A method and system for overhead power line inspection

Abstract

The present application belongs to the technical field of overhead transmission line inspection, and provides a method and system for overhead transmission line inspection, comprising: comparing the airflow disturbance period corresponding to each line clamp area in the region inspection time sequence, screening out the time-repeated inspection area, and performing inspection interference analysis on the time-repeated inspection area to evaluate whether the initial inspection path planning is reasonable; if the initial inspection path planning needs to be adjusted, obtaining the priority inspection value corresponding to each time-repeated inspection area, re-planning the initial inspection path according to the priority inspection value, and obtaining the final inspection path, so that the priority of each non-interfered inspection area can be determined, and the inspection is arranged in the order from large to small according to the priority inspection value when the initial planned inspection path is adjusted, thereby avoiding frequent long-distance flight or unnecessary wandering of the unmanned aerial vehicle during the inspection process, and improving the inspection efficiency of the unmanned aerial vehicle on the line clamp area of the high-speed overhead transmission line.

Description

Technical Field

[0001] This invention belongs to the field of overhead power line inspection technology, specifically a method and system for inspecting overhead power lines. Background Technology

[0002] In power systems, high-speed overhead transmission lines serve as crucial channels for power transmission, and their safe and stable operation is of paramount importance. The clamp area of ​​the line, especially the contact points of tension clamps, is a critical area in the transmission line that is highly susceptible to failure. Tension clamps are used to fix conductors and bear the tension of the conductors. Wear and loosening of their contact points can seriously affect the safety and reliability of the transmission line. If these problems are not detected and addressed in time, they may lead to serious accidents such as conductor breakage and power outages, causing huge losses to the power supply.

[0003] While traditional drone inspections have improved efficiency and safety to some extent, they still present several challenges in practical applications. The main structure of the tension clamp obstructs the contact area, making it difficult for drones to capture wear at the crimped joints under normal shooting conditions, resulting in limited effective footage. Furthermore, traditional inspections often involve drones flying along fixed routes or randomly, without fully considering the airflow disturbance characteristics of the clamp area. In reality, the high-speed movement of trucks on highways generates dynamic airflow disturbances that can cause the contact area of ​​the tension clamp to vibrate, potentially avoiding the obstruction of the clamp body and providing favorable conditions for capturing wear at the crimped joints. However, when inspecting multiple clamp areas, traditional path planning methods fail to rationally assess and prioritize inspections of each area. This can lead to frequent long-distance flights or wandering in unnecessary areas, wasting significant flight time and energy, reducing inspection efficiency, and potentially overlooking important areas due to poor path planning, thus failing to ensure a comprehensive and detailed inspection of the tension clamps on overhead power lines.

[0004] Therefore, the present invention provides a method and system for inspecting overhead transmission lines. Summary of the Invention

[0005] In order to overcome the shortcomings of the prior art, at least one technical problem raised in the background art is solved.

[0006] The technical solution adopted by this invention to solve its technical problem is:

[0007] Firstly, a method for inspecting overhead transmission lines includes:

[0008] Computer vision technology is used to extract the line-clamping areas on high-speed overhead transmission lines, and airflow disturbance analysis is performed on each line-clamping area to identify the corresponding airflow disturbance time period.

[0009] For each route's inter-row area, a stability analysis is performed on the airflow disturbance period in the time dimension. Stable airflow disturbance periods are selected, a regional inspection sequence is constructed, and an initial inspection path is planned based on the regional inspection sequence.

[0010] The time sequence overlap comparison of the airflow disturbance period corresponding to each line interlocking area within the regional inspection time sequence is performed to screen out the time-overlapping inspection areas, and the inspection interference analysis is performed on the time-overlapping inspection areas to evaluate whether the initial inspection path planning is reasonable.

[0011] If the initial inspection path planning needs to be adjusted, obtain the priority inspection value corresponding to each time-critical inspection area, and replan the initial inspection path based on the priority inspection value.

[0012] As a further aspect of the present invention, airflow disturbance analysis is performed on the inter-line region of each line, as follows:

[0013] The line clamp area is transformed into a three-dimensional clamp model. Multiple clamp inspection history cycles are set, and the clamp inspection history cycles are equally divided into several clamp inspection history periods. The clamp inspection history periods are equally divided into several historical inspection nodes. The three-dimensional spatial coordinates of the clamp and the transmission line on the three-dimensional clamp model at each historical inspection node are obtained to obtain the instantaneous coordinates of the clamp unit and the transmission line unit.

[0014] The instantaneous coordinates of all clamp units and transmission line units within the historical period of clamp inspection are extracted respectively, and summarized according to the time series to obtain the clamp instantaneous coordinate sequence and the transmission line instantaneous coordinate sequence.

[0015] Based on the instantaneous coordinate sequence of the clamp and the instantaneous coordinate sequence of the transmission line, coordinate change curves of the clamp and the transmission line are constructed on the three-dimensional clamp model, respectively.

[0016] As a further aspect of the present invention, the method for obtaining the airflow disturbance period is as follows:

[0017] During the historical period of line clamp inspection, the instantaneous coordinates of the line clamp unit and the instantaneous coordinates of the transmission line unit corresponding to the adjacent historical inspection nodes are extracted respectively. The slope between the instantaneous coordinates of the line clamp unit corresponding to the adjacent historical inspection nodes and the slope between the instantaneous coordinates of the transmission line unit corresponding to the adjacent historical inspection nodes are obtained by using the slope calculation formula respectively, thus obtaining the slope of the line clamp unit and the slope of the transmission line unit.

