CN107515003B - Method for planning flight route of airplane for patrolling power transmission line - Google Patents
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Abstract
The invention discloses a method for planning a flight route of an airplane patrol power transmission line, which comprises the steps of S1, leading information of a road tower and a station to be patrolled into satellite map software in batch to form a power transmission line path, adding patrol flight panoramic information on the basis of the power transmission line path, and establishing a machine patrol line panoramic information path; s2, determining each temporary take-off and landing point and the flight waypoints governed by each temporary take-off and landing point on the online patrol line panoramic information path; s3, analyzing each temporary take-off and landing point determined in the step S2 and the flight waypoints governed by each temporary take-off and landing point by using a GA optimization algorithm, prompting auxiliary operation to select each temporary take-off and landing point and the flight waypoint governed by each temporary take-off and landing point and forming a route; and S4, obtaining the flight path with the shortest predicted flight time consumption and the highest online rate according to the course trend, the take-off and landing positions and the performance index parameters of the airplane in the step S3. By using the method, the optimal patrol flight route can be obtained, so that the machine patrol operation efficiency is improved.
Description
Technical Field
The invention relates to route planning, in particular to a method for planning a flight route of an airplane for patrolling a power transmission line.
Background
The line patrol of the helicopter is a new general aviation flight service which is developed in recent years in China, and the flight of the helicopter is characterized in that the take-off and landing points of the helicopter are arranged more, and meanwhile, the flight routes and the flight points are various due to the dense distribution and the complex trend of the power transmission lines. Referring to a traditional general aviation flight route planning method, all relevant flight points are firstly combed out, coordinates are recorded, a plane rectangular coordinate system is planned on a plane drawing, the flight points are marked, and a route is generated by connecting the flight points. The method is applied to planning and planning of the line patrol route map of the helicopter, has the problems of large workload of route point combing, fussy manual drawing and low efficiency, and needs to check the route point to eliminate errors or mistakes.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a method for realizing efficient planning of a line patrol route of a helicopter and improving the operation efficiency of the line patrol of the helicopter
In order to achieve the purpose, the technical scheme of the invention is as follows:
a method of planning an aircraft to patrol a power transmission line flight path, the method comprising the steps of:
s1, importing the road tower and station information to be patrolled into satellite map software in batch to form a power transmission line path, adding patrol flying panoramic information on the basis of the power transmission line path, and establishing a machine patrol line panoramic information path;
s2, determining each temporary take-off and landing point and the flight waypoints governed by each temporary take-off and landing point on the online patrol line panoramic information path;
s3, analyzing the temporary take-off and landing points and the flight waypoints governed by the temporary take-off and landing points determined in the step S2 by using a GA optimization algorithm, prompting auxiliary operation to select the temporary take-off and landing points and the flight waypoints governed by the temporary take-off and landing points and forming a course, and realizing interactive visualization of the power transmission line, the take-off and landing points and the flight waypoints;
and S4, obtaining the flight path with the shortest predicted flight time consumption and the highest online rate according to the course trend, the take-off and landing positions and the performance index parameters of the airplane in the step S3.
The process of analyzing each temporary take-off and landing point determined in the step S2 and the flight waypoints governed by each temporary take-off and landing point by the GA optimization algorithm is as follows:
step 1: chromosome structure
The chromosome represents a to-be-selected route, the length of the first particle of the chromosome is recorded by adopting the dynamic chromosome length, the length of the particle is the total number of end points contained in the route, and the particles behind the first particle of the chromosome sequentially represent the end point coordinates of the route track section and have no invalid particles;
step 2: establishing a fitness function
Converting the indexes of the flight path into the fitness in the optimizing environment through a fitness function, setting the fitness of a chromosome i as Fiti, setting the index value of the corresponding flight path as qi, n as the total number of chromosomes in a group, qmax and qmin as the maximum index value and the minimum index value in the group, base as a chromosome reference index value and s as the accumulated index values of all chromosomes in the group, and then:
Fiti＝qmax-qi+base+s (1)
in formula (1), when s is 0, qmax ≠ qmin; or, when s is qmax, qmax is qmin;
base＝(qmax-qmin)/n (2)
Pc＝(Fitmax-Fitavg)/Fit (3)
in the formula (3), (Fitmax-Fitavg) < Fit; or the like, or, alternatively,
when Pc is 1, then (Fit max-Fitavg) is greater than or equal to Fit
Pm＝0.4×(Fitmax-Fit)/(Fitmax-Fitavg) (4)
In the formula (4), Pc ═ Fitmax-Fitavg)/Fit; or the like, or, alternatively,
when Pm is 0.4, (Fitmax-Fit) is more than or equal to (Fitmax-Fitavg);
in the formulas (3) and (4), Fitmax and Fitavg are respectively the maximum fitness and the average fitness in a certain generation of chromosome; fit is the fitness of the chromosome to be crossed or mutated, Pc is the cross probability, Pm is the mutation probability.
