CN113758478A - Routing inspection flight planning method and system for long-distance power transmission and transformation line unmanned aerial vehicle - Google Patents
Routing inspection flight planning method and system for long-distance power transmission and transformation line unmanned aerial vehicle Download PDFInfo
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention discloses an unmanned aerial vehicle inspection flight planning method for a long-distance power transmission and transformation line, which at least comprises the following steps: s1: the method comprises the steps of data acquisition, namely completing data acquisition of information including meteorological parameters, topographic and geomorphic data, tower coordinates, unmanned aerial vehicle models, relative altitude and the like; s2: a data processing step, wherein the route data processing is carried out based on the data collected in the step S1 and the generation of routes of all sections is completed; s3: and a data output step, namely finishing the output of the air route and the flight plan. The method realizes the automatic planning of the unmanned aerial vehicle air route and the optimization of the flight taking-off and landing time of different sections in the long-distance power transmission and transformation line inspection. And the takeoff sequence of each section can be changed according to the weather condition, so that the operators can conveniently plan long-distance flight tasks, the air route design work of the aerial survey operators of the unmanned aerial vehicle is simplified, and the flight operation efficiency of the long-distance line unmanned aerial vehicle is improved.
Description
Technical Field
The invention belongs to the technical field of aerial surveying and mapping, and particularly relates to a method and a system for optimizing routing inspection flight of an unmanned aerial vehicle of a long-distance power transmission and transformation line.
Background
In an electric power system, in order to ensure normal and stable operation of a power transmission and transformation line, regular inspection needs to be carried out on the power transmission and transformation line. China's power transmission and transformation circuit wide coverage, the distance is long, because the development of unmanned aerial vehicle technique, unmanned aerial vehicle application begins to popularize among the power transmission and transformation patrols and examines at present, uses unmanned aerial vehicle to carry on sensors such as digital camera, laser radar system, infrared camera, ultraviolet camera and carry out each problem of circuit and patrol and examine, can improve the operation flexibility ratio, reduces the operating cost. However, unmanned aerial vehicles of different types cruise at different speeds, take-off heights are different, single-frame continuous voyage time is different, and inspection lines are often hundreds of kilometers or even thousands of kilometers, so that when the unmanned aerial vehicle is applied to long-distance power transmission and transformation lines for inspection, the design of the lines is complex, and flight plans are not adaptively adjusted according to weather conditions of different sections, so that the application of the unmanned aerial vehicle in the long-distance power transmission and transformation line inspection is greatly limited.
Patent document CN 102455185 a discloses an airborne synthetic aperture radar route planning method, which selects an azimuth angle corresponding to a shadow map with the minimum shadow as a flight direction, performs aerial photography partitioning according to a DEM elevation change range, lays a route according to the aerial photography partitioning, and has aerial photography parameters including an aerial height, a datum plane height, a side view angle, a side view direction and a surveying and mapping bandwidth.
Patent document CN 105571570B discloses a method and apparatus for aerial photography field, which obtains the intersection point of the initial course direction and the survey area to determine the starting point coordinate and the end point coordinate of the course, sets the starting point coordinate as the starting exposure point on the course, calculates the actual course overlap of the aerial films at two exposure points according to the DEM data and the estimated next exposure point coordinate, and calculates the coordinates of each exposure point on the course in turn, and stops the calculation of the exposure point until the currently calculated coordinates of the exposure point is greater than the end point coordinate of the course; and taking the air route as an initial air route, sequentially laying the air routes according to the overlapping degree calculated based on the DEM data as a constraint until the coordinate value of the lateral direction of the laid current air route is not between the maximum coordinate value and the minimum coordinate value of the lateral direction of the survey area, stopping laying the air route, and determining the current air route as the last air route in the survey area.
