Inspection path planning method and device, computer equipment, readable storage medium and program product

Abstract

The invention relates to an inspection path planning method and device, computer equipment, a readable storage medium and a program product. The method comprises the following steps: acquiring a signal disturbance quantity of a historical radio signal, a spatial range covered by the signal disturbance quantity and a distance between inspection equipment and transmitting equipment, and determining a first interference evaluation value of the inspection equipment based on the signal disturbance quantity, the spatial range and the distance; determining a second interference evaluation value of the inspection equipment based on the signal intensity peak value, the peak value duration and the interference tolerance of the inspection equipment; and if there is an overlapping part between the current inspection path and the interference hot area change diagram of the transmitting equipment, predicting the predicted electric field intensity of the overlapping part when the inspection equipment is located in a corresponding space region of the interference hot area change diagram, and adjusting the current inspection path based on the first interference evaluation value, the second interference evaluation value and the predicted electric field intensity. According to the method provided by the invention, the inspection equipment can safely and stably complete the inspection operation.

Description

Technical Field

[0001] This application relates to the field of power grid detection technology, and in particular to an inspection path planning method, apparatus, computer equipment, readable storage medium, and program product. Background Technology

[0002] To ensure the safe and stable operation of the power grid, drones are needed to conduct regular inspections. However, during drone inspections, interference from radio signals emitted by various surrounding transmitting devices may prevent the drones from performing their communication, flight, photography, and calculation functions, thus hindering the completion of the inspection mission. Summary of the Invention

[0003] Therefore, it is necessary to provide a method, apparatus, computer equipment, readable storage medium, and program product for inspection path planning that can avoid interference from radio signals to drones, in order to address the above-mentioned technical problems.

[0004] Firstly, this application provides an inspection path planning method, the method comprising:

[0005] For historical inspection operations conducted by inspection equipment on power lines within a target area, historical radio data of historical radio signals received by the inspection equipment during the historical inspection operations is acquired; wherein, the historical radio data includes the peak signal strength and peak duration of the historical radio signals;

[0006] Based on the historical radio data, the signal disturbance amount of the historical radio signal, the spatial range covered by the signal disturbance amount, and the distance between the inspection equipment and the transmitting equipment that emitted the historical radio signal are obtained. Based on the signal disturbance amount, the spatial range, and the distance, a first interference assessment value of the inspection equipment being interfered with by the historical radio signal is determined.

[0007] Obtain the interference tolerance of the inspection equipment, and based on the interference tolerance, the peak signal strength and the duration of the peak value, determine a second interference assessment value of the inspection equipment being interfered with by the historical radio signal;

[0008] The current inspection path for the power lines to be inspected within the target area is planned, and based on the historical radio data, the interference hotspot change map of the transmitting equipment is predicted; wherein, the interference hotspot change map characterizes the spatial distribution and signal disturbance timing characteristics of the radio signals transmitted by the transmitting equipment.

[0009] When there is an overlap between the current inspection path and the interference heat map, the predicted electric field strength of the overlapping part is calculated when the inspection device is located in the corresponding spatial region of the interference heat map. Based on the first interference assessment value, the second interference assessment value, and the predicted electric field strength, the current inspection path is adjusted.

[0010] In one embodiment, the historical radio data further includes the reception time of the historical radio signal, as well as the signal strength change rate and fluctuation period of the signal strength; obtaining the signal disturbance of the historical radio signal includes:

[0011] The signal disturbance is obtained based on the signal strength, the rate of change of the signal strength, the fluctuation period, the peak duration, and the reception time.

[0012] In one embodiment, determining a first interference assessment value for the inspection equipment affected by the historical radio signal interference based on the signal disturbance amount, the spatial range, and the distance includes:

[0013] Based on the distance, determine whether the inspection equipment is located within the space range;

[0014] If the inspection equipment is located within the space, determine the position of the inspection equipment within the space and the amount of signal disturbance at the position;

[0015] An interference evaluation coefficient is determined based on the location, and a first interference evaluation value is determined based on the interference evaluation coefficient and the signal disturbance at the location.

[0016] In one embodiment, determining a second interference assessment value for the inspection equipment affected by the historical radio signal interference based on the interference tolerance, the peak signal strength, and the duration of the peak value includes:

[0017] Obtain the signal strength difference between the peak signal strength and the interference tolerance;

[0018] The product of the signal strength difference and the peak duration is determined as the second interference evaluation value.

[0019] In one embodiment, adjusting the current inspection path based on the first interference assessment value, the second interference assessment value, and the predicted electric field strength includes:

[0020] Based on the first interference assessment value and the second interference assessment value, the interference risk level of the historical radio signal against the inspection equipment is determined;

[0021] If the interference risk level is not greater than the level threshold, for any predicted time during the predicted overlapping period when the inspection equipment is located in the spatial region, determine whether the predicted electric field strength at the predicted time is greater than the interference tolerance.