[0018] By combining the slope of the clamp unit with the slope of the transmission line unit, we obtain the trend group of adjacent nodes;

[0019] If the slope of the clamp unit in the adjacent node trend group has the same sign as the slope of the transmission line unit, it is marked as a synchronous amplitude trend group; if the slope of the clamp unit in the adjacent node trend group has a different sign than the slope of the transmission line unit, it is marked as an asynchronous amplitude trend group.

[0020] The ratio of the number of synchronous amplitude trend groups to the total number of amplitude trend groups is used to obtain the air disturbance judgment value. If the air disturbance judgment value is greater than or equal to the air disturbance judgment threshold, it is marked as an airflow disturbance period.

[0021] As a further aspect of the present invention, the process for selecting periods of stable airflow disturbance is as follows:

[0022] Extract the airflow disturbance period corresponding to each line clamp area, sort them according to the time series within the historical inspection cycle of the line clamp, obtain the line clamp air disturbance period sequence, and obtain an airflow disturbance period from the line clamp air disturbance period sequence as the suspected stability analysis period;

[0023] Obtain the time sequence of each clamp inspection history cycle within the suspected stability analysis period as the suspected stability analysis sequence. Input the suspected stability analysis sequence into the Euclidean distance formula according to the time sequence of the clamp inspection history cycle, and output the suspected stability value. Calculate the standard deviation of the air disturbance judgment value corresponding to each air disturbance period, and output the air disturbance stability value. Summate the air disturbance stability value and the suspected stability value to output the stability analysis value.

[0024] The suspected stability values ​​corresponding to each suspected stability analysis period within the line clamp air disturbance time sequence are compared, and the suspected stability analysis period corresponding to the smallest suspected stability value is selected as the stable period of airflow disturbance.

[0025] As a further aspect of the present invention, the process of constructing a regional inspection sequence and planning the initial inspection path is as follows:

[0026] Extract the stable airflow disturbance period corresponding to each line clamp area, and sort them according to the time sequence within the line clamp inspection history cycle of the stable airflow disturbance period to obtain the regional inspection time sequence. Based on the regional inspection time sequence, plan the initial inspection path for the line clamp areas on the high-speed overhead transmission line.

[0027] As a further aspect of the present invention, the screening process for the time-based inspection area is as follows:

[0028] Within the regional inspection time sequence, the inter-line areas corresponding to the same stable airflow disturbance period are extracted and used as time-repeated inspection areas.

[0029] As a further aspect of the present invention, the following process is performed on the inspection interference analysis of the time-based inspection area:

[0030] The ratio of the number of time-repeated inspection areas to the total number of overhead transmission line clamping areas is obtained by counting the number of time-repeated inspection areas during each stable period of the same airflow disturbance.

[0031] Synchronous amplitude trend groups and asynchronous amplitude trend groups within the same stable airflow disturbance period in each time-repeated inspection area are sorted according to their corresponding time sequence within the same stable airflow disturbance period to obtain an amplitude trend sequence. Within the amplitude trend sequence, adjacent synchronous amplitude trend groups are combined to obtain adjacent synchronous trend groups.

[0032] The ratio of the number of asynchronous amplitude trend groups between adjacent synchronous amplitude trend groups within an adjacent synchronous trend group to the total number of amplitude trend groups is obtained to get the adjacent synchronous interval ratio.

[0033] The average value of the adjacent synchronization interval is calculated by summing the adjacent synchronization interval ratios corresponding to each group of adjacent synchronization trend groups and outputting the average value of the adjacent synchronization interval.

[0034] The average value of adjacent synchronization intervals is summed with the air disturbance judgment value, and the standard deviation is calculated to output the time-weighted inspection comparison value.

[0035] As a further aspect of the present invention, the process of evaluating the rationality of the initial inspection path planning is as follows:

[0036] The ratio of the number of time-based heavy inspections to the ratio of the time-based heavy inspections is calculated, and the inspection interference value is output.

[0037] If the inspection interference value is greater than the inspection interference threshold, it will be displayed as an adjustment planning signal.

[0038] A further aspect of this invention is as follows: The priority inspection value corresponding to each time-repeated inspection area is obtained, and the initial inspection path is replanned. The process is as follows:

[0039] If the air disturbance judgment value is greater than or equal to the air disturbance judgment threshold, it is marked as an undisturbed inspection area. The undisturbed inspection area is extracted and sorted according to its position on the overhead transmission line to construct an undisturbed inspection sequence. Based on the regional inspection order within the regional inspection time sequence, the line interlocking area before the parallel sorting of the time-re-inspected areas is extracted and its position on the overhead transmission line is obtained as the re-sorting reference position.

[0040] Extract the location on the overhead transmission line where each undisturbed inspection area is located within the undisturbed inspection sequence, and use it as the reordering and comparison location;

[0041] Obtain the reordering comparison position of each undisturbed inspection area, the distance between the reordering reference position and the total length of the overhead transmission line, and calculate the reordering comparison distance by comparing the ratio with the total length of the overhead transmission line.

[0042] The ratio of the air disturbance judgment value corresponding to each undisturbed inspection area to the reordering comparison distance is calculated to obtain the priority inspection value.

[0043] The priority inspection values ​​corresponding to each undisturbed inspection area in the undisturbed inspection sequence are compared, and then sorted in descending order.

[0044] Secondly, a system for inspecting overhead transmission lines includes:

[0045] Air disturbance period identification module: Utilizes computer vision technology to extract the line-clamping areas on high-speed overhead transmission lines, performs airflow disturbance analysis on each line-clamping area, and identifies the corresponding airflow disturbance period for the line-clamping area;

[0046] Initial path planning module: Performs time-dimensional stability analysis on the airflow disturbance period corresponding to each route's inter-row area, selects stable airflow disturbance periods, constructs regional inspection time sequence, and plans the initial inspection path based on the regional inspection time sequence;

[0047] Initial path evaluation module: Perform time-series overlap comparison of the airflow disturbance time periods corresponding to each line's inter-line area within the regional inspection time sequence, screen out the time-overlapping inspection areas, and perform inspection interference analysis on the time-overlapping inspection areas to evaluate whether the initial inspection path planning is reasonable.