Patent document CN 106371456 a discloses an unmanned aerial vehicle line patrol method and system, which collects tower coordinate data and DEM data in earlier stage, generates planar area objects connected in sequence along the tower through a GIS buffer area, divides the planar area objects into a plurality of sub-areas according to the altitude difference threshold of the unmanned aerial vehicle and the DEM data, sets air lines in each sub-area respectively, and finally introduces the air line data and unmanned aerial vehicle turning parameters into a three-dimensional geographic information management platform superposed with the DEM data to perform flight safety analysis, wherein the flight safety analysis is mainly performed by judging the distance between a flight trajectory and obstacles along the line.
Patent document CN 107272738A discloses a flight path setting method and device, in which a first flight path including a plurality of intertillage paths is set according to flight parameters of an unmanned aerial vehicle, a second flight path includes a plurality of architectural paths interlaced with the intertillage paths, and the number of field layout control points is reduced by combining the first flight path and the second flight path.
Patent document CN 108109437 a discloses an unmanned aerial vehicle autonomous route extraction production method based on map features, wherein an area to be inspected is framed on a map, image processing is performed on the framed area, lines and planes in the area are automatically identified, and different lines and closed areas are generated; the user can select the inspection line segment and set the flight data of the unmanned aerial vehicle inspection, and the user can customize the continuous inspection of different line segments; for area inspection, a user selects a corresponding area, and a route can be generated by setting the route distance, the height, the orientation and the take-off and landing point. The unmanned aerial vehicle inspection flight data comprise a starting point, a terminal point, a minimum turning radius, a rolling angle, a flight height and a flight speed.
Patent document CN 108267134 a discloses a self-adaptive route adjustment method, which uses the horizontal plane at the highest point on the boundary of the projection overlapping area of the adjacent flight zones as a new aerial photography reference plane to calculate the true sidewise overlapping degree, and through continuous iterative adjustment, enables the route to be adaptively adjusted along with the relief.
The patent document CN 108286965A discloses an unmanned aerial vehicle variable-altitude route method, terminal and system based on fine three-dimensional terrain, wherein an unmanned aerial vehicle firstly shoots images according to basic route flight, then extracts elevation data of the fine three-dimensional terrain from the images, calculates and filters variable-altitude route waypoints according to the elevation data and unmanned aerial vehicle variable-altitude constraint conditions, and generates route data by combining sequence points of the basic route. The high constraint conditions of the unmanned aerial vehicle comprise a maximum ascending speed v1 of the unmanned aerial vehicle, a current flying speed v2 and a minimum sampling interval D, and the minimum ascending height H1 is calculated as H1-sqrt (D × D/(v1 × v1/v2 × v2-1)), and the navigation points in the elevation data which are larger than the minimum ascending height H1 are filtered.
Patent document CN 108303992 a discloses a novel unmanned aerial vehicle route planning method, in which software automatically generates waypoint files and two-dimensional flight trajectory files by manual or file import, and automatically inquires and matches flight altitude; according to the relative height of the air route input by the user, the software automatically inquires the ground elevation data of the corresponding air route point, performs fitting operation on the elevation data to calculate the absolute height of safe flight, and automatically checks the reasonability of the height. This document performs filtering processing on a section where the ground height changes greatly.
Patent document CN 105825719 a discloses a method and a device for generating an unmanned aerial vehicle route, which imports two-dimensional geographic information basic data into a three-dimensional Geographic Information System (GIS) basic platform to generate three-dimensional GIS data, and constructs a vector line of an unmanned aerial vehicle inspection object based on the generated three-dimensional GIS data; and carrying out vector line selection operation on the vector line of the unmanned aerial vehicle inspection object based on the preset vector line of the unmanned aerial vehicle inspection object so as to generate the inspection route of the unmanned aerial vehicle.
