CN110413003A - Inspection method, device, equipment and the computer readable storage medium of transmission line of electricity - Google Patents
Inspection method, device, equipment and the computer readable storage medium of transmission line of electricity Download PDFInfo
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- CN110413003A CN110413003A CN201910703873.1A CN201910703873A CN110413003A CN 110413003 A CN110413003 A CN 110413003A CN 201910703873 A CN201910703873 A CN 201910703873A CN 110413003 A CN110413003 A CN 110413003A
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- 238000007689 inspection Methods 0.000 title claims abstract description 126
- 230000005540 biological transmission Effects 0.000 title claims abstract description 76
- 230000005611 electricity Effects 0.000 title claims abstract description 52
- 238000000034 method Methods 0.000 title claims abstract description 52
- 238000003860 storage Methods 0.000 title claims abstract description 16
- 230000002068 genetic effect Effects 0.000 claims abstract description 8
- 230000006870 function Effects 0.000 claims description 11
- 238000010845 search algorithm Methods 0.000 claims description 9
- 238000004364 calculation method Methods 0.000 claims description 3
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
This application discloses a kind of inspection method of transmission line of electricity, device, equipment and computer readable storage medium, wherein method includes: to obtain to all shaft tower respective positions information in patrolling power transmission lines, all shaft tower countermeasures for making an inspection tour all shaft towers and all conducting wire countermeasures for making an inspection tour conducting wire between all shaft towers；The target flight path of all shaft towers is determined by genetic algorithm according to all location informations；It treats patrolling power transmission lines according to target flight path, all shaft tower countermeasures and all conducting wire countermeasures and is maked an inspection tour.Solves the technical issues of existing unmanned plane inspection method electric quantity consumption is very fast and application is by limitation.
Description
Technical field
The application belongs to unmanned aerial vehicle (UAV) control technical field more particularly to a kind of inspection method of transmission line of electricity, device, equipment
And computer readable storage medium.
Background technique
With the high speed development of power grid, the transmission line of electricity of erection becomes increasingly complex, and causes in the transmission line of electricity to be safeguarded
Journey quicklys increase year by year.Electric system is carried out in the maintenance work of transmission line of electricity using advanced technological means, to improve dimension
Quality and efficiency are protected, for example assists or substitute biography using remote sensing technology and photogrammetric technology, helicopter and unmanned air vehicle technique
The manual inspection of system solves the defect that manual inspection bring routing inspection cost is high, operating efficiency is low.
It is all to use manually to control that unmanned plane, which makes an inspection tour electric transmission line channel, at present, and this method is compared to people
Work inspection is taken on a new look on making an inspection tour quality and efficiency, but since unmanned plane battery life is short, by manually controlling
Unmanned plane inspection, which can generate extra flare maneuver, causes unmanned plane electric quantity consumption too fast, is unable to fully utilize unmanned machine battery
Electricity executes tour task；Simultaneously in some mountain environments that are complicated, can not manually reaching, can not meet operating personnel and
The inspection environment of aircraft cooperation, just not can guarantee the smooth development of polling transmission line work, using being limited to.
Therefore it provides a kind of inspection method of transmission line of electricity, very fast to solve existing unmanned plane inspection method electric quantity consumption
And the technological deficiency that application is limited to, become those skilled in the art's technical problem urgently to be resolved.
Summary of the invention
In view of this, this application provides a kind of inspection method of transmission line of electricity, device, equipment and computer-readable storages
Medium is used for patrolling transmission line, solves existing unmanned plane inspection method electric quantity consumption comparatively fast and using the technology limited to
Defect.
The application first aspect provides a kind of inspection method of transmission line of electricity, comprising:
It obtains to all shaft tower respective positions information in patrolling power transmission lines, the institute for making an inspection tour all shaft towers
There are shaft tower countermeasures and all conducting wire countermeasures for making an inspection tour conducting wire between all shaft towers；
The target flight path of all shaft towers is determined by genetic algorithm according to all location informations；
According to the target flight path, all shaft tower countermeasures and all conducting wire countermeasures to described
It is maked an inspection tour to patrolling power transmission lines.
Preferably,
The preset calculation method includes A* search algorithm.
