Power transmission line maintenance method and device, computer equipment, readable storage medium and program product

Abstract

The invention relates to a power transmission line maintenance method and device, computer equipment, a readable storage medium and a program product. The method comprises the following steps: constructing a target fitting function between a voltage difference value and a distance according to the voltage difference value and the distance between a robot and a target-phase power transmission line before the robot overhauls the target-phase power transmission line; in the maintenance process, before the robot carries out potential transfer, a reference voltage difference value between the robot and a target phase power transmission line is obtained; determining a safe distance range between the robot and the target phase power transmission line based on the reference voltage difference value and the target fitting function; acquiring a first pixel coordinate of the maintenance image after the potential transfer is started; and acquiring an actual distance between the robot and the target phase power transmission line based on the first pixel coordinates, and adjusting the position of the robot based on the actual distance and the safe distance range. According to the method provided by the invention, whether the current position of the robot is the safe position or not can be determined.

Description

Technical Field

[0001] This application relates to the field of power grid testing technology, and in particular to a method, apparatus, computer equipment, readable storage medium, and program product for power transmission line maintenance. Background Technology

[0002] Reasonable and efficient operation and maintenance of high-voltage transmission lines are the main means to ensure their safe and stable operation. Currently, maintenance mainly relies on manual power outages, but power outages result in significant economic losses, and manual live-line work is labor-intensive, dangerous, and lacks skilled personnel, making it difficult to achieve routine operations. Using robots to replace manual labor for live-line work is an effective way to solve this problem.

[0003] However, the process of a robot connecting and disconnecting from power lines involves an equipotential process. When the gap between the robot and the conductor gradually decreases below the safe distance, the air medium may break down, forming a discharge channel and generating a transient large current pulse. This process may interfere with the robot's internal electronic system through electromagnetic radiation or conduction, affecting its normal operation. Therefore, to ensure reliable operation of the robot in a energized environment, it is necessary to accurately analyze the safe distance during the equipotential process to guarantee the stable and reliable operation of the robot in energized environments. Summary of the Invention

[0004] Therefore, it is necessary to provide a method, apparatus, computer equipment, readable storage medium, and program product for power line maintenance that can determine the safe distance between a robot and a power line, in order to address the above-mentioned technical problems.

[0005] In a first aspect, this application provides a method for overhauling transmission lines, the method comprising:

[0006] Before the robot performs maintenance on the target phase transmission line in the multi-phase transmission line, the maintenance process of the robot on the target phase transmission line is simulated in the simulation software. Based on the simulation results, a target fitting function between the voltage difference and the distance between the robot and the target phase transmission line is constructed.

[0007] During the process of the robot inspecting the target phase transmission line, before the robot performs potential transfer, the reference voltage difference between the robot and the target phase transmission line is obtained;

[0008] The reference voltage difference is input into the target fitting function, the reference distance between the robot and the target phase transmission line is output, and the safe distance range between the robot and the target phase transmission line is determined based on the reference distance.

[0009] After the robot starts performing potential transfer, it acquires the maintenance image of the target phase transmission line captured by the binocular camera in real time, and inputs the maintenance image into the target detection model, outputting the first pixel coordinate of the center point of the bounding box of the target phase transmission line in the pixel coordinate system.

[0010] Based on the first pixel coordinates, the actual distance between the robot and the target power transmission line is obtained, and the position of the robot is adjusted if the actual distance is not within the safe distance range.

[0011] In one embodiment, based on simulation results, constructing a target fitting function between the voltage difference and the distance between the robot and the target phase transmission line includes:

[0012] Based on the simulation results, the average breakdown field strength between the robot and the target phase transmission line is obtained, and an initial fitting function between the voltage difference and the distance between the robot and the target phase transmission line is constructed.

[0013] Obtain the conductor radius of the target phase transmission line, and construct a target fitting function between the voltage difference and the distance based on the average breakdown field strength, the initial fitting function, and the conductor radius.

[0014] In one embodiment, determining the safe distance range between the robot and the target power transmission line based on the reference distance includes:

[0015] Obtain a first preset distance and a second preset distance; wherein the first preset distance is greater than the second preset distance;

[0016] Obtain a first distance difference between the reference distance and the first preset distance, and obtain a second distance difference between the reference distance and the second preset distance;

[0017] The first distance difference is determined as the lower limit of the safe distance range, and the second distance difference is determined as the upper limit of the safe distance range.