The line planning method in the prior art performs line planning from the area to be flown by navigation, does not consider the time optimization selection problem of multi-frame flight of the unmanned aerial vehicle, and is particularly used for the aspects of long-distance power transmission and transformation line inspection, long-distance road inspection and the like. Long distance transmission line is different through regional weather and topography situation, is difficult to compromise line design, climate factor, take off and land point and selects when using unmanned aerial vehicle to patrol and examine the operation, causes long distance circuit unmanned aerial vehicle to patrol and examine the operation and is difficult to realize the planning of flying by a voyage of totality, has reduced the operating efficiency, restricts the application of unmanned aerial vehicle in long distance transmission and transformation circuit is patrolled and examined.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an optimization method for a long-distance power transmission and transformation line unmanned aerial vehicle inspection flight scheme, which realizes automatic planning of unmanned aerial vehicle flight lines and optimization of flight taking-off and landing time of different sections in long-distance power transmission and transformation line inspection, and the taking-off sequence of each section can be changed according to weather conditions, so that operators can conveniently plan long-distance flight tasks comprehensively.
The purpose of the invention is realized by the following technical scheme:
an unmanned aerial vehicle inspection flight planning method for a long-distance power transmission and transformation line at least comprises the following steps: s1: the method comprises the steps of data acquisition, namely completing data acquisition of information including meteorological parameters, topographic and geomorphic data, tower coordinates, unmanned aerial vehicle models, relative altitude and the like; s2: a data processing step, wherein the route data processing is carried out based on the data collected in the step S1 and the generation of routes of all sections is completed; s3: and a data output step, namely finishing the output of the air route and the flight plan.
According to a preferred embodiment, the meteorological parameters collected in the step S1 at least include weather condition, wind power level, temperature and humidity information acquired in real time on line after the long-distance line section is divided; the topographic and geomorphic data is at least DEM data, a topographic map and/or an orthophotomap; the relative navigation height is calculated based on the precision setting of the routing inspection task, the point cloud density setting and the aerial photography resolution setting.
According to a preferred embodiment, the data processing step of step S2 includes at least: the method comprises the following steps of long-distance line section division, section meteorological parameter extraction, line center line confirmation, section initial route position calculation, section parallel route calculation, section route safety analysis, section flight starting and landing point selection, infinity route calculation between a takeoff point and a route starting point and section route generation.
According to a preferred embodiment, the long-distance line segment division comprises at least: the method is determined by calculation according to the total line length L, the cruising speed v of the unmanned aerial vehicle, the cruising time t of the unmanned aerial vehicle and the reserved time delta t, and the calculation formula of the total section number n divided by the whole line L is as follows: n-2L/v (t- Δ t); the segment meteorological parameter extraction at least comprises: extracting meteorological parameters of each section manually or automatically through the Internet, wherein the meteorological parameters comprise clear/cloudy/cloud/rain, wind power grade, temperature and humidity information; the line center line is determined to be formed based on an input tower coordinate connecting line.
According to a preferred embodiment, said calculation of the initial course position of the sector comprises at least: when the set lateral overlapping degree is delta, the focal length of a camera mounted on the unmanned aerial vehicle is f, the size of a pixel is mu, the course length of the digital image is k pixels, the lateral length is w pixels, the calculation formula of the distance d from the center line of the line to the first route is d-mu h w (1-delta)/2 f, the height relative to the DEM is h, and three-dimensional coordinates of each point of the first route are calculated according to the coordinates of each tower and the elevation of the DEM; when the unmanned aerial vehicle is mounted with a laser scanner, the scanning angle of the scanner is theta, and the relative altitude is an input value h, the calculation formula of the distance d between the first route and the central line of the route is d ═ htan (theta/2)/2, and the three-dimensional coordinates of each point of the first route are calculated according to the coordinates of each tower and the elevation of the DEM.
According to a preferred embodiment, the calculation of the sector parallel paths comprises at least: each parallel route of the section is parallel to the first route, wherein the second route and the first route are respectively positioned at two sides of the central line of the route, and the two routes are the same in distance from the central line of the route; the third air route and the fourth air route are respectively spaced from the first air route and the second air route by 2 d.
According to a preferred embodiment, the regional route safety analysis comprises at least: comparing whether the highest altitude and the flight height change rate of the section flight line are matched with the parameters corresponding to the model of the airplane or not, and if so, ensuring that the flight line is safe; and if not, locally adjusting the altitude of the air route.