[0048] Initial Path Adjustment Module: If the initial inspection path planning needs to be adjusted, the priority inspection value corresponding to each time-intensive inspection area is obtained, and the initial inspection path is replanned based on the priority inspection value.

[0049] The beneficial effects of this invention are as follows:

[0050] This invention utilizes computer vision technology to extract tension clamp areas on high-speed overhead power transmission lines. It analyzes airflow disturbances in each tension clamp area, identifies the corresponding airflow disturbance time periods, performs time-dimensional stability analysis on these periods, selects stable airflow disturbance times, constructs a regional inspection sequence, and plans an initial inspection path based on this sequence. This utilizes the dynamic airflow disturbances generated by high-speed trucks on highways to cause vibrations in the contact areas of the tension clamps, preventing obstruction by the clamp body and allowing for the capture of wear at the crimped joints. This increases the effective images captured of wear at the crimped joints. Furthermore, the planned initial inspection path ensures that the drone inspects according to the time periods and line sequence most likely to provide effective shooting conditions, avoiding blind and repetitive flights and ensuring a comprehensive and detailed inspection of the tension clamps on overhead power transmission lines.

[0051] This invention performs time-series overlap comparison on the airflow disturbance periods corresponding to each line's intersection zone within a regional inspection time sequence, filters out time-intensive inspection areas, and conducts inspection interference analysis on these areas to evaluate the rationality of the initial inspection path planning. If the initial inspection path planning needs adjustment, the priority inspection value corresponding to each time-intensive inspection area is obtained. Based on the priority inspection value, the initial inspection path is replanned to obtain the final inspection path. This allows for the clarification of the priority of each undisturbed inspection area. When adjusting the initially planned inspection path, priority inspection values ​​are used from largest to smallest. Arranging inspections in order of priority allows drones to fly to areas with high synchronization of airflow disturbances and relatively more suitable locations. This avoids drones frequently flying long distances or loitering in unnecessary areas during the inspection process, improving the inspection efficiency of drones in the area between the lines of high-speed overhead power transmission lines. Moreover, prioritizing the inspection of undisturbed areas with higher priority inspection values ​​ensures that each undisturbed area with high inspection value is inspected during periods of stable airflow disturbances, avoiding the omission of some important areas due to unreasonable path planning. Attached Figure Description

[0052] The invention will now be further described with reference to the accompanying drawings.

[0053] Figure 1 This is a flowchart of the steps of a method for inspecting overhead transmission lines according to the present invention;

[0054] Figure 2 This is a judgment logic diagram of a method for inspecting overhead transmission lines according to the present invention;

[0055] Figure 3 This is a schematic diagram of a system for inspecting overhead transmission lines according to the present invention. Detailed Implementation

[0056] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0057] Example 1:

[0058] Please see Figure 1 - Figure 2 As shown, when using tension clamps, the crimping gap between the tension clamp's drain plate and the conductor is a natural blind spot. During drone inspections of tension clamps on high-speed overhead transmission lines, the drone will be blocked by the clamp body, making it difficult to photograph the wear at the contact point between the tension clamp and the conductor. However, the dynamic airflow disturbance generated by high-speed trucks on highways causes the contact point of the tension clamp to vibrate, allowing the drone to avoid being blocked by the clamp body and photograph the wear at the crimping gap. The method for inspecting overhead transmission lines according to this embodiment includes the following steps:

[0059] Step 1: Use computer vision technology to extract the line clamping areas on high-speed overhead transmission lines, perform airflow disturbance analysis on each line clamping area, and identify the corresponding airflow disturbance time period.

[0060] In some embodiments, multiple cable clamp inspection history cycles are set, and the cable clamp inspection history cycles are equally divided into several cable clamp inspection history periods, wherein the duration of each cable clamp inspection history period is equal, and the multiple cable clamp inspection history cycles are multiple consecutive cable clamp inspection history cycles.

[0061] The line clamp area is transformed into a three-dimensional spatial coordinate system, where the X-axis represents the length, the Y-axis represents the width, and the Z-axis represents the height, thus obtaining a three-dimensional line clamp model;

[0062] The historical inspection period of the clamp is divided into several historical inspection nodes, with the duration of adjacent historical inspection nodes being equal.

[0063] The three-dimensional spatial coordinates of the clamp and the transmission line on the three-dimensional clamp model at each historical inspection node are obtained to obtain the instantaneous coordinates of the clamp unit and the transmission line unit.

[0064] The instantaneous coordinates of all clamp units and transmission line units within the historical period of clamp inspection are extracted respectively, and summarized according to the time series to obtain the clamp instantaneous coordinate sequence and the transmission line instantaneous coordinate sequence.

[0065] Based on the instantaneous coordinate sequence of the clamp and the instantaneous coordinate sequence of the transmission line, coordinate change curves of the clamp and the transmission line are constructed on the three-dimensional clamp model, respectively.

[0066] Within the historical period of online clamp inspection, the instantaneous coordinates of the clamp unit and the instantaneous coordinates of the transmission line unit corresponding to adjacent historical inspection nodes are extracted respectively.

[0067] The slope between the instantaneous coordinates of the corresponding clamp units of adjacent historical inspection nodes is obtained using the slope calculation formula, and is used as the slope of the clamp unit.

[0068] The slope between the instantaneous coordinates of the corresponding transmission line units of adjacent historical inspection nodes is obtained using the slope calculation formula, and is used as the slope of the transmission line unit.