[0018] In one embodiment, obtaining the actual distance between the robot and the target power transmission line based on the first pixel coordinates includes:

[0019] The second pixel coordinates of the image center point of the inspection image in the pixel coordinate system and the focal length of the binocular camera are obtained; wherein, the pixel coordinate system includes a first coordinate axis and a second coordinate axis, and the inspection image includes the robot;

[0020] Based on the second pixel coordinates and the focal length, the first pixel coordinates are converted into camera coordinates in the camera coordinate system of the stereo camera; wherein, the camera coordinate system includes a third coordinate axis, a fourth coordinate axis and a fifth coordinate axis, the third coordinate axis has the same direction as the first coordinate axis, and the fourth coordinate axis has the same direction as the second coordinate axis;

[0021] Based on the camera coordinates, the actual distance between the robot and the target power transmission line is obtained.

[0022] In one embodiment, the binocular camera includes a first lens and a second lens; the step of converting the first pixel coordinates into camera coordinates in the camera coordinate system of the binocular camera based on the second pixel coordinates and the focal length includes:

[0023] The optical center distance between the first lens and the second lens, and the pixel coordinate deviation between the image of the target phase transmission line captured by the first lens and the image of the target phase transmission line captured by the second lens are obtained.

[0024] Based on the optical center distance, the focal length, and the pixel coordinate deviation value, the first camera coordinate value of the inspection image on the fifth coordinate axis in the camera coordinate system of the binocular camera is obtained;

[0025] Based on the second pixel coordinates, the focal length, and the first camera coordinate value, the first pixel coordinates are converted into camera coordinates in the camera coordinate system of the stereo camera.

[0026] In one embodiment, obtaining the actual distance between the robot and the target power transmission line based on the camera coordinates includes:

[0027] Obtain the second camera coordinate value and the third camera coordinate value from the camera coordinates;

[0028] Based on the coordinates of the first camera, the second camera, and the third camera, the actual distance between the robot and the target power transmission line is obtained.

[0029] Secondly, this application also provides a transmission line maintenance device, the device comprising:

[0030] The simulation module is used to simulate the maintenance process of the robot on the target phase transmission line in the simulation software before the robot performs maintenance on the target phase transmission line in the multi-phase transmission line, and based on the simulation results, to construct a target fitting function between the voltage difference and the distance between the robot and the target phase transmission line.

[0031] The first acquisition module is used to acquire the reference voltage difference between the robot and the target phase transmission line before the robot performs potential transfer during the process of the robot repairing the target phase transmission line.

[0032] The input module is used to input the reference voltage difference into the target fitting function, output the reference distance between the robot and the target phase transmission line, and determine the safe distance range between the robot and the target phase transmission line based on the reference distance;

[0033] The second acquisition module is used to acquire, in real time, the maintenance image of the target phase transmission line captured by the binocular camera after the robot starts to perform potential transfer, input the maintenance image into the target detection model, and output the first pixel coordinates of the center point of the bounding box of the target phase transmission line in the pixel coordinate system.

[0034] The third acquisition module is used to acquire the actual distance between the robot and the target power transmission line based on the first pixel coordinates, and to adjust the position of the robot if the actual distance is not within the safe distance range.

[0035] Thirdly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps of the methods in any of the above embodiments.

[0036] Fourthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, implements the steps of the methods in any of the above embodiments.

[0037] Fifthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, implements the steps of the methods in any of the above embodiments.

[0038] The aforementioned transmission line maintenance method, apparatus, computer equipment, readable storage medium, and program product, before the robot performs maintenance on the target phase transmission line in a multi-phase transmission line, simulate the maintenance process of the robot on the target phase transmission line in simulation software, and based on the simulation results, construct a target fitting function between the voltage difference and distance between the robot and the target phase transmission line; during the robot's maintenance of the target phase transmission line, before the robot performs potential transfer, obtain the reference voltage difference between the robot and the target phase transmission line; and input the reference voltage difference to... The method employs a target fitting function to output a reference distance between the robot and the target phase transmission line. Based on this reference distance, a safe distance range between the robot and the target phase transmission line is determined. After the robot begins potential transfer, real-time images of the target phase transmission line captured by a binocular camera are acquired and input into the target detection model. The model outputs the first pixel coordinates of the center point of the bounding box of the target phase transmission line in the pixel coordinate system. Based on these first pixel coordinates, the actual distance between the robot and the target phase transmission line is obtained. If the actual distance is not within the safe distance range, the robot's position is adjusted. This method, by determining the safe distance range between the robot and the transmission line, only requires comparing the actual distance with the safe distance to determine whether the robot's current position is safe, thus ensuring the stability and reliability of the robot during maintenance. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 This is a flowchart illustrating a transmission line maintenance method in one embodiment;

[0041] Figure 2 This is a schematic diagram of the A-phase, B-phase, and C-phase transmission lines in one embodiment;

[0042] Figure 3 , Figure 4 and Figure 5 These are equivalent schematic diagrams of the C-phase, B-phase, and A-phase transmission lines before potential transfer in one embodiment.

