CN110888452B - Obstacle avoidance method for autonomous flight of unmanned aerial vehicle power inspection - Google Patents
Obstacle avoidance method for autonomous flight of unmanned aerial vehicle power inspection Download PDFInfo
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- CN110888452B CN110888452B CN201811058403.6A CN201811058403A CN110888452B CN 110888452 B CN110888452 B CN 110888452B CN 201811058403 A CN201811058403 A CN 201811058403A CN 110888452 B CN110888452 B CN 110888452B
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The invention discloses an obstacle avoidance method for unmanned aerial vehicle power patrol autonomous flight, which comprises the following steps: constructing a flight forbidden region to prevent the unmanned aerial vehicle from crashing due to unreasonable path planning, wherein the flight forbidden region omega is in a routing inspection space psi, the routing inspection space psi is a closed space with sufficient surveying and mapping data, and the boundary of the routing inspection space psi is determined by the boundary of the surveying and mapping data, the technical index of an unmanned aerial vehicle system, the space coordinate of the power facility to be routed and the like; and yaw correction, namely automatically correcting and returning to a preset route or performing original route return according to a reverse vector route of early wireless transmission when the unmanned aerial vehicle deviates from the preset route. The invention solves the problem that the existing unmanned aerial vehicle has poor autonomous obstacle avoidance capability in the power patrol autonomous flight process.
Description
Technical Field
The invention relates to the field of power transmission equipment detection, in particular to an obstacle avoidance method for unmanned aerial vehicle power inspection autonomous flight.
Background
Along with the development of society, the scope of unmanned aerial vehicle application is more and more wide, especially in the transmission line inspection process, provides a lot of facilities, and domestic transmission line dispersion, area are wide, and the topography is complicated, and natural environment is abominable. The power line and the pole tower accessories are exposed outdoors for a long time, and are damaged by continuous mechanical tension, lightning flashover, material aging, artificial influence, tower falling, strand breaking, abrasion, corrosion and the like, and must be repaired or replaced in time. The insulator is damaged by lightning stroke, the power transmission line is discharged due to the growth of trees, the tower is stolen, and other accidents are also required to be timely handled. The traditional manual inspection method is large in workload and hard in conditions, and particularly for inspection of power transmission lines in mountainous areas and across large rivers and inspection of the power transmission lines during ice disasters, flood disasters, earthquakes, landslides and nights, the time is long, the labor cost is high, the difficulty is high, and the risk is high, so that the unmanned aerial vehicle tends to inspect the lines.
Unmanned aerial vehicle receives the threat of circuit, trees, pylon and portable barrier at autonomic flight in-process, in case unmanned aerial vehicle hits the barrier and will cause unmanned aerial vehicle damage or even crash, if unmanned aerial vehicle touches the condition such as the short circuit that transmission line will be caused to the transmission line, opens circuit, seriously influences power transmission and causes great economic loss, so need unmanned aerial vehicle can avoid the barrier automatically.
Disclosure of Invention
The embodiment of the invention aims to provide an obstacle avoidance method for power inspection autonomous flight of an unmanned aerial vehicle, which is used for solving the problem that the existing unmanned aerial vehicle is poor in autonomous obstacle avoidance capability in the power inspection autonomous flight process.
In order to achieve the above object, an embodiment of the present invention provides an obstacle avoidance method for autonomous flight of an unmanned aerial vehicle in power inspection, where the obstacle avoidance method for autonomous flight of the unmanned aerial vehicle in power inspection includes:
the method comprises the following steps of constructing a flight-forbidden region, preventing the unmanned aerial vehicle from crashing due to unreasonable path planning, wherein the flight-forbidden region omega is in a routing inspection space psi, the routing inspection space psi is a closed space with sufficient mapping data, the boundary of the routing inspection space psi is determined by the boundary of the mapping data, the technical index of an unmanned aerial vehicle system, the space coordinate of an electric power facility to be routed and the like, and the flight-forbidden region omega mainly comprises the following three parts:
1)Ω 1 : the flight forbidding subspace comprises the earth surface and ground objects (not to-be-patrolled power grid equipment);
2)Ω 2 : the flying-forbidden subspace comprises a line tower;
3)Ω 3 : the total no-fly area is a union set of all no-fly subspaces;
and yaw correction, namely automatically correcting to return to a preset route or performing original route return according to a reverse vector route of early wireless transmission when the unmanned aerial vehicle deviates from the preset route.
