CN108332753A - A kind of unmanned plane electric inspection process paths planning method - Google Patents
A kind of unmanned plane electric inspection process paths planning method Download PDFInfo
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- CN108332753A CN108332753A CN201810087630.5A CN201810087630A CN108332753A CN 108332753 A CN108332753 A CN 108332753A CN 201810087630 A CN201810087630 A CN 201810087630A CN 108332753 A CN108332753 A CN 108332753A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
Abstract
The present invention provides a kind of unmanned plane electric inspection process Path Plannings, belong to unmanned plane path planning field.The method that the strategy takes generation and target cable circuit equidistant parallel target pattern according to the distribution situation of target cable circuit, on this basis for starting point in target line, wrong clap during terminating point and the referenced crossing line of wide-angle turning position avoid aircraft wide-angle from turning leaks bat problem.Can the problem of intersecting with cable run for transition course line devise line and only two kinds of Planning Models of line.Exceed the problem of mushing ability for adjacent destination difference in height and devises three kinds of destination switch modes：It slope control pattern, lifting pattern of first spiraling and spirals lifting pattern to point.For avoidance problem during line walking, height inspection is carried out to target line distributed areas by elevation numerical map, is generated and unbroken loop is carried out at flight, big angle of turn to target cable circuit smooth transition and is effectively hidden the inspection circuit of obstacle.
Description
Technical field
The invention belongs to unmanned plane Path Planning Technique fields, and in particular to unmanned plane is advised in the path in power-line patrolling field
It draws.
Background technology
In recent years, the development that China's electric system is advanced by leaps and bounds is predicted according to advisory organization GlobalData, is ended
The year two thousand twenty, Chinese transmission line of electricity total kilometrage will be increased to 1,590,000 kms or more.China is vast in territory, and landform is changeable, especially super
High-tension transmission circuit is distributed in mountain area more, and in the adverse circumstances such as hills, this is created great difficulties to the maintenance and operation of power grid.
For the manual inspection work not only heavy workload in these regions, and the life security of patrol officer can not be protected very well
Barrier.In recent years, the rise of unmanned plane industry brings change to various industries, and the inspection that transmission line of electricity is carried out using unmanned plane is worked
Working efficiency can be effectively improved, line walking cost is reduced, ensures patrol officer's job security, and airborne cloud can be passed through
The image data of platform record discovers the security risk on high-tension line in time.
Currently, being responsible for the aircraft that power-line patrolling mostly uses quadrotor layout, mainly due to being risen under meeting complex environment
Fly, control simple and reliable consideration, but compare Fixed Wing AirVehicle, it the shortcomings that be that flying speed is low, power consumption is big, flies
It is affected by the wind in journey greatly, this brings very big influence to flight control and inspection quality.In conjunction with these problems, the present invention will use
Combined type unmanned plane can make full use of the VTOL advantage of quadrotor and the big voyage of Fixed Wing AirVehicle, fly
The stable characteristic of row process.
Unmanned plane path planning is the basic assurance of unmanned plane during flying safety and task performance, it is desirable that is had high
Dependable with function.It focuses mostly at present in theoretical level for the path planning problem of unmanned plane line walking function, the calculation taken
Fado is based on obstacle avoidance algorithm, this is excessively high to the elevation information degree of understanding requirement of flight environment of vehicle, and these solutions are more
In function simulation stage, there is no well used in engineering.Take the Robot dodge strategy around boomerang that can cause pair simultaneously
In the imperfect problem that target line is maked an inspection tour, complete line walking task can not be efficiently accomplished.And it is found by investigation most absolutely
All there is the contradiction of avoidance and line inspection integrality in several line walking mission planning strategies.
Invention content
It is effective using combined type unmanned plane the object of the present invention is to provide a kind of unmanned plane electric inspection process Path Planning
Ground carries out walkaround inspection to cable run, ensures to the complete of line inspection, while (being flown according to the flight characteristics of current flight device
Scanning frequency degree, turning radius) and angle of turn come formulate turning strategy, guarantee efficiently accomplish complete line walking task, finally utilize
Hypsographic map inquires ground level distribution situation and corrects flying height.