[0069] By combining the slope of the clamp unit with the slope of the transmission line unit, we obtain the trend group of adjacent nodes;

[0070] If the slope of the clamp unit in the adjacent node trend group has the same sign (both positive or both negative) as the slope of the transmission line unit, it is marked as a synchronous amplitude trend group.

[0071] If the slope of the clamp unit in the adjacent node trend group is not the same sign as the slope of the transmission line unit (at least one is positive or negative), it is marked as an asynchronous amplitude trend group.

[0072] The air disturbance judgment value is obtained by calculating the ratio of the number of synchronous amplitude trend groups to the total number of amplitude trend groups.

[0073] If the air disturbance judgment value is greater than or equal to the air disturbance judgment threshold, it indicates that the line clamp area under analysis has a high degree of synchronization between the line clamp body and the amplitude change trend of the transmission line during the line clamp inspection history period. The line clamp inspection period is marked as the air disturbance period.

[0074] If the air disturbance judgment value is less than the air disturbance judgment threshold, it indicates that the line clamp area analyzed has a low degree of synchronization between the line clamp body and the amplitude change trend of the transmission line during the line clamp inspection history period. The line clamp inspection period is marked as a non-air disturbance period.

[0075] It should be noted that the air disturbance judgment threshold is set by those skilled in the art based on the different weights, structures, and vibration characteristics of different models of tension clamps (such as NXJ and NLL types). The statistical data is collected separately and summarized to provide a basis for subsequent use of UAVs to monitor tension clamps and line cables in air disturbance environments.

[0076] Step 2: Perform a time-dimensional stability analysis on the airflow disturbance period corresponding to each route's intersecting area, select stable airflow disturbance periods, construct a regional inspection sequence, and plan the initial inspection path based on the regional inspection sequence;

[0077] In some embodiments, the airflow disturbance period corresponding to each line clamp area is extracted and sorted according to the time series within the historical cycle of the line clamp inspection to obtain the line clamp air disturbance period sequence;

[0078] One airflow disturbance period is obtained from the line clamp air disturbance period sequence and used as a suspected stability analysis period;

[0079] It should be noted that the rules for obtaining the suspected stability analysis period are as follows: it is obtained according to the order of the airflow disturbance period within the line-intercalated airflow disturbance period sequence. For example, if there are five airflow disturbance periods within the line-intercalated airflow disturbance period sequence, namely airflow disturbance periods A, B, C, D, and E, then when obtaining the suspected stability analysis period, airflow disturbance period A should be selected first from the line-intercalated airflow disturbance period sequence as the suspected stability analysis period for analysis. After analyzing airflow disturbance period A, airflow disturbance period B should be selected as the suspected stability analysis period for analysis, and so on, until airflow disturbance period E is selected as the suspected stability analysis period for analysis.

[0080] Obtain the time sequence within the inspection history of each clamp that falls within the suspected stability analysis period, and use it as the suspected stability analysis sequence.

[0081] The suspected stability analysis is sorted according to the time series of the historical inspection cycle of the line clip, and then input into the Euclidean distance formula to output the suspected stability value.

[0082] Specifically, according to the time sequence of the inspection history of the clamps, for example, if the inspection history of multiple clamps is A, B, C, D and E, then when inputting the suspected stability analysis into the Euclidean distance formula in sequence, first input the suspected stability analysis into the Euclidean distance formula for the inspection history of clamps A and B, then input the suspected stability analysis into the Euclidean distance formula for the inspection history of clamps B and C, then input the suspected stability analysis into the Euclidean distance formula for the inspection history of clamps C and D, and finally input the suspected stability analysis into the Euclidean distance formula for the inspection history of clamps D and E.

[0083] The standard deviation of the air disturbance judgment value corresponding to each air disturbance period is calculated, and the air disturbance stability value is output.

[0084] The stability analysis value is obtained by summing the stable value of air disturbance with the suspected stable value.

[0085] It is understandable that the meaning of the stability analysis value is: to reflect the synchronicity of airflow disturbance and the stability of the airflow disturbance period in the time dimension. On the one hand, the air disturbance judgment value measures the synchronicity of the change trend of the clamp body and the transmission line amplitude in different clamp inspection historical periods in the clamp inspection historical period of different clamp inspection historical cycles. On the other hand, the suspected stability value measures the stability of the time sequence of the suspected stability analysis period in different historical periods.

[0086] Specifically, drones can take advantage of the dynamic airflow disturbances generated by trucks traveling at high speeds on highways during periods of stable airflow disturbance to cause the contact parts of tension clamps to vibrate, thereby avoiding being blocked by the main body of the clamp and capturing the wear at the crimping seam. Compared to randomly selecting inspection periods, accurately locating the period of stable airflow disturbance can reduce the number of invalid inspections and increase the probability of obtaining effective information in each inspection.

[0087] Secondly, drones can obtain more opportunities to capture the vibration of the contact area between the tension clamp and the conductor during periods of stable airflow disturbance, thereby increasing the effective images of wear at the crimped joint and improving the quality and usability of inspection images.

[0088] Furthermore, by rationally planning the inspection period and route through stable analysis values, drones can avoid long-term flights in periods and areas with unstable airflow or unfavorable conditions for shooting, reducing the risk of drones flying in complex airflow environments and lowering the probability of safety accidents such as drone loss of control or collisions caused by unstable airflow.

[0089] Compare the suspected stability values ​​corresponding to each suspected stability analysis period within the line clamp air disturbance time sequence, and select the suspected stability analysis period corresponding to the smallest suspected stability value as the airflow disturbance stability period.

