CN114527782A - Unmanned aerial vehicle flight path planning method and system based on power grid map - Google Patents
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Abstract
The invention discloses an unmanned aerial vehicle track planning method and system based on a power grid map, which comprise a data storage module for storing power grid map data and satellite image data, a map display module for performing superposition display of a vector map and a grid map, a track planning module, an unmanned aerial vehicle communication module for performing information interaction with an unmanned aerial vehicle, and a corresponding unmanned aerial vehicle track planning method. The method comprises the steps of storing the existing power grid map data and satellite image data through a data storage module; the vector map and the grid map are displayed in a superposition manner through a map display module; planning and adjusting a flight path on a map through a flight path planning module, and sending a result to a flight control module; the unmanned aerial vehicle communication module is used for transmitting flight data such as the position of the unmanned aerial vehicle back in real time, the existing power grid data and the latest satellite image data can be effectively combined, and the efficiency of unmanned aerial vehicle track planning such as power inspection and reconnaissance can be greatly improved.
Description
Technical Field
The invention relates to the technical field of power systems, in particular to an unmanned aerial vehicle flight path planning method and system based on a power grid map.
Background
The unmanned aerial vehicle power line inspection technology organically combines technologies such as computer, communication, measurement and control, remote sensing and the like, and rapidly detects the running states of equipment such as a ground wire, a hardware fitting, an insulator, an iron tower and the like of a power transmission line and a channel environment through an intelligent flight control and sensor detection technology. The attitude control of the autonomous flight of the unmanned aerial vehicle is realized, and the guarantee of safe flight becomes an important development trend of the current power grid inspection technology. At present, the routing inspection operation of the unmanned aerial vehicle is widely applied to an electric power system, but the existing power grid data and the current situation information of ground objects cannot be considered by the existing flight path planning method of the unmanned aerial vehicle, so that time and labor are consumed in the flight path planning stage, and the planned route is unreasonable.
For example, Chinese patent CN111625018A, published as 2020, 9, 4, a method for planning flight path of unmanned aerial vehicle based on radar detection and unmanned aerial vehicle system, the method comprises the steps of acquiring terrain detection information obtained by detecting the ground by a terrain detection radar with a preset detection angle arranged on the unmanned aerial vehicle, setting a preset flying height between the unmanned aerial vehicle and the ground, setting a preset constant horizontal flying speed on the preset flying height, and finally controlling the unmanned aerial vehicle to fly on the adjusted flying track according to the preset constant horizontal flying speed, the terrain detection information and the preset flying height, make unmanned aerial vehicle keep flying with ground on predetermineeing flying height, solved among the prior art unmanned aerial vehicle flight control and can't realize that unmanned aerial vehicle keeps keeping the technical problem of the same high flight from the ground following the terrain change, provide an effective reliable, can follow the terrain change and keep keeping the same high flight from the ground unmanned aerial vehicle flight track planning method based on radar detection. However, the method is only focused on the terrain detection information obtained by detecting the ground through the terrain detection radar, and cannot give consideration to the existing power grid data and the current situation information of the ground features, so that the situations that time and labor are consumed in the track planning stage, the planned route is unreasonable and the like are easily caused.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the existing unmanned aerial vehicle track planning method cannot give consideration to the existing power grid data and ground feature current situation information, so that the technical problems of time and labor consumption in a track planning stage, unreasonable planned routes and the like are easy to occur. The unmanned aerial vehicle flight path planning method and system based on the power grid map can combine the existing power grid data and the satellite image map to be superposed and displayed on the map, so that the flight path planning of the unmanned aerial vehicle can be carried out, and further the unmanned aerial vehicle flight path planning efficiency can be improved.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: an unmanned aerial vehicle flight path planning method based on a power grid map comprises the following steps:
s1: carrying out data preprocessing on the power grid data and the satellite image data, and inputting the processed data into a data storage module;
s2: the power grid data and the satellite image data are displayed in an overlapping mode through a map display module;
s3: the flight path planning module carries out unmanned aerial vehicle flight path planning according to the power grid data and the satellite image data and formulates a flight instruction;
s4: transmitting a flight instruction to the unmanned aerial vehicle through the unmanned aerial vehicle communication module, wherein the flight instruction of the unmanned aerial vehicle executes a flight task;
s5: after the unmanned aerial vehicle finishes a flight task, the flight data information is transmitted back to the unmanned aerial vehicle communication module;
s6: and the route planning module updates the map display according to the returned data and returns to the step S3 until the unmanned aerial vehicle inspection is completed for all the lines.