A kind of unmanned plane electric inspection process paths planning method provided by the invention is used and target cable line by unmanned plane
The shooting inspection of the complete paired cable in course line of being diversion of road parallel equidistant, the course line of being diversion with load task are navigated for target
Line.The paths planning method of the present invention further includes following aspect：
(1) flight parameter of unmanned plane, including airline distance, turning radius, minimum angle of turn and flying height are set；
Airline distance refers to target pattern and cable run distance；
(2) angle of turn for checking effective destination on target pattern, if more than the maximum angle of turn of setting, then at this
Transition course line is introduced on effective destination；Unmanned plane first passes through crossing line when by effective destination, then enters back into target boat
Line；
(3) transition course line is introduced in the starting point of target pattern；Unmanned plane enters target by the transition course line of starting point
Course line.
The method of the present invention uses the combined type unmanned plane that fixed-wing is combined with rotor.
In (2), effective destination refers to the point on the course line there are load task, that is, the boat in target pattern
Point；Transition course line is introduced on effective destination, transition course line is rectangle；Enter rectangular transition course line from effective destination, enters
The direction in rectangular transition course line, at 90 degree of angles, ensures that unmanned plane is flying through side last in rectangular transition course line with turn direction
When, heading is adjusted to be consistent with turn direction；The length of side in rectangular transition course line is twice of turning radius；Unmanned plane edge
Rectangular transition course line travels, and finally rectangular transition course line is driven out to from effective destination, into target pattern.
Whether the method intersects with cable run according to transition course line, is provided with line and only two kinds of moulds of line
Formula；But under ray mode, it is desirable that transition course line does not intersect with cable run, cancels the transition intersected with cable run
Course line；Under Go-over mould formula, transition course line can intersect with cable run.
Compared with the existing technology, the advantages and positive effects of the present invention are：
(1) present invention makes full use of the VTOL characteristic of combined type unmanned plane and fixed-wing cruising characteristics to fully ensure that multiple
The feasibility of the walking operation of miscellaneous landform；
(2) present invention in view of in destination handoff procedure angle of turn it is excessive, cause aircraft can not according to airline operation,
Cause leakage to clap wrong the problem of clapping and take certain transition course line at the turning destination of circuit, ensures that the flight path of aircraft can
Completely to surround cable run, and bilateral inspection is carried out to cable run using round-trip course line；
(3) it is the integrality of guarantee line data-logging in the present invention, the present invention considers the height of each line walking line node
Difference problem is cut higher than capability problems of mushing in destination during flight course planning for the height difference between two destinations
It provides point during changing to spiral lifting, lifting of first spiraling, the different strategy that climbs of three kinds of slope control；
(4) present invention uses the strategy of round-trip course line both sides line walking, to avoid line walking line of aircraft during line walking
Road and cable run, which interfere, causes aircraft to be breasted the tape problem, takes line and the only two different path planning sides of line
Formula；
(5) present invention carries out flight line height correction using hypsographic map, solves the integrality of avoidance and line inspection
The problem of contradiction.
Description of the drawings
Fig. 1 is VTOL composite layouts unmanned plane general structure schematic diagram used in the present invention；
Fig. 2 is certain cable run distribution schematic diagram；
Fig. 3 is flight course planning general illustration (but line)；
Fig. 4 is flight course planning partial schematic diagram；
Fig. 5 is flight course planning general illustration (crossing line)；
Fig. 6 is the slope control pattern of destination switching；
Fig. 7 is the climb mode that first spirals of destination switching；
Fig. 8 is spiraling climb mode to putting for destination switching；
Fig. 9 is region elevation numerical map；
Figure 10 is the ground elevation inquiry of course line distributed areas and enroute altitude comparison diagram；
Figure 11 is the ground elevation inquiry of course line distributed areas and enroute altitude comparison diagram after adjustment.
