CN111121782A - Double-layer path planning method and device for power inspection of vehicle-mounted unmanned aerial vehicle - Google Patents
Double-layer path planning method and device for power inspection of vehicle-mounted unmanned aerial vehicle Download PDFInfo
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Abstract
The embodiment of the invention provides a double-layer path planning method and a double-layer path planning device for power inspection of a vehicle-mounted unmanned aerial vehicle, wherein the method comprises the following steps: partitioning an unmanned aerial vehicle route, namely a high-voltage power grid, by a heuristic algorithm method to obtain a partitioning result; planning the paths of the vehicle and the unmanned aerial vehicle by utilizing the segmentation result corresponding to the heuristic algorithm method to obtain a feasible solution; and obtaining the inspection time corresponding to the heuristic algorithm by using the feasible solution. According to the embodiment of the invention, the inspection efficiency of the vehicle-mounted unmanned aerial vehicle on the whole power transmission network is optimized by optimizing the driving path of the vehicle, the positions of flying and recovering the unmanned aerial vehicle and the flight path of the unmanned aerial vehicle.
Description
Technical Field
The invention relates to the technical field of power inspection, in particular to a double-layer path planning method and device for power inspection of a vehicle-mounted unmanned aerial vehicle.
Background
In order to master the operation condition of the high-voltage transmission line and timely eliminate line faults or potential hidden dangers, a large amount of manpower and material resources are required to be input by an electric power department every year to carry out transmission line inspection. The current circuit inspection mainly adopts two inspection modes, namely manual inspection and manned helicopter inspection. The manual inspection has the advantages of large workload, high detection difficulty and low inspection efficiency, and particularly has high personal injury risk, difficult implementation and even no ground manual inspection for cables crossing mountainous areas and complex environments. In addition, the manned helicopter for inspection has high operation efficiency, but cannot be widely popularized due to high cost. Therefore, finding an efficient and economical transmission line inspection mode is always an important requirement of the power industry.
Disclosure of Invention
The embodiment of the invention provides a double-layer path planning method and device for power inspection of a vehicle-mounted unmanned aerial vehicle, which aim to optimize the inspection efficiency of the vehicle-mounted unmanned aerial vehicle on the whole power transmission network.
On one hand, the embodiment of the invention provides a double-layer path planning method for power inspection of a vehicle-mounted unmanned aerial vehicle, which comprises the following steps:
partitioning an unmanned aerial vehicle route, namely a high-voltage power grid, by a heuristic algorithm method to obtain a partitioning result;
planning the paths of the vehicle and the unmanned aerial vehicle by utilizing the segmentation result corresponding to the heuristic algorithm method to obtain a feasible solution;
and obtaining the inspection time corresponding to the heuristic algorithm by using the feasible solution.
On the other hand, the embodiment of the invention provides a double-layer path planning device for power inspection of a vehicle-mounted unmanned aerial vehicle, which comprises the following components:
the partitioning unit is used for partitioning the unmanned aerial vehicle route, namely the high-voltage power grid, by a heuristic algorithm method to obtain a partitioning result;
the calculation unit is used for planning the paths of the vehicle and the unmanned aerial vehicle by utilizing the segmentation result corresponding to the heuristic algorithm method so as to obtain a feasible solution; and obtaining the inspection time corresponding to the heuristic algorithm by using the feasible solution.
The technical scheme has the following beneficial effects: through the route of traveling of optimizing the vehicle, the place of letting fly and retrieving unmanned aerial vehicle to and unmanned aerial vehicle's flight route, optimize on-vehicle unmanned aerial vehicle and to whole transmission network's efficiency of patrolling and examining.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flow chart of a double-layer path planning method for power inspection of a vehicle-mounted unmanned aerial vehicle according to an embodiment of the invention;
fig. 2 is a schematic structural diagram of a double-layer path planning device for power inspection of a vehicle-mounted unmanned aerial vehicle according to an embodiment of the invention;
FIG. 3 is a diagram illustrating a partition unit structure according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a computing unit according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a system for carrying a small unmanned aerial vehicle to perform power inspection on a ground manned vehicle according to an embodiment of the invention;
FIG. 6 is a schematic diagram of the movement routes and interaction processes of a ground vehicle and an aerial unmanned aerial vehicle during the power inspection process of the vehicle-mounted unmanned aerial vehicle power inspection system;
FIG. 7 is a model diagram of a double-layer arc routing problem in power routing of a vehicle-mounted unmanned aerial vehicle according to an embodiment of the present invention;
fig. 8 is a schematic diagram of a road network and a power grid according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, a flow chart of a double-layer path planning method for power inspection of a vehicle-mounted unmanned aerial vehicle according to an embodiment of the present invention is shown, where the method includes:
101. partitioning an unmanned aerial vehicle route, namely a high-voltage power grid, by a heuristic algorithm method to obtain a partitioning result;
102. planning the paths of the vehicle and the unmanned aerial vehicle by utilizing the segmentation result corresponding to the heuristic algorithm method to obtain a feasible solution;
103. and obtaining the inspection time corresponding to the heuristic algorithm by using the feasible solution.
Preferably, the heuristic algorithm includes the following three types: the method comprises a heuristic algorithm determined based on the number of segmentation nodes, a heuristic algorithm based on dichotomy segmentation and a heuristic algorithm determined based on segmentation intervals.