[0022] Under the condition that the predicted electric field strength is not greater than the interference tolerance, determine various functional indicators of the inspection equipment, as well as the importance values ​​of the functional indicators during the operation of the inspection equipment;

[0023] Based on the functional indicators and the importance value, the current inspection path is adjusted.

[0024] In one embodiment, adjusting the current inspection path based on the functional indicators and the importance value includes:

[0025] For functional indicators whose importance value is greater than the importance value threshold, obtain the interference index value of the functional indicator under the predicted radio signal interference at the prediction time, and the stability index value when there is no radio signal interference.

[0026] Obtain the difference between the interference index value and the stability index value, and determine the stability value of the functional index under the predicted radio signal interference based on the difference between the index values.

[0027] Based on the stability value, the current inspection path is adjusted.

[0028] Secondly, this application also provides an inspection path planning device, the device comprising:

[0029] The first acquisition module is used to acquire historical radio data of historical radio signals received by the inspection equipment during historical inspection operations of power lines in the target area, based on the historical inspection operations conducted by the inspection equipment; wherein, the historical radio data includes the peak signal strength and peak duration of the historical radio signals.

[0030] The second acquisition module is used to acquire, based on the historical radio data, the signal disturbance amount of the historical radio signal, the spatial range covered by the signal disturbance amount, and the distance between the inspection device and the transmitting device that transmits the historical radio signal, and to determine a first interference assessment value of the inspection device being interfered with by the historical radio signal based on the signal disturbance amount, the spatial range, and the distance.

[0031] The third acquisition module is used to acquire the interference tolerance of the inspection equipment, and based on the interference tolerance, the peak signal strength and the duration of the peak value, determine the second interference assessment value of the inspection equipment being interfered with by the historical radio signal.

[0032] The planning module is used to plan the current inspection path for the power lines to be inspected in the target area, and predict the interference hotspot change map of the transmitting equipment based on the historical radio data; wherein, the interference hotspot change map represents the spatial distribution and signal disturbance timing characteristics of the radio signals transmitted by the transmitting equipment.

[0033] The prediction module is used to predict the predicted electric field strength of the overlapping portion when the inspection equipment is located in the corresponding spatial region of the interference heat map, in the case where there is an overlap between the current inspection path and the interference heat map, and to adjust the current inspection path based on the first interference evaluation value, the second interference evaluation value and the predicted electric field strength.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] The aforementioned inspection path planning method, apparatus, computer equipment, readable storage medium, and program product, for historical inspection operations of power lines within a target area by inspection equipment, acquire historical radio data of historical radio signals received by the inspection equipment during historical inspection operations; wherein, the historical radio data includes the peak signal strength and peak duration of the historical radio signals; based on the historical radio data, acquire the signal disturbance amount of the historical radio signals, the spatial range covered by the signal disturbance amount, and the distance between the inspection equipment and the transmitting equipment that emitted the historical radio signals, and determine a first interference assessment value of the inspection equipment being interfered with by historical radio signals based on the signal disturbance amount, spatial range, and distance; acquire the inspection... The method involves determining the interference tolerance of the equipment, and based on the interference tolerance, peak signal strength, and peak duration, establishing a second interference assessment value for the inspection equipment's exposure to historical radio signal interference. It then plans the current inspection path for the power lines to be inspected within the target area, and predicts the interference heat map of the transmitting equipment based on historical radio data. The interference heat map characterizes the spatial distribution and temporal characteristics of the radio signals emitted by the transmitting equipment. If there is overlap between the current inspection path and the interference heat map, the method predicts the electric field strength of the overlapping portion when the inspection equipment is located in the corresponding spatial region of the interference heat map. Based on the first interference assessment value, the second interference assessment value, and the predicted electric field strength, the current inspection path is adjusted. This method, by adjusting the inspection path of the inspection equipment, enables the equipment to avoid radio signals that may interfere with its inspection operations, thereby ensuring the safe and stable completion of the inspection work. Attached Figure Description

[0038] 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.

[0039] Figure 1 This is a flowchart illustrating the inspection path planning method in one embodiment;

[0040] Figure 2 This is a flowchart illustrating a method for determining a first interference evaluation value in one embodiment;

[0041] Figure 3 This is a structural block diagram of an inspection path planning device in one embodiment;

[0042] Figure 4 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0043] 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.

[0044] In one embodiment, such as Figure 1 As shown, a patrol path planning method is provided. This embodiment illustrates the method applied to a terminal. It is understood that this method can also be applied to a server, and further 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:

[0045] S102. For historical inspection operations of power lines in the target area by the inspection equipment, acquire historical radio data of historical radio signals received by the inspection equipment during the historical inspection operations; wherein, the historical radio data includes the peak signal strength and peak duration of the historical radio signal.