Preferably, the flight-forbidden subspace Ω 1 The method comprises the following steps:
1) Extracting a point cloud subset tau of classification results of ground points, ground structures (buildings, bridges, railways, roads and the like), vegetation and the like from classification results of LiDAR measurement point cloud data 10 Determining an elevation increment Δ z 1 To τ 10 Increase in elevation value of all scattering points by Δ z 1 Obtaining a point cloudSet tau 1 ；
2) For point cloud subset tau 1 Three-dimensional surface reconstruction based on Delaunay triangulation is carried out to obtain a curved surface gamma 1 ；
3) Based on three-dimensional curved surface gamma 1 And constructing a closed flight forbidden subspace omega by the boundary surface of the routing inspection flight space psi 1 。
Preferably, the flight forbidden subspace Ω 2 The method comprises the following steps:
1) Extracting a point cloud subset tau of an iron tower, an accessory insulator and the like from the classification result of LiDAR measuring point cloud data 20 ；
2) Will tau 20 Partitioning into datasets { τ } in steps of fixed length by elevation 20 | i },i＝1,2,3,…,K；
3) For each data set τ 20 | i Projecting to a northeast plane (a coordinate system of the northeast), calculating an outer boundary point set of the projected data, fitting a curve, increasing certain distances to the x and y coordinates outwards along the direction of a perpendicular line of the fitted curve to perform integral external expansion to obtain a data set tau 20 | i Extended projection boundary of i ；
4) With l i The straight line segment is a collimation line, is parallel to the zenith direction and has a fixed length and is a bus to obtain a cylindrical surface. The cylindrical surface and the upper and lower bottom surfaces form a closed curved surface gamma 2 | i ；
5) Closed curved surface gamma 2 | i The internal space is omega 2 | i No flying subspace
Preferably, the flight-forbidden subspace Ω 3 The method comprises the following steps:
1) Extracting point cloud subsets tau of wires, ground wires, drainage wires and the like from classification results of LiDAR measurement point cloud data 30 Subset of point clouds τ 30 Is a discrete three-dimensional curve;
2) Determining the radius Δ r 3 At τ to 30 The three-dimensional curve being described as an axisHeart, calculated radius Δ r 3 Of cylindrical surface Γ 3 ；
3) Based on three-dimensional curved surface gamma 3 And constructing a closed flight forbidden subspace omega by the boundary surface of the routing inspection flight space psi 3 。
Preferably, the no-fly zone divides the three-dimensional real scene into basic cells formed by cubes with fixed length as side length by adopting a network construction mode, and the basic cells are used for avoiding potential danger caused by equipment errors.
Preferably, in the yaw correction process, when a communication interruption occurs, the original path return is performed according to a reverse vector path of early-stage wireless transmission.
Preferably, in the yaw correction process, when the system judges that the unmanned aerial vehicle fails to reach an expected vector line navigation break point cell at a certain navigation point according to the RTK position feedback, the unmanned aerial vehicle autonomously navigates back to the previous vector line navigation break point cell.
Preferably, in the yaw correction process, the unmanned aerial vehicle deviates from the cell sequence predicted by the system between the two navigation points due to unpredictable factors such as windage yaw and the like, returns to the cell sequence predicted by the system according to the shortest path, and continues to fly according to the cells guided by the navigation vector line in the planned shortest path.
The embodiment of the invention has the following advantages:
the embodiment of the invention discloses an obstacle avoidance method for autonomous flight of unmanned aerial vehicle power inspection, which ensures that an unmanned aerial vehicle cannot touch a known obstacle in the autonomous flight process by constructing a flight forbidden region, and can automatically correct a flight line to continue flying or return to the original path along a reverse vector path of early-stage wireless transmission when the unmanned aerial vehicle deviates from the flight line or encounters a dynamic obstacle under the influence of external force, thereby improving the operation quality of the unmanned aerial vehicle and preventing a line body from being damaged and the unmanned aerial vehicle from crashing.
Detailed Description
The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.
Examples
The embodiment discloses an obstacle avoidance method for autonomous flight of unmanned aerial vehicle power patrol, which comprises the following steps:
the method comprises the following steps of constructing a flight-forbidden region, preventing the unmanned aerial vehicle from crashing due to unreasonable path planning, wherein the flight-forbidden region omega is in a routing inspection space psi, the routing inspection space psi is a closed space with sufficient mapping data, the boundary of the routing inspection space psi is determined by the boundary of the mapping data, the technical index of an unmanned aerial vehicle system, the space coordinate of an electric power facility to be routed and the like, and the flight-forbidden region omega mainly comprises the following three parts:
1)Ω 1 : the flight forbidding subspace comprises the earth surface and ground objects (not to-be-patrolled power grid equipment);
2)Ω 2 : the flying-forbidden subspace comprises a line tower;
3)Ω 3 : the total no-fly area is a union set of all no-fly subspaces;
and yaw correction, namely automatically correcting to return to a preset route or performing original route return according to a reverse vector route of early wireless transmission when the unmanned aerial vehicle deviates from the preset route.