Preferably,
The target flight path for determining all shaft towers by A* search algorithm according to all location informations
It specifically includes:
Pass through the track cost function of A* search algorithm using all location informations, determines and traverse all shaft towers
Most short flight path, and will the most short flight path as target flight path.
Preferably,
The acquisition is specifically included for making an inspection tour all shaft tower countermeasures of all shaft towers:
All respective Tower Models of the shaft tower are obtained, and determines and needs to be maked an inspection tour on each Tower Model
Point；
According to all described to inspection point provided of each Tower Model, determine that satisfaction first is preset by travelling salesman's algorithm
The corresponding shaft tower countermeasures of the Tower Model of constraint condition.
Preferably,
The first preset constraint condition specifically includes:
Flight time is most short, power consumption is minimum.
Preferably,
All conducting wire countermeasures obtained for making an inspection tour conducting wire between all shaft towers specifically include:
The lead model in all each spans of the shaft tower is obtained by laser point cloud data；
The corresponding conducting wire countermeasures of the lead model are obtained after each lead model is moved up preset distance.
Preferably,
It is described according to the target flight path, the shaft tower countermeasures and the conducting wire countermeasures to described wait patrol
Make an inspection tour depending on the transmission line of electricity in transmission line of electricity and specifically include:
The tour sequence of shaft tower is determined according to the target flight path；
According to the shaft tower flight sequence of the determining all shaft tower countermeasures of tour sequence and all conducting wires
The conducting wire flight sequence of countermeasures；
According to shaft tower flight sequence, conducting wire flight sequence, all shaft tower countermeasures and all described
Conducting wire countermeasures are maked an inspection tour to described to patrolling power transmission lines.
The application second aspect provides a kind of inspection device of transmission line of electricity, comprising:
Acquiring unit, for obtain in patrolling power transmission lines all shaft tower respective positions information, for making an inspection tour
There are all shaft tower countermeasures of the shaft tower and all conducting wire countermeasures for making an inspection tour conducting wire between all shaft towers；
Path determining unit, for determining the mesh of all shaft towers by genetic algorithm according to all location informations
Mark flight path；
Unit is maked an inspection tour, for according to the target flight path, all shaft tower countermeasures and all conducting wires
Countermeasures are maked an inspection tour to described to patrolling power transmission lines.
The application third aspect provides a kind of tour equipment of transmission line of electricity, and the equipment includes processor and storage
Device:
Said program code is transferred to the processor for storing program code by the memory；
The processor is used for the power transmission line according to described in the above-mentioned first aspect of the instruction execution in said program code
The inspection method on road.
The application third aspect provides a kind of computer readable storage medium, and the computer readable storage medium is used for
Program code is stored, said program code is used to execute the inspection method of transmission line of electricity described in above-mentioned first aspect.
As can be seen from the above technical solutions, the embodiment of the present application has the advantage that
This application provides a kind of inspection methods of transmission line of electricity, comprising: obtains to all bars in patrolling power transmission lines
Tower respective positions information, all shaft tower countermeasures for making an inspection tour all shaft towers and for making an inspection tour all shaft towers
Between conducting wire all conducting wire countermeasures；The mesh of all shaft towers is determined by genetic algorithm according to all location informations
Mark flight path；According to the target flight path, all shaft tower countermeasures and all conducting wire countermeasures pair
It is described to be maked an inspection tour to patrolling power transmission lines.
In the application, traditional manually control is substituted with the automatic control of unmanned plane, so that unmanned plane was being maked an inspection tour
Cheng Zhong, no need to consume electricity in terms of the reception of signal；Do not have to personnel simultaneously and remove control unmanned plane again, so that in some complexity
, in the mountain environment that can not manually reach, can also be maked an inspection tour, solve existing unmanned plane inspection method electric quantity consumption compared with
The technical issues of fast and application is by limitation.
Detailed description of the invention
Fig. 1 is a kind of flow diagram of the first embodiment of the inspection method of transmission line of electricity in the embodiment of the present application；
Fig. 2 is a kind of flow diagram of the second embodiment of the inspection method of transmission line of electricity in the embodiment of the present application；
Fig. 3 is the distribution schematic diagram of inspection point provided on shaft tower in the embodiment of the present application；
Fig. 4 is the shaft tower countermeasures schematic diagram obtained using the inspection point provided of Fig. 3；
Fig. 5 is the lead model schematic diagram in the embodiment of the present application；
Fig. 6 is conducting wire countermeasures schematic diagram in the embodiment of the present application；
Fig. 7 is a kind of structural schematic diagram of the inspection device of transmission line of electricity in the embodiment of the present application.