[0090] Extract the stable airflow disturbance period corresponding to each line clamp area, and sort them according to the time sequence within the line clamp inspection history cycle in which the stable airflow disturbance period falls to obtain the regional inspection time sequence. Based on the regional inspection time sequence, plan the initial inspection path for the line clamp areas on the high-speed overhead transmission line.

[0091] It should be noted that if different routes have the same stable airflow disturbance period, they should be sorted in a parallel manner to construct the regional inspection sequence.

[0092] It should be noted that the significance of constructing the initial inspection path is that, based on the stable airflow disturbance period selected by the stability analysis value, the regional inspection sequence is constructed and the initial inspection path is planned. This enables the UAV to conduct inspections in the time period and route sequence where effective shooting conditions are most likely to occur, avoiding blind and repeated flights, reducing flight time and energy consumption, and improving the inspection efficiency of the UAV.

[0093] Planning the initial inspection route can reduce the risk of missed inspections due to unstable airflow disturbances or low synchronization, and ensure a comprehensive and detailed inspection of the tension clamps on overhead transmission lines.

[0094] When conducting inspections during periods of stable airflow disturbance, the airflow interference experienced by the drone is relatively predictable and stable, making it easier for operators to control the drone's flight attitude and shooting angle, thus reducing the difficulty of operation.

[0095] The specific solution of this embodiment is as follows: Computer vision technology is used to extract the tension clamp areas on high-speed overhead power lines. Airflow disturbance analysis is performed on each tension clamp area, identifying the corresponding airflow disturbance time periods. A time-dimensional stability analysis is then conducted on the airflow disturbance time periods corresponding to each tension clamp area to select stable airflow disturbance time periods. A regional inspection sequence is constructed, and an initial inspection path is planned based on this sequence. This utilizes the dynamic airflow disturbance generated by high-speed trucks on highways to cause vibrations in the contact parts of the tension clamps, thus preventing obstruction by the clamp body and allowing for the capture of wear at the crimped joints. This increases the effective images captured of wear at the crimped joints. Furthermore, planning the initial inspection path allows the drone to inspect according to the time periods and line sequence most likely to produce effective shooting conditions, avoiding blind and repetitive flights and ensuring a comprehensive and detailed inspection of the tension clamps on overhead power lines.

[0096] Example 2:

[0097] Please see Figure 1 - Figure 2 As shown in the figure, a method for inspecting overhead transmission lines according to an embodiment of the present invention includes the following steps:

[0098] Step 3: Compare the time sequence of airflow disturbance periods corresponding to each line interlocking area within the regional inspection time sequence, screen out the time-overlapping inspection areas, and conduct inspection interference analysis on the time-overlapping inspection areas to evaluate whether the initial inspection path planning is reasonable.

[0099] In some embodiments, within the regional inspection time sequence, the inter-line areas corresponding to the same stable airflow disturbance period are extracted and used as time-repeated inspection areas.

[0100] The ratio of the number of time-repeated inspection areas to the total number of overhead transmission line clamping areas is obtained by counting the number of time-repeated inspection areas during each stable period of the same airflow disturbance.

[0101] Synchronous amplitude trend groups and asynchronous amplitude trend groups within the same stable airflow disturbance period in each time-repeated inspection area are sorted according to their corresponding time sequence within the same stable airflow disturbance period to obtain the amplitude trend sequence.

[0102] Within the amplitude trend sequence, adjacent synchronous amplitude trend groups are combined to obtain adjacent synchronous trend groups;

[0103] The ratio of the number of asynchronous amplitude trend groups between adjacent synchronous amplitude trend groups within an adjacent synchronous trend group to the total number of amplitude trend groups is obtained to get the adjacent synchronous interval ratio.

[0104] The average value of the adjacent synchronization interval is calculated by summing the adjacent synchronization interval ratios corresponding to each group of adjacent synchronization trend groups and outputting the average value of the adjacent synchronization interval.

[0105] The average of adjacent synchronization intervals is summed with the air disturbance judgment value to output the fragmented airflow disturbance value;

[0106] The standard deviation of the fragmented airflow disturbance values ​​for each time-weighted inspection area during the same stable airflow disturbance period is calculated, and the time-weighted inspection comparison value is output.

[0107] The ratio of the number of time-based heavy inspections to the ratio of the time-based heavy inspections is calculated, and the inspection interference value is output.

[0108] It is understandable that the meaning of the inspection interference value is: when inspecting the line clamping area on the overhead transmission line according to the initial inspection path, the number of line clamping areas that need to be inspected within the same stable airflow disturbance period, as well as the degree of difference in the time interval of the airflow disturbance sub-periods within the same stable airflow disturbance period.

[0109] Specifically, in the process of evaluating the rationality of the initial inspection path planning, the ratio of the number of time-intensive inspections reflects the proportion of the number of time-intensive inspection areas to the total number of line-interval areas during the same stable period of airflow disturbance. The comparison value of time-intensive inspections reflects the degree of dispersion of the airflow disturbance interval between different time-intensive inspection areas. Thus, it comprehensively reflects that when using drones to inspect the line-interval areas on overhead power lines based on the initial inspection path, it is necessary to frequently adjust the inspection route or sequence, which reduces inspection efficiency.

[0110] The inspection interference value reflects the problems in the initial inspection path planning from different dimensions, providing a clear direction for path optimization. Therefore, based on the specific circumstances of each component in the inspection interference value (time-intensive inspection ratio, time-intensive inspection comparison value, etc.), the initial inspection path can be adjusted in a targeted manner.

[0111] If the inspection interference value is greater than the inspection interference threshold, it indicates that there are a large number of line interlocking areas that need to be inspected within the same stable airflow disturbance period, and the time difference between the airflow disturbance sub-periods of the line interlocking areas within the same stable airflow disturbance period is small, which is a signal to adjust the planning.

