The invention discloses an overhead power line unmanned aerial vehicle inspection route generation method and device and an unmanned aerial vehicle. The method comprises the following steps of: acquiring a standard tower and a standard route data file corresponding to a to-be-inspected tower from a typical tower type inspection route library according to a tower form, a voltage level and an arrangement mode of the to-be-inspected tower; according to the spatial position relation between the to-be-inspected tower and the standard tower, cruise coordinates corresponding to inspection operation points in the to-be-inspected tower are determined; according to the cruise coordinates corresponding to the inspection operation points in the to-be-inspected tower and the standard route data file, an inspection route and a route data file corresponding to the to-be-inspected tower are generated, and each inspection operation point corresponds to one route point in the inspection route. According to the method, the autonomous operation route of the unmanned aerial vehicle for line inspection is generated according to pre-stored line ledger information, the unmanned aerial vehicle is used for carrying a visible light camera to inspect an overhead power line, and the efficiency is high.
本发明公开一种架空电力线路无人机巡检航线生成方法、装置及无人机。该方法,包括:根据待巡检杆塔的杆塔形式、电压级别、排列方式,从典型塔型巡检航线库中,获取与所述待巡检杆塔对应的标准杆塔及标准航线数据文件;根据所述待巡检杆塔与所述标准杆塔之间的空间位置关系,确定所述待巡检杆塔中各巡检作业点对应的巡航坐标;根据所述待巡检杆塔中各巡检作业点对应的巡航坐标和所述标准航线数据文件,生成与待巡检杆塔对应的巡检航线及航线数据文件,其中,每一巡检作业点与巡检航线中的一个航点相对应。该方法根据预先存储的线路台账信息生成线路巡检用无人机自主作业航线,实现利用无人机搭载可见光相机对架空电力线路进行巡检,效率高。
Overhead power line unmanned aerial vehicle inspection route generation method and device and n unmanned aerial vehicle.
架空电力线路无人机巡检航线生成方法、装置及无人机
2021-05-28
Patent
Electronic Resource
Chinese
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