And step S3, generating a complete flight route full map by utilizing the route forming platform and displaying the transmission line geographic information and the flight route information in a layered manner.
Step S1 further includes dividing and identifying the transmission line path according to different ground administration units; the patrol and inspection flight panoramic information comprises information of all airspace administration unit ranges, flight difficult areas and flight forbidden areas.
In step S2, the temporary take-off and landing point is not more than 35km from the nearest space of the covered power transmission line, not more than 80km from the farthest space of the covered power transmission line, and the linear space distance between two adjacent take-off and landing points is not more than 150 km.
In step S4, the method for obtaining the flight path with the shortest expected flight time and the highest online rate is as follows: obtaining various arrangement combinations of flight plans according to the course trend, the take-off and landing positions and the airplane performance index parameters, taking each arrangement combination mode as an alternative flight plan, dynamically planning the line patrol flight path under each alternative flight plan according to the condition that the line patrol flight path is smaller than the airplane range, and finding out the flight path with the shortest predicted flight time consumption and the highest online rate as a final flight plan.
In step S1, the tower and station information is imported into the satellite map software in batch in the form of longitude and latitude coordinates.
The satellite map software is Google Earth software
Compared with the prior art, the invention has the beneficial effects that:
the optimal patrol flight route can be obtained by applying the method, meanwhile, the method comprehensively considers factors such as the characteristics of the aircraft patrol flight, the arrangement trend of the power transmission line, airspace control and the like, and optimizes and formulates the optimal patrol flight scheme according to different helicopter patrol task requirements, so that the subjective participation of personnel is reduced, the decision period is shortened, the working efficiency is improved, the aircraft patrol operation cost is reduced, and the technical support is provided for the flight patrol operation while the maximum economic benefit is realized.
Drawings
Fig. 1 is a flowchart of a method for planning a flight route of an aircraft for patrolling a power transmission line according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and detailed description.
Example (b):
referring to fig. 1, the method for planning the flight route of the aircraft for patrolling the power transmission line provided by the embodiment specifically includes the following steps:
s1, importing the information of the road towers and the stations needing to be patrolled into Google Earth software in a batch mode in a longitude and latitude coordinate mode, carrying out batch processing on the software to generate power transmission line paths, further forming a complete power transmission line path diagram, carrying out division identification (can be distinguished according to colors) on the power transmission line path diagram according to different ground administration units, continuously adding information of each airspace administration unit range, a flight difficult area, a no-fly zone and the like in the Google Earth software, and establishing machine patrol line panoramic information to realize complete coverage of the information required by machine patrol flight line planning and drawing.
S2, determining each temporary take-off and landing point and the flight waypoints governed by each temporary take-off and landing point on the online patrol line panoramic information path; specifically, each temporary take-off and landing point and the flight waypoints governed by each temporary take-off and landing point can be determined by the following principles:
setting a space distance standard of a take-off and landing point, a power transmission line and an iron tower, a space distance standard of adjacent take-off and landing points and a take-off and landing point selection technical standard on the basis of performance parameters of the existing helicopter and unmanned aerial vehicle; establishing a waypoint setting standard and a take-off and landing point covered waypoint length standard; and taking the standard as a constraint condition to control and determine each temporary take-off and landing point, and the flight waypoints and the air routes governed by each temporary take-off and landing point. In addition, through research of the inventor, when the distance between the temporary take-off and landing point and the nearest space of the covered power transmission line is not higher than 35km, the distance between the temporary take-off and landing point and the farthest space of the covered power transmission line is not more than 80km, and the linear distance between two adjacent take-off and landing points is not more than 150km, the helicopter or the unmanned aerial vehicle can be attached to the peripheral area of the line to the maximum extent on the premise of ensuring safety, and efficient patrol is realized.