Preferably, the unmanned aerial vehicle route, namely the high-voltage power grid, is segmented by a heuristic algorithm method to obtain a segmentation result; planning the paths of the vehicle and the unmanned aerial vehicle by utilizing the segmentation result corresponding to the heuristic algorithm method to obtain a feasible solution, and specifically comprises the following steps:
cutting an unmanned aerial vehicle arc route by using a heuristic algorithm determined based on the number of the segmentation nodes to obtain k x n sections of new arcs, searching a nearest vehicle stop point from one end of a first section of arc, and taking the nearest vehicle stop point as a starting point of a whole vehicle-mounted unmanned aerial vehicle power inspection task; after the unmanned aerial vehicle takes off from the task starting point, the unmanned aerial vehicle sequentially accesses the power grid according to the sequence of power grid arcs, and before each section of arc is accessed, whether the distance constraint and the time constraint are met needs to be judged, namely whether the unmanned aerial vehicle can return to a vehicle stop point on a road network after accessing the point and whether the vehicle stop point exists so that a vehicle positioned on the road network can reach the point before the unmanned aerial vehicle: if the requirement is met, accessing the segment arc; otherwise, the unmanned aerial vehicle is considered to reach the maximum range, the nearest vehicle stop point is searched to serve as a recovery point, the vehicle is returned, the next arc is used as the starting point of the next flight of the unmanned aerial vehicle, and the steps are repeated until the unmanned aerial vehicle finishes the inspection tasks of all the power transmission lines.
Preferably, the unmanned aerial vehicle route, namely the high-voltage power grid, is segmented by a heuristic algorithm method to obtain a segmentation result; planning the paths of the vehicle and the unmanned aerial vehicle by utilizing the segmentation result corresponding to the heuristic algorithm method to obtain a feasible solution, and specifically comprises the following steps:
searching a nearest vehicle stop point from one end of an arc route in a solving process by using a heuristic algorithm based on bisection segmentation, and taking the nearest vehicle stop point as a starting point of a power inspection task of the whole vehicle-mounted unmanned aerial vehicle; after the unmanned aerial vehicle takes off from the task starting point, whether the terminal point of the arc section can simultaneously meet the range constraint of the unmanned aerial vehicle and the time constraint under the cooperative condition of the vehicle and the unmanned aerial vehicle is judged: if so, searching a feasible vehicle stop point as a recovery point, and returning to the vehicle; if the distance between the unmanned aerial vehicle and the vehicle is not met, the midpoint of the arc section is taken for judgment, and the operation is repeated until the unmanned aerial vehicle returns to the vehicle; after the unmanned aerial vehicle returns to the vehicle, if the arc is not completely accessed, taking the flying-off point of the unmanned aerial vehicle as the flying-in point of the next flight, and continuing to perform routing inspection; and if the access is finished, performing the operation on the next arc until the unmanned aerial vehicle finishes the routing inspection tasks of all the power transmission lines.
Preferably, the unmanned aerial vehicle route, namely the high-voltage power grid, is segmented by a heuristic algorithm method to obtain a segmentation result; planning the paths of the vehicle and the unmanned aerial vehicle by utilizing the segmentation result corresponding to the heuristic algorithm method to obtain a feasible solution, and specifically comprises the following steps:
cutting the whole power grid by using a heuristic algorithm determined based on the cutting interval and taking the set unit interval as a small segment; then, starting from one end of the arc route, searching a nearest vehicle stop point, and taking the nearest vehicle stop point as a starting point of a power inspection task of the whole vehicle-mounted unmanned aerial vehicle; the feasibility that the unmanned aerial vehicle flies off the power grid at each point is sequentially judged according to the sequence of power grid arcs: and if the unmanned aerial vehicle is feasible, accessing the arc section, otherwise, considering that the unmanned aerial vehicle has reached the maximum range, searching the nearest vehicle stop point and returning the vehicle to prepare for the next flight until all the power transmission lines are inspected.
Corresponding to the above method embodiment, as shown in fig. 2, is a schematic structural diagram of a double-layer path planning device for power inspection of a vehicle-mounted unmanned aerial vehicle according to an embodiment of the present invention, where the device includes:
the segmentation unit 21 is configured to perform heuristic algorithm segmentation on the route of the unmanned aerial vehicle, that is, the high-voltage power grid, to obtain a segmentation result;
the calculation unit 22 is configured to plan the paths of the vehicle and the unmanned aerial vehicle to obtain a feasible solution by using the segmentation result corresponding to the heuristic algorithm; and obtaining the inspection time corresponding to the heuristic algorithm by using the feasible solution.
Preferably, the heuristic algorithm includes the following three types: the method comprises a heuristic algorithm determined based on the number of segmentation nodes, a heuristic algorithm based on dichotomy segmentation and a heuristic algorithm determined based on segmentation intervals.
In addition, referring to fig. 3, a schematic structural diagram of a partition unit according to an embodiment of the present invention, and fig. 4, a schematic structural diagram of a calculation unit according to an embodiment of the present invention, preferably, the partition unit 21 includes: the first segmentation module 211 is configured to cut the arc route of the unmanned aerial vehicle by using a heuristic algorithm determined based on the number of the segmentation nodes to obtain k × n segments of new arcs;
the calculation unit 22 includes: the first calculation module 221 is used for searching a nearest vehicle stop point from one end of the first arc, and taking the nearest vehicle stop point as a starting point of the whole vehicle-mounted unmanned aerial vehicle power inspection task; after the unmanned aerial vehicle takes off from the task starting point, the unmanned aerial vehicle sequentially accesses the power grid according to the sequence of power grid arcs, and before each section of arc is accessed, whether the distance constraint and the time constraint are met needs to be judged, namely whether the unmanned aerial vehicle can return to a vehicle stop point on a road network after accessing the point and whether the vehicle stop point exists so that a vehicle positioned on the road network can reach the point before the unmanned aerial vehicle: if the requirement is met, accessing the segment arc; otherwise, the unmanned aerial vehicle is considered to reach the maximum range, the nearest vehicle stop point is searched to serve as a recovery point, the vehicle is returned, the next arc is used as the starting point of the next flight of the unmanned aerial vehicle, and the steps are repeated until the unmanned aerial vehicle finishes the inspection tasks of all the power transmission lines.