According to a preferred embodiment, the generation of each section route comprises connecting the starting point of the first route of each section with the take-off and landing point through an infinite line, and connecting the tail end of the route with the take-off and landing point to form each section route.
According to a preferred embodiment, the data output step of step S3 includes: outputting a route file and outputting a flight priority sequence; the flight line file comprises a section number, flight lines of each section, the distance between adjacent flight lines of each section, turning radius of the flight lines of each section, flight speed of the flight lines of each section, recommended take-off and landing points of each section and recommended take-off and landing time information data of each section; the flight priority sequence is based on online weather forecast information through the Internet, each section automatically acquires the following continuous 15 weather image parameters, the flight priority sequence of each section is automatically adjusted according to the weather parameters, and the reference weather parameters are sorted into weather conditions such as sunny/cloudy/cloud/rain, wind power level F, humidity and temperature.
An unmanned aerial vehicle inspection flight planning system for a long-distance power transmission and transformation line at least comprises a data input module, a flight line data processing module and a flight line and flight plan output module, wherein the data input module is configured to be used for acquiring data including meteorological parameters, topographic and geomorphic data, tower position coordinates, an unmanned aerial vehicle model and relative flight height; the route data processing module is configured to be used for carrying out long-distance route section division, section meteorological parameter extraction, line center line confirmation, section initial route position calculation, section parallel route calculation, section route safety analysis, section flight starting and landing point selection, infinity route calculation between a takeoff point and a route starting point and section route generation; the airline and flight plan output module is configured to output an airline file and output a flight priority.
The main scheme and the further selection schemes can be freely combined to form a plurality of schemes which are all adopted and claimed by the invention; in the invention, the selection (each non-conflict selection) and other selections can be freely combined. The skilled person in the art can understand that there are many combinations, which are all the technical solutions to be protected by the present invention, according to the prior art and the common general knowledge after understanding the scheme of the present invention, and the technical solutions are not exhaustive herein.
The invention has the beneficial effects that:
the method realizes the automatic planning of the unmanned aerial vehicle air route and the optimization of the flight taking-off and landing time of different sections in the long-distance power transmission and transformation line inspection. The takeoff sequence of each section can be changed according to the weather condition, so that the operators can conveniently plan long-distance flight tasks, the air route design work of the aerial survey operators of the unmanned aerial vehicle is simplified, and the flight operation efficiency of the long-distance line unmanned aerial vehicle is improved; meanwhile, an infinity-shaped route required in CH/T8024 and 2011 airborne laser radar data acquisition technical specification is added in the route planning, so that the working precision of the POS system is improved, and a high-precision mapping data result can be acquired.
Drawings
FIG. 1 is a schematic structural diagram of an unmanned aerial vehicle inspection flight planning system of the invention;
FIG. 2 is a schematic flow chart of the unmanned aerial vehicle inspection flight planning method of the invention;
FIG. 3 is a schematic diagram of long haul line segment division in accordance with the present invention;
FIG. 4 is a schematic diagram of a route of a certain section of the invention.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that, in order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are clearly and completely described below, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments.
Thus, the following detailed description of the embodiments of the present invention is not intended to limit the scope of the invention as claimed, but is merely representative of selected embodiments of the invention. 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.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations and positional relationships that are conventionally used in the products of the present invention, and are used merely for convenience in describing the present invention and for simplicity in description, but do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In addition, it should be noted that, in the present invention, if the specific structures, connection relationships, position relationships, power source relationships, and the like are not written in particular, the structures, connection relationships, position relationships, power source relationships, and the like related to the present invention can be known by those skilled in the art without creative work on the basis of the prior art.
Example 1:
at present, in unmanned aerial vehicle route design, special route design and route planning optimization are not carried out for multiple times of unmanned aerial vehicle navigation for long-distance line inspection and surveying and mapping, and based on the special route design and the route planning, the embodiment of the invention provides a routing inspection and flight planning method for the long-distance power transmission and transformation line unmanned aerial vehicle.