Specific implementation mode
Below in conjunction with attached drawing and example, the present invention is described in further detail.
The groundwork of the present invention is, under the premise of fully meeting task using simple and reliable countermeasures, planning
Go out more effective, more reliable line walking path, and takes certain measure to cope with the larger patrolman of difference in height between two pylons
Make, the ground level distribution of circuit is obtained finally by parsing elevation numerical map and the strategy that flying height is modified is solved
The certainly avoidance problem during aircraft inspection.
Conventional fixed-wing unmanned plane includes fuselage, wing, aileron, trust engine and empennage etc., fuselage interior installation
There are flight control system, power plant and task device etc., wherein flight control system to be used for the flight progress to unmanned plane
Control, power plant are that rotor wing rotation, steering engine rotation etc. provide power.Four rotors are added in combined type unmanned plane on this basis
Ensure that aircraft can possess the VTOL characteristic of gyroplane, as shown in Figure 1, the combined type unmanned plane of the present invention using
It is symmetrical on the downside of wing to install carbon fiber bar additional on the basis of fixed-wing unmanned plane, and fix the cloth of motor and rotor at carbon beam both ends
Office's scheme.
The present invention is a kind of unmanned plane electric inspection process paths planning method, is used by unmanned plane flat with target cable circuit
The shooting inspection of the equidistant complete paired cable in course line of being diversion of row, below claims the be diversion course line equidistant with target cable line parallel
For target pattern or load course line, unmanned plane just executes shooting task on load course line, and the destination on load course line is claimed
For effective destination, effective destination is to ensure to realize to cable run complete scan, it is necessary to accurately by destination.But in course line
On there are when big angle of turn, when unmanned plane is turned can not effective crimping, can cause in this way it is wrong clap the problem of leakage is clapped, therefore, this
Invention introduces rectangular transition course line and realizes that unmanned plane enters target pattern in advance in larger angle of turn, ensures to target electricity
The complete shooting on cable road.
It is the distribution situation of certain cable run as shown in Figure 2, Fig. 3 show the present invention and realized to cable run shown in Fig. 2
A kind of flight course planning, course line is to ensure to be adopted under the premise of preset value 138m, turning radius 100m with cable run distance
What is taken carries out the path planning mode of parallel equidistant planning for target line.Flight turning radius be according to unmanned plane parameter,
The artificial settings such as mission requirements, once setting just suitable for course line turning in need position, the present invention demonstration example
In use the turning radius of 100m.
In starting point (inlet point) and end point position such as Fig. 2 shown in mark, since there are the feelings that heading is mutated
Easily there is the case where course line can not effectively surround cable run in condition, so to take different transition course lines respectively.It is originating
Point position, which uses, exceeds effective destination 3, as shown in Figure 3, and extends outwardly twice along the negative direction of the unmanned plane direction of travel
Destination 2 is inserted into the position of flight turning radius, then turns partly apart from twice of the flight of destination 2 at the direction of 90 degree of angles along with course line
The position of diameter is as starting point, such as destination 1 in Fig. 3.Unmanned plane can be effectively ensured before effective destination 3 from destination 1
Start shooting work into course line, and in initial position.In end point position, strategy identical with starting point is taken, from going out
The integrality of process will be ensured by sending out course line of the course line into the transient process in return course line, using along the point at effective destination 11
Destination 12 is inserted into the extend outwardly position of twice turning radius of direction, then from this point along course-and-bearing at 90 degree of angle sides
It is inserted into destination 13 to the position for twice of the turning radius that extend outwardly, similarly obtains destination 14 and destination 15, final composition is with twice
Flight turning radius is the rectangular transition course line of the length of side.
During line walking, in the case of the angle of turn of intermediate destination is larger, it is greater than 60 degree of preset value, is easily gone out
Situation is clapped in leakage caused by now exceeding unmanned plane cornering ability, using same rectangular transition course line, into transition course-and-bearing
With unmanned plane turn direction at 90 degree of angles, ensure that the edge direction that aircraft finally passes through in transition course line should be protected with turn direction
It holds unanimously, thus accurately by the intermediate destination, as shown in 6 position of destination in Fig. 4.Aircraft enters transition after destination 6 and navigates
Line is adjusted by transition course line, and heading has been adjusted to turn direction in advance before by destination 10.