Through combining current electric wire netting data and satellite image picture, plan unmanned aerial vehicle flight path to send the flight control part for unmanned aerial vehicle on line, unmanned aerial vehicle accomplishes the flight task according to the flight instruction. The route planning module can mark the route that has accomplished on the map and patrolled and examined according to the passback data, can adopt different colours to mark the renewal to the route of patrolling and examining, is convenient for look over the condition of patrolling and examining directly perceivedly.
Preferably, the flight data information returned to the unmanned aerial vehicle communication module after the unmanned aerial vehicle finishes a flight mission comprises the remaining power of the unmanned aerial vehicle, the current position of the unmanned aerial vehicle and the patrol record of the unmanned aerial vehicle.
Unmanned aerial vehicle's record of patrolling and examining can receive unmanned aerial vehicle's position through unmanned aerial vehicle communication module and patrol and examine the condition in real time, also can summarize after one section task of patrolling and examining is accomplished and patrol and examine the condition and send to unmanned aerial vehicle communication module again.
As preferred, when flight path planning module formulates flight instruction, be equipped with electric quantity analysis matching process, electric quantity analysis matching process includes: calculating the total consumed electric quantity Q1 of the unmanned aerial vehicle going to the inspection position, the unmanned aerial vehicle route inspection process and the unmanned aerial vehicle returning to the three processes after the unmanned aerial vehicle task is finished, correspondingly calculating the residual electric quantity Q2 of the unmanned aerial vehicle to receive the instruction, calculating the difference electric quantity Q3 between the residual electric quantity Q2 and the consumed electric quantity Q1,
when the difference electric quantity Q3 is more than ten percent of the total electric quantity of the corresponding unmanned aerial vehicle, the flight path planning module binds and marks the flight instruction with the corresponding unmanned aerial vehicle, and sends the corresponding flight instruction to the unmanned aerial vehicle to receive the instruction through the unmanned aerial vehicle communication module;
when difference electric quantity Q3 is less than ten percent of corresponding unmanned aerial vehicle total electric quantity, change the flight instruction that consumes electric quantity Q1 is littleer and should wait to receive the unmanned aerial vehicle of instruction and match, when waiting that the unmanned aerial vehicle of receiving the instruction matches the flight instruction that can not accord with difference electric quantity Q3 and accord with the judgement condition, send back the instruction to this unmanned aerial vehicle through unmanned aerial vehicle communication module.
When the difference electric quantity Q3 is the calculated residual electric quantity of the unmanned aerial vehicle after the task is executed, the influence of environmental factors such as headwind is considered, under the condition that the service life of the unmanned aerial vehicle is not influenced, the difference electric quantity Q3 is the residual electric quantity after the task is executed, the residual electric quantity at least needs to be 10% of the total electric quantity of the unmanned aerial vehicle, when the unmanned aerial vehicle cannot be matched with a proper flight instruction, the residual electric quantity of the unmanned aerial vehicle is too small, and the unmanned aerial vehicle returns to charge through a return instruction.
Preferably, after the unmanned aerial vehicle inspection is completed on all lines, the route planning module stores inspection records corresponding to all unmanned aerial vehicles into the data storage module, wherein the inspection records comprise the times of the unmanned aerial vehicle executing the inspection task, the time length of the unmanned aerial vehicle executing the inspection task each time and the weather condition of the unmanned aerial vehicle executing the inspection task.
Unmanned aerial vehicle that data storage module was preserved patrols and examines the record and include that unmanned aerial vehicle carries out the number of times of patrolling and examining the task, long and the weather condition, and the later stage of being convenient for carries out periodic unmanned aerial vehicle and overhauls and maintain, according to the judgement standard of difference, detects the unmanned aerial vehicle that uses for a long time, prevents to break down and lead to unmanned aerial vehicle to fall patrolling and examining the in-process.