[0043] Figure 6 This is a flowchart illustrating a method for constructing a target fitting function in one embodiment;

[0044] Figure 7This is a schematic diagram illustrating the relationship between the voltage difference and distance between the robot and the C-phase transmission line in one embodiment;

[0045] Figure 8 This is a flowchart illustrating a transmission line maintenance method in another embodiment;

[0046] Figure 9 This is a structural block diagram of a transmission line maintenance device in one embodiment;

[0047] Figure 10 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0049] It should be noted that the terms "first," "second," etc., used in this application can be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish the first element from the second element. The terms "comprising" and "having," and any variations thereof, used in this application, are intended to cover non-exclusive inclusion. The term "multiple" used in this application refers to two or more. The term "and / or" used in this application refers to one of the embodiments, or any combination of multiple embodiments.

[0050] In one embodiment, such as Figure 1 As shown, a method for power transmission line maintenance is provided. This embodiment illustrates the method applied to a terminal, but it is understood that the method can also be applied to a server, or to a system including both a terminal and a server, and implemented through interaction between the terminal and the server. In this embodiment, the method includes the following steps:

[0051] S102. Before the robot performs maintenance on the target phase transmission line in the multi-phase transmission line, the maintenance process of the robot on the target phase transmission line is simulated in the simulation software. Based on the simulation results, a target fitting function between the voltage difference and the distance between the robot and the target phase transmission line is constructed.

[0052] Optionally, if the transmission tower is like Figure 2As shown, the transmission lines on the transmission tower have three layers: the top layer is the A-phase transmission line, the middle layer is the B-phase transmission line, and the bottom layer is the C-phase transmission line. The target phase transmission line can be any one of the A-phase, B-phase, or C-phase transmission lines. The vertical distance between the A-phase and B-phase transmission lines is 7692mm, the vertical distance between the B-phase and C-phase transmission lines is 7692mm, the vertical distance between the C-phase transmission line and the ground is 27042mm, and the width of the base of the transmission tower is 9615mm.

[0053] S104. During the process of the robot inspecting the target phase transmission line, before the robot performs potential transfer, obtain the reference voltage difference between the robot and the target phase transmission line.

[0054] Among them, potential transfer refers to the process by which a robot gradually transitions from an initial low potential state to a high potential state that is completely equal to that of the target phase transmission line through a specific method. In essence, it is the transfer of the potential difference between the robot and the target phase from existence to non-existence.

[0055] Optionally, if the target phase transmission line is a C-phase transmission line, such as Figure 3 As shown, Figure 3 This is an equivalent schematic diagram of the live-line working robot Q before potential transfer on a C-phase transmission line. Robot Q is located below the C-phase transmission line; U in the diagram... C U represents the voltage value of the C-phase transmission line. R Let U be the voltage value at point Q on the robot. CR This is the reference voltage difference between the robot's Q phase and the C phase transmission line, where GND represents the ground, and U... RG This is the voltage difference between robot Q and the ground.

[0056] Optionally, if the target phase transmission line is a phase B transmission line, such as Figure 4 As shown, Figure 4 This is an equivalent schematic diagram of the live-line working robot Q before potential transfer for a phase B transmission line. Robot Q is located below the phase B transmission line; U in the diagram... B U represents the voltage value of phase B transmission line. R Let U be the voltage value at point Q on the robot. BR This is the reference voltage difference between the robot's Q phase and the B phase transmission line, U. RC U represents the voltage difference between the robot's Q phase and the C phase transmission line. BC This represents the voltage difference between phase B and phase C transmission lines.

[0057] Optionally, if the target phase transmission line is a phase A transmission line, such as Figure 5 As shown, Figure 5 This is an equivalent schematic diagram of the live-line working robot Q before potential transfer for phase A transmission line. Robot Q is located below phase A transmission line; U in the diagram A U is the voltage value of phase A transmission line. R Let U be the voltage value at point Q on the robot. AR This is the reference voltage difference between robot Q and the A-phase transmission line, U RB U represents the voltage difference between the robot's Q phase and the B phase transmission line. AB This represents the voltage difference between phase A and phase B transmission lines.

