CN108332753B - Unmanned aerial vehicle power inspection path planning method - Google Patents
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Abstract
The invention provides an unmanned aerial vehicle power inspection path planning strategy, and belongs to the field of unmanned aerial vehicle path planning. The strategy adopts a method for generating a target route which is equidistant and parallel to the target cable line according to the distribution condition of the target cable line, and introduces a transition route to a starting point, an end point and a large-angle turning position in the target line on the basis to avoid the problem of wrong shooting and missed shooting in the large-angle turning process of the airplane. Two planning modes of passing and not passing are designed aiming at the problem of whether the transition route can be crossed with the cable route. Three waypoint switching modes are designed aiming at the problem that the altitude difference of adjacent waypoints exceeds the climbing capacity of an airplane: a grade control mode, a hover-first ascent mode, and a hover-to-point ascent mode. Aiming at the problem of obstacle avoidance in the process of line patrol, the height of a target line distribution area is checked through an elevation digital map, and a patrol line which can completely fly around a target cable line, stably transit at a large turning angle and effectively avoid obstacles is generated.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle path planning, and particularly relates to path planning of an unmanned aerial vehicle in the field of power line patrol.
Background
In recent years, the electric power system in China is developed rapidly, and according to the forecast of a GlobalData consulting organization, the total mileage of the electric transmission line in China is increased to more than 159 thousands of meters by 2020. China is vast, the terrain is changeable, and especially, ultrahigh voltage transmission lines are mostly distributed in severe environments such as mountainous areas, hills and the like, which causes great difficulty in the maintenance and operation of power grids. The manual inspection work of the areas has large workload, and the life safety of inspection personnel cannot be well guaranteed. In recent years, the rise of the unmanned aerial vehicle industry brings changes to various industries, the unmanned aerial vehicle is utilized to carry out the routing inspection work of the power transmission line, the work efficiency can be effectively improved, the line inspection cost is reduced, the work safety of routing inspection personnel is guaranteed, and the potential safety hazard on the high-voltage line can be timely noticed through the image data recorded by the airborne cloud deck.
At present, the aircraft which is responsible for electric power inspection and adopts four-rotor layout mainly aims at meeting the requirements of taking off under complex environment and considering simple and reliable control, but compared with a fixed-wing aircraft, the aircraft has the defects of low flying speed, large power consumption and large wind influence in the flying process, and brings great influence on flying control and inspection quality. The invention combines the problems and adopts a composite unmanned aerial vehicle, and can fully utilize the vertical take-off and landing advantages of a four-rotor aircraft and the characteristics of large range and stable flight process of a fixed-wing aircraft.
The unmanned aerial vehicle path planning is the fundamental guarantee of the flight safety and the task completion condition of the unmanned aerial vehicle, and is required to have high reliability and practicability. At present, the path planning problem aiming at the line patrol function of the unmanned aerial vehicle is mostly concentrated on a theoretical level, the adopted algorithm is mainly an obstacle avoidance algorithm, the requirement on the degree of understanding of the altitude information of the flight environment is high, and the solutions are mostly in a function simulation stage and are not well applied to engineering. Meanwhile, the adoption of a flying-around type obstacle avoidance strategy can cause the incomplete problem of target line inspection, and the complete line inspection task cannot be effectively completed. And investigation shows that most of the line patrol task planning strategies have contradictions between obstacle avoidance and line patrol integrity.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle power inspection path planning strategy, which is characterized in that a composite unmanned aerial vehicle is utilized to effectively inspect a cable line in an inspection mode, the completeness of line inspection is guaranteed, meanwhile, a turning strategy is formulated according to the flight characteristics (flight speed and turning radius) and the turning angle of the current aircraft, the complete line inspection task is guaranteed to be effectively completed, and finally, an elevation map is utilized to inquire the ground height distribution condition and correct the flight height.
