mainly focuses on drones assisting manual data collection. Adaptive drone inspection technology has seen rapid application and technological iteration in power transmission and distribution line inspection and patrol, primarily using refined inspection methods to photograph and collect data on defects in the lines. Existing drone auditing mainly relies on manual drone operation. While this improves efficiency to some extent, the audit site primarily involves collecting information on transmission line towers and lines sequentially from a distance. Transmission line towers are diverse, and the material information involved is complex. For example, the spatial positions of insulator strings on both sides of the tower are complex. Traditional methods of directly controlling drones to randomly inspect and then statistically analyzing the material information of transmission line towers can lead to serious issues of duplicate or missing material information. Alternatively, drones can be controlled based on pre-set locations for inspection and statistical analysis of transmission line tower material information. However, this method suffers from problems such as unreasonable shooting arrangements requiring multiple drone position adjustments, resulting in low efficiency. Furthermore, it still suffers from missing material information, failing to guarantee audit efficiency and quality.

[0069] This invention proposes an adaptive auditing method and system for power transmission and distribution lines using unmanned aerial vehicles (UAVs). The UAV uses its own camera and position sensors to acquire positional information of targets such as towers, tower heads, and conductors along the power transmission and distribution lines. A visual servo control system for the UAV enables functions such as line-following flight, tower-following flight, tower positioning, and data acquisition. The UAV controller automatically calls the YOLOv8 target detection algorithm model to automatically count the number of insulator strings and tower type based on a three-point deduplication principle. It also automatically counts the length of the line conductors based on the formulas for calculating the distance between the towers and the conductor sag. Finally, the material details of the line are compiled into an audit report and displayed as a document.

[0070] This invention mainly includes the following aspects:

[0071] First, the use of drones for adaptive line-finding and tower-finding flight to perform data collection and auditing tasks replaces the current on-site data collection and auditing work mode of auditors, thus improving auditing efficiency.

[0072] Secondly, a three-point photo dataset collection method for power transmission and distribution lines (three-point method) and an image recognition and statistical algorithm for deduplication of materials based on towers are proposed, which effectively solves the problem of duplicate counting of materials in previous data collection.

[0073] Third, based on data such as the latitude and longitude of the towers, the tower height difference, and the long-distance conductor suspension recorded by UAVs, a method for calculating the conductor length between transmission and distribution line towers is proposed, which solves the current measurement method of estimating based on the distance between two towers.

[0074] Fourth, the automated drone front-end data processing workflow binds information on power line towers, materials, and the distance between conductors between towers to ultimately generate a power transmission line audit report, effectively improving the current audit and acceptance operation mode.

[0075] Example 1

[0076] like Figure 1 As shown, this embodiment provides an adaptive auditing method for UAVs on power transmission and distribution lines, including the following steps:

[0077] Step 1: Based on the received power transmission and distribution audit task, adaptive line finding and tower detection are performed using the visual target guidance model deployed by the UAV;

[0078] Specifically, the power transmission and distribution audit task refers to the issued power transmission and distribution line project investment audit task, which is to verify the details of the line construction materials submitted by the construction unit on the line.

[0079] Specifically, a gimbal is mounted on the front end of the drone, and an image acquisition device, such as a camera, is mounted on the gimbal. Image data can be acquired in real time using the image acquisition device.

[0080] In this embodiment, the adaptive line-finding method specifically includes the following steps:

[0081] Based on the acquired image data and the trained target detection model, the guide wire is identified. When the identified guide wire is the target guide wire, the downward viewing angle of the UAV gimbal is fixed, and the virtual joystick is adjusted according to the guide wire and direction to guide the UAV to follow the line.

[0082] Specifically, the UAV's adaptive line-finding phase is based on determining the direction of the guide based on the characteristics of the current power transmission and distribution line tower. For example, if the current power transmission and distribution line tower is a straight tower, the direction of the conductor is determined based on the direction of the crossarm of the current base tower. If the current power transmission and distribution line tower is a transfer tower, the direction of the conductor is determined based on the direction of the insulator of the current transfer tower. After the direction is determined, the conductor target in the middle of the screen is the line target conductor.

[0083] It should be noted that the target detection model in this embodiment adopts an existing target detection model, such as the YOLOv8s target detection algorithm. The target detection model is then deployed to the front end of the UAV. Specifically, the model conversion tool PNNX can be used to convert the algorithm model into NCNN model parameters and deploy them to the front end of the UAV as a guiding model for the UAV's visual targets.