Preferably, the dividing unit 21 includes: a second segmentation module 212, configured to perform segmentation using a heuristic algorithm based on bisection segmentation;
the calculation unit 22 includes: the second calculation module 222 is configured to, in the solving process, find a closest vehicle stopping point from one end of the arc route, and use the closest vehicle stopping point as a starting point of the power inspection task of the whole vehicle-mounted unmanned aerial vehicle; after the unmanned aerial vehicle takes off from the task starting point, whether the terminal point of the arc section can simultaneously meet the range constraint of the unmanned aerial vehicle and the time constraint under the cooperative condition of the vehicle and the unmanned aerial vehicle is judged: if so, searching a feasible vehicle stop point as a recovery point, and returning to the vehicle; if the distance between the unmanned aerial vehicle and the vehicle is not met, the midpoint of the arc section is taken for judgment, and the operation is repeated until the unmanned aerial vehicle returns to the vehicle; after the unmanned aerial vehicle returns to the vehicle, if the arc is not completely accessed, taking the flying-off point of the unmanned aerial vehicle as the flying-in point of the next flight, and continuing to perform routing inspection; and if the access is finished, performing the operation on the next arc until the unmanned aerial vehicle finishes the routing inspection tasks of all the power transmission lines.
Preferably, the dividing unit 21 includes: a third partitioning module 213, configured to perform full-grid partitioning on all power grids in a small segment at a set unit interval by using a heuristic algorithm determined based on the partitioning interval;
the calculation unit 22 includes: the third calculation module 223 is used for searching the nearest vehicle stop point from one end of the arc route, and taking the nearest vehicle stop point as the starting point of the power inspection task of the whole vehicle-mounted unmanned aerial vehicle; the feasibility that the unmanned aerial vehicle flies off the power grid at each point is sequentially judged according to the sequence of power grid arcs: and if the unmanned aerial vehicle is feasible, accessing the arc section, otherwise, considering that the unmanned aerial vehicle has reached the maximum range, searching the nearest vehicle stop point and returning the vehicle to prepare for the next flight until all the power transmission lines are inspected.
The following is detailed by way of application examples:
as shown in fig. 5, the invention is a schematic diagram of a system for carrying a small unmanned aerial vehicle to perform power inspection by a ground manned automobile. The ground manned vehicle is provided with a corresponding management system, and can be used as a mobile base station for data processing and analysis, and also used as an emission recovery station and a supply station of an unmanned aerial vehicle. The vehicle carries unmanned aerial vehicle and starts from the workstation, then launches unmanned aerial vehicle near the transmission line. When unmanned aerial vehicle detected along transmission line, the vehicle can wait in situ that unmanned aerial vehicle returns, perhaps goes forward on ground road network, retrieves unmanned aerial vehicle in the place that the front is close to high tension transmission line. Unmanned aerial vehicle flies to the top of power transmission line from the car back of taking off, flies along the power transmission line, scans and gathers power transmission line information, according to unmanned aerial vehicle duration, confirms unmanned aerial vehicle's the distance of patrolling and examining and the place of flying back ground vehicle. Meanwhile, technicians on the vehicle can control the unmanned aerial vehicle to fly and process data and images transmitted by the unmanned aerial vehicle. After the single flight finishes, unmanned aerial vehicle can return and carry out quick charge or change the battery on the car to return near transmission line rapidly and continue to patrol and examine.
As shown in fig. 6, the application example of the invention is a schematic diagram of the movement routes and the interaction process of the ground vehicle and the aerial unmanned aerial vehicle in the process of carrying out power inspection by the vehicle-mounted unmanned aerial vehicle power inspection system. In order to assist the unmanned aerial vehicle to finish the inspection work of all high-voltage electric wires, the vehicle carrying unmanned aerial vehicle starts from a station (point A), runs along a ground road network, can wait for the recovery of the unmanned aerial vehicle or supply the unmanned aerial vehicle (point B, C, D) at the vehicle stop point where the vehicle is convenient to park midway, and finally waits for the unmanned aerial vehicle to finish all inspection tasks and recovers the unmanned aerial vehicle (point E). And the unmanned aerial vehicle takes off from the gathering region or the vehicle stopping point, patrols and examines along the target power grid, returns the vehicle to supply in the range of the cruising ability, and continues to patrol and examine the next round.
The embodiment of the invention models the path planning problem of the power inspection of the vehicle-mounted unmanned aerial vehicle into a double-layer path optimization problem. The one-layer path is a vehicle path, and the vehicle can only run on the existing ground road network. The two-layer path is a flight path of the unmanned aerial vehicle in the air, the unmanned aerial vehicle takes off from a ground vehicle, flies above the power transmission line, then flies along the power transmission line, flies away from the power transmission line before the electric quantity is consumed, and flies back to the ground vehicle to charge or replace a battery, and the circulation is repeated so as to complete the inspection of the whole high-voltage power transmission network. Because unmanned aerial vehicle duration is limited, generally need take off and land many times in order to accomplish the task of patrolling and examining of all circuits in segmentation. The ground vehicle runs on the road network, and the unmanned aerial vehicle is released or recovered in a proper place. According to the embodiment of the invention, the inspection efficiency of the vehicle-mounted unmanned aerial vehicle on the whole power transmission network is optimized by optimizing the driving path of the vehicle, the positions of flying and recovering the unmanned aerial vehicle and the flight path of the unmanned aerial vehicle.
As shown in fig. 7, according to the model schematic diagram of the double-layer arc routing problem in the power inspection of the vehicle-mounted unmanned aerial vehicle of the application example of the invention, a corresponding double-layer path optimization model is constructed by knowing a series of optional vehicle stop points on a power transmission line and a road network to be inspected, taking the completion time of a task of minimizing power inspection as an objective function and considering the constraints of the cruising ability of the unmanned aerial vehicle and the like.
1. In the power inspection path planning problem of the vehicle-mounted unmanned aerial vehicle, the problem factors include the unmanned aerial vehicle, ground vehicles, transmission lines, a road network and the like. This section mainly defines and constrains the analysis to three factors and defines the optimization goal of the model.