The invention provides a planning method for an unmanned aerial vehicle power inspection path. The path planning method of the invention also comprises the following steps:
(1) setting flight parameters of the unmanned aerial vehicle, including a course distance, a turning radius, a minimum turning angle and a flight height; the route distance refers to the distance between a target route and a cable route;
(2) checking the turning angle of an effective waypoint on the target route, and if the turning angle is greater than the set maximum turning angle, introducing a transition route into the effective waypoint; when the unmanned aerial vehicle passes through the effective waypoint, the unmanned aerial vehicle firstly passes through the transition route and then enters the target route;
(3) introducing a transition route at the starting point of the target route; and the unmanned aerial vehicle enters the target route through the transition route of the starting point.
The method adopts a composite unmanned aerial vehicle combining a fixed wing and a rotor wing.
In the step (2), the effective waypoint refers to a point on a route where a load task exists, namely a waypoint in a target route; introducing a transition route on the effective waypoint, wherein the transition route is rectangular; entering a rectangular transition route from the effective waypoint, wherein the direction of entering the rectangular transition route and the turning direction form a 90-degree included angle, so that the flying direction of the unmanned aerial vehicle is adjusted to be consistent with the turning direction when the unmanned aerial vehicle flies through the last side of the rectangular transition route; the side length of the rectangular transition route is twice of the turning radius; and the unmanned aerial vehicle drives along the rectangular transition route, and finally drives out the rectangular transition route from the effective waypoint to enter the target route.
The method is provided with two modes of passing and not passing according to whether a transition route is crossed with a cable route or not; in the line mode, however, the transition route is required not to be crossed with the cable line, and the transition route crossed with the cable line is cancelled; in the wire passing mode, the transition wire line can be crossed with the cable line.
Compared with the prior art, the invention has the advantages and positive effects that:
(1) the invention fully utilizes the vertical take-off and landing characteristic and the fixed wing cruise characteristic of the composite unmanned aerial vehicle to fully ensure the feasibility of line patrol operation of complex terrains;
(2) the method takes a certain transitional route at the turning waypoint of the route in consideration of the problems that the aircraft cannot fly according to the route due to overlarge turning angle in the waypoint switching process and missed and wrong shooting are caused, ensures that the flight path of the aircraft can completely surround the cable route, and utilizes the round-trip route to carry out bilateral inspection on the cable route;
(3) in order to ensure the integrity of line routing inspection, the invention considers the problem of the altitude difference of each routing inspection line node, provides three different climbing strategies of hovering to a point in the switching process of waypoints, first hovering and controlling the gradient, aiming at the problem that the altitude difference between two waypoints is higher than the climbing capacity of an airplane in the routing process;
(4) the invention adopts the strategy of line patrol at two sides of a round trip route, and adopts two different path planning modes of line passing and line non-passing in order to avoid the problem of line collision of the aircraft caused by interference between line patrol lines and cable lines in the line patrol process of the aircraft;
(5) the invention utilizes the elevation map to correct the flight height of the line, and solves the problem of the integrity contradiction between obstacle avoidance and line inspection.
Drawings
FIG. 1 is a schematic diagram of the general structure of a vertical take-off and landing combined layout unmanned aerial vehicle used in the present invention;
FIG. 2 is a schematic diagram of a cabling arrangement;
FIG. 3 is a general schematic of route planning (not shown);
FIG. 4 is a partial schematic view of route planning;
FIG. 5 is a general schematic of route planning (line passing);
FIG. 6 is a grade control mode for waypoint switching;
FIG. 7 is a first hover climb mode for waypoint switching;
FIG. 8 is a point-to-point hover climb mode of waypoint switching;
FIG. 9 is a digital map of elevation of an area;
FIG. 10 is a plot of ground elevation queries versus airline heights for an airline distribution area;
FIG. 11 is a plot of ground elevation queries versus lane height for an adjusted lane distribution area.
Detailed Description
The invention will be described in further detail below with reference to the drawings and examples.
The invention mainly works in that on the premise of fully meeting the task by using a simple and reliable flight strategy, a more effective and more reliable line patrol path is planned, certain measures are taken to deal with the line patrol work with a larger height difference between two electric towers, and finally the obstacle avoidance problem in the process of the inspection of the aircraft is solved by analyzing an altitude digital map to obtain the ground altitude distribution of the line and correcting the flight altitude.