[0084] like Figure 2 As shown, the adaptive tower-finding method specifically includes the following steps:

[0085] During the line-finding phase, the target detection model of the tower is activated simultaneously. When the tower target enters the drone's lens, the target object is switched to the power transmission and distribution line tower. While flying, the drone's camera gimbal is adjusted to keep the tower target in the center of the lens image.

[0086] After identifying the target object, the offset of the target object from the center point of the image on the X and Y axes is calculated based on the center point coordinates of the target object. The gimbal rotation angle in the X and Y axes is then calculated based on the offset of the target object from the center point of the image.

[0087] Specifically, the formulas for calculating the gimbal rotation angles in the X and Y axes are as follows:

[0088] ,

[0089] ,

[0090] in, For gimbal in x Angle of rotation along the axial direction, Target point in pixels x coordinate, Image center point in pixels x coordinate, For gimbal in y Angle of rotation along the axial direction, Target point in pixels y coordinate, Image center point in pixels y coordinate, The pixels after focal length conversion;

[0091] During the tower-seeking flight phase, the UAV uses the gimbal's downward-looking angle as the independent variable and the UAV's forward speed as the dependent variable. The control variable is the UAV's flight towards the tower. The specific adaptive control is expressed as follows:

[0092] (1),

[0093] in, This is the downward viewing angle of the gimbal; when looking straight ahead, When looking down, The range is ,

[0094] This is the critical angle at which the velocity begins to decay. The range is , For drones A constant speed at that time.

[0095] when At that time, the speed remains constant. , When, the speed decreases linearly; when At that time, the speed dropped to 0;

[0096] Through normalized mapping , angular range Mapping to numerical range ,use constraint The time coefficient is always 1; using Ensure the angle exceeds The speed is not less than 0.

[0097] When the drone's downward view angle is 90° and its speed is zero, it indicates that the drone is above the pole (but not directly above). Adjust the drone's height relative to the pole using the following formula:

[0098] (2),

[0099] in, The distance between the drone and the tower. Target height, unit: meters, can be set according to actual needs. The drone's current altitude, in meters. To ensure precise control of the scaling factor, which is dimensionless, in this embodiment... By dynamically adjusting the drone's altitude using proportional control, it gradually approaches the target altitude. To avoid mutations.

[0100] During the adjustment process, if the drone is at a certain height from the pole... Equal to the target height of the drone from the top of the tower Further adjust the drone's position so that it is directly above the pole.

[0101] Record the UAV's latitude, longitude, and altitude coordinates to convert the tower's position information (S, W, H) into longitude, latitude, and relative altitude; the specific adjustment formula is as follows:

[0102] (3),

[0103] in, This represents the lateral displacement required for the drone, expressed in meters. This indicates the position where the drone needs to be adjusted longitudinally, in meters. The horizontal pixel deviation between the center point of the tower head and the center of the image. The vertical pixel deviation between the center point of the tower head and the center of the image. Camera focal length, unit: pixels. This is the drone's current altitude, specifically its vertical distance from the top of the tower, in meters.

[0104] Step 2: Plan the tower location recording points and tower material information data collection points. Based on the line finding and tower finding results, determine the latitude and longitude information of the tower based on the tower location recording points. Control the drone to collect data based on the planned tower material information data collection points. Statistically analyze the tower material information based on the image data collected from all data collection points.

[0105] like Figure 3 As shown, a three-dimensional rectangular coordinate system is established with the top of the tower as the origin O (0, 0, 0). When the UAV flies from the starting tower to the target tower, the direction of the UAV's nose pointing towards the target tower is called the "larger side," and the direction of the UAV's tail pointing towards the starting tower is called the "smaller side." For example, each tower is assigned a number. If the UAV flies from tower number 73 to tower number 72, tower number 73 is the "larger side," and the side of tower number 72 is the "smaller side." The direction of the crossarm at the top of the tower is used as the coordinate system. x Axial direction; the direction of the tower crossarm perpendicular to the large side is y Positive axis direction, perpendicular x , y Plane upwards z Axial direction. In this embodiment, such as Figure 3 As shown, the position coordinates of the pole position recording point are (0,0,d1), where d1 is the distance between the drone and the top of the tower. The latitude, longitude and altitude coordinates of the drone at this time are recorded at the pole position recording point to convert the pole position information (S, W,H) longitude, latitude and relative altitude.