(1) Unmanned plane
Unmanned aerial vehicle is as a emerging high-tech means that is used for electric power to patrol and examine, can accomplish patrolling and examining to the transmission line in short time, has also improved greatly and has patrolled and examined efficiency when practicing thrift the cost. During inspection, the unmanned aerial vehicle takes off from the vehicle firstly, flies to the vicinity of the transmission wire quickly by depending on the positioning navigation system, and then flies at a low speed along the cable. Fly overIn the process, the unmanned aerial vehicle acquires data by using onboard sensors such as a carried visible light camera and an infrared instrument, and simultaneously transmits the data back to the vehicle in real time through a loaded communication system. The unmanned aerial vehicle is assumed to always fly at a constant speed, namely the takeoff and landing time of the unmanned aerial vehicle is not considered. But because the speed is slower when unmanned aerial vehicle patrols and examines, so note that unmanned aerial vehicle adopts normal flying speed when coming and going between vehicle and power transmission line
Speed of inspection during flight along the transmission line
Wherein
Meanwhile, the unmanned aerial vehicle can be limited by the cruising ability in the polling task, namely the total time of each flight of the unmanned aerial vehicle cannot exceed the maximum cruising time theta. After the single flight, unmanned aerial vehicle need return the vehicle and charge or change the battery, for guaranteeing that electric power patrols and examines the task and accomplish fast, assumes that unmanned aerial vehicle passes through the quick replacement battery in order to begin the flight next time, so ignore the time of changing the battery.
(2) Ground vehicle
In the problem of on-vehicle unmanned aerial vehicle electric power inspection, the ground vehicle need carry out the outfit of relevant software and hardware facility. The system comprises a ground display unit and a data processing unit, wherein the ground display unit and the data processing unit are mainly used for displaying, analyzing and processing data and pictures transmitted back by an unmanned aerial vehicle; secondly still need be equipped with unmanned aerial vehicle's comprehensive guarantee system, including unmanned aerial vehicle's flight control system, transmission recovery unit, charging device (or be used for the battery of changing) and relevant equipment of inspection and maintenance. In general, the vehicle is assumed to be at a constant speed v, irrespective of the cruising ability constraint of the vehicletTravel on the road network. Because the vehicle needs to stop at a relatively open place and set safety guard when flying or recovering the unmanned aerial vehicle, a series of optional vehicle stop points V can be selected on the road network in advance so as not to influence the normal traffic of the road network. After the unmanned aerial vehicle is released, the vehicle can be stopped at the original positionThe ground waits for the unmanned aerial vehicle to return, and can also go to another vehicle stop point in the past, so that the flying distance of the unmanned aerial vehicle returning to the vehicle is reduced. The distance between any two vehicle stop points i, j (i, j epsilon V) is known and is the actual distance on the road network and is recorded as
(3) Road network and transmission line
The vehicle-mounted unmanned aerial vehicle power patrol problem can be represented on a graph G ═ V, E, where V is a set of selectable stop points on the vehicle road network, and arc E in the graph is composed of two types of arcs. One type of arc is an arc in the road network, i.e. when a vehicle travels from a vehicle stop point i to a point j (i, j epsilon V) along the road network, the set of travel routes < i, j > of the vehicle is E1. Another type of arc is a transmission wire, i.e. one or more arcs that the drone needs to cover completely through multiple flights, the set of which is denoted as E2. Can be known as E ═ E1∪E2. For any section of wire arc i (i is equal to E)2) Having a known length, is noted
To better describe the problem, segment is introduced, and the road network and the transmission wire are combined through the definition of the segment. segment refers to a complete wire arc (e.g., arc a or arc b in fig. 7) and the vehicle path corresponding to the segment arc. Unmanned aerial vehicle can take off many times and land in order to accomplish patrolling and examining of whole section electric wire this moment, correspondingly, can have one or more vehicle stop point on the vehicle route. In addition, because there is a gap between the arcs and the vehicle paths corresponding to the arcs, for example, a complete loop cannot be formed between the vehicle path BC section corresponding to the arc a and the vehicle path DF section corresponding to the arc b, so that a simple vehicle path, i.e., a CD section, is required to be connected, and the segment is extended to a complete wire arc or a segment of an empty arc and its corresponding vehicle path. In the power inspection task shown in fig. 7, the segment 1 and the segment 3 are vehicle paths corresponding to the null arc, and at this time, the unmanned aerial vehicle does not take off, and the vehicle carrying the unmanned aerial vehicle respectively completes a → B and C → D. In addition, complete wire arc a and arc B correspond to segment 2 and segment 4 respectively, and the unmanned aerial vehicle in these two segments has all accomplished the patrol and examine of whole section electric wire through twice flights, and the difference is that only has corresponded 2 vehicle stop points { B, C } in segment 2 and has corresponded 3 vehicle stop points { D, E, F } in segment 4.
At this time, note SkIs a set of corresponding vehicle stopping points on the kth segment, wherein
Recording decision variables
Is a variable from 0 to 1 and represents a wire arc i (i ∈ E)2) In the kth segment, e.g.
Note the book
Is a 0-1 variable indicating that the vehicle path < i, j > (i, j e.g., V) is located in the kth segment, e.g.
(4) Optimizing an objective
The completion time of the power inspection task of the vehicle-mounted unmanned aerial vehicle comprises the flight time of the unmanned aerial vehicle, the charging time of the unmanned aerial vehicle on a vehicle and the traveling time of the vehicle-mounted unmanned aerial vehicle. However, the time of the three parts may overlap and affect each other, so the completion time of the power patrol task is minimized by optimizing various decisions such as the stop point of the vehicle, the flight route of the unmanned aerial vehicle, the division of the transmission line and the like.
2. Problem model construction:
from the above problem description, a model of the two-layer arc path problem was constructed. The model 1 gives an optimized unmanned aerial vehicle flight path for a given vehicle stop point and wire arc; model 2 optimizes the paths of the vehicle and the unmanned aerial vehicle in the whole double-layer arc path problem.