Conventional fixed wing unmanned aerial vehicle includes fuselage, wing, aileron, thrust engine and fin etc. and fuselage internally mounted has flight control system, power device and mission equipment etc. and wherein flight control system is used for controlling unmanned aerial vehicle's flight, and power device provides power for rotor rotation, steering wheel rotation etc.. On the basis of the composite unmanned aerial vehicle, four rotors are added to ensure that the aircraft can have the vertical take-off and landing characteristics of the rotorcraft, and as shown in figure 1, the composite unmanned aerial vehicle adopts a layout scheme that carbon fiber rods are symmetrically and additionally arranged on the lower sides of the wings on the basis of a fixed-wing unmanned aerial vehicle, and motors and the rotors are fixed at two ends of the carbon rods.
The invention relates to a method for planning a power inspection path of an unmanned aerial vehicle, which is characterized in that the unmanned aerial vehicle adopts a parallel and equidistant winding flight line with a target cable line to finish the shooting and inspection of a cable, the parallel and equidistant winding flight line with the target cable line is called a target route or a load route, the unmanned aerial vehicle executes a shooting task on the load route, a waypoint on the load route is called an effective waypoint, and the effective waypoint is a waypoint which must be accurately passed in order to ensure the realization of the complete scanning of the cable line. However, when a large turning angle exists on the aerial route, the unmanned aerial vehicle cannot effectively press the line when turning, and the problem of wrong shooting and missed shooting can be caused.
Fig. 2 shows the distribution of a certain cable line, and fig. 3 shows a route planning implemented by the present invention for the cable line shown in fig. 2, where the route is a path planning method for parallel equidistant planning of a target line on the premise of ensuring that the distance between the route and the cable line is 138m, and the turning radius is 100 m. The turning radius of the flight is set manually according to parameters of the unmanned aerial vehicle, task requirements and the like, once the turning radius is set, the turning radius is suitable for all positions needing turning in the air route, and the turning radius of 100m is adopted in the demonstration example of the invention.
As shown in fig. 2, the positions of the starting point (entry point) and the end point are marked, and since there is a case where the flight direction changes suddenly, it is very easy for the flight path to effectively surround the cable line, different transition flight paths are adopted. And adopting a position exceeding the effective waypoint 3 at the starting point position, as shown in figure 3, inserting a waypoint 2 at a position extending outwards twice the flight turning radius in the direction opposite to the advancing direction of the unmanned aerial vehicle, and taking a position which is away from the waypoint 2 by twice the flight turning radius in the direction forming an included angle of 90 degrees with the air route as the starting point, as waypoint 1 in figure 3. Starting from the waypoint 1, the unmanned aerial vehicle can be effectively ensured to enter the air route before the effective waypoint 3, and the shooting work is started at the initial position. And adopting the same strategy as the starting point at the position of the ending point, inserting a waypoint 12 at a position which extends twice of turning radius outwards along the direction of the effective waypoint 11 when the waypoint needs to ensure the integrity of the process in the transition process from the starting route to the return route, then inserting a waypoint 13 at a position which extends twice of turning radius outwards along the direction of the route at an included angle of 90 degrees from the effective waypoint, obtaining a waypoint 14 and a waypoint 15 in the same way, and finally forming the rectangular transition route with twice of flight turning radius as the side length.
In the line patrol process, for the condition that the turning angle of the middle waypoint is large, for example, the turning angle is 60 degrees larger than the preset value, the condition of missed shooting caused by exceeding the turning capability of the unmanned aerial vehicle is easy to occur, the same rectangular transition route is adopted, the direction of the transition route and the turning direction of the unmanned aerial vehicle form an included angle of 90 degrees, the edge direction where the aircraft finally passes in the transition route is ensured to be consistent with the turning direction, and therefore the aircraft can accurately pass through the middle waypoint, as shown in the position of waypoint 6 in fig. 4. The aircraft enters the transition route after passing through the waypoint 6, and the flight direction is adjusted to the turning direction in advance before passing through the waypoint 10 through the adjustment of the transition route.