Specific embodiment
In view of this, inspection method, device, equipment and computer that the embodiment of the present application provides a kind of transmission line of electricity can
Storage medium is read, patrolling transmission line is used for, existing unmanned plane inspection method electric quantity consumption is solved comparatively fast and application is limited to
Technological deficiency.
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only this
Apply for a part of the embodiment, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art exist
Every other embodiment obtained under the premise of creative work is not made, shall fall in the protection scope of this application.
The application first aspect provides a kind of inspection method of transmission line of electricity.
Referring to Fig. 1, a kind of process signal of the first embodiment of the inspection method of transmission line of electricity in the embodiment of the present application
Figure, comprising:
Step 101, obtain in patrolling power transmission lines all shaft tower respective positions information, for making an inspection tour all shaft towers
All shaft tower countermeasures and all conducting wire countermeasures for making an inspection tour conducting wire between all shaft towers.
It should be noted that being obtained first in patrolling power transmission lines before treating patrolling power transmission lines and being maked an inspection tour
All shaft tower respective positions information, all shaft tower countermeasures for making an inspection tour all shaft towers and for making an inspection tour between all shaft towers
All conducting wire countermeasures of conducting wire.
Step 102, the target flight path for determining all shaft towers by genetic algorithm according to all location informations.
It should be noted that obtaining after all shaft tower respective positions information of patrolling power transmission lines, using all
Location information the target flight paths of all shaft towers is determined by genetic algorithm.
Step 103, according to target flight path, all shaft tower countermeasures and all conducting wire countermeasures treat make an inspection tour it is defeated
Electric line is maked an inspection tour.
It should be noted that obtaining the target flight path to patrolling power transmission lines, all conducting wire countermeasures and institute
After there are shaft tower countermeasures, tour is treated according to target flight path, all shaft tower countermeasures and all conducting wire countermeasures
Transmission line of electricity is maked an inspection tour.
In the present embodiment, traditional manually control is substituted with the automatic control of unmanned plane, so that unmanned plane is being maked an inspection tour
In the process, no need to consume electricity in terms of the reception of signal；Do not have to personnel simultaneously and remove control unmanned plane again, so that in some complexity
, in the mountain environment that can not manually reach, can also be maked an inspection tour, solve existing unmanned plane inspection method electric quantity consumption compared with
The technical issues of fast and application is by limitation.
The above are a kind of first embodiments of the inspection method of transmission line of electricity provided by the embodiments of the present application, and the following are this Shens
Please embodiment provide a kind of transmission line of electricity inspection method second embodiment.
Referring to Fig. 2, a kind of process signal of the second embodiment of the inspection method of transmission line of electricity in the embodiment of the present application
Figure, comprising:
Step 200 is obtained to all shaft tower respective positions information in patrolling power transmission lines.
It should be noted that clearly after patrolling power transmission lines why after, it is first determined to institute in patrolling power transmission lines
There is shaft tower respective positions information.
Step 201 obtains all respective Tower Models of shaft tower, and determines and need to be maked an inspection tour on each Tower Model
Point.
It should be noted that generally when being maked an inspection tour to shaft tower, there are multiple inspection point provideds above shaft tower, in the present embodiment
By taking the strain rod tower model of the double loop 220V as an example, the coupling part of the Tower Model specifically includes that grounded-line and bracket, fitting connect
It connects；The connection of strain insulator-string and cross-arm, conducting wire, fitting；The connection of suspension string and wire jumper, fitting, using tie point as to inspection point provided
Afterwards, the distribution situation of shaft tower inspection point provided as shown in Figure 3 is obtained.
Step 202, the needed inspection point provided according to each Tower Model determine that satisfaction first is preset by travelling salesman's algorithm
The corresponding shaft tower countermeasures of the Tower Model of constraint condition.
It should be noted that being determined after obtaining the needed inspection point provided on each Tower Model by travelling salesman's algorithm
Meet the corresponding shaft tower countermeasures of the Tower Model of the first preset constraint condition.Travelling salesman's algorithm in the present embodiment, that is, every
It is a only to be maked an inspection tour to inspection point provided once, and can each be arrived by tour to inspection point provided.