The flight-forbidden subspace omega 1 The method comprises the following steps:
1) Extracting a point cloud subset tau of classification results of ground points, ground structures (buildings, bridges, railways, roads and the like), vegetation and the like from classification results of LiDAR measurement point cloud data 10 Determining an elevation increment Δ z 1 To τ 10 Increase of elevation value of all scattering points by Δ z 1 Obtaining a point cloud subset τ 1 ；
2) For point cloud subset tau 1 Three-dimensional surface reconstruction based on Delaunay triangulation is carried out to obtain a curved surface gamma 1 ；
3) Based on three-dimensional curved surface gamma 1 And constructing a closed flight forbidden subspace omega by the boundary surface of the routing inspection flight space psi 1 。
The flight-forbidden subspace omega 2 The method comprises the following steps:
1) Extracting a point cloud subset tau of an iron tower, an accessory insulator and the like from a classification result of LiDAR measuring point cloud data 20 ；
2) Will tau 20 Partitioning into datasets by elevation in fixed length steps τ 20 | i },i＝1,2,3,…,K；
3) For each data set τ 20 | i Projecting to a northeast plane (a coordinate system of the northeast), calculating an outer boundary point set of the projected data, fitting a curve, increasing a certain distance to both the x and y coordinates outwards along the perpendicular direction of the fitted curve to perform overall external expansion to obtain a data set tau 20 | i Extended projection boundary l i ；
4) With l i And taking a straight line segment which is parallel to the zenith direction and has a fixed length as a bus to obtain a cylindrical surface. The cylindrical surface and the upper and lower bottom surfaces form a closed curved surface gamma 2 | i ；
5) Closed curved surface gamma 2 | i The internal space is omega 2 | i No flying subspace
The flight-forbidden subspace omega 3 The method comprises the following steps:
1) Extracting point cloud subsets tau of wires, ground wires, drainage wires and the like from classification results of LiDAR measurement point cloud data 30 Subset of point clouds τ 30 Is a discrete three-dimensional curve;
2) Determining the radius Δ r 3 At τ 30 The described three-dimensional curve is used as an axis, and the calculated radius is delta r 3 Of cylindrical surface Γ 3 ；
3) Based on three-dimensional curved surface gamma 3 And constructing a closed flight forbidden subspace omega by the boundary surface of the routing inspection flight space psi 3 。
The three-dimensional live-action is divided into basic cells formed by cubes with fixed length as side length by the aid of a network construction mode in the no-fly zone, potential danger hidden dangers caused by equipment errors are avoided by the aid of the basic cells, and total errors of the system are from multiple aspects, wherein the most important errors are laser radar surveying and mapping errors and unmanned aerial vehicle system control errors. The accuracy error of the laser radar can be confirmed to be about 3cm conventionallyThe size of the plane is not more than 5cm, the plane precision error of unmanned aerial vehicle position judgment can be not more than 10cm, and the elevation precision error is not more than 20cm by using the existing RTK technology; thereby judging the total error of the system
And (3) carrying out three-dimensional grid division on the routing inspection space psi, wherein the cell is a cube with a fixed side length larger than the total error of the system, and the cell is used as a minimum resolution unit in a path planning and track correction system. That is, when the unmanned aerial vehicle feeds back that its real-time position is located in the cell expected by the system, the accuracy requirement is considered to be satisfied.
In the yaw correction process, when the system judges that the unmanned aerial vehicle cannot reach an expected vector line navigation break point cell at a certain navigation point according to RTK position feedback, the unmanned aerial vehicle autonomously navigates back to the previous vector line navigation break point cell; if the unmanned aerial vehicle deviates from the predicted cell sequence of the system between the two navigation points due to unpredictable factors such as windage yaw and the like, returning to the predicted cell sequence of the system according to the shortest path, and continuing flying according to the cells guided by the navigation vector line in the planned shortest path; and once the communication interruption occurs, performing original path return according to a reverse vector path of the early-stage wireless transmission.
