CN104076816B - Unmanned plane power transmission line corridor operation path planning method - Google Patents
Unmanned plane power transmission line corridor operation path planning method Download PDFInfo
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Abstract
A kind of unmanned plane power transmission line corridor operation path planning method, comprises according to target shaft tower set drawing path L1, is highly added by path L1 apart from shaft tower upper vertical safe distance and aircraft vertical deflection error, obtain path L2; Path L2 is cushioned outside line corridor the distance adding aircraft horizontal direction error apart from shaft tower both sides horizontal safety distance, obtain path L3, form flight path C, calculate the distance W of flight path C; If distance W is greater than aircraft voyage L, then the shaft tower of the most afterbody of removal of overhead circuit, remaining shaft tower forms new target shaft tower set, recalculates distance, until W is less than or equal to aircraft voyage L, preserves the current flight path obtained; If the corresponding shaft tower quantity removed of the flight path obtained current is greater than 0, then shaft tower adjacent before all shaft towers removed and shaft tower that last removes is merged into new target shaft tower set, return and generate next flight path, until obtain final trajectory planning result.
Description
Technical field
The present invention relates to power monitoring technical field, particularly a kind of power transmission line corridor unmanned plane makes an inspection tour trajectory planning technology.
Background technology
Transmission line of electricity is the important component part of lifeline engineering, is self-evident in the importance ensureing national economy even running.In recent years, disaster and outside destroy take place frequently, because environmental impact causes transmission line of electricity power outage to happen occasionally, power transmission line corridor due to the destruction that the change and construction etc. of environment are artificial more serious, need regularly to gather line corridor live-action data, in the convenient line corridor of tour in time, potential screen of trees etc. affects the problem of circuit security of operation.
At present, although trajectory planning is in the existing application of other field, the technology of the trajectory planning automatically maked an inspection tour for unmanned plane line of electric force three-dimensional all-directional does not also occur.
Summary of the invention
The object of the invention is to solve prior art defect, a kind of trajectory planning technology of carrying out the comprehensive tour of unmanned plane for power transmission line corridor is provided.
Technical scheme of the present invention provides a kind of unmanned plane power transmission line corridor operation path planning method, comprises the following steps,
Step 1, draws overhead transmission line path, comprises the height according to each the shaft tower coordinate position in the target shaft tower set preset and shaft tower, draws a three-dimensional circuits, be designated as path L1 (x1, y1, z1x2, y2, z2x3, y3, z3 ... xN, yN, zN);
Wherein, N is the sum of shaft tower in the set of target shaft tower, and (x1, y1) is the coordinate position of the 1st shaft tower, and z1 is the height of the 1st shaft tower; (x2, y2) is the coordinate position of the 2nd shaft tower, and z2 is the height of the 2nd shaft tower; (x3, y3) is the coordinate position of the 3rd shaft tower, and z3 is the height of the 3rd shaft tower ... (xN, yN) is the coordinate position of N number of shaft tower, and zN is the height of N number of shaft tower;
Step 2, path L1 step 1 generated highly adds a+m, obtains new path L2 (x1, y1, z1+a+mx2, y2, z2+a+mx3, y3, z3+a+m ... xN, yN, zN+a+m);
Wherein, a is that m is aircraft vertical deflection error apart from shaft tower upper vertical safe distance;
Step 3, presses the method for GIS buffer distance by path L2, cushion the distance of b+n outside line corridor, obtains new path L3, forms a closed track, as flight path C; Then calculate the distance W of flight path C, comprise the distance summation of getting between coordinate adjacent between two in the L3 of path;
Wherein, b is that n is aircraft horizontal direction error apart from shaft tower both sides horizontal safety distance;
Step 4, if distance W is greater than aircraft voyage L, the then shaft tower of the most afterbody of removal of overhead circuit, remaining shaft tower forms new target shaft tower set, return step 1, recalculate distance, until W is less than or equal to aircraft voyage L based on new target shaft tower set, preserve the current flight path obtained, enter step 5;
Step 5, if this performs the corresponding shaft tower quantity removed of the current flight path obtained of step 4 be greater than 0, then shaft tower adjacent before all shaft towers removed and shaft tower that last removes is merged into new target shaft tower set, return step 1, generate next flight path based on new target shaft tower set; The corresponding shaft tower quantity removed of the current flight path obtained equals 0, then stop returning iteration, exports each flight path preserved in step 4 as program results.
The present invention formulates the unmanned flight path speed of a ship or plane making an inspection tour line corridor according to the load voyage of line walking unmanned plane, then imports in aircraft, aircraft can be flown by predetermined flight path and the speed of a ship or plane.The present invention has the following advantages:
(1) overhead transmission line corridor image is just being penetrated coverage rate and is being reached 100%.