It is understood that generally requiring flight path for level when carrying out shaft tower inspection or vertically, keeping away as far as possible
Exempt to fly along oblique line, because big when power consumption when unmanned plane oblique line flight is than horizontally or vertically flight, reduce electric energy loss,
It improves work efficiency；And simultaneously because flight path length is directly proportional to unmanned plane during flying duration and power consumption, guaranteeing
Under the premise of all target points can be maked an inspection tour, selects the route of time most short (i.e. flight path length is most short) to be important and examine
Figureofmerit.As shown in figure 4, to after inspection point provided carries out line, obtain on the Tower Model in Fig. 3 Route1, Route2 and
Tri- routes of Route3, analysis show that Route1 is maked an inspection tour apart from longest, and the flight of Route2 oblique line is more, only the path Route3
Most short and oblique line flies least requirement, that is, the flight time is most short, power consumption is minimum, finally using Route3 as the bar
The shaft tower countermeasures of tower model.
Step 203 obtains lead model in each span of all shaft towers by laser point cloud data.
It should be noted that conducting wire while being maked an inspection tour to shaft tower, in the span of a shaft tower a to shaft tower
Also to be maked an inspection tour, in order to find security risk present on conducting wire in time, including trees height whether be more than conducting wire safety
Whether foreign matter and Bird's Nest etc. are had in range, conducting wire.And the key of conducting wire countermeasures is to fly along power line, can just make nothing
It is man-machine to collect clear and accurate image data.It can be with it is understood that laser point cloud data is used to obtain lead model are as follows:
Corresponding two shaft towers of the lead model are got, shaft tower span and conducting wire sag are determined, then according to shaft tower span and conducting wire
Arc sag connects two shaft towers and has obtained lead model as shown in Figure 5；It should be noted simultaneously that utilizing laser point cloud data
Obtaining shaft tower, shaft tower distance and conducting wire sag etc. is the prior art, is not being repeated again.
Step 204 obtains the corresponding conducting wire flight of the lead model after each lead model to be moved up to preset distance
Strategy.
It is understood that after obtaining all lead models, after each lead model is moved up preset distance
Obtain the corresponding conducting wire countermeasures of the lead model.The setting of preset distance, which can according to need, to be configured, and such as 3 meters, 4 meters
Or 5 meters, it is not specifically limited herein, in the present embodiment, the conducting wire countermeasures obtained after moving up 3 meters are as shown in Figure 6.
Step 205, the track cost function for being passed through A* search algorithm using all location informations, are determined and traverse all shaft towers
Most short flight path, and will most short flight path as target flight path.
It should be noted that obtaining target flight path using A* search algorithm, this is one kind on graphics plane, is had more
The path of a node finds out the algorithm minimum by cost.A* algorithm calculates flight path by track cost function and is spent
The minimum cost taken, that is, the shortest path to fly, it calculates cost to each node that present node may reach, and
Selection lowest costs point is added search space and searches for, and produces more possible tracks with this, while also needing to consider
Whether unmanned plane battery capacity is enough.
The basic thought of heuristic A * searching algorithm is the heuristic function by setting, fully assesses each expanded search node
Cost value, select most promising point to be extended, until finding destination node.A* algorithm passes through above-mentioned track generation
Valence function finds minimum cost track,
F (n)=g (n)+h (n)；
Wherein, g (n) be from starting point to the actual cost of present node n, heuristic function h (n) indicate from present node to
The valuation of terminal node, in the extension of each step of A* algorithm, the node with minimum f (n) value is selected and is inserted into open collection
In.
Wherein, g (n) is track cost function, specifically:
Wherein, wherein J (i.e. g (n)) be routeing cost function, n be total track number of segment, liIndicate i-th section of track
Length, it by constraint track total length, reduce the flight time of inspection device, can not only save oil consumption, but also can drop
The danger coefficient of low inspection device；fi,threatFor the threat index of i-th section of track, it limits inspection device should not be with known prestige
It is too close to coerce distance of obstacle, w1、w2For the above two-part weight coefficient.