The utility model provides an unmanned aerial vehicle flight path planning system based on electric wire netting map, utilizes above-mentioned method, including the data storage module that is used for saving electric wire netting map data and satellite image data, be used for carrying on the map display module, the flight path planning module of the stack demonstration of vector map and grid map and be used for carrying out the unmanned aerial vehicle communication module of information interaction with unmanned aerial vehicle, the data storage module with the map display module is connected, the flight path planning module respectively with the data storage module the map display module with unmanned aerial vehicle communication module connects.
The data storage module stores the existing power grid map data and satellite image data; the map display module is used for displaying the vector map and the grid map in a superposition manner; the flight path planning module is used for planning and adjusting flight paths on a map and sending results to the flight control module; the unmanned aerial vehicle communication module is used for transmitting back flight data such as the position of the unmanned aerial vehicle in real time.
Preferably, the map display module comprises a power grid data sorting unit, a satellite image data sorting unit and a path display unit, the power grid data sorting unit and the satellite image data sorting unit are both connected with the path display unit, and the path display unit is connected with the track planning module.
The power grid data and the satellite image data are displayed in a superposition mode through the path display unit, omission in flight path planning is prevented, meanwhile, the routing inspection state of the displayed map is timely updated through the flight path planning module, and routing inspection progress is visually observed.
Preferably, the flight path planning module comprises a data acquisition unit, a feedback information arrangement unit and a flight path analysis planning unit, the data acquisition unit is connected with the data storage module, the feedback information arrangement unit is connected with the unmanned aerial vehicle communication module, and the flight path analysis planning unit is respectively connected with the data acquisition unit, the feedback information arrangement unit and the map display module.
When the feedback information arrangement unit collects flight data information fed back after the unmanned aerial vehicle completes one task, the flight path planning module updates the map display module by combining the feedback data, assigns a new flight instruction to the unmanned aerial vehicle completing the task, and sends the new flight instruction to the unmanned aerial vehicle completing the task after comparing and analyzing the residual electric quantity in the feedback data.
Preferably, the data storage module comprises a map information storage unit for storing power grid map data and satellite image data and a flight record storage unit for storing flight mission records of the unmanned aerial vehicle, and the map information storage unit and the flight record storage unit are both connected with the flight path planning module.
The map information storage unit is used for regularly updating and storing power grid data and satellite image data, and the flight record storage unit is used for collecting and arranging unmanned aerial vehicle inspection records of inspection tasks at every time, so that later-period inspection and maintenance are facilitated.
The substantial effects of the invention are as follows: the method comprises the steps of storing the existing power grid map data and satellite image data through a data storage module; the vector map and the grid map are displayed in a superposition manner through a map display module; planning and adjusting a flight path on a map through a flight path planning module, and sending a result to a flight control module; the unmanned aerial vehicle communication module is used for transmitting flight data such as the position of the unmanned aerial vehicle back in real time, the existing power grid data and the latest satellite image data can be effectively combined, and the efficiency of unmanned aerial vehicle track planning such as power inspection and reconnaissance can be greatly improved.
Drawings
FIG. 1 is a schematic flow chart of the steps performed in this embodiment;
fig. 2 is a schematic composition diagram of the present embodiment.
Wherein: 1. data storage module, 2, map display module, 3, flight path planning module, 4, unmanned aerial vehicle communication module, 5, electric wire netting data arrangement unit, 6, satellite image data arrangement unit, 7, route display element, 8, map information memory cell, 9, flight record memory cell, 10, data acquisition unit, 11, feedback information arrangement unit, 12, flight path analysis planning unit.
Detailed Description
The following provides a more detailed description of the present invention, with reference to the accompanying drawings.