[0112] If the inspection interference value is less than or equal to the inspection interference threshold, it indicates that within the same stable airflow disturbance period, there are fewer line interlocking areas that need to be inspected, and the time intervals of airflow disturbance sub-periods within the same stable airflow disturbance period are significantly different, which is a reasonable planning signal.

[0113] It should be noted that the inspection interference threshold is calculated by those skilled in the art based on the inspection efficiency data corresponding to the historical inspection path in each wire clamp inspection historical cycle of the UAV, and the parameters obtained by back-calculating the inspection efficiency data corresponding to the historical inspection path in each wire clamp inspection historical cycle are averaged. The purpose of setting it is mainly to take into account that when the UAV monitors the tension clamp and line cable in an airflow disturbance environment, the airflow disturbance between different tension clamps will be superimposed, which will affect the normal flight of the UAV during the inspection process.

[0114] Step 4: If the initial inspection path planning needs to be adjusted, obtain the priority inspection value corresponding to each time-intensive inspection area, and replan the initial inspection path based on the priority inspection value.

[0115] In some embodiments, the air disturbance judgment value of each time-repeated inspection area within the same stable airflow disturbance period is obtained, and then compared with the air disturbance judgment threshold again. The process is as follows:

[0116] If the air disturbance judgment value is greater than or equal to the air disturbance judgment threshold, it indicates that the analyzed time-weighted inspection area has a high degree of synchronization between the amplitude change trend of the clamp body and the transmission line during the same stable air disturbance period, and is not affected by the superposition of air disturbance interference from other time-weighted inspection areas during the same stable air disturbance period. It is marked as an uninterrupted inspection area.

[0117] If the air disturbance judgment value is less than the air disturbance judgment threshold, it indicates that the analyzed time-weighted inspection area has a low degree of synchronization between the line clamp body and the transmission line amplitude change trend during the same stable airflow disturbance period. It is affected by the superposition of airflow disturbances from multiple other time-weighted inspection areas during the same stable airflow disturbance period and is marked as an disturbed inspection area.

[0118] Extract the areas that are not disturbed during inspection, and sort them according to their position on the overhead transmission line to construct an undisturbed inspection sequence;

[0119] Based on the regional inspection sequence within the regional inspection timeline, extract the line interlocking areas before the time-re-inspection areas are sorted in parallel, and obtain the location on the overhead transmission line where they are located, as the re-sorting reference position;

[0120] It should be noted that when extracting the line clamp area before the parallel sorting of the re-inspection area, the line clamp area before the parallel sorting should satisfy that the sorting within the area inspection time sequence is only one line clamp area.

[0121] Extract the location on the overhead transmission line where each undisturbed inspection area is located within the undisturbed inspection sequence, and use it as the reordering and comparison location;

[0122] Obtain the reordering comparison position of each undisturbed inspection area, the distance between the reordering reference position and the total length of the overhead transmission line, and calculate the reordering comparison distance by comparing the ratio with the total length of the overhead transmission line.

[0123] The ratio of the air disturbance judgment value corresponding to each undisturbed inspection area to the reordering comparison distance is calculated to obtain the priority inspection value.

[0124] It is understandable that the priority inspection value means that it is calculated by comparing the air disturbance judgment value corresponding to each undisturbed inspection area with the reordering comparison distance. On the one hand, the air disturbance judgment value reflects the synchronicity of the amplitude change trend of the clamp body and the transmission line in the same stable airflow disturbance period in the analyzed time-weighted inspection area. If the synchronicity is higher, the air disturbance judgment value is larger, which means that when inspecting in this area, the contact part of the tension clamp will shake due to airflow disturbance, making it more likely that the wear at the crimping gap can be captured by drone. The reordering comparison distance is the ratio of the distance between the reordering comparison position of the undisturbed inspection area and the reordering reference position to the total length of the overhead transmission line, which reflects the relative position of the undisturbed inspection area on the entire overhead transmission line.

[0125] Specifically, the significance of obtaining priority inspection values ​​is as follows: In terms of UAV inspection efficiency, by calculating priority inspection values, the priority of each undisturbed inspection area can be clearly defined. When adjusting the initial planned inspection path, arranging inspections in descending order of priority inspection values ​​allows UAVs to prioritize flying to areas with high airflow disturbance synchronization and relatively more suitable locations. This avoids UAVs frequently flying long distances or loitering in unnecessary areas during the inspection process, reducing flight time and energy consumption, thereby significantly improving overall inspection efficiency.

[0126] In terms of inspection quality, areas with high air disturbance judgment values ​​mean that the clamp body and the transmission line amplitude change trend are highly synchronized, and the contact parts of the tension clamp are more likely to shake due to airflow disturbance. This allows the drone to more clearly capture the wear condition at the crimping seam. Moreover, by prioritizing the inspection of these areas based on the priority inspection value, it can be ensured that during the period of stable airflow disturbance, each undisturbed inspection area with high inspection value can be inspected, avoiding the omission of some important areas due to unreasonable path planning.

[0127] The priority inspection values ​​corresponding to each undisturbed inspection area in the undisturbed inspection sequence are compared, and the undisturbed inspection areas in the undisturbed inspection sequence are sorted in descending order to complete the adjustment of the inspection order of the line interlocking areas in the initial inspection path.