[0106] In this embodiment, the acquisition of image data based on the target location and multiple planned waypoints specifically includes:

[0107] After the drone records the position information of the pole at the designated information recording point, it begins to plan the photo taking points. A total of three points are planned: the small side of the pole and the left and right sides of the pole. The pole data is collected by taking photos through three-point positioning.

[0108] In this embodiment, three waypoints, the attitude of the UAV, and the shooting attitude of the gimbal are planned based on the established three-dimensional rectangular coordinate system. The three points are respectively set as the first shooting point on the first side of the tower, such as the rear side, with a set distance; the second shooting point on the second side of the tower, such as the left side of the tower, with a set angle; and the third shooting point on the third side of the tower, such as the right side, with a set angle. The second and third shooting points are symmetrical about the y-axis.

[0109] Specifically, the location of the first data collection point is represented as follows:

[0110] ,

[0111] The pose of the drone at the first data acquisition point is: the angle of the drone's nose. Negative direction, the on-view angle θ2 of the drone gimbal;

[0112] The location of the second data collection point is represented as follows:

[0113] ,

[0114] The drone's shooting posture at the second data acquisition point is as follows: the drone's nose is facing... y The positive axis direction, the downward viewing angle θ1 of the UAV gimbal; the position of the third data acquisition point is represented as:

[0115] ,

[0116] The drone's shooting posture at the third data acquisition point is: the drone's nose is facing the negative direction of angle β2, and the drone's gimbal is looking up at angle θ2.

[0117] in, The distance between the drone and the top of the tower. To maintain a safe distance between the drone and the tower, The angle of the photo point on the left side of the tower is given, with the negative direction 180 + β1 representing the direction of the camera head. This refers to the distance between the drone and the area below the top of the tower. The angle of the photo point on the right side of the tower is 180 + β2, and the negative direction of the camera head is 180 + β2.

[0118] It should be noted that, , , , The values ​​of θ1 and θ2 are set according to actual needs. Taking a 500kV angle steel transmission tower as an example, = 15m, = 30m, = -135°, = -45°, θ1= 20°, θ2= 35°.

[0119] Since the image data collected from three waypoints may simultaneously contain both tower and insulator string materials, this embodiment proposes a statistical method for tower-mounted material information based on image data collected from multiple waypoints.

[0120] The statistical analysis of tower-mounted material information based on image data collected from multiple data acquisition points includes: identifying the type of tower based on images obtained from the first data acquisition point; identifying the number of insulator strings on one side of the tower based on images obtained from the second data acquisition point; identifying the number of insulator strings on the other side of the tower based on images obtained from the third data acquisition point; and obtaining tower-mounted material information through coordinated shooting from three flight points.

[0121] Step 3: Control the drone to continue adaptive line finding and adaptive tower finding according to Step 1-2 until it obtains information on all tower-mounted materials on all towers along the target line;

[0122] Step 4: Calculate the conductor length between transmission and distribution line towers by combining the latitude and longitude information of the towers and the parameters of the transmission and distribution conductors;

[0123] like Figure 4 As shown, the latitude, longitude, and altitude information (S, W, H) of each tower level can be obtained through steps 1 and 3.

[0124] Then convert latitude and longitude to horizontal span. The specific conversion formula is as follows:

[0125] ,

[0126] ,

[0127] ,

[0128] , ,

[0129] Among them, the latitude and longitude of tower 1 are Altitude is The latitude and longitude of tower 2 are Altitude is , Due to latitude difference, Poor accuracy;

[0130] Finally, combining horizontal span And the corrected conductor length considering suspension;

[0131] When suspension is not considered: the conductor length is a three-dimensional straight-line distance, and the calculation formula is:

[0132] ,

[0133] in, ;

[0134] In this embodiment, a sag correction term needs to be added to the conductor length; therefore, the formula for calculating the conductor length is:

[0135] ,

[0136] in, It is a sag.

[0137] Step 5: Compare the tower-mounted material information and the inter-tower conductor length of the transmission and distribution line with the set audit standards to generate an audit report.

[0138] In this embodiment, the tower installation information and the conductor length of each tower are statistically analyzed based on the tower location information, and a power transmission and distribution line audit report is generated by combining the construction material details.