An unmanned aerial vehicle track planning method based on a power grid map, as shown in fig. 1, includes the following steps:
s1: carrying out data preprocessing on the power grid data and the satellite image data, and inputting the processed data into a data storage module 1;
s2: the power grid data and the satellite image data are displayed in an overlapping mode through the map display module 2;
s3: the flight path planning module 3 carries out unmanned aerial vehicle flight path planning according to the power grid data and the satellite image data and formulates a flight instruction; when flight path planning module 3 formulates flight instruction, be equipped with electric quantity analysis matching process, electric quantity analysis matching process includes: calculating the total consumed electric quantity Q1 of the unmanned aerial vehicle going to the inspection position, the unmanned aerial vehicle route inspection process and the unmanned aerial vehicle returning to the three processes after the unmanned aerial vehicle task is finished, correspondingly calculating the residual electric quantity Q2 of the unmanned aerial vehicle to receive the instruction, calculating the difference electric quantity Q3 between the residual electric quantity Q2 and the consumed electric quantity Q1,
when the difference electric quantity Q3 is greater than ten percent of the total electric quantity of the corresponding unmanned aerial vehicle, the flight path planning module 3 makes a binding mark on the flight instruction and the corresponding unmanned aerial vehicle, and sends the corresponding flight instruction to the unmanned aerial vehicle to receive the instruction through the unmanned aerial vehicle communication module 4; when difference electric quantity Q3 is less than ten percent of corresponding unmanned aerial vehicle total electric quantity, change the flight instruction that consumes electric quantity Q1 is less than and should wait to receive the unmanned aerial vehicle of instruction and match, when waiting that the unmanned aerial vehicle of receiving the instruction matches the flight instruction that can not accord with difference electric quantity Q3 and accord with the judgement condition, send back the instruction to this unmanned aerial vehicle through unmanned aerial vehicle communication module 4.
When the difference electric quantity Q3 is the calculated residual electric quantity of the unmanned aerial vehicle after the task is executed, the influence of environmental factors such as headwind is considered, under the condition that the service life of the unmanned aerial vehicle is not influenced, the difference electric quantity Q3 is the residual electric quantity after the task is executed, the residual electric quantity at least needs to be 10% of the total electric quantity of the unmanned aerial vehicle, when the unmanned aerial vehicle cannot be matched with a proper flight instruction, the residual electric quantity of the unmanned aerial vehicle is too small, and the unmanned aerial vehicle returns to charge through a return instruction.
S4: transmitting a flight instruction to the unmanned aerial vehicle through the unmanned aerial vehicle communication module 4, wherein the flight instruction of the unmanned aerial vehicle executes a flight task;
s5: after the unmanned aerial vehicle finishes a flight task, the flight data information is transmitted back to the unmanned aerial vehicle communication module 4; the flight data information returned to the unmanned aerial vehicle communication module 4 after the unmanned aerial vehicle completes the flight task comprises the remaining electric quantity of the unmanned aerial vehicle, the current position of the unmanned aerial vehicle and the inspection record of the unmanned aerial vehicle.
Unmanned aerial vehicle's record of patrolling and examining can receive unmanned aerial vehicle's position through unmanned aerial vehicle communication module 4 and patrol and examine the condition in real time, also can summarize after one section task of patrolling and examining is accomplished and patrol and examine the condition and send to unmanned aerial vehicle communication module 4 again.
S6: and the route planning module 3 updates the map display according to the returned data, and returns to the step S3 until the unmanned aerial vehicle inspection is completed for all the lines. The route planning module 3 can mark the route which is inspected on the map according to the returned data, and can adopt different colors to mark and update the inspected route, so that the inspection condition can be conveniently and visually checked. After the unmanned aerial vehicle inspection is completed on all lines, the route planning module 3 stores inspection records corresponding to all unmanned aerial vehicles into the data storage module 1, and the inspection records comprise the times of the unmanned aerial vehicle executing the inspection task, the duration of the unmanned aerial vehicle executing the inspection task at each time and the weather condition of the unmanned aerial vehicle executing the inspection task.
Unmanned aerial vehicle that data storage module 1 was preserved patrols and examines the record and include that unmanned aerial vehicle carries out the number of times, long and the weather condition of patrolling and examining the task, and the later stage of being convenient for carries out periodic unmanned aerial vehicle and overhauls and maintain, according to the judgement standard of difference, detects the unmanned aerial vehicle that uses for a long time, prevents to break down and lead to unmanned aerial vehicle to fall patrolling and examining the in-process. Through combining current electric wire netting data and satellite image picture, plan unmanned aerial vehicle flight path to send the flight control part for unmanned aerial vehicle on line, unmanned aerial vehicle accomplishes the flight task according to the flight instruction.