[0046] Optionally, the inspection equipment may be, but is not limited to, drones; if the target area is an industrial park, and the total length of the power grid in the industrial park is 50 kilometers, including 35 kilometers of main lines and 15 kilometers of branch lines, then the power lines inspected in the historical inspection operation can be any part of the total power lines; the power lines inspected by the inspection equipment can be extracted from the electronic map.

[0047] Optionally, during the historical inspection operation performed by the inspection equipment, the radio receiving device mounted on the inspection equipment can continuously collect historical radio signals. For example, if the historical inspection operation was performed from 8:00 AM to 10:00 AM on a certain day, during this period, the radio receiving device detected a total of 12 radio signals, including 3 2.4GHz signals transmitted by factory equipment, 5 900MHz signals transmitted by civilian radio equipment, and 4 unknown signals. Using a background signal filtering algorithm, authorized signals are removed from these 12 radio signals, leaving 5 target signals. Among these, the signal strengths of 3 target signals are -35dBm, -38dBm, and -32dBm, respectively, all exceeding the preset threshold of -40dBm. The authorized signals can be, but are not limited to, base station signals. These 5 target signals are then converted into radio data, which can be, but is not limited to, radio data. The data includes the transmission frequency, reception time, and signal strength of radio signals. For example, a 2.4 GHz target signal has a transmission frequency of 2400 MHz and a signal strength of -35 dBm at 8:30:00. By continuously monitoring the 2.4 GHz target signal, it was found that the signal strength of this target signal fluctuated drastically between 9:00 and 10:00. During this period, the signal strength rose from -50 dBm to -30 dBm, and the peak value repeated every 15 minutes. By recording the signal strength changes of this target signal during this period as a change curve, it was found that the peak duration of the target signal was 2 minutes, and the fluctuation amplitude reached 20 dBm. By analyzing the radio data of all target signals during the inspection period, radio change data including the signal strength change rate, fluctuation period, peak signal strength, and peak duration were finally obtained.

[0048] S104. Based on historical radio data, obtain the signal disturbance amount of the historical radio signal, the spatial range covered by the signal disturbance amount, and the distance between the inspection equipment and the transmitting equipment that transmitted the historical radio signal. Based on the signal disturbance amount, spatial range, and distance, determine the first interference assessment value of the inspection equipment being interfered with by the historical radio signal.

[0049] Specifically, for any radio signal transmitted by a transmitting device, the actual strength of the radio signal received by the inspection device is determined, and the reference strength of the radio signal transmitted by the transmitting device is determined when the transmitting device is not interfered with and the signal transmission process is not interfered with. The signal disturbance is the strength difference between the actual strength and the reference strength. For example, if the transmitting device is factory equipment, the interference experienced by the transmitting device can be the frequent start-up and shutdown of the equipment. The interference assessment value is used to assess the degree of impact of the radio signal received by the inspection device on the inspection process of the inspection device when at least one of the interferences exists, namely, interference to the transmitting device or interference to the signal transmission process.

[0050] Optionally, a multi-band joint scan is performed on the five target signals, wherein the transmission frequencies of the five target signals are 2400MHz, 900MHz, 2400MHz, 850MHz, and 2400MHz, respectively. Using a spectrum analyzer, three of the five target signals are identified as being distributed in the 2.4GHz band, one in the 900MHz band, and one in the 850MHz band, forming a frequency band set. Radio data of the target signals within each frequency band is extracted, and the signal disturbance amount for the corresponding frequency band is calculated based on the radio data. The spatial range covered by the signal disturbance amount is then determined; for example, the signal disturbance amount in the 2.4GHz band is 15. The signal disturbance in the 2.4 GHz band is 8 dB, and the spatial range covered by the signal disturbance is 200 meters. The signal disturbance in the 900 MHz band is 8 dB, and the spatial range covered by the signal disturbance is 50 meters. Based on the signal disturbance, spatial range, and distance between the inspection equipment and the transmitting equipment, the first interference assessment value of the target signal in each frequency band is determined. The three frequency bands are sorted in descending order of the first interference assessment value, and the target signal in each frequency band is detected in the order from front to back according to the sorting result. For example, the detection priority of the 2.4 GHz band is the highest, the detection priority of the 900 MHz band is the second highest, and the detection priority of the 850 MHz band is the lowest.

[0051] S106. Obtain the interference tolerance of the inspection equipment, and based on the interference tolerance, peak signal strength and peak duration, determine the second interference assessment value of the inspection equipment affected by historical radio signal interference.

[0052] Interference tolerance refers to the maximum interference signal strength that the inspection equipment can withstand without affecting its function.

[0053] Optionally, the intensity difference between the interference tolerance and the peak signal strength, the peak duration, and the detection priority of the frequency band where the radio signal is located can be used as the coordinate values ​​of the X-axis, Y-axis, and Z-axis in the three-dimensional coordinate system, respectively. The second interference evaluation value is determined based on the region where the coordinate point formed by the intensity difference, peak duration, and detection priority is located in the three-dimensional coordinate system.