[0128] The specific scheme of this embodiment is as follows: During the regional inspection time sequence, the airflow disturbance periods corresponding to each line's inter-region are compared for temporal overlap to filter out time-intensive inspection areas. Inspection interference analysis is then performed on these time-intensive inspection areas to assess the rationality of the initial inspection path planning. If the initial inspection path planning needs adjustment, the priority inspection value corresponding to each time-intensive inspection area is obtained. Based on the priority inspection value, the initial inspection path is replanned to obtain the final inspection path. This clarifies the priority of each undisturbed inspection area. When adjusting the initially planned inspection path, priority inspection is prioritized. Arranging inspections in descending order of priority values ​​allows drones to fly to areas with high airflow disturbance synchronization and relatively more suitable locations. This avoids drones frequently flying long distances or loitering in unnecessary areas during inspections, improving the efficiency of drone inspections of the overhead line junctions of high-speed overhead power lines. Furthermore, prioritizing inspections of undisturbed areas with higher priority values ​​ensures that all undisturbed areas with high inspection value are inspected during periods of stable airflow disturbance, preventing the omission of important areas due to unreasonable path planning.

[0129] Example 3:

[0130] Based on the same inventive concept as the method for inspecting overhead transmission lines in the foregoing embodiments, such as Figure 3 As shown, this application provides a system for inspecting overhead transmission lines, wherein the system specifically includes:

[0131] Air disturbance period identification module: Utilizes computer vision technology to extract the line-clamping areas on high-speed overhead transmission lines, performs airflow disturbance analysis on each line-clamping area, and identifies the corresponding airflow disturbance period for the line-clamping area;

[0132] Initial path planning module: Performs time-dimensional stability analysis on the airflow disturbance period corresponding to each route's inter-row area, selects stable airflow disturbance periods, constructs regional inspection time sequence, and plans the initial inspection path based on the regional inspection time sequence;

[0133] Initial path evaluation module: Perform time-series overlap comparison of the airflow disturbance time periods corresponding to each line's inter-line area within the regional inspection time sequence, screen out the time-overlapping inspection areas, and perform inspection interference analysis on the time-overlapping inspection areas to evaluate whether the initial inspection path planning is reasonable.

[0134] Initial Path Adjustment Module: If the initial inspection path planning needs to be adjusted, the priority inspection value corresponding to each time-intensive inspection area is obtained, and the initial inspection path is replanned based on the priority inspection value.

[0135] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for inspecting overhead transmission lines, characterized in that: include: Computer vision technology is used to extract the line-clamping areas on high-speed overhead transmission lines, and airflow disturbance analysis is performed on each line-clamping area to identify the corresponding airflow disturbance time period. For each route's inter-row area, a stability analysis is performed on the airflow disturbance period in the time dimension. Stable airflow disturbance periods are selected, a regional inspection sequence is constructed, and an initial inspection path is planned based on the regional inspection sequence. The time sequence overlap comparison of the airflow disturbance period corresponding to each line interlocking area within the regional inspection time sequence is performed to screen out the time-overlapping inspection areas, and the inspection interference analysis is performed on the time-overlapping inspection areas to evaluate whether the initial inspection path planning is reasonable. If the initial inspection path planning needs to be adjusted, obtain the priority inspection value corresponding to each time-intensive inspection area, and replan the initial inspection path based on the priority inspection value. By utilizing the dynamic airflow disturbance generated by trucks traveling at high speeds on highways, the contact parts of the tension clamps are made to vibrate, thus avoiding obstruction by the clamp body and capturing the wear at the crimping seam, thereby increasing the effective images captured of the wear at the crimping seam.

2. The method for inspecting overhead transmission lines according to claim 1, characterized in that: The airflow disturbance analysis for each line's siding region is performed as follows: The line clamp area is transformed into a three-dimensional clamp model. Multiple clamp inspection history cycles are set, and the clamp inspection history cycles are equally divided into several clamp inspection history periods. The clamp inspection history periods are equally divided into several historical inspection nodes. The three-dimensional spatial coordinates of the clamp and the transmission line on the three-dimensional clamp model at each historical inspection node are obtained to obtain the instantaneous coordinates of the clamp unit and the transmission line unit. The instantaneous coordinates of all clamp units and transmission line units within the historical period of clamp inspection are extracted respectively, and summarized according to the time series to obtain the clamp instantaneous coordinate sequence and the transmission line instantaneous coordinate sequence. Based on the instantaneous coordinate sequence of the clamp and the instantaneous coordinate sequence of the transmission line, coordinate change curves of the clamp and the transmission line are constructed on the three-dimensional clamp model, respectively.

3. The method for inspecting overhead transmission lines according to claim 2, characterized in that: The method for obtaining the period of airflow disturbance is as follows: During the historical period of line clamp inspection, the instantaneous coordinates of the line clamp unit and the instantaneous coordinates of the transmission line unit corresponding to the adjacent historical inspection nodes are extracted respectively. The slope between the instantaneous coordinates of the line clamp unit corresponding to the adjacent historical inspection nodes and the slope between the instantaneous coordinates of the transmission line unit corresponding to the adjacent historical inspection nodes are obtained by using the slope calculation formula respectively, thus obtaining the slope of the line clamp unit and the slope of the transmission line unit. By combining the slope of the clamp unit with the slope of the transmission line unit, we obtain the trend group of adjacent nodes; If the slope of the clamp unit in the adjacent node trend group has the same sign as the slope of the transmission line unit, it is marked as a synchronous amplitude trend group; if the slope of the clamp unit in the adjacent node trend group has a different sign than the slope of the transmission line unit, it is marked as an asynchronous amplitude trend group. The ratio of the number of synchronous amplitude trend groups to the total number of amplitude trend groups is used to obtain the air disturbance judgment value. If the air disturbance judgment value is greater than or equal to the air disturbance judgment threshold, it is marked as an airflow disturbance period.