2.2.1 symbol Definitions
The parameters and decision variables used in the modeling process are summarized as follows:
2.2.2 double-layer arc path optimization model
In order to solve the arc path planning problem, we must consider all possible segment combinations to obtain feasible solutions, and find the optimal solution with the least task completion time from the feasible solutions. The concrete model is as follows:
s.t.
formula (1) is an optimization target of the model, the feasible solution obtained finally is composed of a plurality of segments, and the time consumed by each segment is determined by
And (4) calculating. When only the vehicle path and no unmanned aerial vehicle path are on the segment, that is
The time of travel of the vehicle is only related to the vehicle. When both vehicle and drone paths are included on a segment, i.e.
Only with respect to the drone, see the submodel in 2.2.3 for the time of flight of the drone, specifically calculated and optimized.
Constraint (2) has restricted that there is unmanned aerial vehicle to patrol and examine to arbitrary wire arc, and only patrol and examine once. Constraint (3) means that each segment can only correspond to one segment of wire arc at most, namely, at most one unmanned aerial vehicle executes the access task for any segment of vehicle path. The formula (4) restricts the vehicle stop point, i.e. the degree of entry and exit of the vehicle stop point must be equal and not more than 1. Equation (5) prevents the generation of sub-loops in the vehicle path. Constraint (6) then varies the variables
And
in connection, the electric wire arc corresponding to any segment is always smaller than or equal to the number of the corresponding vehicle stop points.
2.2.3 double-layer arc path optimization submodel: unmanned aerial vehicle path optimization
For the kth segment, if
And is
Is provided with
The ith arc is a line segment MN which meets the requirement
Has a set S of vehicle route pointskAnd | Sk|＝n。
Arbitrarily take a point Q on the line MN, let λQMQ/MN. A constructor f (λ) representing the point Q to the set S when the value is λkThe shortest distance of the points in (b). The functional form of f (λ) is then as follows:
supplementary definition:
solving the subproblem is solving an ordered array R ═ λ1,λ2,...,λmAnd the number sequence satisfies:
0＜λ1＜λ2＜...＜λm＜1 (10)
supplementary definition lambda0＝0，λm+11. Thus m +2 values divide the line segment into m +1 segments. Each segment is assumed to be a route for the unmanned aerial vehicle to fly off the vehicle for inspection.
For the 1 st departure, the drone flies from the vehicle stop point closest to M. At the arrival of lambda1And the corresponding position is then left from the line patrol area, and the nearest vehicle selectable stop point is returned. The total flight path length for this process is: f (lambda)0)+λ1×dMN+f(λ1). By analogy, for the i +1 th departure, the total length of the flight should be f (λ)i)+(λi+1-λi)×dMN+f(λi+1). To make the flight process comply with endurance constraints, the sub-problem constraints are as follows:
the goal of the subproblem is to minimize the total time of flight of the drone. The sum of all times of the drone's visit for this arc is as follows:
since f (0) and f (1) are known, the above formula can be converted to
Minimizing the above equation is equivalent to:
thus, the model of the subproblem is as follows:
s.t.
equation (15) is the equivalent optimization objective obtained by extrapolation. Equation (16) then limits a single flight of the drone from exceeding its endurance.
3. Heuristic Algorithm construction
This chapter provides three heuristic algorithms for solving the problem of double-layer arc path planning. The three heuristic algorithms firstly divide the route of the unmanned aerial vehicle, namely the high-voltage power grid, by different methods, and then plan the routes of the vehicle and the unmanned aerial vehicle under the condition of different dividing methods to obtain feasible solutions.
3.1 heuristic Algorithm based on the determination of the number of nodes to be segmented (H1)
For a general arc routing problem, a commonly used solution is to perform corresponding path optimization after dispersing an arc path through a certain number of segmentation nodes. The heuristic algorithm (H1) is also designed based on this idea.
In the power inspection problem of the vehicle-mounted unmanned aerial vehicle, multiple sections of wire arcs exist, so an integer k >0 is given, and G (k) is defined as an example that k evenly-spaced division points exist on each section of arc. For each arc (v; w), the endpoints v, w and k segmentations uniformly space the original arc (v; w) into k +1 parts, i.e., new arcs of the k +1 segment, and these new arcs have exactly the same properties as the original arcs. This example only allows drones to enter or leave the arc path at the start point, the end point, and the k split points of each segment arc. For example, G (0) indicates that there is no split point in the middle of each arc segment, and the drone only allows for in-flight or out-of-flight arc routing at both end points of each arc segment. Whereas in example G (1), the drone may start or end path visits at both end points and the middle point of each arc. This example is expected to provide a better solution than G (0), but requires approximately twice as many vertices and arcs to be computed as G (0).
In the algorithm, the value of k is determined by referring to the lengths of all arcs needing to be visited and the cruising ability of the unmanned aerial vehicle. Assuming that the lengths of all to-be-detected power transmission lines are L, and the longest single-flight distance of the unmanned aerial vehicle is D, the k value is
Because the unmanned aerial vehicle needs to come and go the transmission line and the vehicle in flight, so use D/2 as the interval, get the whole downwards, solve k value.
The algorithm pseudo-code is as follows:
and cutting the unmanned aerial vehicle arc route (Line 1) to obtain k x n sections of new arcs. Starting from one end of the first arc, the nearest vehicle stop point is found and is used as the starting point (Line 2) of the power patrol task of the whole vehicle-mounted unmanned aerial vehicle. After the unmanned aerial vehicle takes off from the task starting point, the unmanned aerial vehicle sequentially accesses the power grid according to the sequence of power grid arcs, and before each section of arc is accessed, whether a voyage constraint and a time constraint (Line4) are met needs to be judged, namely whether the unmanned aerial vehicle can return to a vehicle stop point on the road network after accessing the point and whether the vehicle stop point exists, so that the vehicle on the road network can reach the point before the unmanned aerial vehicle. And if the requirement is met, accessing the section of arc (Line 5), otherwise, considering that the unmanned aerial vehicle has reached the maximum range, searching the nearest vehicle stop point as a recovery point, and returning to the vehicle (Line 7). And at the moment, taking the next arc as a starting point (Line 9) of the next flight of the unmanned aerial vehicle, and repeating the steps until the unmanned aerial vehicle finishes the routing inspection tasks of all the power transmission lines.