[0054] S108. Plan the current inspection path for the power lines to be inspected in the target area, and predict the interference hotspot change map of the transmitting equipment based on historical radio data; wherein, the interference hotspot change map represents the spatial distribution and signal disturbance timing characteristics of the radio signals transmitted by the transmitting equipment.

[0055] Optionally, based on historical radio data, the spatial distribution of predicted radio data during the inspection process of the inspection equipment along the current inspection path can be predicted, and an interference heat map can be drawn based on the spatial distribution. For example, if a radio signal with a frequency in the 2.4 GHz band forms a high-intensity interference zone in a certain area of ​​the target area with a coverage radius of 200 meters, an interference heat map of this high-intensity interference zone can be drawn. By combining the interference heat map and the time series of predicted radio data, an interference heat map change map can be generated.

[0056] S110. When there is an overlap between the current inspection path and the interference hot zone change map, predict the electric field strength of the overlapping part when the inspection equipment is located in the corresponding spatial area of ​​the interference hot zone change map, and adjust the current inspection path based on the first interference assessment value, the second interference assessment value and the predicted electric field strength.

[0057] Optionally, based on the first and second interference assessment values, the interference risk level of historical radio signals to the inspection equipment is first determined. The higher the interference risk level, the greater the degree of interference to the inspection equipment. If the current state of the inspection equipment is standby and it has not yet started inspection, and the interference risk level is high, it is determined that the inspection equipment cannot start inspection immediately. Subsequently, the changes in the predicted electric field strength of the overlapping part in the interference hotspot change map are analyzed. If it is predicted that the predicted electric field strength will decrease and the interference risk level will decrease in a certain period of the future, the inspection equipment is scheduled to perform the inspection task in that period. If the current inspection equipment is already in the inspection state and the interference risk level is high, an inspection path adjustment request is sent to the control console to adjust the current inspection path to avoid high interference areas.

[0058] In the aforementioned inspection path planning method, for historical inspection operations conducted by the inspection equipment on power lines within the target area, historical radio data of historical radio signals received by the inspection equipment during these operations is obtained. This historical radio data includes the peak signal strength and peak duration of the historical radio signals. Based on this historical radio data, the signal disturbance amount, the spatial range covered by the disturbance, and the distance between the inspection equipment and the transmitting equipment emitting the historical radio signals are obtained. Based on the signal disturbance amount, spatial range, and distance, a first interference assessment value for the inspection equipment due to historical radio signal interference is determined. The interference tolerance of the inspection equipment is then obtained, and based on… Based on interference tolerance, peak signal strength, and peak duration, a second interference assessment value for historical radio signal interference to the inspection equipment is determined. A current inspection path is planned for the power lines to be inspected within the target area, and an interference heat map of the transmitting equipment is predicted based on historical radio data. The interference heat map characterizes the spatial distribution and temporal characteristics of the radio signals emitted by the transmitting equipment. If there is overlap between the current inspection path and the interference heat map, the predicted electric field strength of the overlapping portion is predicted when the inspection equipment is located in the corresponding spatial region of the interference heat map. Based on the first interference assessment value, the second interference assessment value, and the predicted electric field strength, the current inspection path is adjusted. The method provided in this application, by adjusting the inspection path of the inspection equipment, enables the inspection equipment to avoid radio signals that may interfere with its inspection operations, thereby ensuring the safe and stable completion of the inspection work.

[0059] In some embodiments, historical radio data may also include the reception time of historical radio signals, as well as the rate of change of signal strength and fluctuation period of signal strength; obtaining the signal disturbance of historical radio signals includes: obtaining the signal disturbance based on signal strength, rate of change of signal strength, fluctuation period, peak duration and reception time.

[0060] Optionally, the signal disturbance amount can be determined first based on the signal strength of historical radio signals, and the signal strength and signal disturbance amount can be aligned based on the reception time. Then, the interference characteristics of the signal disturbance amount can be verified based on the rate of change of signal strength, fluctuation period, and peak duration. For example, the greater the rate of change of signal strength, the more severe the interference to the inspection equipment; the longer the peak duration, the greater the interference impact on the inspection equipment.

[0061] In this embodiment, the signal strength and signal disturbance are time-sequentially aligned based on the reception time to ensure data correlation and lay the foundation for interference characteristic analysis; combined with multi-parameter interpretation of the nature of interference, the accurate determination of interference impact is enhanced.

[0062] In some embodiments, such as Figure 2As shown, based on the signal disturbance amount, spatial range, and distance, the first interference assessment value of the inspection equipment due to historical radio signal interference is determined, including:

[0063] S202. Determine whether the inspection equipment is within the spatial range based on distance.

[0064] S204. If the inspection equipment is located within a spatial range, determine the location of the inspection equipment within the spatial range and the amount of signal disturbance at that location.

[0065] S206. Determine the interference evaluation coefficient based on the location, and determine the first interference evaluation value based on the interference evaluation coefficient and the signal disturbance at the location.