[0058] S106. Input the reference voltage difference into the target fitting function, output the reference distance between the robot and the target phase transmission line, and determine the safe distance range between the robot and the target phase transmission line based on the reference distance.

[0059] Alternatively, as long as the robot is within a safe distance from the target power transmission line, there will be no problem that the robot's internal electronic system will be affected by electromagnetic radiation or conduction interference due to the close distance between the two, thus affecting its normal operation.

[0060] S108. After the robot starts the potential transfer, the maintenance image of the target phase transmission line captured by the binocular camera is acquired in real time, and the maintenance image is input into the target detection model. The first pixel coordinate of the center point of the bounding box of the target phase transmission line in the pixel coordinate system is output.

[0061] Optionally, the pixel coordinate system includes a first coordinate axis and a second coordinate axis.

[0062] Alternatively, the coordinates of the first pixel can be obtained as follows:

[0063]

[0064]

[0065] In the formula, u and v are the coordinate values ​​of the center point of the bounding box of the target phase transmission line on the first coordinate axis and the second coordinate axis, respectively; and This represents the offset of the bounding box center point relative to the top-left corner of the grid. and Divide the image into grids of width and height. and The pixel coordinates of the top-left corner of the grid where the target is located.

[0066] S110. Based on the first pixel coordinates, obtain the actual distance between the robot and the target phase power transmission line, and adjust the robot's position if the actual distance is not within the safe distance range.

[0067] Optionally, if the actual distance is within the safe distance range, it means that the robot does not pose a safety risk; if the actual distance is not within the safe distance range, it means that the robot poses a safety risk and it is necessary to adjust the position of the robot so that the distance between the robot and the target power transmission line is within the safe distance range.

[0068] In the aforementioned transmission line maintenance method, before the robot performs maintenance on the target phase transmission line in a multi-phase transmission line, the maintenance process of the robot on the target phase transmission line is simulated in simulation software. Based on the simulation results, a target fitting function is constructed for the voltage difference and distance between the robot and the target phase transmission line. During the robot's maintenance of the target phase transmission line, before the robot performs potential transfer, a reference voltage difference between the robot and the target phase transmission line is obtained. The reference voltage difference is input into the target fitting function, and a reference distance between the robot and the target phase transmission line is output. Based on the reference distance, a safe distance range between the robot and the target phase transmission line is determined. After the robot begins potential transfer, maintenance images of the target phase transmission line captured by a binocular camera are acquired in real time. The maintenance images are input into the target detection model, and the first pixel coordinates of the center point of the bounding box of the target phase transmission line in the pixel coordinate system are output. Based on the first pixel coordinates, the actual distance between the robot and the target phase transmission line is obtained, and the robot's position is adjusted if the actual distance is not within the safe distance range. The method provided in this application determines whether the robot's current position is safe by comparing the actual distance with the safe distance, thus ensuring the stability and reliability of the robot during maintenance.

[0069] In some embodiments, such as Figure 6 As shown, based on the simulation results, a target fitting function is constructed for the voltage difference and distance between the robot and the target phase transmission line, including:

[0070] S602. Based on the simulation results, obtain the average breakdown field strength between the robot and the target phase transmission line, and construct an initial fitting function between the voltage difference and the distance between the robot and the target phase transmission line.

[0071] S604. Obtain the conductor radius of the target phase transmission line, and construct the target fitting function between the voltage difference and the distance based on the average breakdown field strength, the initial fitting function and the conductor radius.

[0072] The average breakdown field strength refers to the average electric field strength at both ends of the air gap when the air gap is just broken down in the non-uniform electric field formed by the simulated target phase transmission line and the robot.

[0073] Optionally, if the target phase transmission line is a C-phase transmission line, during the numerical simulation, the voltage difference U between the robot and the C-phase transmission line... CR The relationship with distance d is as follows Figure 7 As shown, the horizontal axis represents distance, and the vertical axis represents voltage difference; for Figure 7 By fitting the relationship data in the data, an initial fitting function between the voltage difference and the distance can be obtained. The initial fitting function is shown in the following formula:

[0074]

[0075] Similarly, if the target phase transmission line is a phase A transmission line or a phase B transmission line, the corresponding initial fitting function can be obtained using the same method.