(2) if circuit is greater than voyage scope, circuit auto Segmentation is become the subtask flight path meeting flight range requirement of certain limit overlap, separately operation, ensuring coverage rate.
(3) for aircraft line walking and circuit keep a safe distance.
(4) flight path is 3 D stereo flight path, rises and falls and flies, both evaded the barriers such as the hill on ground along circuit, has ensured again the optimum distance (illustrating see Fig. 3) maked an inspection tour.
Accompanying drawing explanation
Fig. 1 is the line walking track schematic top plan view of the circuit just meeting voyage in the embodiment of the present invention.
Fig. 2 is the situation schematic top plan view that in the embodiment of the present invention, voyage cannot once have been patrolled.
Fig. 3 is the oblique viewing angle direction schematic diagram of flight path in the embodiment of the present invention.
Embodiment
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited thereto.
Before the invention process, those skilled in the art can according to circumstances carry out in advance overhead transmission line safe distance definition, aircraft flight path error definition and Modeling for Distance Calculation of Airline.
In embodiment, preset as follows:
Overhead transmission line safe distance definition: apart from shaft tower upper vertical safe distance a=20 rice, apart from shaft tower both sides horizontal safety distance b=30 rice
The error definition of aircraft flight path and Modeling for Distance Calculation of Airline: because the error of different manufacturers is different, the data that can provide according to producer define m (aircraft vertical deflection error), n (aircraft horizontal direction error), aircraft range distance L=K (non-operation distance).
The unmanned plane power transmission line corridor operation trajectory planning of embodiment comprises the following steps:
(1) draw overhead transmission line path, comprise the height according to each the shaft tower coordinate position in the target shaft tower set preset and shaft tower, draw a three-dimensional circuits, be recorded as path L1 (x1, y1, z1x2, y2, z2x3, y3, z3 ... xN, yN, zN).Wherein, N is the sum of shaft tower in the set of target shaft tower, and (x1, y1) is the coordinate position of the 1st shaft tower, and z1 is the height of the 1st shaft tower; (x2, y2) is the coordinate position of the 2nd shaft tower, and z2 is the height of the 2nd shaft tower; (x3, y3) is the coordinate position of the 3rd shaft tower, and z3 is the height of the 3rd shaft tower ... (xN, yN) is the coordinate position of N number of shaft tower, and zN is the height of N number of shaft tower.First time adopts the target shaft tower set preset when performing (1), and the target shaft tower set usually preset can be provided by the infosystem of relevant unit, or adopts file to store in advance.
(2) the circuit coordinate string height that step (1) generates is added 20 meters, add aircraft vertical error m, obtain new path L2 (x1, y1, z1+20+mx2, y2, z2+20+mx3, y3, z3+20+m ... xN, yN, zN+20+m).
(3) path L2 is pressed the method for GIS buffer distance, outside line corridor, cushion the distance of 30 meters of+n, obtain new path L3, form a closed track, i.e. flight path C.Comprise by coordinate points discrete on new path L3 by being linked to be a track counterclockwise or clockwise, head and tail portion coordinate is that same position stacks together.Then calculate the distance W of track C, get the distance summation between coordinate adjacent between two in L3.Buffering is embodied as prior art, and it will not go into details in the present invention.
(4) if W is greater than aircraft voyage L, then abandon the current flight path obtained, namely this performs the flight path that (3) obtain, the shaft tower of the most afterbody of removal of overhead circuit, return (1) based on removing the new target shaft tower set that rear remaining shaft tower forms, re-execute (1)-(3) calculate, until W is less than or equal to aircraft voyage L, preserve the current flight path obtained, enter (5).Preserve the flight path obtained for the first time and be designated as C1, the follow-up flight path obtained is designated as C2, C3 successively
(5) if the corresponding shaft tower quantity removed of the current flight path obtained is greater than 0, then shaft tower adjacent before all shaft towers removed and shaft tower that last removes is merged into new target shaft tower set, return (1), re-execute (1)-(4) carry out calculating generate next flight path.The corresponding shaft tower quantity removed of the current flight path obtained equals 0, then stop returning iteration, and export each flight path preserved in (4) as program results, the program results finally obtained is a series of flight path C1, C2, C3
By meeting all flight paths of voyage for the target shaft tower set gained preset, preserve into text.By usb connecting line, unmanned plane track documents being imported successively operation carries and flies to control device, aircraft can be allowed to be undertaken from main shipping track operation by the flight path exported, make an inspection tour and cover all shaft towers.
See Fig. 1, dotted line is the flight path generated, and centre is transmission overhead line, and grid is shaft tower.For this transmission overhead line, a track of generation is not more than the voyage of aircraft, therefore once can patrol.