[0066] Optionally, the interference assessment coefficient characterizes the degree of influence of the signal disturbance of the inspection equipment; the first interference assessment value may be, but is not limited to, the product between the interference assessment coefficient and the signal disturbance. For example, if the signal disturbance of the historical radio signal in the 2.4 GHz band is 15 and the interference assessment coefficient is 5.7, then the first interference assessment value may be 85.

[0067] In this embodiment, spatial location is used as the core associated interference parameter to improve the targeting of the assessment; the position coefficient and disturbance amount are integrated to achieve a quantitative assessment of the interference impact.

[0068] In some embodiments, determining a second interference assessment value for the inspection equipment affected by historical radio signal interference based on interference tolerance, peak signal strength, and peak duration includes: obtaining the signal strength difference between the peak signal strength and the interference tolerance; and determining the product of the signal strength difference and the peak duration as the second interference assessment value.

[0069] Optionally, based on the previously determined frequency band detection priority, the radio signal in the 2.4 GHz band is detected first. The peak signal strength of the 2.4 GHz band radio signal between 9 and 10 o'clock is -30 dBm, and the duration of each peak is 2 minutes. The anti-interference capability of the inspection equipment is obtained from the manufacturing parameters of the inspection equipment. For example, if the UAV uses frequency hopping technology, the interference tolerance is -25 dBm. Then the second interference assessment value of the 2.4 GHz band radio signal can be (30-25)×2=10.

[0070] In this embodiment, interference tolerance and core signal characteristics are integrated to quantify the actual impact of interference, assess a more accurate assessment of the equipment's tolerance, and take into account both interference intensity and duration to comprehensively reflect the degree of interference hazard.

[0071] In some embodiments, adjusting the current inspection path based on a first interference assessment value, a second interference assessment value, and a predicted electric field strength includes: determining the interference risk level of historical radio signals to the inspection equipment based on the first and second interference assessment values; if the interference risk level is not greater than a level threshold, determining whether the predicted electric field strength at any predicted time during the predicted overlapping period in the spatial region where the inspection equipment is located is greater than an interference tolerance; if the predicted electric field strength is not greater than the interference tolerance, determining various functional indicators of the inspection equipment and the importance values ​​of the functional indicators during the operation of the inspection equipment; and adjusting the current inspection path based on the functional indicators and the importance values.

[0072] Optionally, the first interference assessment value and the second interference assessment value each correspond to multiple preset assessment ranges. The interference risk level can be determined by judging which preset assessment range the first interference assessment value and the second interference assessment value fall within. For example, the first interference assessment value corresponds to the first preset assessment range and the second preset assessment range, and the second interference assessment value corresponds to the third preset assessment range and the fourth preset assessment range. If the first interference assessment value is within the first preset assessment range and the second interference assessment value is within the third preset assessment range, or if the first interference assessment value is within the first preset assessment range and the second interference assessment value is within the fourth preset assessment range, the interference risk level is determined to be low. If the first interference assessment value is within the second preset assessment range and the second interference assessment value is within the third preset assessment range, or if the first interference assessment value is within the first preset assessment range and the second interference assessment value is within the fourth preset assessment range, the interference risk level is determined to be high.

[0073] In this embodiment, multi-dimensional fusion evaluation can improve the scientific nature of path adjustment; graded risk assessment can accurately screen adjustment scenarios and avoid over-adjustment.

[0074] In some embodiments, adjusting the current inspection path based on functional indicators and importance values ​​includes: for functional indicators whose importance values ​​are greater than a threshold, obtaining the interference index value of the functional indicator under predicted radio signal interference at the prediction time, and the stable index value when there is no radio signal interference; obtaining the index value difference between the interference index value and the stable index value, and determining the stability value of the functional indicator under predicted radio signal interference based on the index value difference; and adjusting the current inspection path based on the stability value.

[0075] Optionally, the functional indicators may include, but are not limited to, image transmission, positioning and navigation, and power monitoring. The functional indicators are sorted in descending order of importance, resulting in the following order: positioning and navigation, image transmission, and power monitoring. If the radio signal strength is -30dBm, the stability of positioning and navigation under this radio signal interference is 60%, image transmission is 70%, and power monitoring is 90%. If the corresponding stability thresholds for positioning and navigation, image transmission, and power monitoring are 80%, 85%, and 80%, respectively, then the stability values ​​for positioning and navigation, image transmission, and power monitoring are all below their respective thresholds, while the stability value for power monitoring is above its threshold. Since the stability values ​​of more than half of the functional indicators are below their corresponding thresholds, the current inspection path needs to be adjusted.