[0076] Alternatively, after determining the initial fitting function, the target fitting function can be determined by combining the average breakdown field strength and the conductor radius.

[0077] Optionally, if the target phase transmission line is a C-phase transmission line, the target fitting function is as follows:

[0078]

[0079] In the formula, r is the conductor radius of the C-phase transmission line. This represents the average breakdown field strength of the C-phase transmission line.

[0080] Optionally, if the target phase transmission line is a B-phase transmission line, the target fitting function is as follows:

[0081]

[0082] In the formula, r is the conductor radius of the B-phase transmission line. This represents the average breakdown field strength of phase B transmission lines.

[0083] Optionally, if the target phase transmission line is a phase A transmission line, the target fitting function is as follows:

[0084]

[0085] In the formula, r is the conductor radius of phase A transmission line. This represents the average breakdown field strength of phase A transmission line.

[0086] In this embodiment, an initial fitting function between voltage difference and distance is first constructed based on simulation results. Then, a target fitting function is constructed by combining the average breakdown field strength and conductor radius, so that the constructed target fitting function is more consistent with the actual maintenance process of the robot on the target phase transmission line.

[0087] In some embodiments, determining a safe distance range between the robot and the target phase transmission line based on a reference distance includes: obtaining a first preset distance and a second preset distance; wherein the first preset distance is greater than the second preset distance; obtaining a first distance difference between the reference distance and the first preset distance, and obtaining a second distance difference between the reference distance and the second preset distance; determining the first distance difference as the lower limit of the safe distance range, and determining the second distance difference as the upper limit of the safe distance range.

[0088] Optionally, the first preset distance may be, but is not limited to, 0.03m, the second preset distance may be, but is not limited to, 0.01m, and the safety distance range may be, but is not limited to, [missing information]. .

[0089] In this embodiment, a first preset distance and a second preset distance are first obtained, and then a safe distance range is determined, so that the robot position determined according to the determined safe distance range is safer.

[0090] In some embodiments, obtaining the actual distance between the robot and the target phase transmission line based on the first pixel coordinates includes: obtaining the second pixel coordinates of the image center point of the inspection image in the pixel coordinate system, and the focal length of the binocular camera; wherein the pixel coordinate system includes a first coordinate axis and a second coordinate axis, and the inspection image includes the robot; converting the first pixel coordinates into camera coordinates in the camera coordinate system of the binocular camera based on the second pixel coordinates and the focal length; wherein the camera coordinate system includes a third coordinate axis, a fourth coordinate axis, and a fifth coordinate axis, the third coordinate axis having the same direction as the first coordinate axis, and the fourth coordinate axis having the same direction as the second coordinate axis; and obtaining the actual distance between the robot and the target phase transmission line based on the camera coordinates.

[0091] Optionally, the process of converting the first pixel coordinates into camera coordinates in the camera coordinate system of the stereo camera based on the second pixel coordinates and focal length is shown in the following equation:

[0092]

[0093]

[0094] In the formula, These are the transformed camera coordinates on the third coordinate axis. Here, u and v are the coordinates of the transformed camera on the fourth coordinate axis, and c is the coordinate of the center point of the target phase transmission line's bounding box on the first and second coordinate axes, respectively. x and c y Zc represents the coordinates of the second pixel on the first and second coordinate axes, respectively; Zc represents the coordinates of the first camera on the fifth coordinate axis; f represents the depth for calculating the left and right parallax. x and f y These are the focal lengths of the camera on the third and fourth coordinate axes, respectively.

[0095] Optionally, This represents the 3D coordinates of the center point of the bounding box of the target phase transmission line in the camera coordinate system.

[0096] In this embodiment, by transforming the coordinates of the first pixel from the pixel coordinate system to the camera coordinate system, a foundation can be laid for determining the actual distance between the robot and the target power transmission line, making the determination result more accurate.

[0097] In some embodiments, the binocular camera includes a first lens and a second lens; converting the first pixel coordinates into camera coordinates in the camera coordinate system of the binocular camera based on the second pixel coordinates and focal length includes: obtaining the optical center distance between the first lens and the second lens, and the pixel coordinate deviation value between the image of the target phase transmission line captured by the first lens and the image of the target phase transmission line captured by the second lens; obtaining the first camera coordinate value of the inspection image on the fifth coordinate axis in the camera coordinate system of the binocular camera based on the optical center distance, focal length, and pixel coordinate deviation value; and converting the first pixel coordinates into camera coordinates in the camera coordinate system of the binocular camera based on the second pixel coordinates, focal length, and first camera coordinate value.