Unmanned aerial vehicle patrols and examines automatic obstacle avoiding in-process at electric power, makes it improve the operation quality in the line passageway environment of complicacy changeable quantificationally, prevents that the circuit body from being damaged and unmanned aerial vehicle from crashing, has promoted the operating efficiency, has reduced economic cost.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (7)
1. An obstacle avoidance method for unmanned aerial vehicle power patrol autonomous flight is characterized in that the obstacle avoidance method for unmanned aerial vehicle power patrol autonomous flight comprises the following steps:
the method comprises the following steps of constructing a no-fly zone, preventing an unmanned aerial vehicle from being crashed due to unreasonable path planning, enabling the no-fly zone omega to be in a patrol inspection space psi, wherein the patrol inspection space psi is a closed space with sufficient surveying and mapping data, the boundary of the patrol inspection space psi is determined by the boundary of the surveying and mapping data, the technical index of an unmanned aerial vehicle system and the space coordinate of an electric facility to be patrolled, and the no-fly zone omega mainly comprises the following three parts:
1)Ω 1 : the system comprises a flying forbidding subspace containing the earth surface and the power grid equipment which is not to be inspected;
2)Ω 2 : a no-fly subspace containing a line tower;
3)Ω 3 : the total no-fly area is a union set of all no-fly subspaces;
yaw correction, when the unmanned aerial vehicle deviates from a preset air route, automatically correcting to return to the preset air route or performing original route return according to a reverse vector route of early wireless transmission;
the flight-forbidden subspace omega 2 The method comprises the following steps:
1) Extracting a point cloud subset tau of an iron tower and an accessory insulator from the classification result of LiDAR measuring point cloud data 20 ；
2) Will tau 20 Partitioning into datasets { τ } in steps of fixed length by elevation 20 | i },i＝1,2,3,…,K；
3) For each data set tau 20 | i Projecting to a northeast coordinate system, calculating an outer boundary point set of the projected data, performing curve fitting, increasing certain distances to both x and y coordinates outwards along the perpendicular direction of a fitting curve, performing overall external expansion to obtain a data set tau 20 | i Extended projection boundary l i ；
4) With l i Is a directrix, and a straight line segment parallel to the zenith direction and having a fixed length is a generatrix to obtain a cylindrical surface, and the cylindrical surface and its upper and lower bottom surfaces together form a closed curved surface gamma 2 | i ；
5) Closed camber L 2 | i The internal space is omega 2 | i No flying subspace
2. The obstacle avoidance method for autonomous flight of unmanned aerial vehicle power inspection according to claim 1, wherein the flight prohibiting subspace Ω is 1 The method comprises the following steps:
1) Extracting point cloud subset tau of ground point, building, bridge, railway, road and vegetation classification results from classification results of LiDAR measurement point cloud data 10 Determining an elevation increment Δ z 1 To τ to 10 Increase in elevation value of all scattering points by Δ z 1 Obtaining a point cloud subset τ 1 ；
2) For point cloud subset tau 1 Three-dimensional surface reconstruction based on Delaunay triangulation is carried out to obtain a curved surface gamma 1 ；
3) Based on three-dimensional curved surface gamma 1 And constructing a closed flight forbidden subspace omega by the boundary surface of the routing inspection flight space psi 1 。
3. The obstacle avoidance method for autonomous flight of power inspection of unmanned aerial vehicle according to claim 1, wherein the flight prohibiting subspace Ω 3 The method comprises the following steps:
1) Extracting point cloud subsets tau of wires, ground wires and drainage wires from classification results of LiDAR measurement point cloud data 30 Subset of point clouds τ 30 Is a discrete three-dimensional curve;
2) Determining the radius Δ r 3 At τ 30 The described three-dimensional curve is used as an axis, and the calculated radius is delta r 3 Of cylindrical surface Γ 3 ；
3) Based on three-dimensional curved surface gamma 3 And constructing a closed flight forbidden subspace omega by the boundary surface of the routing inspection flight space psi 3 。
4. The obstacle avoidance method for unmanned aerial vehicle power inspection autonomous flight according to claim 1, wherein the no-fly zone divides the three-dimensional real scene into basic cells composed of cubes with fixed length as side length in a network construction mode, and the basic cells are used for avoiding potential danger risks caused by equipment errors.
5. The obstacle avoidance method for unmanned aerial vehicle power inspection autonomous flight according to claim 1, characterized in that in the yaw correction process, when a communication interruption occurs, an original path return is performed according to a reverse vector path of early-stage wireless transmission.
6. The obstacle avoidance method for unmanned aerial vehicle power patrol autonomous flight according to claim 1, characterized in that in the yaw correction process, when the system determines that the unmanned aerial vehicle fails to reach an expected vector line navigation break point cell at a certain navigation point according to RTK position feedback, the unmanned aerial vehicle autonomously navigates back to the previous vector line navigation break point cell.
7. The obstacle avoidance method for unmanned aerial vehicle power inspection autonomous flight according to claim 1, wherein in the yaw correction process, the unmanned aerial vehicle deviates from the cell sequence predicted by the system between two navigation points due to unpredictable factors of windage yaw, returns to the cell sequence predicted by the system according to the shortest path, and continues to fly according to the cells guided by the navigation vector line in the planned shortest path.
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