[0139] In this embodiment, the location information of each tower, including tower type, number of insulator strings, and conductor length from the previous tower, is compiled and statistically analyzed on a unit-by-unit basis. This data, combined with detailed construction material lists, generates an audit report for the transmission and distribution lines. A three-dimensional verification logic of "measured data - design standards - construction ledger" is established to automatically identify audit discrepancies such as material mismatches and quantity deviations, ultimately generating a reviewable report.

[0140] Example 2

[0141] This embodiment provides an adaptive auditing system for power transmission and distribution lines using unmanned aerial vehicles (UAVs), including:

[0142] The line-finding and tower-finding module is used to perform adaptive line-finding and tower-finding detection based on the received power transmission and distribution audit task and the visual target guidance model deployed by the UAV.

[0143] The data acquisition and deduplication module is used to plan the tower location recording points and tower material information data acquisition points. Based on the line finding and tower finding results, it determines the latitude and longitude information of the tower based on the tower location recording points. Based on the planned tower material information data acquisition points, it controls the drone to collect data and statistically analyzes the tower material information based on the image data collected from all data acquisition points.

[0144] The line-finding and tower-finding conductor measurement module is used to calculate the conductor length between transmission and distribution line towers by combining the latitude and longitude information of the towers and the parameters of the transmission and distribution conductors.

[0145] The audit report generation module is used to compare the tower-mounted material information and the inter-tower conductor length of the transmission and distribution line with the set audit standards to generate an audit report.

[0146] It should be noted that the specific implementation of the UAV adaptive auditing system for power transmission and distribution lines in this embodiment of the invention is similar to the specific implementation of the UAV adaptive auditing method for power transmission and distribution lines in this embodiment of the invention. Please refer to the description in the method section for details. In order to reduce redundancy, it will not be repeated here.

[0147] Example 3

[0148] This embodiment provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps in the above-described adaptive auditing method for power transmission and distribution lines using unmanned aerial vehicles.

[0149] Example 4

[0150] This embodiment provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the steps in the above-described adaptive auditing method for power transmission and distribution lines using unmanned aerial vehicles.

[0151] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of hardware embodiments, software embodiments, or embodiments combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0152] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0153] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0154] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0155] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc.

[0156] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An adaptive auditing method for power transmission and distribution lines using unmanned aerial vehicles (UAVs), characterized in that, Includes the following steps: Adaptive line and tower detection is performed based on the received power transmission and distribution audit task and the visual target guidance model deployed by the UAV. The system plans the locations of tower positions and data collection points for tower-loaded material information. Based on the results of line tracing and tower location tracking, it determines the latitude and longitude information of the towers based on the tower position recording points. It then controls drones to collect data based on the planned data collection points for tower-loaded material information. Finally, it compiles tower-loaded material information statistics based on the image data collected from all data collection points. Based on the latitude and longitude information of the towers and the parameters of the transmission and distribution conductors, the length of the conductors between the towers of the transmission and distribution line is calculated; The tower-mounted material information and the inter-tower conductor length of the transmission and distribution line are compared with the set audit standards to generate an audit report; The adaptive line-finding and tower-finding detection based on the received power transmission and distribution audit task and the visual target guidance model deployed by the UAV includes: In the adaptive line-finding stage, the visual target guidance model identifies the guide wire target and determines the direction of the guide wire. The downward viewing angle of the UAV gimbal is fixed, and the virtual joystick is adjusted according to the line wire and direction to guide the UAV to follow the line. In the adaptive tower-finding phase, the target detection model of the tower is activated simultaneously during the line-finding phase. When the tower target enters the drone's camera lens, the tower is switched as the target for flight. During the flight, the drone gimbal is adjusted to keep the tower target in the center of the camera lens. During the tower-finding flight phase, the drone uses the gimbal's downward viewing angle as the independent variable and the drone's forward speed as the dependent variable to control the drone to fly towards the tower. During the tower-seeking flight phase, the UAV is controlled to fly towards the tower with the gimbal's downward-looking angle as the independent variable and the UAV's forward speed as the dependent variable. This can be represented as follows: ， in, This is the downward viewing angle of the gimbal; when looking straight ahead, When looking down, The range is , This is the critical angle at which the velocity begins to decay. The range is , For drones At a constant speed, when At that time, the speed remains constant. , When, the speed decreases linearly; when At that time, the speed dropped to 0; The data collection points for tower location records and tower-loaded material information specifically include: Establish a rectangular coordinate system with the top of the tower as the origin, and the direction of the crossarm at the top of the tower as the coordinate system. x In the axial direction, the direction of the tower crossarm perpendicular to the large side is... y Positive axis direction, perpendicular x , y Plane upwards z In terms of axis direction, the direction of the drone's nose pointing towards the target tower is called the large side, and the direction of the drone's tail pointing towards the starting tower is called the small side. Based on the established three-dimensional rectangular coordinate system, the tower location recording points and tower-loaded material information data collection points are planned. The tower-loaded material information data collection points include three points. The three points are respectively set as the first shooting point at a set distance on the back of the tower, the second shooting point at a set angle on one side of the tower, and the third shooting point at a set angle on the other side of the tower. The second and third shooting points are mirror-symmetrical about the tower as the center line. The formula for calculating the conductor length between transmission and distribution line towers is: Without considering conductor suspension, the formula for calculating the conductor length between adjacent towers is: When considering suspended conductors, the formula for calculating the conductor length between adjacent towers is: ， ， ， ， ， ， ， in, For the length of the conductor, For horizontal span, Given the Earth's radius, the latitude and longitude of tower 1 are... Altitude is The latitude and longitude of tower 2 are Altitude is , Due to latitude difference, Due to longitude difference, It is a sag.