[0098] Optionally, the first lens is a left-eye lens, and the second lens is a right-eye lens; the coordinates of the first camera can be calculated using the following formula:

[0099]

[0100] In the formula, Zc represents the coordinates of the first camera, B represents the optical center distance between the first and second lenses, and f represents the focal length. The pixel coordinate deviation between the image of the target phase transmission line captured by the first lens and the image of the target phase transmission line captured by the second lens.

[0101] In this embodiment, based on the optical center distance, focal length, and pixel coordinate deviation, the first camera coordinate value of the inspection image on the fifth coordinate axis in the camera coordinate system of the binocular camera is obtained, making the obtained first camera coordinate value more accurate, thereby making the transformation process of the first pixel coordinate based on the first camera coordinate value more accurate.

[0102] In some embodiments, obtaining the actual distance between the robot and the target phase transmission line based on camera coordinates includes: obtaining the second camera coordinate value and the third camera coordinate value in the camera coordinates; and obtaining the actual distance between the robot and the target phase transmission line based on the first camera coordinate value, the second camera coordinate value, and the third camera coordinate value.

[0103] Alternatively, the actual distance between the robot and the target power transmission line can be calculated using the following formula:

[0104]

[0105] In the formula, D is the actual distance. The transformed camera coordinates are the coordinates on the third coordinate axis, i.e., the second camera coordinates. The transformed camera coordinates are the coordinates on the fourth coordinate axis, i.e., the coordinates of the third camera.

[0106] In this embodiment, the second and third camera coordinate values ​​are obtained from the camera coordinates; based on the first, second, and third camera coordinate values, the actual distance between the robot and the target power transmission line is obtained, making the determined actual distance more accurate.

[0107] In one exemplary embodiment, such as Figure 8 As shown, another method for power transmission line maintenance is provided, which includes the following:

[0108] 1) For the state of the live-line working robot before potential transfer, an equivalent schematic diagram of the live-line working robot before potential transfer is established. By simulating the process of the live-line working robot going on and off the line, and fitting the fitting function between the voltage difference of each target phase transmission line to the live-line working robot and the distance d of the live-line working robot in the equivalent schematic diagram, the electric field environment between the target phase transmission line and the live-line working robot is equivalent to a non-uniform bar-plate gap. According to the average breakdown field strength of the non-uniform bar-plate gap, the fitting function between the voltage difference of each target phase transmission line to the live-line working robot and the distance d of the live-line working robot in the equivalent schematic diagram is substituted. When the critical breakdown field strength is determined, the distance d between the target phase transmission line and the live-line working robot is calculated as the safe distance of equipotential of the live-line working robot.

[0109] 2) For the state of the live-line working robot before potential transfer, a real-time ranging system for the live-line working robot is constructed. Based on the calculated value d of the equipotential safety distance of the live-line working robot, the target transmission line position is located through the target detection algorithm, and the positioning information is transmitted to the depth camera. The distance D between the actual target phase and the live-line working robot is obtained according to the feedback information. Based on the calculated value d and the actual value D of the equipotential safety distance of the live-line working robot, it is determined that the live-line working robot is at the equipotential safety distance.

[0110] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages in other steps. It is understood that the steps in different embodiments can be freely combined as needed, and all non-contradictory solutions formed by such combinations are within the scope of protection of this application.

[0111] Based on the same inventive concept, this application also provides a transmission line maintenance device for implementing the transmission line maintenance method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more embodiments of the transmission line maintenance device provided below can be found in the limitations of the transmission line maintenance method described above, and will not be repeated here.

[0112] In one exemplary embodiment, such as Figure 9 As shown, a power transmission line maintenance device 900 is provided, comprising: an analog module 901, a first acquisition module 902, an input module 903, a second acquisition module 904, and a third acquisition module 905, wherein:

[0113] The simulation module 901 is used to simulate the maintenance process of the robot on the target phase transmission line in the simulation software before the robot performs maintenance on the target phase transmission line in the multi-phase transmission line, and based on the simulation results, to construct a target fitting function between the voltage difference and the distance between the robot and the target phase transmission line.

[0114] The first acquisition module 902 is used to acquire the reference voltage difference between the robot and the target phase transmission line before the robot performs potential transfer during the process of the robot repairing the target phase transmission line.