In order to facilitate understanding of the embodiment, the method for planning the routing inspection flight of the unmanned aerial vehicle of the long-distance power transmission and transformation line disclosed by the embodiment of the invention is described in detail.
Referring to fig. 2, the unmanned aerial vehicle inspection flight planning method for the long-distance power transmission and transformation line at least comprises the following steps.
Step S1: and a data acquisition step, namely completing data acquisition of information including meteorological parameters, topographic and geomorphic data, tower coordinates, unmanned aerial vehicle models, relative altitude and the like.
Preferably, the meteorological parameters are information such as weather conditions, wind power levels, temperatures and humidity acquired in real time on line after the long-distance line sections are divided, and all meteorological parameters jointly determine whether the unmanned aerial vehicle can fly.
The weather conditions mainly comprise sunny days, cloudy days, rain, light rain, medium rain, heavy rain, snow and the like, and the other weather conditions do not meet the flight conditions except the sunny days, the cloudy days and the cloudy days.
The wind-force level is used for contrasting with unmanned aerial vehicle's anti-wind grade, and the wind-force level is greater than the biggest anti-wind grade of unmanned aerial vehicle, then unmanned aerial vehicle can't fly.
The reserved time delta t is used for evaluating the safe flight time of the unmanned aerial vehicle when the long-distance line section is divided, and under the condition of zero degrees, the delta t needs to be properly increased so as to ensure the safe flight of the unmanned aerial vehicle.
Humidity is used for assisting and judges whether unmanned aerial vehicle and aerial survey equipment satisfy the operation condition, and humidity is not suitable for the flight operation more than 80%.
Preferably, the topographic and geomorphic data comprises DEM data, which can be constructed by existing topographic maps, DEM data made by satellite images and DEM data constructed by aerial remote sensing images. The topographical data also includes existing topographical maps or orthophotomaps.
The DEM is mainly used for calculating the absolute elevation of a flight line, and the absolute elevation of the flight line is DEM elevation plus relative flight height; the topographic map or the orthoimage is used for manually selecting a proper unmanned aerial vehicle take-off and landing site, and the take-off site and the landing site of the unmanned aerial vehicle are in the same position.
Preferably, the drone model includes a multi-rotor drone, a vertical take-off and landing fixed wing drone, a fixed wing drone. The model of the unmanned aerial vehicle is determined before the aviation flight task, the information of parameters such as the cruising speed range of the unmanned aerial vehicle, the climbing speed v1, the cruising time t, the maximum takeoff altitude Hmax, the wind resistance grade F, the turning radius r and the like is also naturally determined after the model of the unmanned aerial vehicle is determined, and meanwhile, the parameters can be manually modified.
The maximum takeoff height Hmax is used for comparing with the absolute elevation of the air route so as to judge whether the unmanned aerial vehicle can fly safely.
Preferably, the relative navigation height is calculated by the precision requirement of the routing inspection task, the density requirement of the point cloud, the aerial photography resolution requirement and the like.
Step S2: and a data processing step of performing route data processing based on the data acquired in the step S1 and completing route generation for each section.
Preferably, the data processing step of step S2 includes at least: the method comprises the following steps of long-distance line section division, section meteorological parameter extraction, line center line confirmation, section initial route position calculation, section parallel route calculation, section route safety analysis, section flight starting and landing point selection, infinity route calculation between a takeoff point and a route starting point and section route generation.
Preferably, the long-distance line segment division includes at least: the method is determined by calculation according to the total line length L, the cruising speed v of the unmanned aerial vehicle, the cruising time t of the unmanned aerial vehicle and the reserved time delta t, and the calculation formula of the total section number n divided by the whole line L is as follows: n-2L/v (t- Δ t); wherein v, t and delta t can be adjusted according to actual conditions. The line S1 is divided into a plurality of sections by calculation as shown in fig. 3, and the sections are separated by short and thick line segments.
Preferably, the segment meteorological parameter extraction at least comprises: : in each determined section, manually or automatically confirming the area, and extracting meteorological parameters of each section in real time through an online internet, wherein the meteorological parameters comprise sunny/cloudy/cloud/rain, wind power level, temperature and humidity; and updating the weather condition of the non-working area in real time on line according to the progress of the working task.