3.2 heuristic Algorithm based on dichotomy segmentation (H2)
The method borrows the thought of the dichotomy, and designs a heuristic algorithm (H2) based on dichotomy segmentation aiming at the problem of double-layer arc routing of the vehicle-mounted unmanned aerial vehicle. Since each continuous arc visited by the drone may exceed the endurance of the drone, the point at which the drone leaves the grid needs to be solved during the optimization process. The node of the unmanned aerial vehicle, which leaves the power grid, is solved by adopting the dichotomy idea, so that a better solution can be obtained quickly. The pseudo code of the algorithm is as follows:
in the solving process, the nearest vehicle stop point is searched from one end of the arc route, and the nearest vehicle stop point is used as the starting point (Line 1) of the whole vehicle-mounted unmanned aerial vehicle power inspection task. After the unmanned aerial vehicle takes off from the task starting point, whether the terminal point of the arc section can simultaneously meet the range constraint of the unmanned aerial vehicle and the time constraint (Line 3) under the cooperative condition of the vehicle and the unmanned aerial vehicle is judged. If the vehicle is met, a feasible vehicle stop point is searched as a recovery point, and the vehicle is returned (Line 4); if the distance does not meet the requirement, the middle point of the arc section is taken for judgment (Line 7), and the operation is repeated until the unmanned aerial vehicle returns to the vehicle. After the unmanned aerial vehicle returns to the vehicle, if the arc is not completely accessed, taking the flying-off point of the unmanned aerial vehicle as the flying-in point of the next flight, and continuing to perform routing inspection; and if the access is finished, performing the operation on the next arc until the unmanned aerial vehicle finishes the routing inspection tasks of all the power transmission lines (Line 5).
3.3 heuristic Algorithm based on segmentation Interval determination (H3)
The heuristic algorithm (H3) determined based on the segmentation interval is similar to the heuristic algorithm determined based on the number of segmentation nodes, but the criteria for the segmentation are different. The algorithm firstly needs to give a unit distance interval to determine how many distances to cut the whole power grid of the electric wire, and then plans the path of the power grid after cutting.
In the algorithm, the value of interval is determined by referring to the cruising ability of the unmanned aerial vehicle. Assuming that the longest distance of single flight of the unmanned aerial vehicle is D, the interval value is
interval＝D/2 (18)
The algorithm pseudo-code is as follows:
the whole grid is cut (Line 1) at a set unit interval for a small section. Then, starting from one end of the arc route, the nearest vehicle stop point is found and is used as the starting point (Line 2) of the power patrol task of the whole vehicle-mounted unmanned aerial vehicle. And sequentially judging the feasibility (Line4) of flying the unmanned aerial vehicle away from the power grid at each point according to the sequence of the power grid arcs, accessing the section of arc (Line 5) if the unmanned aerial vehicle is feasible, and otherwise, considering that the unmanned aerial vehicle has reached the maximum range, searching the nearest vehicle stop point and returning the vehicle (Line 7) to prepare for the next flight until all power transmission lines are inspected.
A500 KV high-voltage line in a certain city is selected, an actual line is shown in figure 8 and is a schematic diagram of a road network and a power grid of an application example of the invention, and the schematic diagram of the road network and the power grid is shown as an upper-layer segment and consists of five arcs. The road network driven by the ground vehicles selects the main road in the city as shown in the lower network of fig. 8.
In the test, the endurance time of the unmanned aerial vehicle is set to be 1 hour, the normal flying speed of the unmanned aerial vehicle flying from the vehicle to the power grid and flying back from the power grid to the vehicle is 40km/h, the inspection speed of the unmanned aerial vehicle flying along the power grid is 10km/h, and the running speed of the vehicle is 60 km/h.
Calculating by adopting an algorithm H1 to obtain the inspection time XX; calculating by adopting an algorithm H2 to obtain the inspection time XX; the routing inspection time calculated by the algorithm H3 is XX.
The technical scheme has the following beneficial effects: through the route of traveling of optimizing the vehicle, the place of letting fly and retrieving unmanned aerial vehicle to and unmanned aerial vehicle's flight route, optimize on-vehicle unmanned aerial vehicle and to whole transmission network's efficiency of patrolling and examining.
It should be understood that the specific order or hierarchy of steps in the processes disclosed is an example of exemplary approaches. Based upon design preferences, it is understood that the specific order or hierarchy of steps in the processes may be rearranged without departing from the scope of the present disclosure. The accompanying method claims present elements of the various steps in a sample order, and are not intended to be limited to the specific order or hierarchy presented.
In the foregoing detailed description, various features are grouped together in a single embodiment for the purpose of streamlining the disclosure. This method of disclosure is not to be interpreted as reflecting an intention that the claimed embodiments of the subject matter require more features than are expressly recited in each claim. Rather, as the following claims reflect, invention lies in less than all features of a single disclosed embodiment. Thus, the following claims are hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate preferred embodiment of the invention.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. To those skilled in the art; various modifications to these embodiments will be readily apparent, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
What has been described above includes examples of one or more embodiments. It is, of course, not possible to describe every conceivable combination of components or methodologies for purposes of describing the aforementioned embodiments, but one of ordinary skill in the art may recognize that many further combinations and permutations of various embodiments are possible. Accordingly, the embodiments described herein are intended to embrace all such alterations, modifications and variations that fall within the scope of the appended claims. Furthermore, to the extent that the term "includes" is used in either the detailed description or the claims, such term is intended to be inclusive in a manner similar to the term "comprising" as "comprising" is interpreted when employed as a transitional word in a claim. Furthermore, any use of the term "or" in the specification of the claims is intended to mean a "non-exclusive or".
