CN-116164750-B - Point cloud data-based method and device for designing refined inspection route of power distribution tower

CN116164750BCN 116164750 BCN116164750 BCN 116164750BCN-116164750-B

Abstract

The invention discloses a method and a device for designing a refined inspection route of a power distribution tower based on point cloud data, which determine an interval first tower structure model by dividing the power distribution tower interval, and automatically predicting shooting target positions of other iron towers in each section, automatically generating aerial shooting points and shooting parameters in batches, intelligently sequencing the aerial shooting points, automatically connecting to form a routing inspection route, and intelligently studying and judging to generate turning points. The intelligent route design can be carried out on the power distribution towers in batches through an automatic and intelligent algorithm, manual adjustment and editing are reduced, and efficiency of the intelligent route design of the power distribution towers is improved.

Inventors

LI YINGCHENG
LIU XIAOLONG
XUE YANLI
LI CHANGKE
SUN YIMING

Assignees

中测新图(北京)遥感技术有限责任公司

Dates

Publication Date: 20260512
Application Date: 20230213

Claims (8)

1. A method for designing a fine inspection route of a power distribution tower based on point cloud data is characterized by comprising the following steps: dividing the distribution line into sections, wherein iron towers in the same section are identical in type, structure, arrangement and distribution, and have the same shooting target number and the same shooting target relative space position; Selecting a shooting target position of a first iron tower in each section, and determining a section first tower structure model, wherein the rest towers in the section and the first tower have the same structure model; According to the structural model of the first tower of each section, shooting target positions of other iron towers in each section are automatically predicted and orderly arranged according to the sequence, and the method specifically comprises the following steps: judging which side of the distribution line the shooting targets of the first tower are on; Judging which layer of each shooting target of the first tower is on the tower; Arranging all shooting targets in sequence; judging which side of the distribution line the shooting targets of the first tower are on, specifically comprising: calculating a front tower direction and a rear tower direction, wherein the front tower direction is calculated through a front tower center point and a current tower center point, and the rear tower direction is calculated through a rear tower center point and a current tower center point; Calculating the directions of the current point and the center point; Judging which side is based on the relation between the current point direction and the front and rear tower direction: Calculating a left direction angle, wherein if the difference between the current angle and the left corner is within 20 degrees, or if the difference between the current angle and the left corner is less than 20 degrees by subtracting 360 degrees, the current point belongs to the left, and if the difference between the current angle and the right corner is within 20 degrees, or if the difference between the current angle and the right corner is less than 20 degrees by subtracting 360 degrees, the current point belongs to the right; Calculating a left angle difference, wherein if the difference value between the current angle and the left corner is smaller than the value obtained by subtracting 360 degrees from the current angle and subtracting the left corner, the left angle difference is the former, otherwise, the left angle difference is the latter: Calculating a right angle difference, wherein if the difference value between the current angle and the right corner is smaller than the value of subtracting 360 degrees from the current angle and subtracting the right corner, the right angle difference is the former, otherwise, the right angle difference is the latter; Then judging the position of the current point according to the angle difference of the two sides, wherein the current point belongs to the left side when the angle difference of the left side is smaller than the angle difference of the right side, otherwise, the current point belongs to the right side; According to the shooting target positions of all the intervals and the design parameters of the inspection route, automatically generating aerial shooting points and shooting parameters corresponding to all the shooting targets in batches; And the obtained aerial photographing points are intelligently sequenced, automatically connected to form a routing inspection route, and turning points are generated through intelligent research and judgment in the detour position and the crossing area.
2. The method for designing a refined inspection route of a power distribution tower based on point cloud data as claimed in claim 1, wherein the method further comprises: the central coordinates of the plane positions of the power distribution towers are obtained, the trend of a power distribution line is determined, and the highest point coordinates of each base tower are calculated, specifically: Reading longitude and latitude data in a distribution line ledger to obtain the central coordinate of the plane position of the iron tower ) Wherein Determining the trend of the lines according to the sequence of the iron towers for the sequence of the iron towers; calculating by taking center coordinates of plane positions of the iron towers as the center of the bottom surface Maximum of axial point cloud data coordinates Value of Obtaining the highest point coordinate of each basic iron tower )。
3. The method for designing the fine inspection route of the power distribution tower based on the point cloud data, which is characterized by dividing the power distribution line into sections, specifically comprises the following steps: and dividing the section of the distribution line by combining the characteristic information of the iron tower, wherein the characteristic information of the iron tower comprises the number of line loops erected on the distribution iron tower, the arrangement mode of iron tower wires and the suspension position of iron tower ground wires.