S3, further optimizing and analyzing the temporary take-off and landing points and the flight waypoints governed by the temporary take-off and landing points determined in the step S2 by using a GA optimizing algorithm, wherein the optimizing and analyzing process of the GA optimizing algorithm comprises the following steps:
step 1: chromosome structure
The chromosome represents a to-be-selected route, the length of the first particle of the chromosome is recorded by adopting the dynamic chromosome length, the length of the particle is the total number of end points contained in the route, and the particles behind the first particle of the chromosome sequentially represent the end point coordinates of a route section and have no invalid particles;
step 2: establishing a fitness function
Converting the indexes of the flight path into the fitness in the optimizing environment through a fitness function, setting the fitness of a chromosome i as Fiti, setting the index value of the corresponding flight path as qi, n as the total number of chromosomes in a group, qmax and qmin as the maximum index value and the minimum index value in the group, base as a chromosome reference index value and s as the accumulated index values of all chromosomes in the group, and then:
Fiti＝qmax-qi+base+s (1)
in formula (1), when s is 0, qmax ≠ qmin; or, when s is qmax, qmax is qmin;
base＝(qmax-qmin)/n (2)
Pc＝(Fitmax-Fitavg)/Fit (3)
in the formula (3), (Fitmax-Fitavg) < Fit; or the like, or, alternatively,
when Pc is 1, then (Fit max-Fitavg) is greater than or equal to Fit
Pm＝0.4×(Fitmax-Fit)/(Fitmax-Fitavg) (4)
In the formula (4), Pc ═ Fitmax-Fitavg)/Fit; or the like, or, alternatively,
when Pm is 0.4, (Fitmax-Fit) is more than or equal to (Fitmax-Fitavg);
in the formulas (3) and (4), Fitmax and Fitavg are respectively the maximum fitness and the average fitness in a certain generation of chromosome; fit is the fitness of the chromosome to be crossed or mutated, Pc is the cross probability, Pm is the mutation probability.
As can be seen from the above formula, when the population converges to the vicinity of the local optimal solution (Fitmax-Fitavg is smaller), Pm is increased, and the diversity of the population is increased; when the population is dispersed in the solution space (Fitmax-Fitavg is large), Pc is increased, so that the optimal solution can be found as soon as possible, and in addition, Pc and Pm are small for chromosomes with large fitness, so that excellent individuals can be protected; and on the contrary, Pc and Pm are larger, so that the individual with low fitness is continuously updated, and therefore, as the chromosome represents the to-be-selected route, the optimal route can be obtained through the optimization calculation of the formula, and the auxiliary operation can be prompted to select each temporary take-off and landing point and the flight waypoints governed by each temporary take-off and landing point in the Google Earth software and form the route, so that the interactive visualization of the power transmission line, the take-off and landing points and the flight waypoints is realized. Meanwhile, on the basis of the route position walking pattern, each power transmission line can be visited in advance, the trend of the route and the surrounding geographic information can be mastered very clearly, and the pre-flying experience can be provided for the aircraft patrol operation flight.
Meanwhile, the optimized take-off and landing point and flight waypoint coordinates can be converted into CAD two-dimensional coordinate points on the basis of a computer aided design platform, and the CAD is imported in batches according to the multi-segment line command to generate a complete flight line full graph. The CAD graphic layer function is developed, the geographic information and the flight route information of the power transmission line are displayed in a layered mode, the taking-off and landing points and the affiliated flight routes can be screened, displayed and output according to different aircraft patrol tasks issued every year, and the effects of simplicity, practicality and intuition are achieved.