Those of skill in the art will further appreciate that the various illustrative logical blocks, units, and steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate the interchangeability of hardware and software, various illustrative components, elements, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design requirements of the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present embodiments.
The various illustrative logical blocks, or elements, described in connection with the embodiments disclosed herein may be implemented or performed with a general purpose processor, a digital signal processor, an Application Specific Integrated Circuit (ASIC), a field programmable gate array or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general-purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, e.g., a digital signal processor and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a digital signal processor core, or any other similar configuration.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may be stored in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. For example, a storage medium may be coupled to the processor such the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC, which may be located in a user terminal. In the alternative, the processor and the storage medium may reside in different components in a user terminal.
In one or more exemplary designs, the functions described above in connection with the embodiments of the invention may be implemented in hardware, software, firmware, or any combination of the three. If implemented in software, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer storage media and communication media that facilitate transfer of a computer program from one place to another. Storage media may be any available media that can be accessed by a general purpose or special purpose computer. For example, such computer-readable media can include, but is not limited to, RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to carry or store program code in the form of instructions or data structures and which can be read by a general-purpose or special-purpose computer, or a general-purpose or special-purpose processor. Additionally, any connection is properly termed a computer-readable medium, and, thus, is included if the software is transmitted from a website, server, or other remote source via a coaxial cable, fiber optic cable, twisted pair, Digital Subscriber Line (DSL), or wirelessly, e.g., infrared, radio, and microwave. Such discs (disk) and disks (disc) include compact disks, laser disks, optical disks, DVDs, floppy disks and blu-ray disks where disks usually reproduce data magnetically, while disks usually reproduce data optically with lasers. Combinations of the above may also be included in the computer-readable medium.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. The double-layer path planning method for the power inspection of the vehicle-mounted unmanned aerial vehicle is characterized by comprising the following steps of:
partitioning an unmanned aerial vehicle route, namely a high-voltage power grid, by a heuristic algorithm method to obtain a partitioning result;
planning the paths of the vehicle and the unmanned aerial vehicle by utilizing the segmentation result corresponding to the heuristic algorithm method to obtain a feasible solution;
and obtaining the inspection time corresponding to the heuristic algorithm by using the feasible solution.
2. The double-layer path planning method for the power inspection of the vehicle-mounted unmanned aerial vehicle according to claim 1, wherein the heuristic algorithm comprises the following three steps: the method comprises a heuristic algorithm determined based on the number of segmentation nodes, a heuristic algorithm based on dichotomy segmentation and a heuristic algorithm determined based on segmentation intervals.
3. The double-layer path planning method for the power inspection of the vehicle-mounted unmanned aerial vehicle according to claim 2, wherein the unmanned aerial vehicle route, namely a high-voltage power grid, is segmented by a heuristic algorithm method to obtain a segmentation result; planning the paths of the vehicle and the unmanned aerial vehicle by utilizing the segmentation result corresponding to the heuristic algorithm method to obtain a feasible solution, and specifically comprises the following steps:
cutting an unmanned aerial vehicle arc route by using a heuristic algorithm determined based on the number of the segmentation nodes to obtain k x n sections of new arcs, searching a nearest vehicle stop point from one end of a first section of arc, and taking the nearest vehicle stop point as a starting point of a whole vehicle-mounted unmanned aerial vehicle power inspection task; after the unmanned aerial vehicle takes off from the task starting point, the unmanned aerial vehicle sequentially accesses the power grid according to the sequence of power grid arcs, and before each section of arc is accessed, whether the distance constraint and the time constraint are met needs to be judged, namely whether the unmanned aerial vehicle can return to a vehicle stop point on a road network after accessing the point and whether the vehicle stop point exists so that a vehicle positioned on the road network can reach the point before the unmanned aerial vehicle: if the requirement is met, accessing the segment arc; otherwise, the unmanned aerial vehicle is considered to reach the maximum range, the nearest vehicle stop point is searched to serve as a recovery point, the vehicle is returned, the next arc is used as the starting point of the next flight of the unmanned aerial vehicle, and the steps are repeated until the unmanned aerial vehicle finishes the inspection tasks of all the power transmission lines.
4. The double-layer path planning method for the power inspection of the vehicle-mounted unmanned aerial vehicle according to claim 2, wherein the unmanned aerial vehicle route, namely a high-voltage power grid, is segmented by a heuristic algorithm method to obtain a segmentation result; planning the paths of the vehicle and the unmanned aerial vehicle by utilizing the segmentation result corresponding to the heuristic algorithm method to obtain a feasible solution, and specifically comprises the following steps:
searching a nearest vehicle stop point from one end of an arc route in a solving process by using a heuristic algorithm based on bisection segmentation, and taking the nearest vehicle stop point as a starting point of a power inspection task of the whole vehicle-mounted unmanned aerial vehicle; after the unmanned aerial vehicle takes off from the task starting point, whether the terminal point of the arc section can simultaneously meet the range constraint of the unmanned aerial vehicle and the time constraint under the cooperative condition of the vehicle and the unmanned aerial vehicle is judged: if so, searching a feasible vehicle stop point as a recovery point, and returning to the vehicle; if the distance between the unmanned aerial vehicle and the vehicle is not met, the midpoint of the arc section is taken for judgment, and the operation is repeated until the unmanned aerial vehicle returns to the vehicle; after the unmanned aerial vehicle returns to the vehicle, if the arc is not completely accessed, taking the flying-off point of the unmanned aerial vehicle as the flying-in point of the next flight, and continuing to perform routing inspection; and if the access is finished, performing the operation on the next arc until the unmanned aerial vehicle finishes the routing inspection tasks of all the power transmission lines.