Preferably, the line centreline identification: and forming a line central line according to the input tower coordinate connecting line. The central line of non-power transmission and transformation line, such as railway and highway, is formed by pile number coordinate connection. The line center line is a three-dimensional vector line, and S1 in fig. 3 is the line center line.
Preferably, the calculation of the initial route position of the section at least comprises: when the set lateral overlapping degree is delta, the focal length of a camera mounted on the unmanned aerial vehicle is f, the size of a pixel is mu, the course length of the digital image is k pixels, the lateral length is w pixels, the calculation formula of the distance d from the center line of the line to the first route is d-mu h w (1-delta)/2 f, the height relative to the DEM is h, and three-dimensional coordinates of each point of the first route are calculated according to the coordinates of each tower and the elevation of the DEM; when the unmanned aerial vehicle is mounted with a laser scanner, the scanning angle of the scanner is theta, and the relative altitude is an input value h, the calculation formula of the distance d between the first route and the central line of the route is d ═ htan (theta/2)/2, and the three-dimensional coordinates of each point of the first route are calculated according to the coordinates of each tower and the elevation of the DEM.
As shown in fig. 4, a1, a2, a3, a4 are locations of the power transmission and transformation line towers, s11 is a line center line of a certain section, and L1 is a first route confirmed by calculation.
Preferably, the segment parallel path calculation at least includes: each parallel route of the section is parallel to the first route, wherein the second route and the first route are respectively positioned at two sides of the central line of the route, and the two routes are the same in distance from the central line of the route; the third air route and the fourth air route are respectively spaced from the first air route and the second air route by 2 d. In fig. 4, L2 is the second parallel route confirmed by calculation, and L3 and L4 are the peripheral parallel routes calculated according to task needs.
Preferably, the regional route safety analysis at least comprises: comparing whether the highest altitude and the flight height change rate of the section flight line are matched with the parameters corresponding to the model of the airplane or not, and if so, ensuring that the flight line is safe; and if not, locally adjusting the altitude of the air route.
Preferably, the sector flying and landing point selection: from the topographical map, take-off and landing points are selected for each area, with the take-off and landing points near the same location, as shown at p (11) in fig. 4.
Preferably, the course calculation between the takeoff point and the course starting point is as follows: and automatically calculating an infinity-shaped flight path between the takeoff point of the unmanned aerial vehicle and the starting point of the flight path, wherein the relative ground height of the flight path is h. The infinity-shaped air route is mainly used for fully activating a POS system carried in the unmanned aerial vehicle carrying equipment, so that the unmanned aerial vehicle carrying equipment can obtain data information with higher precision; the method is suitable for aerial photography equipment carrying the POS system and is also suitable for an airborne laser radar system. In fig. 4, L41 formed by a broken line is an "∞" shaped route.
Preferably, the generating of the route of each section comprises connecting the starting point and the taking-off and landing point of the first route of each section, and connecting the tail of the route with the taking-off and landing point to form the route of each section. In fig. 4, dashed lines L4 and L5 are a connection line between the takeoff point of the unmanned aerial vehicle and the route, and a connection line between the landing point of the unmanned aerial vehicle and the route, respectively, and a dashed line L3 is a turning line calculated according to the model and the flight speed of the unmanned aerial vehicle.
Step S3: and a data output step, namely finishing the output of the air route and the flight plan.
Preferably, the data outputting step of step S3 includes: and outputting a flight path file and outputting a flight path priority sequence.
Further, the flight path file comprises sector numbers, flight paths of all sectors, space between adjacent flight paths of all sectors, turning radius of flight paths of all sectors, flight speed of flight paths of all sectors, recommended take-off and landing points of all sectors and recommended take-off and landing time information data of all sectors.