[0115] The input module 903 is used to input the reference voltage difference into the target fitting function, output the reference distance between the robot and the target phase transmission line, and determine the safe distance range between the robot and the target phase transmission line based on the reference distance.

[0116] The second acquisition module 904 is used to acquire, in real time, the maintenance image of the target phase transmission line captured by the binocular camera after the robot starts to perform potential transfer, input the maintenance image into the target detection model, and output the first pixel coordinates of the center point of the bounding box of the target phase transmission line in the pixel coordinate system.

[0117] The third acquisition module 905 is used to acquire the actual distance between the robot and the target phase transmission line based on the first pixel coordinates, and adjust the position of the robot if the actual distance is not within the safe distance range.

[0118] In some embodiments, the simulation module 901 is further configured to: obtain the average breakdown field strength between the robot and the target phase transmission line based on the simulation results; construct an initial fitting function between the voltage difference and the distance between the robot and the target phase transmission line; obtain the conductor radius of the target phase transmission line; and construct a target fitting function between the voltage difference and the distance based on the average breakdown field strength, the initial fitting function, and the conductor radius.

[0119] In some embodiments, the input module 903 is further configured to obtain a first preset distance and a second preset distance; wherein the first preset distance is greater than the second preset distance; obtain a first distance difference between the reference distance and the first preset distance, and obtain a second distance difference between the reference distance and the second preset distance; determine the first distance difference as the lower limit of the safe distance range, and determine the second distance difference as the upper limit of the safe distance range.

[0120] In some embodiments, the third acquisition module 905 is further configured to acquire the second pixel coordinates of the image center point of the inspection image in the pixel coordinate system, and the focal length of the binocular camera; wherein the pixel coordinate system includes a first coordinate axis and a second coordinate axis, and the inspection image includes the robot; based on the second pixel coordinates and the focal length, the first pixel coordinates are converted into camera coordinates in the camera coordinate system of the binocular camera; wherein the camera coordinate system includes a third coordinate axis, a fourth coordinate axis, and a fifth coordinate axis, the third coordinate axis has the same direction as the first coordinate axis, and the fourth coordinate axis has the same direction as the second coordinate axis; based on the camera coordinates, the actual distance between the robot and the target phase transmission line is acquired.

[0121] In some embodiments, the binocular camera includes a first lens and a second lens; the third acquisition module 905 is further configured to acquire the optical center distance between the first lens and the second lens, and the pixel coordinate deviation value between the image of the target phase transmission line captured by the first lens and the image of the target phase transmission line captured by the second lens; based on the optical center distance, the focal length, and the pixel coordinate deviation value, acquire the first camera coordinate value of the inspection image on the fifth coordinate axis in the camera coordinate system of the binocular camera; based on the second pixel coordinate, the focal length, and the first camera coordinate value, convert the first pixel coordinate into camera coordinate in the camera coordinate system of the binocular camera.

[0122] In some embodiments, the third acquisition module 905 is further configured to acquire the second camera coordinate value and the third camera coordinate value in the camera coordinates; and based on the first camera coordinate value, the second camera coordinate value and the third camera coordinate value, acquire the actual distance between the robot and the target power transmission line.

[0123] Each module in the aforementioned power transmission line maintenance device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the computer device's memory as software, so that the processor can call and execute the corresponding operations of each module.

[0124] In one exemplary embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 10As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, Near Field Communication (NFC), or other technologies. When the computer program is executed by the processor, it implements a method for power transmission line maintenance.

[0125] Those skilled in the art will understand that Figure 10 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0126] In one embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0127] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0128] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0129] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0130] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0131] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0132] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method of inspecting a power transmission line, characterized by, The method comprises: Before a robot performs maintenance on a target phase transmission line in a multi-phase transmission line, simulating a maintenance process of the robot on the target phase transmission line in simulation software, and based on a simulation result, constructing a target fitting function between a voltage difference and a distance between the robot and the target phase transmission line; During the maintenance of the robot on the target phase transmission line, obtaining a reference voltage difference between the robot and the target phase transmission line before the robot performs potential transfer; Inputting the reference voltage difference into the target fitting function, outputting a reference distance between the robot and the target phase transmission line, and determining a safe distance range between the robot and the target phase transmission line based on the reference distance; After the robot starts to perform potential transfer, obtaining a maintenance image of the target phase transmission line photographed by a binocular camera in real time, and inputting the maintenance image into a target detection model to output a first pixel coordinate of a center point of a bounding box of the target phase transmission line in a pixel coordinate system; Based on the first pixel coordinate, obtaining an actual distance between the robot and the target phase transmission line, and adjusting the position of the robot if the actual distance is not within the safe distance range.