4. The method for designing the refined inspection route of the power distribution tower based on the point cloud data, which is characterized by selecting the shooting target position of the first tower in each section, determining a section first tower structure model, comprises the following steps: according to the divided line interval, an interval first tower is used as a reference tower, a shooting target is selected on a three-dimensional point cloud of the first tower, and the selected position of the shooting target comprises a ground wire hanging point and an insulator string midpoint.
5. The method for designing the refined inspection route of the power distribution tower based on the point cloud data, which is characterized by judging which layer of each shooting target of the first tower is on the tower, specifically comprises the following steps: firstly, counting the highest point and the lowest point of all shooting points on a tower; Starting from the first point, finding the point from which the distance is Yu Dahou, i.e. the layer thickness of the tower, so that the points of this layer are all extracted; continuing to search the points of other layers until all the points on the towers are completely searched; calculating the layer height by using the highest point, the lowest point and the total layer number; Calculating the layer number of each point by using the difference value and the layer height of each point and the highest point; Finally, all the points are orderly arranged according to the shooting sequence.
6. The utility model provides a smart routing design device that patrols and examines of steel pylon based on point cloud data which characterized in that, the device includes: The section dividing module is used for dividing the section of the distribution line, and iron towers in the same section are the same in type, the structure and the arrangement distribution, and the same shooting target number and the same shooting target relative space position are achieved; The shooting target selection module is used for selecting a shooting target position of a first iron tower in each section, determining a section first tower structure model, and the rest towers in the section and the first tower have the same structure model; According to the structural model of the first tower of each section, shooting target positions of other iron towers in each section are automatically predicted and orderly arranged according to the sequence, and the method specifically comprises the following steps: judging which side of the distribution line the shooting targets of the first tower are on; Judging which layer of each shooting target of the first tower is on the tower; Arranging all shooting targets in sequence; judging which side of the distribution line the shooting targets of the first tower are on, specifically comprising: calculating a front tower direction and a rear tower direction, wherein the front tower direction is calculated through a front tower center point and a current tower center point, and the rear tower direction is calculated through a rear tower center point and a current tower center point; Calculating the directions of the current point and the center point; Judging which side is based on the relation between the current point direction and the front and rear tower direction: Calculating a left direction angle, wherein if the difference between the current angle and the left corner is within 20 degrees, or if the difference between the current angle and the left corner is less than 20 degrees by subtracting 360 degrees, the current point belongs to the left, and if the difference between the current angle and the right corner is within 20 degrees, or if the difference between the current angle and the right corner is less than 20 degrees by subtracting 360 degrees, the current point belongs to the right; Calculating a left angle difference, wherein if the difference value between the current angle and the left corner is smaller than the value obtained by subtracting 360 degrees from the current angle and subtracting the left corner, the left angle difference is the former, otherwise, the left angle difference is the latter: Calculating a right angle difference, wherein if the difference value between the current angle and the right corner is smaller than the value of subtracting 360 degrees from the current angle and subtracting the right corner, the right angle difference is the former, otherwise, the right angle difference is the latter; Then judging the position of the current point according to the angle difference of the two sides, wherein the current point belongs to the left side when the angle difference of the left side is smaller than the angle difference of the right side, otherwise, the current point belongs to the right side; According to the shooting target positions of all the intervals and the design parameters of the inspection route, automatically generating aerial shooting points and shooting parameters corresponding to all the shooting targets in batches; And the obtained aerial photographing points are intelligently sequenced, automatically connected to form a routing inspection route, and turning points are generated through intelligent research and judgment in the detour position and the crossing area.
7. A power distribution iron tower refined inspection route design system based on point cloud data is characterized by comprising a processor and a memory; The memory is used for storing one or more program instructions; the processor being operative to execute one or more program instructions for performing the method as recited in any one of claims 1-5.
8. A computer storage medium, wherein the computer storage medium contains one or more program instructions for performing the method of any one of claims 1-5 by a point cloud data based power pylon fine inspection route design system.