Preferably, the flight priority is based on online weather forecast information through the internet, each section automatically acquires the following continuous 15 weather image parameters, and the flight priority of each section flight route is automatically adjusted according to the weather parameters. Further, the reference meteorological parameters are ranked as weather conditions such as sunny/cloudy/cloud/rain, wind power level F, humidity and temperature. And the flight section is not used for adjusting the subsequent flight priority according to the meteorological parameters.
The unmanned aerial vehicle inspection flight planning method is also suitable for the unmanned aerial vehicle aerial survey or inspection of roads, railways and oil and gas pipelines of long-distance lines.
According to the invention, the automatic planning of the unmanned aerial vehicle air route is realized in the inspection of the long-distance power transmission and transformation line, the flight taking-off and landing time of different sections is optimized, the taking-off sequence of each section can be changed according to the weather condition, the operation personnel can conveniently plan the long-distance flight task in an integrated manner, the air route design work of the aerial survey operation personnel of the unmanned aerial vehicle is simplified, and the flight operation efficiency of the unmanned aerial vehicle on the long-distance line is improved. Meanwhile, an infinity-shaped route required in CH/T8024 and 2011 airborne laser radar data acquisition technical specification is added in the route planning, so that the working precision of the POS system is improved, and a high-precision mapping data result can be acquired.
Example 2
On the basis of the embodiment 1, the invention also discloses a system for planning the routing inspection flight of the unmanned aerial vehicle of the long-distance power transmission and transformation line.
Referring to fig. 1, the unmanned aerial vehicle inspection flight planning system at least comprises a data input module, a route data processing module and a route and flight plan output module.
Preferably, the data input module is configured to enable data acquisition of information including weather parameters, terrain and geomorphic data, tower coordinates, model number of the drone, and relative altitude.
Preferably, the flight path data processing module is configured to perform long-distance line segment division, segment meteorological parameter extraction, line center line confirmation, segment initial flight path position calculation, segment parallel flight path calculation, segment flight path safety analysis, segment flight take-off and landing point selection, infinity flight path calculation between a take-off point and a flight path starting point, and each segment flight path generation.
Preferably, the airline and flight plan output module is configured to output an airline file and output a flight priority order.
The foregoing basic embodiments of the invention and their various further alternatives can be freely combined to form multiple embodiments, all of which are contemplated and claimed herein. In the scheme of the invention, each selection example can be combined with any other basic example and selection example at will. Numerous combinations will be known to those skilled in the art.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. The unmanned aerial vehicle inspection flight planning method for the long-distance power transmission and transformation line is characterized by at least comprising the following steps:
s1: data acquisition, namely completing data acquisition on meteorological parameters, topographic and geomorphic data, tower coordinates, unmanned aerial vehicle models and relative altitude;
s2: a data processing step, wherein the route data processing is carried out based on the data collected in the step S1 and the generation of routes of all sections is completed;
s3: and a data output step, namely finishing the output of the air route and the flight plan.
2. The unmanned aerial vehicle inspection tour flying planning method for long-distance power transmission and transformation lines according to claim 1, wherein the meteorological parameters collected in the step S1 at least include weather conditions, wind power levels, temperatures and humidity information acquired in real time on line after division of long-distance line sections;
the topographic and geomorphic data is at least DEM data, a topographic map and/or an orthophotomap;
the relative navigation height is calculated based on precision setting, point cloud density setting and aerial photography resolution setting of a routing inspection task.
3. The method for planning the routing inspection and flight of the unmanned aerial vehicle for the long-distance power transmission and transformation line according to claim 1, wherein the data processing step of the step S2 at least comprises the following steps: the method comprises the following steps of long-distance line section division, section meteorological parameter extraction, line center line confirmation, section initial route position calculation, section parallel route calculation, section route safety analysis, section flight starting and landing point selection, infinity route calculation between a takeoff point and a route starting point and section route generation.