And S4, further performing depth optimization on the flight route, and obtaining the flight path with the shortest expected flight time consumption and the highest online rate according to the route trend, the take-off and landing point position and the performance index parameters of the airplane in the step S3. Wherein, the principle of depth optimization is as follows:
the method is characterized in that the performance parameters of the helicopter and the unmanned aerial vehicle, the line speed of the aircraft patrol, the air flight speed, the flight time of each flight and the like are comprehensively considered, and the optimal selection standard of the flight plan of each take-off and landing point is determined, wherein the optimal selection standard comprises constraint conditions such as the optimal online rate standard of the aircraft patrol, the optimal standard of the flight number, the optimal standard of the oil consumption, the optimal standard of the flight direction and the like.
The constraints are as follows: the online rate of single machine patrol is more than or equal to 85 percent, and the requirement of the online rate index of machine patrol is met; the number of the flying frames (including transition of the line patrol belt) at the take-off and landing point is the minimum, so that the flying operation cost is reduced; the optimal value of the remaining oil quantity of the single-frame line patrol is low, the flight safety risk exists when the remaining oil quantity is too low, and the flight load of the helicopter is increased when the remaining oil quantity is too high, so that the flight economy is influenced. According to flight light-shading habits and inspection environment requirements, generally, the flight trend is from east to west in the morning and from west to east in the afternoon.
The method for obtaining the flight path with the shortest expected flight time and the highest online rate is as follows: obtaining various arrangement combinations of flight plans according to the course trend, the take-off and landing positions and the airplane performance index parameters, taking each arrangement combination mode as an alternative flight plan, dynamically planning the line patrol flight path under each alternative flight plan according to the condition that the line patrol flight path is smaller than the airplane range, and finding out the flight path with the shortest predicted flight time consumption and the highest online rate as a final flight plan.
According to the method, the optimal patrol flight route can be obtained by using the method, meanwhile, the method comprehensively considers the characteristics of the aircraft patrol flight, the arrangement trend of the power transmission line, airspace control and other factors, and optimizes and formulates the optimal patrol flight scheme according to different helicopter patrol task requirements, so that the subjective participation of personnel is reduced, the decision-making period is shortened, the working efficiency is improved, the aircraft patrol operation cost is reduced, and the technical support is provided for the flight patrol operation while the maximum economic benefit is realized.
The effect of the method in the application process is described below by listing a take-off and landing point and different machine patrol plans of the power transmission line.
Table 1: overview of Transmission lines
Table 2: existing conventional alternative flight plans
Table 3: alternative flight plan one obtained by applying the method provided by the invention
Table 4: alternative flight plan two obtained by applying the method provided by the invention
Comparing and optimizing alternative machine patrol flight plans:
TABLE 5 comparison of three alternative flight plans
Through comparative analysis of the above three alternative sets of flight plans, it can be derived: the conventional flight plan has the longest time consumption, the longest flight distance and the largest number of flight frames; the alternative flight plan obtained by the method provided by the invention is more optimized, the time consumption is shortened by more than 8 hours, the air flight distance is reduced by more than 1300 kilometers, and the flight is reduced by 4 times; the alternative flight plan II obtained by the method provided by the invention is an optimized scheme, the time consumption is shortest, the air flight distance is shortest, and the flight number is also least.
Therefore, by applying the method, the online rate index of the line patrol of the helicopter can be obviously improved, compared with the online rate index of 49% of the line patrol operation of other conventional machines, the online rate of the line patrol of each take-off and landing point can reach more than 85% after the method is applied, and a foundation is laid for improving the completion amount of the line patrol operation tasks.
The above embodiments are only for illustrating the technical concept and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention accordingly, and not to limit the protection scope of the present invention accordingly. All equivalent changes or modifications made in accordance with the spirit of the present disclosure are intended to be covered by the scope of the present disclosure.
Claims (8)
1. A method for planning a flight route of an airplane for patrolling a power transmission line is characterized by comprising the following steps:
s1, importing the road tower and station information to be patrolled into satellite map software in batch to form a power transmission line path, adding patrol flying panoramic information on the basis of the power transmission line path, and establishing a machine patrol line panoramic information path;
s2, determining each temporary take-off and landing point and the flight waypoints governed by each temporary take-off and landing point on the online patrol line panoramic information path;
s3, analyzing the temporary take-off and landing points and the flight waypoints governed by the temporary take-off and landing points determined in the step S2 by using a GA optimization algorithm, prompting auxiliary operation to select the temporary take-off and landing points and the flight waypoints governed by the temporary take-off and landing points and forming a course, and realizing interactive visualization of the power transmission line, the take-off and landing points and the flight waypoints;
and S4, obtaining the flight path with the shortest predicted flight time consumption and the highest online rate according to the course trend, the take-off and landing positions and the performance index parameters of the airplane in the step S3.