The utility model provides an unmanned aerial vehicle flight path planning system based on electric wire netting map, as shown in figure 2, including data storage module 1 that is used for saving electric wire netting map data and satellite image data, be used for carrying on the map display module 2 of the stack demonstration of vector map and grid map, flight path planning module 3 and be used for carrying out information interaction's unmanned aerial vehicle communication module 4 with unmanned aerial vehicle, flight path planning module 3 is connected with data storage module 1, map display module 2 and unmanned aerial vehicle communication module 4 respectively. The flight path planning module 3 comprises a data acquisition unit 10, a feedback information arrangement unit 11 and a flight path analysis planning unit 12, the data acquisition unit 10 is connected with a data storage module 1, the feedback information arrangement unit 11 is connected with an unmanned aerial vehicle communication module 4, and the flight path analysis planning unit 12 is respectively connected with the data acquisition unit 10, the feedback information arrangement unit 11 and a map display module 2. When the feedback information arrangement unit 11 collects the flight data information fed back after the unmanned aerial vehicle completes a task, the flight path planning module 3 updates the map display module 2 by combining the feedback data, assigns a new flight instruction to the unmanned aerial vehicle completing the task, and sends the new flight instruction to the unmanned aerial vehicle completing the task after comparing and analyzing the residual electric quantity in the feedback data.
The data storage module 1 is connected with the map display module 2, the data storage module 1 comprises a map information storage unit 8 and a flight record storage unit 9, the map information storage unit 8 is used for storing power grid map data and satellite image data, the flight record storage unit 9 is used for storing flight task records of the unmanned aerial vehicle, and the map information storage unit 8 and the flight record storage unit 9 are both connected with the flight path planning module 3. Regularly update storage electric wire netting data and satellite image data through map information memory cell 8, collect the unmanned aerial vehicle of the task of patrolling and examining at every turn through flight record memory cell 9 and patrol and examine the record, the later stage inspection maintenance of being convenient for.
The map display module 2 comprises a power grid data sorting unit 5, a satellite image data sorting unit 6 and a path display unit 7, the power grid data sorting unit 5 and the satellite image data sorting unit 6 are both connected with the path display unit 7, and the path display unit 7 is connected with the track planning module 3. The power grid data and the satellite image data are displayed in a superposition mode through the path display unit 7, omission in flight path planning is prevented, meanwhile, the routing inspection state of the displayed map is timely updated through the flight path planning module 3, and routing inspection progress is visually observed.
The data storage module 1 of the embodiment stores the existing power grid map data and satellite image data; the map display module 2 is used for displaying the vector map and the grid map in a superposition manner; the flight path planning module 3 is used for planning and adjusting flight paths on a map and sending results to the flight control module; the unmanned aerial vehicle communication module 4 is used for returning flight data such as the position of the unmanned aerial vehicle in real time. The embodiment can effectively combine the existing power grid data and the latest satellite image data, and greatly improves the efficiency of unmanned aerial vehicle flight path planning such as electric power inspection and reconnaissance.
The above examples only show some embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that various changes and modifications can be made by those skilled in the art without departing from the spirit of the invention, and these changes and modifications are all within the scope of the invention.
Claims (8)
1. An unmanned aerial vehicle flight path planning method based on a power grid map is characterized by comprising the following steps:
s1: carrying out data preprocessing on the power grid data and the satellite image data, and inputting the processed data into a data storage module (1);
s2: the power grid data and the satellite image data are displayed in an overlapping mode through the map display module (2);
s3: the flight path planning module (3) plans the flight path of the unmanned aerial vehicle according to the power grid data and the satellite image data, and makes a flight instruction;
s4: transmitting a flight instruction to the unmanned aerial vehicle through the unmanned aerial vehicle communication module (4), wherein the flight instruction of the unmanned aerial vehicle executes a flight task;
s5: after the unmanned aerial vehicle finishes a flight task, the flight data information is transmitted back to the unmanned aerial vehicle communication module (4);
s6: and the route planning module (3) updates the map display according to the returned data, and returns to the step S3 until the unmanned aerial vehicle inspection is completed on all the lines.