4. The unmanned aerial vehicle inspection flight planning method for long-distance power transmission and transformation lines of claim 3,
the long-haul line segment division includes at least: the method is determined by calculation according to the total line length L, the cruising speed v of the unmanned aerial vehicle, the cruising time t of the unmanned aerial vehicle and the reserved time delta t, and the calculation formula of the total section number n divided by the whole line L is as follows: n-2L/v (t- Δ t);
the segment meteorological parameter extraction at least comprises: extracting meteorological parameters of each section manually or automatically through the Internet, wherein the meteorological parameters comprise clear/cloudy/cloud/rain, wind power grade, temperature and humidity information;
the line center line is determined to be formed based on an input tower coordinate connecting line.
5. The routing inspection and flight planning method for the long-distance power transmission and transformation line unmanned aerial vehicle according to claim 3, wherein the calculation of the initial route position of the segment at least comprises the following steps:
when the set lateral overlapping degree is delta, the focal length of a camera mounted on the unmanned aerial vehicle is f, the size of a pixel is mu, the course length of the digital image is k pixels, the lateral length is w pixels, the calculation formula of the distance d from the center line of the line to the first route is d-mu h w (1-delta)/2 f, the height relative to the DEM is h, and three-dimensional coordinates of each point of the first route are calculated according to the coordinates of each tower and the elevation of the DEM;
when the unmanned aerial vehicle is mounted with a laser scanner, the scanning angle of the scanner is theta, and the relative altitude is an input value h, the calculation formula of the distance d between the first route and the central line of the route is d ═ htan (theta/2)/2, and the three-dimensional coordinates of each point of the first route are calculated according to the coordinates of each tower and the elevation of the DEM.
6. The unmanned aerial vehicle inspection flight planning method for the long-distance power transmission and transformation line of claim 5, wherein the calculation of the section parallel route at least comprises the following steps:
each parallel route of the section is parallel to the first route, wherein the second route and the first route are respectively positioned at two sides of the central line of the route, and the two routes are the same in distance from the central line of the route;
the third air route and the fourth air route are respectively spaced from the first air route and the second air route by 2 d.
7. The unmanned aerial vehicle inspection flight planning method for the long-distance power transmission and transformation line of claim 5, wherein the safety analysis of the section route at least comprises the following steps: comparing whether the highest altitude and the flight height change rate of the section flight line are matched with the parameters corresponding to the model of the airplane or not, and if so, ensuring that the flight line is safe; and if not, locally adjusting the altitude of the air route.
8. The unmanned aerial vehicle inspection flight planning method for the long-distance power transmission and transformation line of claim 5, wherein the generation of the flight path of each section comprises connecting a starting point of a first flight path of each section with a take-off and landing point through an infinity-shaped line, and connecting the tail of the flight path with the take-off and landing point to form the flight path of each section.
9. The unmanned aerial vehicle inspection tour navigation planning method for long-distance power transmission and transformation lines of claim 5, wherein the data output step of the step S3 includes: outputting a route file and outputting a flight priority sequence;
the flight line file comprises a section number, flight lines of each section, the distance between adjacent flight lines of each section, turning radius of the flight lines of each section, flight speed of the flight lines of each section, recommended take-off and landing points of each section and recommended take-off and landing time information data of each section;
the flight priority sequence is based on online weather forecast information through the Internet, each section automatically acquires the following continuous 15 weather image parameters, the flight priority sequence of each section is automatically adjusted according to the weather parameters, and the reference weather parameters are sorted into weather conditions such as sunny/cloudy/cloud/rain, wind power level F, humidity and temperature.
10. An unmanned aerial vehicle inspection flight planning system for a long-distance power transmission and transformation line is characterized in that the unmanned aerial vehicle inspection flight planning system at least comprises a data input module, a route data processing module and a route and flight plan output module,
the data input module is configured for enabling data acquisition including meteorological parameters, topographic and topographic data, tower coordinates, drone model and relative altitude;
the route data processing module is configured to be used for carrying out long-distance route section division, section meteorological parameter extraction, line center line confirmation, section initial route position calculation, section parallel route calculation, section route safety analysis, section flight starting and landing point selection, infinity route calculation between a takeoff point and a route starting point and section route generation;
the airline and flight plan output module is configured to output an airline file and output a flight priority.
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