2. The method for planning the flight route of the aircraft patrol power transmission line according to claim 1, wherein the process of analyzing each temporary take-off and landing point determined in step S2 and the flight route governed by each temporary take-off and landing point by the GA optimization algorithm comprises:
step 1: chromosome structure
The chromosome represents a to-be-selected route, the length of the first particle of the chromosome is recorded by adopting the dynamic chromosome length, the length of the particle is the total number of end points contained in the route, and the particles behind the first particle of the chromosome sequentially represent the end point coordinates of the route track section and have no invalid particles;
step 2: establishing a fitness function
Converting the indexes of the flight path into fitness in the optimizing environment through a fitness function, setting the fitness of a chromosome i as Fit, setting the index value of the corresponding flight path as qi, n as the total number of chromosomes in the group, qmax and qmin as the maximum index value and the minimum index value in the group, base as a chromosome reference index value and s as the accumulated index value of all chromosomes in the group; then there are:
Fit＝qmax-qi+base+s (1)
in formula (1), when s is 0, qmax ≠ qmin; or, when s is qmax, qmax is qmin;
base＝(qmax-qmin)/n (2)
Pc＝(Fitmax-Fitavg)/Fit (3)
in the formula (3), (Fitmax-Fitavg) < Fit; or the like, or, alternatively,
when Pc is 1, then (Fit max-Fitavg) is greater than or equal to Fit
Pm＝0.4×(Fitmax-Fit)/(Fitmax-Fitavg) (4)
In the formula (4), Pc ═ Fitmax-Fitavg)/Fit; or the like, or, alternatively,
when Pm is 0.4, (Fitmax-Fit) is more than or equal to (Fitmax-Fitavg);
in the formulas (3) and (4), Fitmax and Fitavg are respectively the maximum fitness and the average fitness in a certain generation of chromosome; fit is the fitness of the chromosome to be crossed or mutated; pc is cross probability and Pm is mutation probability.
3. The method for planning the flight route of the electric transmission line patrolled by the airplane according to claim 1, wherein in step S3, the method further comprises generating a complete flight route full map by using a computer aided design platform, and displaying the geographical information of the electric transmission line and the flight route information in a layered manner.
4. The method for planning the flight route of the aircraft for patrolling the power transmission line according to claim 1, wherein the step S1 further comprises the steps of dividing and identifying the power transmission line path according to different ground jurisdictions; the patrol and inspection flight panoramic information comprises information of all airspace administration unit ranges, flight difficult areas and flight forbidden areas.
5. The method for planning a flight path of an aircraft patrol transmission line according to claim 1, wherein in step S2, the temporary takeoff and landing point is not more than 35km from the nearest space of the coverage transmission line, not more than 80km from the farthest space of the coverage transmission line, and the linear space distance between two adjacent takeoff and landing points is not more than 150 km.
6. The method for planning the flight route of the aircraft patrol power transmission line according to claim 1, wherein in step S4, the way of obtaining the flight path with the shortest expected flight time and the highest online rate is as follows: obtaining various arrangement combinations of flight plans according to the course trend, the take-off and landing positions and the airplane performance index parameters, taking each arrangement combination mode as an alternative flight plan, dynamically planning the line patrol flight path under each alternative flight plan according to the condition that the line patrol flight path is smaller than the airplane range, and finding out the flight path with the shortest predicted flight time consumption and the highest online rate as a final flight plan.
7. The method for planning the flight path of the aircraft patrol power transmission line according to claim 1, wherein in step S1, the tower and station information is imported into the satellite map software in batch in the form of longitude and latitude coordinates.
8. The method for planning an aircraft patrol power transmission line flight path according to claim 1 or 7, wherein the satellite map software is Google Earth software.
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