5. The double-layer path planning method for the power inspection of the vehicle-mounted unmanned aerial vehicle according to claim 2, wherein the unmanned aerial vehicle route, namely a high-voltage power grid, is segmented by a heuristic algorithm method to obtain a segmentation result; planning the paths of the vehicle and the unmanned aerial vehicle by utilizing the segmentation result corresponding to the heuristic algorithm method to obtain a feasible solution, and specifically comprises the following steps:
cutting the whole power grid by using a heuristic algorithm determined based on the cutting interval and taking the set unit interval as a small segment; then, starting from one end of the arc route, searching a nearest vehicle stop point, and taking the nearest vehicle stop point as a starting point of a power inspection task of the whole vehicle-mounted unmanned aerial vehicle; the feasibility that the unmanned aerial vehicle flies off the power grid at each point is sequentially judged according to the sequence of power grid arcs: and if the unmanned aerial vehicle is feasible, accessing the arc section, otherwise, considering that the unmanned aerial vehicle has reached the maximum range, searching the nearest vehicle stop point and returning the vehicle to prepare for the next flight until all the power transmission lines are inspected.
6. The utility model provides a double-deck route planning device that on-vehicle unmanned aerial vehicle electric power was patrolled and examined, its characterized in that, the device includes:
the partitioning unit is used for partitioning the unmanned aerial vehicle route, namely the high-voltage power grid, by a heuristic algorithm method to obtain a partitioning result;
the calculation unit is used for planning the paths of the vehicle and the unmanned aerial vehicle by utilizing the segmentation result corresponding to the heuristic algorithm method so as to obtain a feasible solution; and obtaining the inspection time corresponding to the heuristic algorithm by using the feasible solution.
7. The double-layer path planning device for the power inspection of the vehicle-mounted unmanned aerial vehicle according to claim 6, wherein the heuristic algorithm comprises the following three types: the method comprises a heuristic algorithm determined based on the number of segmentation nodes, a heuristic algorithm based on dichotomy segmentation and a heuristic algorithm determined based on segmentation intervals.
8. The double-layer path planning device for the electric inspection of the vehicle-mounted unmanned aerial vehicle of claim 7,
the division unit includes: the first segmentation module is used for cutting the unmanned aerial vehicle arc route by using a heuristic algorithm determined based on the number of the segmentation nodes to obtain k x n sections of new arcs;
the calculation unit includes: the first calculation module is used for searching a nearest vehicle stop point from one end of the first arc section and taking the nearest vehicle stop point as a starting point of a power inspection task of the whole vehicle-mounted unmanned aerial vehicle; after the unmanned aerial vehicle takes off from the task starting point, the unmanned aerial vehicle sequentially accesses the power grid according to the sequence of power grid arcs, and before each section of arc is accessed, whether the distance constraint and the time constraint are met needs to be judged, namely whether the unmanned aerial vehicle can return to a vehicle stop point on a road network after accessing the point and whether the vehicle stop point exists so that a vehicle positioned on the road network can reach the point before the unmanned aerial vehicle: if the requirement is met, accessing the segment arc; otherwise, the unmanned aerial vehicle is considered to reach the maximum range, the nearest vehicle stop point is searched to serve as a recovery point, the vehicle is returned, the next arc is used as the starting point of the next flight of the unmanned aerial vehicle, and the steps are repeated until the unmanned aerial vehicle finishes the inspection tasks of all the power transmission lines.
9. The double-layer path planning device for the electric inspection of the vehicle-mounted unmanned aerial vehicle of claim 7,
the division unit includes: the second segmentation module is used for carrying out segmentation by utilizing a heuristic algorithm based on dichotomy segmentation;
the calculation unit includes: the second calculation module is used for searching a nearest vehicle stop point from one end of the arc route in the solving process and taking the nearest vehicle stop point as a starting point of the whole vehicle-mounted unmanned aerial vehicle power inspection task; after the unmanned aerial vehicle takes off from the task starting point, whether the terminal point of the arc section can simultaneously meet the range constraint of the unmanned aerial vehicle and the time constraint under the cooperative condition of the vehicle and the unmanned aerial vehicle is judged: if so, searching a feasible vehicle stop point as a recovery point, and returning to the vehicle; if the distance between the unmanned aerial vehicle and the vehicle is not met, the midpoint of the arc section is taken for judgment, and the operation is repeated until the unmanned aerial vehicle returns to the vehicle; after the unmanned aerial vehicle returns to the vehicle, if the arc is not completely accessed, taking the flying-off point of the unmanned aerial vehicle as the flying-in point of the next flight, and continuing to perform routing inspection; and if the access is finished, performing the operation on the next arc until the unmanned aerial vehicle finishes the routing inspection tasks of all the power transmission lines.
10. The double-layer path planning device for the electric inspection of the vehicle-mounted unmanned aerial vehicle of claim 7,
the division unit includes: the third segmentation module is used for cutting the whole power grid by using a heuristic algorithm determined based on the segmentation interval and taking the set unit interval as a small segment;
the calculation unit includes: the third calculation module is used for searching the nearest vehicle stop point from one end of the arc route and taking the nearest vehicle stop point as the starting point of the whole vehicle-mounted unmanned aerial vehicle power inspection task; the feasibility that the unmanned aerial vehicle flies off the power grid at each point is sequentially judged according to the sequence of power grid arcs: and if the unmanned aerial vehicle is feasible, accessing the arc section, otherwise, considering that the unmanned aerial vehicle has reached the maximum range, searching the nearest vehicle stop point and returning the vehicle to prepare for the next flight until all the power transmission lines are inspected.
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| CN113359821A (en) * | 2021-05-28 | 2021-09-07 | 合肥工业大学 | Path planning method and system based on cooperative work of vehicle and unmanned aerial vehicle |
| CN113359821B (en) * | 2021-05-28 | 2022-07-05 | 合肥工业大学 | Path planning method and system based on cooperative work of vehicle and unmanned aerial vehicle |
| CN113359808A (en) * | 2021-07-21 | 2021-09-07 | 国网浙江省电力有限公司双创中心 | Multi-stage path planning method for power inspection of unmanned aerial vehicle and related device |
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