Considering that the line requires to avoid passing the line in the line patrol process, a path planning mode without passing the line will be adopted, as shown in fig. 5. The invention is divided into two types according to whether the designed transition route intersects with the cable line, if the intersection exists, the route is called as the passing line for short, such as the planned route shown in figure 3, and if the intersection does not exist, the route is called as the non-passing line for short, such as the planned route shown in figure 5. In fig. 5, the rectangular transition route crossing the cabling is eliminated.
In view of the climbing capability of the unmanned aerial vehicle, in order to meet the requirement that a flight route is to follow a cable route with uncertain height difference, the switching process of the flight points in the flight route planning is divided into three modes (taking a single-way as an example):
(1) grade control mode (default): if the climbing capacity of the unmanned aerial vehicle meets the height difference between two adjacent waypoints, the mode that the unmanned aerial vehicle directly climbs is adopted, as shown in fig. 6.
(2) Firstly, a spiral lifting mode: if the climbing capacity of the unmanned aerial vehicle does not meet the altitude difference between adjacent waypoints and the whole part of the cable line is higher, the unmanned aerial vehicle firstly enters a hovering climbing mode at the current waypoint, climbs to the height of the target waypoint according to the preset flying radius and then reenters the air route, as shown in fig. 7.
(3) Reaching point hover lift mode: if the climbing capability of the unmanned aerial vehicle does not meet the altitude difference between adjacent waypoints and the whole section of cable line is low, the unmanned aerial vehicle is in a circle climbing mode to a point, the unmanned aerial vehicle firstly flies to a target waypoint according to the current waypoint altitude and climbs to the target waypoint altitude according to a preset turning radius, as shown in fig. 8.
The whole height or the low of specific cable run, the threshold value of predetermineeing judges, for example sets up threshold value A, and whole height when exceeding A is whole, otherwise whole low, and A's numerical value needs to set up according to expert's experience or reference experiment, unmanned aerial vehicle parameter etc..
And finally, reading ground elevation according to an elevation digital map of the planned route in the area as shown in fig. 9, and drawing an elevation trend graph, wherein a red line part is the flight height of the route as shown in fig. 10, the flight height is set to 875m as an example, and a green line part is the ground height distribution condition of the route distribution area, and it can be seen from the graph that the current flight height cannot meet the flight requirement, so that the flight height of the route is adjusted according to the position of a dangerous point in the route, and fig. 11 is the adjusted elevation trend graph, so that the obstacle avoidance requirement can be met by adjusting the height of the dangerous point, and the problem of incomplete route inspection caused by obstacle avoidance around the route can be solved.
The method can meet the requirement of complete surrounding flight of the target line, avoids the interference with the cable line for the smooth transition of small turning angles, and solves the contradiction between obstacle avoidance and the requirement of line inspection integrity.
The unmanned aerial vehicle power inspection path planning work flow comprises the following steps:
(1) set up unmanned aerial vehicle flight parameter, include: course distance, turning radius, flying height, etc.
(2) Leading in a line patrol line, selecting a maximum turning angle according to requirements, and if the turning angle of an effective waypoint on a target waypoint is greater than the angle, introducing a transition route at the effective waypoint, and defaulting that the value of the maximum turning angle is 45; and then selects whether to cross the line.
(3) And leading in a line patrol route according to the rule, and sequentially checking whether the leading-in of the starting waypoint, the ending waypoint and the transition waypoint at the waypoint with the large turning angle meets the complete line patrol requirement.
(4) For the problem of excessive height difference between adjacent waypoints, a corresponding waypoint switching mode is set as required, and it is noted that for symmetrical waypoints of the round-trip route, the waypoint switching mode is the opposite, for example, the switching mode from waypoint 4 to waypoint 5 in fig. 3 is to point hover for lift, and the switching mode from waypoint 26 to waypoint 27 is to first hover for lift.
(5) And performing elevation query on the airline distribution area by using an elevation digital map to obtain the ground height distribution condition, and adjusting the flight height of each waypoint of the airline according to the safety height requirement.