2. The method of claim 1, wherein, The method comprises: Based on the simulation result, obtaining an average breakdown field strength between the robot and the target phase transmission line, and constructing an initial fitting function between the voltage difference and the distance between the robot and the target phase transmission line; Obtaining a conductor radius of the target phase transmission line, and based on the average breakdown field strength, the initial fitting function and the conductor radius, constructing a target fitting function between the voltage difference and the distance.

3. The method of claim 1, wherein, The method comprises: Obtaining a first preset distance and a second preset distance; wherein the first preset distance is greater than the second preset distance; Obtaining a first distance difference between the reference distance and the first preset distance, and a second distance difference between the reference distance and the second preset distance; Determining the first distance difference as a lower limit value of the safe distance range, and determining the second distance difference as an upper limit value of the safe distance range.

4. The method of claim 1, wherein, The method comprises: Obtaining a second pixel coordinate of an image center point of the maintenance image in the pixel coordinate system, and a focal length of the binocular camera; wherein the pixel coordinate system comprises a first coordinate axis and a second coordinate axis, and the maintenance image includes the robot. convert the first pixel coordinate into a camera coordinate in a camera coordinate system of the binocular camera based on the second pixel coordinate and the focal length, wherein the camera coordinate system comprises a third coordinate axis, a fourth coordinate axis and a fifth coordinate axis, the third coordinate axis is the same as the direction of the first coordinate axis, and the fourth coordinate axis is the same as the direction of the second coordinate axis; obtain an actual distance between the robot and the target phase transmission line based on the camera coordinate.

5. The method of claim 4, wherein, The binocular camera comprises a first lens and a second lens; and the conversion of the first pixel coordinate into the camera coordinate in the camera coordinate system of the binocular camera based on the second pixel coordinate and the focal length comprises: obtaining an optical center distance between the first lens and the second lens, and a pixel coordinate deviation value between an image of the target phase transmission line captured by the first lens and an image of the target phase transmission line captured by the second lens; obtaining a first camera coordinate value of the fifth coordinate axis of the maintenance image in the camera coordinate system of the binocular camera based on the optical center distance, the focal length and the pixel coordinate deviation value; converting the first pixel coordinate into the camera coordinate in the camera coordinate system of the binocular camera based on the second pixel coordinate, the focal length and the first camera coordinate value.

6. The method of claim 5, wherein, The obtaining of the actual distance between the robot and the target phase transmission line based on the camera coordinate comprises: obtaining a second camera coordinate value and a third camera coordinate value in the camera coordinate; obtaining the actual distance between the robot and the target phase transmission line based on the first camera coordinate value, the second camera coordinate value and the third camera coordinate value.

7. A power line maintenance device, characterized by The device comprises: an analog module configured to simulate a maintenance process of a robot on a target phase transmission line in a simulation software before the robot performs the maintenance on the target phase transmission line, and to construct a target fitting function between a voltage difference and a distance based on a simulation result and in relation to the voltage difference and the distance between the robot and the target phase transmission line; a first obtaining module configured to obtain a reference voltage difference between the robot and the target phase transmission line before the robot performs potential transfer during the maintenance of the robot on the target phase transmission line; an input module configured to input the reference voltage difference into the target fitting function, to output a reference distance between the robot and the target phase transmission line, and to determine a safe distance range between the robot and the target phase transmission line based on the reference distance; a second obtaining module configured to obtain a maintenance image of the target phase transmission line captured by a binocular camera in real time after the robot starts to perform potential transfer, and to input the maintenance image into a target detection model to output a first pixel coordinate of a center point of a bounding box of the target phase transmission line in a pixel coordinate system. A third acquisition module is configured to acquire an actual distance between the robot and the target transmission line based on the first pixel coordinate, and adjust the position of the robot when the actual distance is not within the safe distance range. 8.A computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the computer device is configured to perform the method according to any one of claims 1-7. The computer program is executed by the processor to implement the steps of the method of any one of claims 1 to 6.

9. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the method of any one of claims 1 to 6.

10. A computer program product comprising a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the method of any one of claims 1 to 6. The computer program is executed by the processor to implement the steps of the method of any one of claims 1 to 6.

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