It illustrates to search using A* search algorithm by taking 10 shaft towers (shaft tower 1-10) as an example in the present embodiment and be owned
The target flight path of shaft tower, specific as follows:
1, two set, open collection and close collection are first set, and starting shaft tower and termination bar in clear 10 shaft towers
Tower, starting shaft tower is shaft tower 1 in the present embodiment, and terminations shaft tower is shaft tower 10；
2, open collection is added in all shaft towers, then determines present node (i.e. shaft tower 1) to bar by track cost function
Meet the shaft tower of line condition in all lines of tower 2- shaft tower 9, and the shaft tower is added to close collection, it should in the present embodiment
The shaft tower that step determines is shaft tower 5；
3, the shaft tower for obtaining step 2 determines the next shaft tower for meeting condition of contact by step 2 as present node,
And this shaft tower is added to close collection；
4, circulation executes step 2 and step 3, until all intermediate shaft towers are added to close collection, centre in the present embodiment
Shaft tower 1-9 is respectively according to shaft tower 5- shaft tower 2- shaft tower 3- shaft tower 4- shaft tower 7- shaft tower 9- shaft tower 8- shaft tower 6；
5, it concentrates the order of addition of shaft tower to connect intermediate shaft tower 2-9, shaft tower 1 and shaft tower 10 according to close and just obtains target
Flight path, the target flight path in the present embodiment is 4 → shaft tower of shaft tower 1 → shaft tower, 5 → shaft tower, 2 → shaft tower, 3 → shaft tower 7
6 → shaft tower of → shaft tower 9 → shaft tower, 8 → shaft tower 10.
Step 206, the tour sequence that shaft tower is determined according to target flight path.
It should be noted that can determine the tour of shaft tower according to target flight path obtaining target flight path Europe
Sequentially, the tour sequence in the present embodiment are as follows: 7 → shaft tower of shaft tower 1 → shaft tower, 5 → shaft tower, 2 → shaft tower, 3 → shaft tower, 4 → shaft tower 9 →
8 → shaft tower of shaft tower, 6 → shaft tower 10.
Step 207, the shaft tower flight sequence and the flight of all conducting wires that all shaft tower countermeasures are determined according to tour sequence
The conducting wire flight sequence of strategy.
It should be noted that determining all shaft tower countermeasures according to tour sequence after obtaining the tour sequence of shaft tower
Shaft tower flight sequence and all conducting wire countermeasures conducting wire flight sequence, the shaft tower flight sequence of all shaft tower countermeasures
Successively are as follows: shaft tower 1, shaft tower 5, shaft tower 2, shaft tower 3, shaft tower 4, shaft tower 7, shaft tower 9, shaft tower 8, shaft tower 6, shaft tower 10；All conducting wires
The flight sequence of countermeasures are as follows: the conducting wire between conducting wire countermeasures, 5 → shaft tower of shaft tower 2 between 1 → shaft tower of shaft tower 5 flies
Row strategy, the conducting wire countermeasures between 2 → shaft tower of shaft tower 3, the conducting wire countermeasures between 3 → shaft tower of shaft tower 4, shaft tower 4 →
The conducting wire countermeasures between conducting wire countermeasures, 7 → shaft tower of shaft tower 9 between shaft tower 7, the conducting wire between 9 → shaft tower of shaft tower 8
The conducting wire countermeasures between conducting wire countermeasures, 6 → shaft tower of shaft tower 10 between countermeasures, 8 → shaft tower of shaft tower 6.
Step 208 is flown according to shaft tower flight sequence, conducting wire flight sequence, all shaft tower countermeasures and all conducting wires
Strategy is treated patrolling power transmission lines and is maked an inspection tour.