2. The adaptive auditing method for power transmission and distribution lines using unmanned aerial vehicles as described in claim 1, characterized in that, The coordinates of the pole position recording point are: ， The location of the first data collection point is represented as follows: ， The pose of the drone at the first data acquisition point is: the angle of the drone's nose. Negative direction, the on-view angle θ2 of the drone gimbal; The location of the second data collection point is represented as follows: ， The drone's shooting posture at the second data acquisition point is as follows: the drone's nose is facing... y Positive axis direction, downward view angle θ1 of the UAV gimbal; The location of the third data collection point is represented as follows: ， The drone's shooting posture at the third data acquisition point is: the drone's nose is facing the negative direction of angle β2, and the drone's gimbal is looking up at angle θ2. in, The distance between the drone and the top of the tower. To maintain a safe distance between the drone and the tower, The angle of the photo point on the left side of the tower is given, with the negative direction 180 + β1 representing the direction of the camera head. This refers to the distance between the drone and the area below the top of the tower. The angle of the camera point on the right side of the tower is 180 + β2, and the negative direction is the direction of the camera head.

3. The adaptive auditing method for power transmission and distribution lines using unmanned aerial vehicles as described in claim 1, characterized in that, Based on the image data collected from all data collection points, the tower-loaded material information is statistically analyzed, including: The tower type is detected by image recognition based on the first data acquisition point, the number of insulator strings on one side of the tower is detected by image recognition based on the second data acquisition point, and the number of insulator strings on the other side of the tower is detected by image recognition based on the third data acquisition point. The tower material information is obtained by collaboratively capturing images from the three data acquisition points.

4. An adaptive auditing system for power transmission and distribution lines using unmanned aerial vehicles (UAVs), characterized in that: The method for implementing the adaptive auditing method for power transmission and distribution lines by unmanned aerial vehicles as described in any one of claims 1-3 includes: The line-finding and tower-finding module is used to perform adaptive line-finding and tower-finding detection based on the received power transmission and distribution audit task and the visual target guidance model deployed by the UAV. The data acquisition and deduplication module is used to plan the tower location recording points and tower material information data acquisition points. Based on the line finding and tower finding results, it determines the latitude and longitude information of the tower based on the tower location recording points. Based on the planned tower material information data acquisition points, it controls the drone to collect data and statistically analyzes the tower material information based on the image data collected from all data acquisition points. The line-finding and tower-finding conductor measurement module is used to calculate the conductor length between transmission and distribution line towers by combining the latitude and longitude information of the towers and the parameters of the transmission and distribution conductors. The audit report generation module is used to compare the tower-mounted material information and the inter-tower conductor length of the transmission and distribution line with the set audit standards to generate an audit report.

5. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps in the UAV adaptive auditing method for power transmission and distribution lines as described in any one of claims 1-3.

6. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the steps in the UAV adaptive auditing method for power transmission and distribution lines as described in any one of claims 1-3.

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