[0076] Optionally, if, during the inspection process along the current inspection path, more than 50% of the monitored functional indicators are found to have stability values ​​below the corresponding stability threshold, and the signal strength of the interfering radio signals received by the inspection equipment is higher than the interference tolerance, then the inspection equipment shall immediately stop the inspection process and return to the base as quickly as possible. If more than 50% of the monitored functional indicators are found to have stability values ​​below the corresponding stability threshold, but the signal strength of the interfering radio signals received by the inspection equipment is not higher than the interference tolerance, then the non-essential functions of the inspection equipment shall be shut down, only the basic functions required for inspection shall be maintained, and the inspection task shall continue to be performed.

[0077] In this embodiment, the focus is on core functional indicators, and the priority of path adjustment is precisely anchored to ensure key inspection capabilities; the path is adjusted according to the actual impact of interference on the function to improve the stability and reliability of inspection.

[0078] In one exemplary embodiment, another inspection path planning method is provided, including the following:

[0079] (1) Obtain the inspection range of the UAV, extract the route of the inspection range to obtain the inspection route range of the UAV; collect multiple wireless signals within the inspection route range, filter the background signals of the multiple wireless signals to obtain multiple target wireless signals, convert the multiple target wireless signals into signal data to obtain multiple radio data; monitor the multiple radio data within the inspection route range to obtain the change of each radio data; record the change of the radio data to generate a change curve, obtain the change law based on the change curve, and generate radio change data by combining the change law and the radio data.

[0080] (2) Perform multi-band joint scanning on the radio data to obtain the frequency bands mixed in the radio data, and aggregate the multiple frequency bands to generate the frequency band set of the radio data; extract the frequency band parameters of each frequency band in the frequency band set, and obtain the signal disturbance amount and signal disturbance range generated by each frequency band during use based on the frequency band parameters; perform frequency band interference assessment on each frequency band in the frequency band set based on the signal disturbance amount and signal disturbance range, and obtain the interference assessment value of each frequency band; perform priority identification on each frequency band in the frequency band set based on the interference assessment value, and obtain the detection priority of each frequency band.

[0081] (3) Based on the detection priority, the radio data corresponding to each frequency band is extracted to obtain the signal strength and duration of each radio data; the manufacturing parameters of the UAV are obtained, and the target association parameters related to radio are extracted from the manufacturing parameters. The anti-interference capability of the UAV is obtained based on the target association parameters; the initial interference intensity of the radio data on the UAV is obtained based on the signal strength and duration; the three-dimensional anomaly risk assessment of the radio data is performed by combining the initial interference intensity, detection priority and anti-interference capability to generate the basic risk level.

[0082] (4) Obtain the functional parameters of the functions that the UAV needs to use during the inspection process, and obtain the functional importance level of the UAV during operation based on the functional parameters; sort each functional parameter of the UAV according to the functional importance level to generate a functional parameter sequence; extract the functional stability value of each functional parameter after being subjected to radio interference based on the functional parameter sequence, and generate a functional stability table based on the parameter sequence; obtain the spatial distribution of radio data within the inspection range, and generate an interference heat map based on the spatial distribution and signal strength; substitute the duration into the interference heat map to obtain an interference heat map change map, and continuously observe the interference heat map to obtain the heat map change pattern; extract the area of ​​the interference heat map according to the inspection route range to obtain a target heat map, and obtain the target heat map change pattern based on the target heat map and the heat map change pattern; substitute the basic risk level into the target heat map and the target heat map change pattern to generate a target risk heat map change map; obtain the functional risk change of the UAV within the inspection route range based on the functional stability table and the target risk heat map change map, and obtain the functional risk level generated during normal operation of the UAV based on the functional risk change.

[0083] (5) Obtain the current status of the UAV and determine whether the UAV is in the inspection work state based on the current status; if it is determined that the UAV is not in the inspection work state, determine whether the UAV can take off for inspection based on the functional risk level; if it is determined that the UAV cannot take off for inspection, obtain the inspection time period of the UAV based on the target risk hot zone change map, and call the UAV to go out for inspection work within the inspection time period; if it is determined that the UAV is in the inspection work state, generate alarm information based on the functional risk level and send it to the UAV; after receiving the alarm information, the UAV extracts the alarm level from the alarm information, performs a functional self-check on the UAV based on the alarm level, obtains the self-check result, and obtains the functional stability value of the UAV based on the self-check result; obtain the current task area of ​​the UAV. Based on the current task area and the target risk hotspot change map, the system obtains the target interference intensity in the current task area. Based on the target interference intensity, functional stability value, and the UAV's anti-interference capability, it determines whether the UAV needs to perform a return-to-home operation. If it determines that the UAV needs to return to home, it is instructed to leave the task area as quickly as possible and then return to home. If it determines that the UAV does not need to return to home, it determines whether the UAV needs to perform self-protection based on its anti-interference capability, target interference intensity, and duration. If it determines that the UAV needs to perform self-protection, it stops its inspection and triggers a preset self-protection strategy. If it determines that the UAV does not need to perform self-protection, it selects an area with weaker interference intensity based on the target risk hotspot change map and continues to perform its inspection task.