See Fig. 2, dotted line is the flight path of first time line walking, and dot-and-dash line is the flight path of second time line walking, and centre is transmission overhead line, and grid is shaft tower.The set of target shaft tower has five shaft towers, for this initial transmission overhead line, a track of initial generation is greater than the voyage of aircraft, therefore the shaft tower of the most afterbody of removal of overhead circuit, regenerates a track, but still is greater than the voyage of aircraft, the shaft tower of most afterbody that is left of removal of overhead circuit again, regenerate a track, be now less than the voyage of aircraft, obtain primary flight path.From the shaft tower of before the shaft tower finally removed, together with two shaft towers removed, form new target shaft tower set, the track initially generated corresponding new line is less than the voyage of aircraft, therefore obtains secondary flight path.Unmanned plane is according to primary flight path and secondary flight path, and secondary flight can have been patrolled.
See Fig. 3, grid is tower head signal, and curve is ground, and furcella goes out to represent steel tower tower body.Dotted line is the flight path being parallel to earth's surface, and due to subtense angle, the height that flight path of making a return journey is drawn is different, and reality is all the height identical from earth's surface.
Above-mentioned example is the present invention's preferably embodiment; but embodiments of the present invention are not restricted to the described embodiments; the change done under other any does not run counter to Spirit Essence of the present invention and principle, modification, substitute, combine, simplify the substitute mode that all should be equivalence, be included within protection scope of the present invention.
Claims (1)
1. a unmanned plane power transmission line corridor operation path planning method, is characterized in that: comprise the following steps,
Step 1, draws overhead transmission line path, comprises the height according to each the shaft tower coordinate position in the target shaft tower set preset and shaft tower, draws a three-dimensional circuits, be designated as path L1 (x1, y1, z1x2, y2, z2x3, y3, z3 ... xN, yN, zN);
Wherein, N is the sum of shaft tower in the set of target shaft tower, and (x1, y1) is the coordinate position of the 1st shaft tower, and z1 is the height of the 1st shaft tower; (x2, y2) is the coordinate position of the 2nd shaft tower, and z2 is the height of the 2nd shaft tower; (x3, y3) is the coordinate position of the 3rd shaft tower, and z3 is the height of the 3rd shaft tower ... (xN, yN) is the coordinate position of N number of shaft tower, and zN is the height of N number of shaft tower;
Step 2, path L1 step 1 generated highly adds a+m, obtains new path L2 (x1, y1, z1+a+mx2, y2, z2+a+mx3, y3, z3+a+m ... xN, yN, zN+a+m);
Wherein, a is that m is aircraft vertical deflection error apart from shaft tower upper vertical safe distance;
Step 3, presses the method for GIS buffer distance by path L2, increase the distance of b+n outside line corridor, obtains new path L3, forms a closed track, as flight path C; Then calculate the distance W of flight path C, comprise the distance summation of getting between coordinate adjacent between two in the L3 of path;
Wherein, b is that n is aircraft horizontal direction error apart from shaft tower both sides horizontal safety distance;
Step 4, if distance W is greater than aircraft voyage L, the then shaft tower of the most afterbody of removal of overhead circuit, remaining shaft tower forms new target shaft tower set, return step 1, recalculate distance, until W is less than or equal to aircraft voyage L based on new target shaft tower set, preserve the current flight path obtained, enter step 5;
Step 5, for the current flight path obtained, if be greater than 0 for obtaining the corresponding all shaft tower quantity removed of this flight path, then shaft tower adjacent before all shaft towers removed and shaft tower that last removes is merged into new target shaft tower set, return step 1, generate next flight path based on new target shaft tower set; The corresponding shaft tower quantity removed of the current flight path obtained equals 0, then stop returning iteration, exports each flight path preserved in step 4 as program results.
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| CN105843253A (en) * | 2016-04-08 | 2016-08-10 | 北京博瑞空间科技发展有限公司 | Design method and system for unmanned aerial vehicle's travel path |
| CN107527395A (en) * | 2016-06-21 | 2017-12-29 | 中兴通讯股份有限公司 | A kind of unmanned plane method for inspecting, device and unmanned plane |
| CN110595442A (en) * | 2019-08-13 | 2019-12-20 | 中国南方电网有限责任公司超高压输电公司昆明局 | Transmission line channel tree obstacle detection method, storage medium and computer equipment |
| CN112837443A (en) * | 2021-01-12 | 2021-05-25 | 云南电网有限责任公司电力科学研究院 | Unmanned aerial vehicle inspection system and method |
| CN113910227B (en) * | 2021-10-11 | 2023-03-24 | 国网智能科技股份有限公司 | Distribution network vehicle-mounted intelligent inspection robot task-free inspection method and system |
| CN114138018A (en) * | 2021-11-26 | 2022-03-04 | 深圳供电局有限公司 | Unmanned aerial vehicle inspection control method |
| CN116820137B (en) * | 2023-08-28 | 2023-11-14 | 天津市普迅电力信息技术有限公司 | Unmanned aerial vehicle power distribution network routing inspection route generation method |
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