In view of line walking process Intermediate Course was for avoiding line from having demand, it will using the path planning side of only ray mode
Formula, as shown in Figure 5.Whether the present invention intersects with cable run according to the transition course line of design, is divided into two kinds, if there is handing over
Fork be referred to as line, such as the programme path of Fig. 3, if only line is referred to as without intersecting, such as the programme path of Fig. 5.In Fig. 5, take
Disappeared the rectangular transition course line intersected with cable run.
In view of unmanned plane climbing ability, the requirement with the uncertain cable run of difference in height is followed to meet course line,
Three models (by taking one way as an example) are divided into the handoff procedure of destination in flight course planning：
(1) slope control pattern (acquiescence)：If unmanned plane climbing ability meets the difference in height of two adjacent destinations, using nobody
The pattern that machine directly climbs, as shown in Figure 6.
(2) it first spirals lifting pattern：If unmanned plane climbing ability is unsatisfactory for adjacent destination difference in height, and this section of cable run
It is whole higher, then use unmanned plane to be introduced into the climb mode that spirals in current destination, unmanned plane is first according to preset flying radius
Rise to target destination height, re-enter course line, as shown in Figure 7.
(3) it spirals lifting pattern to point：If unmanned plane climbing ability is unsatisfactory for adjacent destination difference in height, and this section of cable
Road is integrally relatively low, then unmanned plane is used first to navigate to the climb mode that spirals, unmanned plane is put according to current destination altitude to target
Point, and target destination height is risen to according to default turning radius, as shown in Figure 8.
Specific cable run is integrally higher or relatively low, and predeterminable threshold value judges, such as threshold value A is arranged, when more than A
Whole higher, otherwise whole relatively low, the numerical value needs of A are arranged according to expertise or reference experiment, unmanned plane parameter etc..
Finally for the course line cooked up according to the elevation numerical map in the region, as shown in figure 9, carrying out ground elevation reading
It takes, draws elevation tendency chart, red line part as shown in Figure 10 is airline operation height, and example is set as 875m flying heights, green
Line part is the ground level distribution situation of course line distributed areas, and as can be seen from the figure current flight height can not meet winged
Row requires, so carrying out course line for dangerous point position in course line carries out flying height adjustment, Figure 11 is that the elevation after adjustment becomes
Gesture figure, avoidance requirement can be met by hiding obstacle not only by adjusting dangerous point height, but also can solve the circuit caused by avoidance that is diversion
Make an inspection tour incomplete problem.
It can meet to the unbroken loop of target line around flight, for the smoothed of small angle of turn by the above strategy
It crosses, avoids the requirement interfered with cable run, while solving the contradiction of avoidance and line inspection integrity demands.
The workflow of unmanned plane electric inspection process path planning is in the present invention：
(1) unmanned plane during flying parameter is set, including：Airline distance, turning radius, flying height etc..
(2) line walking circuit is imported, and according to demand, maximum angle of turn is selected, if certain effective destination on target pattern
Angle of turn is more than the angle, just introduces transition course line in effective destination, the value for giving tacit consent to maximum angle of turn is 45；Then it selects
It selects and whether crosses line.
(3) line walking course line is imported according to above-mentioned rule, and is examined in beginning destination, terminate destination and big angle of turn
Whether transition destination meets complete line walking requirement after importing at destination.
(4) it is directed to the excessive problem of adjacent destination height difference, corresponding destination switch mode is set as desired, is paid attention to
For the symmetrical destination in round-trip course line, the switch mode of destination is opposite, such as from destination 4 to the switching mould of destination 5 in Fig. 3
Formula is spiraled lifting to point, then being exactly lifting of first spiraling from destination 26 to the switch mode of destination 27.