[0084] 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.

[0085] Based on the same inventive concept, this application also provides an inspection path planning device for implementing the inspection path planning 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 inspection path planning device provided below can be found in the limitations of the inspection path planning method described above, and will not be repeated here.

[0086] In one exemplary embodiment, such as Figure 3 As shown, an inspection path planning device 300 is provided, including: a first acquisition module 301, a second acquisition module 302, a third acquisition module 303, a planning module 304, and a prediction module 305, wherein:

[0087] The first acquisition module 301 is used to acquire historical radio data of historical radio signals received by the inspection equipment during historical inspection operations of power lines in the target area, in response to such historical inspection operations conducted by the inspection equipment. The historical radio data includes the peak signal strength and peak duration of the historical radio signals.

[0088] The second acquisition module 302 is used to acquire, based on the historical radio data, the signal disturbance amount of the historical radio signal, the spatial range covered by the signal disturbance amount, and the distance between the inspection device and the transmitting device that transmitted the historical radio signal, and to determine a first interference assessment value of the inspection device being interfered with by the historical radio signal based on the signal disturbance amount, the spatial range, and the distance.

[0089] The third acquisition module 303 is used to acquire the interference tolerance of the inspection equipment, and based on the interference tolerance, the peak signal strength and the duration of the peak value, determine the second interference assessment value of the inspection equipment being interfered with by the historical radio signal.

[0090] The planning module 304 is used to plan the current inspection path for the power lines to be inspected in the target area, and predict the interference hotspot change map of the transmitting equipment based on the historical radio data; wherein the interference hotspot change map represents the spatial distribution and signal disturbance timing characteristics of the radio signals transmitted by the transmitting equipment.

[0091] The prediction module 305 is used to predict the predicted electric field strength of the overlapping part when the inspection device is located in the corresponding spatial region of the interference heat map, when there is an overlap between the current inspection path and the interference heat map, and to adjust the current inspection path based on the first interference evaluation value, the second interference evaluation value and the predicted electric field strength.

[0092] In some embodiments, the historical radio data further includes the reception time of the historical radio signal, as well as the signal strength change rate and fluctuation period of the signal strength; the second acquisition module 302 is further configured to acquire the signal disturbance amount based on the signal strength, the signal strength change rate, the fluctuation period, the peak duration and the reception time.

[0093] In some embodiments, the second acquisition module 302 is further configured to determine whether the inspection device is located within the spatial range based on the distance; if the inspection device is located within the spatial range, determine the position of the inspection device within the spatial range and the signal disturbance amount at the position; determine the interference evaluation coefficient based on the position, and determine the first interference evaluation value based on the interference evaluation coefficient and the signal disturbance amount at the position.

[0094] In some embodiments, the third acquisition module 303 is further configured to acquire the signal strength difference between the signal strength peak and the interference tolerance; and to determine the product of the signal strength difference and the peak duration as the second interference evaluation value.

[0095] In some embodiments, the prediction module 305 is further configured to: determine the interference risk level of the historical radio signal against the inspection equipment based on the first interference assessment value and the second interference assessment value; if the interference risk level is not greater than a level threshold, determine whether the predicted electric field strength at any predicted time during the predicted overlapping period in the spatial region where the inspection equipment is located is greater than the interference tolerance; if the predicted electric field strength is not greater than the interference tolerance, determine various functional indicators of the inspection equipment and the importance value of the functional indicators during the operation of the inspection equipment; and adjust the current inspection path based on the functional indicators and the importance value.

[0096] In some embodiments, the prediction module 305 is further configured to, for functional indicators whose importance value is greater than a threshold value, obtain the interference index value of the functional indicator under predicted radio signal interference at the prediction time, and the stability index value when there is no radio signal interference; obtain the index value difference between the interference index value and the stability index value, and determine the stability value of the functional indicator under predicted radio signal interference based on the index value difference; and adjust the current inspection path based on the stability value.

[0097] Each module in the aforementioned inspection path planning device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0098] In one exemplary embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 4 As shown, the computer device includes a processor, memory, input / output interfaces, a communication interface, a display unit, and an input device. The processor, memory, and input / output interfaces 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 interfaces. The processor provides computational 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 interfaces are 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 executed by the processor, the computer program implements an inspection path planning method.

[0099] Those skilled in the art will understand that Figure 4 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.

[0100] 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.

[0101] 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.

[0102] 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.

[0103] 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.

[0104] 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.

[0105] 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.