It should be noted that after obtaining shaft tower flight sequence and conducting wire flight sequence, according to shaft tower flight sequence, conducting wire
Flight sequence, all shaft tower countermeasures and all conducting wire countermeasures are treated patrolling power transmission lines and are maked an inspection tour, the present embodiment
In last tour strategy are as follows: conducting wire countermeasures, shaft tower 5 between the shaft tower countermeasures of shaft tower 1,1 → shaft tower of shaft tower 5
Shaft tower countermeasures, the 2 → shaft tower of shaft tower 3 of conducting wire countermeasures, shaft tower 2 between shaft tower countermeasures, 5 → shaft tower of shaft tower 2
Between conducting wire countermeasures, the shaft tower countermeasures of shaft tower 3, conducting wire countermeasures between 3 → shaft tower of shaft tower 4, shaft tower 4
Shaft tower countermeasures, the 7 → shaft tower of shaft tower 9 of conducting wire countermeasures, shaft tower 7 between shaft tower countermeasures, 4 → shaft tower of shaft tower 7
Between conducting wire countermeasures, the shaft tower countermeasures of shaft tower 9, conducting wire countermeasures between 9 → shaft tower of shaft tower 8, shaft tower 8
Shaft tower countermeasures, the 6 → shaft tower of shaft tower 10 of conducting wire countermeasures, shaft tower 6 between shaft tower countermeasures, 8 → shaft tower of shaft tower 6
Between conducting wire countermeasures, shaft tower 10 shaft tower countermeasures.
In the present embodiment, traditional manually control is substituted with the automatic control of unmanned plane, so that unmanned plane is being maked an inspection tour
In the process, no need to consume electricity in terms of the reception of signal；Do not have to personnel simultaneously and remove control unmanned plane again, so that in some complexity
, in the mountain environment that can not manually reach, can also be maked an inspection tour, solve existing unmanned plane inspection method electric quantity consumption compared with
The technical issues of fast and application is by limitation.
The above are a kind of second embodiments of the inspection method of transmission line of electricity provided by the embodiments of the present application, and the following are this Shens
Please embodiment provide a kind of transmission line of electricity inspection device application examples.
Referring to Fig. 7, a kind of structural schematic diagram of the inspection device of transmission line of electricity in the embodiment of the present application, comprising:
Acquiring unit 701, for obtain in patrolling power transmission lines all shaft tower respective positions information, for making an inspection tour
All shaft tower countermeasures of all shaft towers and all conducting wire countermeasures for making an inspection tour conducting wire between all shaft towers；
Path determining unit 702, for determining that the target of all shaft towers flies by genetic algorithm according to all location informations
Walking along the street diameter；
Unit 703 is maked an inspection tour, for according to target flight path, all shaft tower countermeasures and all conducting wire countermeasures pair
It is maked an inspection tour to patrolling power transmission lines.
In the present embodiment, traditional manually control is substituted with the automatic control of unmanned plane, so that unmanned plane is being maked an inspection tour
In the process, no need to consume electricity in terms of the reception of signal；Do not have to personnel simultaneously and remove control unmanned plane again, so that in some complexity
, in the mountain environment that can not manually reach, can also be maked an inspection tour, solve existing unmanned plane inspection method electric quantity consumption compared with
The technical issues of fast and application is by limitation.
The embodiment of the present application also provides a kind of tour equipment of transmission line of electricity, and equipment includes processor and memory: being deposited
Program code is transferred to processor for storing program code by reservoir；Processor is used for according to the instruction in program code
Execute the inspection method of transmission line of electricity described in embodiment one or embodiment two.
The embodiment of the present application also provides a kind of computer readable storage medium, and computer readable storage medium is for storing journey
Sequence code, program code are used to execute the inspection method of transmission line of electricity described in embodiment one or embodiment two.
It is apparent to those skilled in the art that for convenience and simplicity of description, foregoing description wait pacify
Electricity grid network is filled, the specific work process of device and unit can refer to corresponding processes in the foregoing method embodiment, herein not
It repeats again.
In several embodiments provided herein, it should be understood that disclosed device and method can pass through it
Its mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit, only
Only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components can be tied
Another electricity grid network to be installed is closed or is desirably integrated into, or some features can be ignored or not executed.Another point is shown
The mutual coupling, direct-coupling or communication connection shown or discussed can be through some interfaces, between device or unit
Coupling or communication connection are connect, can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, each functional unit in each embodiment of the application can integrate in one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer-readable computer readable storage medium.Based on this understanding, the technology of the application
Substantially all or part of the part that contributes to existing technology or the technical solution can be with software in other words for scheme
The form of product embodies, which is stored in a computer readable storage medium, including several fingers
It enables and using so that computer equipment (can be personal computer, server or the network equipment an etc.) execution the application is each
The all or part of the steps of a embodiment the method.And computer readable storage medium above-mentioned include: USB flash disk, mobile hard disk,
Read-only memory (ROM, Read-OnlyMemory), random access memory (RAM, RandomAccessMemory), magnetic disk or
The various media that can store program code such as person's CD.