(5) elevation inquiry is carried out using elevation numerical map to course line distributed areas, obtains ground level distribution situation, and
The flying height of the adjustment each destination in course line is required for safe altitude.
The basic principles and main features and advantages of the present invention of the present invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (7)
1. a kind of unmanned plane electric inspection process paths planning method, which is characterized in that including：
(1) unmanned plane uses the shooting inspection of the be diversion course line complete paired cable equidistant with target cable line parallel, the tool
It is target pattern to have the rich flight line of load task；
(2) flight parameter of unmanned plane, including airline distance, turning radius, minimum angle of turn and flying height are set；Course line
Distance refers to target pattern and cable run distance；
(3) angle of turn for checking effective destination on target pattern, it is if more than the maximum angle of turn of setting, then effective at this
Transition course line is introduced on destination；Unmanned plane first passes through crossing line, then enters back into target pattern when by effective destination；
(4) transition course line is introduced in the starting point of target pattern；Unmanned plane enters target pattern by the transition course line of starting point；
(5) target pattern forms planned polling path with transition course line.
2. a kind of unmanned plane electric inspection process paths planning method according to claim 1, which is characterized in that the method is adopted
The combined type unmanned plane being combined with rotor with fixed-wing.
3. a kind of unmanned plane electric inspection process paths planning method according to claim 1, which is characterized in that (2)
In, transition course line is introduced on effective destination, transition course line is rectangle；Enter rectangular transition course line from effective destination, enters
The direction in rectangular transition course line, at 90 degree of angles, ensures that unmanned plane is flying through side last in rectangular transition course line with turn direction
When, direction is adjusted to be consistent with turn direction；The length of side in rectangular transition course line is twice of turning radius；Unmanned plane is along rectangle
Transition course line travels, and finally rectangular transition course line is driven out to from effective destination, into target pattern.
4. a kind of unmanned plane electric inspection process paths planning method according to claim 1, which is characterized in that (3)
In, introducing transition course line in starting point is specifically：If the starting point of target pattern is labeled as destination 3, in destination 3 along unmanned plane row
Into the extend outwardly position of twice turning radius of negative direction be inserted into destination 2, then along with course line at the direction distance of 90 degree of angles
Destination 1 is inserted into the position of twice of the flight turning radius of destination 2；The transition course line is along destination 1 to destination 2, then along destination 2 to boat
Point 3.
5. a kind of unmanned plane electric inspection process paths planning method according to claim 1 or 3, which is characterized in that described
Whether method intersects with cable run according to transition course line, is provided with line and only line both of which；But ray mode
Under, it is desirable that transition course line does not intersect with cable run, cancels the transition course line intersected with cable run；Go-over mould formula
Under, transition course line can intersect with cable run.
6. a kind of unmanned plane electric inspection process paths planning method according to claim 1, which is characterized in that the method
The problem of whether meeting adjacent destination difference in height for unmanned plane climbing ability, for unmanned plane setting, there are three types of destinations to switch mould
Formula：
(1) slope control pattern refers to：If unmanned plane climbing ability meets the difference in height of two adjacent destinations, straight using unmanned plane
Connect the pattern climbed；
(2) it first spirals lifting pattern, refers to：If unmanned plane climbing ability is unsatisfactory for adjacent destination difference in height, and this section of cable
Road is integrally higher, then unmanned plane first rises to target destination height, re-enter course line according to preset flying radius；
(3) to lifting pattern of spiraling is put, refer to：If unmanned plane climbing ability is unsatisfactory for adjacent destination difference in height, and this section of cable
Circuit is integrally relatively low, then unmanned plane first climbs according to current destination altitude to target destination, and according to default turning radius
To target destination height.
7. a kind of unmanned plane electric inspection process paths planning method according to claim 1, which is characterized in that the method
For the polling path planned, obtain the elevation numerical map in corresponding ground region, check each destination flying height whether
Meet safe altitude, the flying height of unmanned plane is adjusted when being unsatisfactory for.
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