The foregoing shows and describes the general principles and features of the present invention, together with the advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (5)
1. The utility model provides an unmanned aerial vehicle electric power inspection path planning method which is characterized in that includes:
(1) the unmanned aerial vehicle adopts a flying line parallel to and equidistant from a target cable line to complete shooting and inspection of the cable, and the flying line with a load task is the target line;
(2) setting flight parameters of the unmanned aerial vehicle, including a course distance, a turning radius, a minimum turning angle and a flight height; the route distance refers to the distance between a target route and a cable route;
(3) checking the turning angle of an effective waypoint on the target route, and if the turning angle is greater than the set maximum turning angle, introducing a transition route into the effective waypoint; when the unmanned aerial vehicle passes through the effective waypoint, the unmanned aerial vehicle firstly passes through the transition route and then enters the target route; the method comprises the following steps that a transition route is introduced to an effective waypoint, and the transition route is rectangular; entering a rectangular transition route from the effective waypoint, wherein the direction of entering the rectangular transition route and the turning direction form a 90-degree included angle, so that the direction of the unmanned aerial vehicle is adjusted to be consistent with the turning direction when the unmanned aerial vehicle flies through the last side of the rectangular transition route; the side length of the rectangular transition route is twice of the turning radius; the unmanned aerial vehicle drives along the rectangular transition route, and finally drives out the rectangular transition route from the effective waypoint and enters the target route;
(4) introducing a transition route at the starting point of the target route; the unmanned aerial vehicle enters a target route through a transition route of the starting point; the introduction of the transition route at the starting point specifically comprises the following steps: setting the starting point of the target route as a waypoint 3, inserting a waypoint 2 at a position where the waypoint 3 extends outwards twice the turning radius along the opposite direction of the advancing direction of the unmanned aerial vehicle, and then inserting a waypoint 1 at a position which is away from the waypoint 2 twice the turning radius along the direction forming an included angle of 90 degrees with the route; the transition route is from a waypoint 1 to a waypoint 2 and then from the waypoint 2 to a waypoint 3;
(5) and the target route and the transition route form a planned inspection path.
2. The method for planning the power inspection path of the unmanned aerial vehicle according to claim 1, wherein the method uses a composite unmanned aerial vehicle with a combination of fixed wings and rotary wings.
3. The unmanned aerial vehicle power inspection path planning method of claim 1, wherein the method is provided with two modes of passing and not passing according to whether a transition route intersects with a cable line; in the line mode, however, the transition route is required not to be crossed with the cable line, and the transition route crossed with the cable line is cancelled; in the wire passing mode, the transition wire line can be crossed with the cable line.
4. The method for planning the power inspection path of the unmanned aerial vehicle according to claim 1, wherein three waypoint switching modes are set for the unmanned aerial vehicle according to whether the climbing capacity of the unmanned aerial vehicle meets the altitude difference between adjacent waypoints:
(1) the gradient control mode means: if the climbing capacity of the unmanned aerial vehicle meets the height difference between two adjacent waypoints, adopting a mode of directly climbing by the unmanned aerial vehicle;
(2) the first spiral lifting mode is as follows: if the climbing capacity of the unmanned aerial vehicle does not meet the height difference of adjacent waypoints and the cable line between the adjacent waypoints is higher overall, the unmanned aerial vehicle climbs to the height of the target waypoint according to a preset flight radius and then reenters the route;
(3) the up-down mode of the circle to point is as follows: if the climbing capacity of the unmanned aerial vehicle does not meet the height difference of the adjacent waypoints and the cable line between the adjacent waypoints is low overall, the unmanned aerial vehicle flies to the target waypoint according to the height of the current waypoint and climbs to the height of the target waypoint according to the preset turning radius.
5. The method for planning the power inspection path of the unmanned aerial vehicle according to claim 1, wherein the method acquires an elevation digital map corresponding to a ground area for the planned inspection path, checks whether the flying height of each waypoint meets a safety height, and adjusts the flying height of the unmanned aerial vehicle when the flying height of each waypoint does not meet the safety height.
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