2. The unmanned aerial vehicle track planning method based on the power grid map as claimed in claim 1, wherein flight data information returned to the unmanned aerial vehicle communication module (4) after the unmanned aerial vehicle completes a flight mission comprises the remaining power of the unmanned aerial vehicle, the current position of the unmanned aerial vehicle and a patrol record of the unmanned aerial vehicle.
3. The unmanned aerial vehicle track planning method based on the power grid map as claimed in claim 1 or 2, wherein when the track planning module (3) formulates a flight instruction, a power analysis matching process is provided, and the power analysis matching process comprises: calculating the total consumed electric quantity Q1 of the unmanned aerial vehicle going to the inspection position, the unmanned aerial vehicle route inspection process and the unmanned aerial vehicle returning to the three processes after the unmanned aerial vehicle task is finished, correspondingly calculating the residual electric quantity Q2 of the unmanned aerial vehicle to receive the instruction, calculating the difference electric quantity Q3 between the residual electric quantity Q2 and the consumed electric quantity Q1,
when the difference electric quantity Q3 is larger than ten percent of the total electric quantity of the corresponding unmanned aerial vehicle, the flight path planning module (3) binds and marks the flight instruction and the corresponding unmanned aerial vehicle, and sends the corresponding flight instruction to the unmanned aerial vehicle to receive the instruction through the unmanned aerial vehicle communication module (4);
when difference electric quantity Q3 is less than ten percent of the total electric quantity of corresponding unmanned aerial vehicle, change the flight instruction that consumes electric quantity Q1 is littleer and should wait to receive the unmanned aerial vehicle of instruction and match, when waiting that the unmanned aerial vehicle of receiving the instruction matches the flight instruction that can not accord with difference electric quantity Q3 and accord with the judgement condition, send back the instruction to this unmanned aerial vehicle through unmanned aerial vehicle communication module (4).
4. The unmanned aerial vehicle track planning method based on the power grid map as claimed in claim 1 or 2, wherein after the unmanned aerial vehicle inspection is completed on all lines, the track planning module (3) stores inspection records corresponding to all the unmanned aerial vehicles into the data storage module (1), wherein the inspection records comprise the number of times of the unmanned aerial vehicle executing the inspection task, the time length of the unmanned aerial vehicle executing the inspection task each time and the weather condition of the unmanned aerial vehicle executing the inspection task.
5. An unmanned aerial vehicle route planning system based on a power grid map, which utilizes the method according to any one of claims 1 to 4, and is characterized by comprising a data storage module (1) for storing power grid map data and satellite image data, a map display module (2) for performing superposition display of a vector map and a grid map, a route planning module (3) and an unmanned aerial vehicle communication module (4) for performing information interaction with an unmanned aerial vehicle, wherein the data storage module (1) is connected with the map display module (2), and the route planning module (3) is respectively connected with the data storage module (1), the map display module (2) and the unmanned aerial vehicle communication module (4).
6. The unmanned aerial vehicle flight path planning system based on the power grid map as claimed in claim 5, wherein the map display module (2) comprises a power grid data sorting unit (5), a satellite image data sorting unit (6) and a path display unit (7), the power grid data sorting unit (5) and the satellite image data sorting unit (6) are both connected with the path display unit (7), and the path display unit (7) is connected with the flight path planning module (3).
7. The power grid map-based unmanned aerial vehicle flight path planning system according to claim 5 or 6, wherein the flight path planning module (3) comprises a data acquisition unit (10), a feedback information arrangement unit (11) and a flight path analysis planning unit (12), the data acquisition unit (10) is connected with the data storage module (1), the feedback information arrangement unit (11) is connected with the unmanned aerial vehicle communication module (4), and the flight path analysis planning unit (12) is respectively connected with the data acquisition unit (10), the feedback information arrangement unit (11) and the map display module (2).
8. The power grid map-based unmanned aerial vehicle track planning system according to claim 7, wherein the data storage module (1) comprises a map information storage unit (8) for storing power grid map data and satellite image data and a flight record storage unit (9) for storing a flight mission record of the unmanned aerial vehicle, and the map information storage unit (8) and the flight record storage unit (9) are both connected with the track planning module (3).
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