Description

Point cloud data-based method and device for designing refined inspection route of power distribution tower Technical Field The invention relates to the technical field of unmanned aerial vehicle fine inspection, in particular to a method and a device for designing a fine inspection route of a power distribution iron tower based on point cloud data. Background The power distribution is used as an important component of the power grid, so that the safe, reliable and stable operation of the power distribution is ensured, and the operation of the power system of the last kilometer is related. Therefore, the power distribution line is required to be continuously patrolled and maintained, faults are found timely, and potential safety hazards are reduced. The power distribution line with high voltage class is erected by an iron tower, the supporting wires and the ground wires of the insulator string are connected through the cross arm, the appearance of the power distribution iron tower is similar to the tower structure of the power transmission line, but the power distribution iron tower has the characteristics of low height, less number of insulators, short length of the insulator string, random cross arm positions, less inspection parts and the like. Traditional power distribution iron tower inspection mainly relies on inspection personnel to observe the part running condition or climb to the part position at ground and inspect, has certain security risk, time period length, personnel input big, exists to patrol and examine the blind spot. With the development of unmanned aerial vehicle technology, flight control, sensor sensitivity and camera performance have been promoted greatly, have been applied to in the passageway inspection of overhead transmission and distribution lines, the fine inspection, the daily inspection etc. inspection work, unmanned aerial vehicle has advantages such as maneuver nimble, can fly to inspection personnel and be difficult to reach or inspect blind spot region, reduce input such as manpower, material resources, time to a certain extent. At present, a power distribution iron tower mainly adopts a mode of 'manual work and unmanned aerial vehicle', a patrol personnel operates the unmanned aerial vehicle nearby the iron tower, a shooting target is observed on a display screen, after the shooting target is found, a shooting action is executed, and a patrol photo is obtained. The distribution lines are generally wide in distribution range, the main lines and branch lines intersect and penetrate, the surrounding environment of the iron tower is complex, the unmanned aerial vehicle is manually operated, the problems of potential safety hazards, non-uniform shooting, unreasonable imaging and the like exist, and the requirements on professional technology, flight experience and the like of operators are high. Unmanned aerial vehicle intelligence is patrolled and examined and is a novel mode of patrolling and examining, carries out the route design of patrolling and examining of iron tower based on high density distribution lines laser point cloud data, will patrol and examine the route design achievement and import unmanned aerial vehicle flight control system, realize unmanned aerial vehicle's autonomous flight and patrol and examine the automatic acquisition of photo, promoted unmanned aerial vehicle flight's security, shortened the time of patrolling and examining personnel's operation unmanned aerial vehicle and seek shooting target, reduced the technical threshold who patrols and examines personnel. The inspection route is a key factor of intelligent inspection of the unmanned aerial vehicle. For the routing inspection, most of the self-contained software of unmanned aerial vehicle manufacturers on the market is based on two-dimensional map design, and the three-dimensional fine routing inspection routing design of the power distribution iron tower cannot be met. Some three-dimensional route design software needs to manually identify the shooting target position on the three-dimensional point cloud data of each base iron tower, so that the problems of difficult identification, long time consumption and the like exist, a large amount of manual editing and adjustment are needed in route design, the quality of the inspection photo cannot be ensured, and each aerial shooting point cannot be normalized and automatically named according to the shooting target, so that the inspection photo is difficult to position. Disclosure of Invention Therefore, the invention provides a method and a device for designing a fine inspection route of a power distribution iron tower based on point cloud data, which are used for solving the problems of low automation level, low inspection route design efficiency and the like in the existing inspection route design. In order to achieve the above object, the present invention provides the following technical solutions: according to a first aspect of an embodimen