[0106] 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 for planning inspection paths, characterized in that, The method includes: For historical inspection operations conducted by inspection equipment on power lines within a target area, historical radio data of historical radio signals received by the inspection equipment during the historical inspection operations is acquired; wherein, the historical radio data includes the peak signal strength and peak duration of the historical radio signals; Based on the historical radio data, the signal disturbance amount of the historical radio signal, the spatial range covered by the signal disturbance amount, and the distance between the inspection equipment and the transmitting equipment that emitted the historical radio signal are obtained. Based on the signal disturbance amount, the spatial range, and the distance, a first interference assessment value of the inspection equipment being interfered with by the historical radio signal is determined. Obtain the interference tolerance of the inspection equipment, and based on the interference tolerance, the peak signal strength and the duration of the peak value, determine a second interference assessment value of the inspection equipment being interfered with by the historical radio signal; The current inspection path for the power lines to be inspected within the target area is planned, and based on the historical radio data, the interference hotspot change map of the transmitting equipment is predicted; wherein, the interference hotspot change map characterizes the spatial distribution and signal disturbance timing characteristics of the radio signals transmitted by the transmitting equipment. When there is an overlap between the current inspection path and the interference heat map, the predicted electric field strength of the overlapping part is calculated when the inspection device is located in the corresponding spatial region of the interference heat map. Based on the first interference assessment value, the second interference assessment value, and the predicted electric field strength, the current inspection path is adjusted.

2. The method according to claim 1, characterized in that, The historical radio data also includes the reception time of the historical radio signal, as well as the rate of change and fluctuation period of the signal strength; obtaining the signal disturbance of the historical radio signal includes: The signal disturbance is obtained based on the signal strength, the rate of change of the signal strength, the fluctuation period, the peak duration, and the reception time.

3. The method according to claim 1, characterized in that, The determination of a first interference assessment value for the inspection equipment affected by the historical radio signal interference, based on the signal disturbance amount, the spatial range, and the distance, includes: Based on the distance, determine whether the inspection equipment is located within the space range; If the inspection equipment is located within the space, determine the position of the inspection equipment within the space and the amount of signal disturbance at the position; An interference evaluation coefficient is determined based on the location, and a first interference evaluation value is determined based on the interference evaluation coefficient and the signal disturbance at the location.

4. The method according to claim 1, characterized in that, The determination of a second interference assessment value for the inspection equipment affected by the historical radio signal interference, based on the interference tolerance, the peak signal strength, and the peak duration, includes: Obtain the signal strength difference between the peak signal strength and the interference tolerance; The product of the signal strength difference and the peak duration is determined as the second interference evaluation value.

5. The method according to claim 1, characterized in that, The step of adjusting the current inspection path based on the first interference assessment value, the second interference assessment value, and the predicted electric field strength includes: Based on the first interference assessment value and the second interference assessment value, the interference risk level of the historical radio signal against the inspection equipment is determined; If the interference risk level is not greater than the level threshold, for any predicted time during the predicted overlapping period when the inspection equipment is located in the spatial region, determine whether the predicted electric field strength at the predicted time is greater than the interference tolerance. Under the condition that the predicted electric field strength is not greater than the interference tolerance, determine various functional indicators of the inspection equipment, as well as the importance values ​​of the functional indicators during the operation of the inspection equipment; Based on the functional indicators and the importance value, the current inspection path is adjusted.

6. The method according to claim 5, characterized in that, The adjustment of the current inspection path based on the functional indicators and the importance value includes: For functional indicators whose importance value is greater than the importance value threshold, obtain the interference index value of the functional indicator under the predicted radio signal interference at the prediction time, and the stability index value when there is no radio signal interference. Obtain the difference between the interference index value and the stability index value, and determine the stability value of the functional index under the predicted radio signal interference based on the difference between the index values. Based on the stability value, the current inspection path is adjusted.

7. An inspection path planning device, characterized in that, The device includes: The first acquisition module is used to acquire historical radio data of historical radio signals received by the inspection equipment during historical inspection operations of power lines in the target area, based on the historical inspection operations conducted by the inspection equipment; wherein, the historical radio data includes the peak signal strength and peak duration of the historical radio signals. The second acquisition module is used to acquire, based on the historical radio data, the signal disturbance amount of the historical radio signal, the spatial range covered by the signal disturbance amount, and the distance between the inspection device and the transmitting device that transmits the historical radio signal, and to determine a first interference assessment value of the inspection device being interfered with by the historical radio signal based on the signal disturbance amount, the spatial range, and the distance. The third acquisition module is used to acquire the interference tolerance of the inspection equipment, and based on the interference tolerance, the peak signal strength and the duration of the peak value, determine the second interference assessment value of the inspection equipment being interfered with by the historical radio signal. The planning module is used to plan the current inspection path for the power lines to be inspected in the target area, and predict the interference hotspot change map of the transmitting equipment based on the historical radio data; wherein, the interference hotspot change map represents the spatial distribution and signal disturbance timing characteristics of the radio signals transmitted by the transmitting equipment. The prediction module is used to predict the predicted electric field strength of the overlapping portion when the inspection equipment is located in the corresponding spatial region of the interference heat map, in the case where there is an overlap between the current inspection path and the interference heat map, and to adjust the current inspection path based on the first interference evaluation value, the second interference evaluation value and the predicted electric field strength.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

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

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

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