The above, above embodiments are only to illustrate the technical solution of the application, rather than its limitations；Although referring to before
Embodiment is stated the application is described in detail, those skilled in the art should understand that: it still can be to preceding
Technical solution documented by each embodiment is stated to modify or equivalent replacement of some of the technical features；And these
It modifies or replaces, the spirit and scope of each embodiment technical solution of the application that it does not separate the essence of the corresponding technical solution.
Claims (10)
1. a kind of inspection method of transmission line of electricity characterized by comprising
It obtains to all shaft tower respective positions information in patrolling power transmission lines, all bars for making an inspection tour all shaft towers
Tower countermeasures and all conducting wire countermeasures for making an inspection tour conducting wire between all shaft towers；
The target flight path of all shaft towers is determined by preset calculation method according to all location informations；
According to the target flight path, all shaft tower countermeasures and all conducting wire countermeasures to described wait patrol
It is maked an inspection tour depending on transmission line of electricity.
2. the inspection method of transmission line of electricity according to claim 1, which is characterized in that the preset calculation method includes A*
Search algorithm.
3. the inspection method of transmission line of electricity according to claim 2, which is characterized in that described to be believed according to all positions
Breath determines that the target flight path of all shaft towers specifically includes by A* search algorithm:
Pass through the track cost function of A* search algorithm using all location informations, determines and traverse all shaft towers most
Short flight path, and by the most short flight path as target flight path.
4. the inspection method of transmission line of electricity according to claim 1, which is characterized in that the acquisition is for making an inspection tour all institutes
All shaft tower countermeasures for stating shaft tower specifically include:
All respective Tower Models of the shaft tower are obtained, and determine the needed inspection point provided on each Tower Model；
According to all described to inspection point provided of each Tower Model, determined by travelling salesman's algorithm and meet the first preset constraint
The corresponding shaft tower countermeasures of the Tower Model of condition.
5. the inspection method of transmission line of electricity according to claim 4, which is characterized in that the first preset constraint condition tool
Body includes:
Flight time is most short, power consumption is minimum.
6. the inspection method of transmission line of electricity according to claim 5, which is characterized in that the acquisition is for making an inspection tour all institutes
All conducting wire countermeasures for stating conducting wire between shaft tower specifically include:
The lead model in all each spans of the shaft tower is obtained by laser point cloud data；
The corresponding conducting wire countermeasures of the lead model are obtained after each lead model is moved up preset distance.
7. the inspection method of transmission line of electricity according to claim 1, which is characterized in that described according to the target flight road
Diameter, the shaft tower countermeasures and the conducting wire countermeasures make an inspection tour the transmission line of electricity in patrolling power transmission lines
It specifically includes:
The tour sequence of shaft tower is determined according to the target flight path；
The shaft tower flight sequence and all conducting wire flights of all shaft tower countermeasures are determined according to the tour sequence
The conducting wire flight sequence of strategy；
According to the shaft tower flight sequence, conducting wire flight sequence, all shaft tower countermeasures and all conducting wires
Countermeasures are maked an inspection tour to described to patrolling power transmission lines.
8. a kind of inspection device of transmission line of electricity characterized by comprising
Acquiring unit, for obtain in patrolling power transmission lines all shaft tower respective positions information, for making an inspection tour all institutes
State all shaft tower countermeasures of shaft tower and all conducting wire countermeasures for making an inspection tour conducting wire between all shaft towers；
Path determining unit, for determining that the target of all shaft towers flies by genetic algorithm according to all location informations
Walking along the street diameter；
Unit is maked an inspection tour, for flying according to the target flight path, all shaft tower countermeasures and all conducting wires
Strategy is maked an inspection tour to described to patrolling power transmission lines.
9. a kind of tour equipment of transmission line of electricity, which is characterized in that the equipment includes processor and memory:
Said program code is transferred to the processor for storing program code by the memory；
The processor is used for the transmission of electricity according to instruction execution any one of claims 1 to 7 in said program code
The inspection method of route.
10. a kind of computer readable storage medium, which is characterized in that the computer readable storage medium is for storing program generation
Code, inspection method of the said program code for transmission line of electricity described in any one of perform claim requirement 1 to 7.
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