4. The method for inspecting overhead transmission lines according to claim 1, characterized in that: The process for selecting periods of stable airflow disturbance is as follows: Extract the airflow disturbance period corresponding to each line clamp area, sort them according to the time series within the historical inspection cycle of the line clamp, obtain the line clamp air disturbance period sequence, and obtain an airflow disturbance period from the line clamp air disturbance period sequence as the suspected stability analysis period; Obtain the time sequence of each clamp inspection history cycle within the suspected stability analysis period as the suspected stability analysis sequence. Input the suspected stability analysis sequence into the Euclidean distance formula according to the time sequence of the clamp inspection history cycle within the suspected stability analysis period, and output the suspected stability value. Calculate the standard deviation of the air disturbance judgment value corresponding to each air disturbance period, and output the air disturbance stability value. The stability analysis value is obtained by summing the stable value of air disturbance with the suspected stable value. The suspected stability values ​​corresponding to each suspected stability analysis period within the line clamp air disturbance time sequence are compared, and the suspected stability analysis period corresponding to the smallest suspected stability value is selected as the stable period of airflow disturbance.

5. The method for inspecting overhead transmission lines according to claim 1, characterized in that: The process of establishing a regional inspection sequence and planning the initial inspection path is as follows: Extract the stable airflow disturbance period corresponding to each line clamp area, and sort them according to the time sequence within the line clamp inspection history cycle of the stable airflow disturbance period to obtain the regional inspection time sequence. Based on the regional inspection time sequence, plan the initial inspection path for the line clamp areas on the high-speed overhead transmission line.

6. The method for inspecting overhead transmission lines according to claim 1, characterized in that: The selection process for the time-based heavy inspection area is as follows: Within the regional inspection time sequence, the inter-line areas corresponding to the same stable airflow disturbance period are extracted and used as time-repeated inspection areas.

7. The method for inspecting overhead transmission lines according to claim 1, characterized in that: The process of analyzing inspection interference in the time-based inspection area is as follows: The ratio of the number of time-repeated inspection areas to the total number of overhead transmission line clamping areas is obtained by counting the number of time-repeated inspection areas during each stable period of the same airflow disturbance. Within the same stable period of airflow disturbance in each time-weighted inspection area, synchronous amplitude trend groups and asynchronous amplitude trend groups are selected and sorted according to their corresponding time sequence within the same stable period of airflow disturbance to obtain amplitude trend sequences. Within the amplitude trend sequences, adjacent synchronous amplitude trend groups are combined to obtain adjacent synchronous trend groups. The ratio of the number of asynchronous amplitude trend groups between adjacent synchronous amplitude trend groups within an adjacent synchronous trend group to the total number of amplitude trend groups is obtained to get the adjacent synchronous interval ratio. The adjacent synchronization interval ratios corresponding to each group of adjacent synchronization trend groups are summed and averaged to output the average adjacent synchronization interval. The average value of adjacent synchronization intervals is summed with the air disturbance judgment value, and the standard deviation is calculated to output the time-weighted inspection comparison value.

8. The method for inspecting overhead transmission lines according to claim 1, characterized in that: The process for assessing the rationality of the initial inspection route plan is as follows: The ratio of the number of time-based heavy inspections to the ratio of the time-based heavy inspections is calculated, and the inspection interference value is output. If the inspection interference value is greater than the inspection interference threshold, it will be displayed as an adjustment planning signal.

9. A method for inspecting overhead transmission lines according to claim 1, characterized in that: Obtain the priority inspection value corresponding to each time-repeated inspection area, and replan the initial inspection path. The process is as follows: If the air disturbance judgment value is greater than or equal to the air disturbance judgment threshold, it is marked as an undisturbed inspection area. The undisturbed inspection area is extracted and sorted according to its position on the overhead transmission line to construct an undisturbed inspection sequence. Based on the regional inspection order within the regional inspection time sequence, the line interlocking area before the parallel sorting of the time-re-inspected areas is extracted and its position on the overhead transmission line is obtained as the re-sorting reference position. Extract the location on the overhead transmission line where each undisturbed inspection area is located within the undisturbed inspection sequence, and use it as the reordering and comparison location; Obtain the reordering comparison position of each undisturbed inspection area, the distance between the reordering reference position and the total length of the overhead transmission line, and calculate the reordering comparison distance by comparing the ratio with the total length of the overhead transmission line. The ratio of the air disturbance judgment value corresponding to each undisturbed inspection area to the reordering comparison distance is calculated to obtain the priority inspection value. The priority inspection values ​​corresponding to each undisturbed inspection area in the undisturbed inspection sequence are compared, and then sorted in descending order.

10. A system for inspecting overhead transmission lines, characterized in that: include: Air disturbance period identification module: Utilizes computer vision technology to extract the line-clamping areas on high-speed overhead transmission lines, performs airflow disturbance analysis on each line-clamping area, and identifies the corresponding airflow disturbance period for the line-clamping area; Initial path planning module: Performs time-dimensional stability analysis on the airflow disturbance period corresponding to each route's inter-row area, selects stable airflow disturbance periods, constructs regional inspection time sequence, and plans the initial inspection path based on the regional inspection time sequence; Initial path evaluation module: Perform time-series overlap comparison of the airflow disturbance time periods corresponding to each line's inter-line area within the regional inspection time sequence, screen out the time-overlapping inspection areas, and perform inspection interference analysis on the time-overlapping inspection areas to evaluate whether the initial inspection path planning is reasonable. Initial path adjustment module: If the initial inspection path planning needs to be adjusted, the priority inspection value corresponding to each time-intensive inspection area is obtained, and the initial inspection path is replanned based on the priority inspection value. By utilizing the dynamic airflow disturbance generated by trucks traveling at high speeds on highways, the contact parts of the tension clamps are made to vibrate, thus avoiding obstruction by the clamp body and capturing the wear at the crimping seam, thereby increasing the effective images captured of the wear at the crimping seam.

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