CN115686070A - Unmanned aerial vehicle autonomous line patrol path planning method for power distribution/power transmission line - Google Patents
Unmanned aerial vehicle autonomous line patrol path planning method for power distribution/power transmission line Download PDFInfo
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Abstract
The invention relates to an unmanned aerial vehicle autonomous line patrol path planning method for a power distribution/power transmission line. The method for planning the autonomous line patrol path of the distribution line unmanned aerial vehicle performs multilayer iteration by using tower information in the distribution line and actual distribution line information among towers in the distribution line, and screens out the path with the shortest mileage for performing autonomous line patrol of the unmanned aerial vehicle on the distribution line. The unmanned aerial vehicle autonomous line patrol path planning method for the power transmission line utilizes tower information in the power transmission line and earth surface line information among towers in the power transmission line to carry out multilayer iteration, and screens out a path which is shortest in mileage and is used for carrying out unmanned aerial vehicle autonomous line patrol on the power transmission line. The invention can save the endurance time of the unmanned aerial vehicle and greatly improve the working efficiency of the unmanned aerial vehicle.
Description
Technical Field
The invention relates to the field of autonomous line patrol of unmanned aerial vehicles, in particular to a power distribution line unmanned aerial vehicle autonomous line patrol path planning method and a power transmission line unmanned aerial vehicle autonomous line patrol path planning method.
Background
With the deep development of digital Chinese construction, the upgrading of the power grid technology, function and form is accelerated, and the operation of the unmanned aerial vehicle meets important development opportunities and challenges. In recent years, unmanned aerial vehicle business is developed in a crossing manner under the drive of strategic demands of national network digital new capital construction, energy internet and the like. Wherein, unmanned aerial vehicle intelligence is patrolled and examined to be the important access point of the digital construction of electric wire netting.
At present, the power grid size of each region is huge, the mileage of a power distribution line and a power transmission line is very long, and the unmanned aerial vehicle autonomously patrols the line and is bound. The key technologies of unmanned aerial vehicle line patrol are many, such as: path planning, wire tracking, fine routing inspection, persistent endurance, data transmission, etc., wherein the path planning requires tower coordinates, involves privacy, and other techniques may be provided by third party companies.
At present, in the aspect of theoretical research, a path planning problem is generally regarded as a traveler problem, only the unmanned aerial vehicle is considered to traverse all towers, and line inspection among the towers is omitted. In addition, research data are simulation data, and the actual distribution line coordinates of the power grid are not planned in the routing inspection of the distribution lines and the transmission lines. In the aspect of actual work, the unmanned aerial vehicle is usually used for flying according to the sequence of the towers, the shortest path planning is not considered, and huge waste is caused to the endurance time and the working efficiency of the unmanned aerial vehicle; and to distribution lines, because distribution lines distributes complicatedly, line channel environment is complicated, and out of the safety consideration, unmanned aerial vehicle can only fly along the circuit, does not have suitable path planning and has caused huge influence to unmanned aerial vehicle duration and work efficiency. Distribution lines with complex lines require more path planning than transmission lines with fewer branches.
Disclosure of Invention
The invention aims to provide a power distribution line unmanned aerial vehicle autonomous line patrol path planning method which can reasonably plan a path adopted by unmanned aerial vehicle autonomous line patrol of a power distribution line so as to improve patrol efficiency.
In order to achieve the purpose, the invention adopts the technical scheme that:
the utility model provides a distribution lines unmanned aerial vehicle is from line patrol route planning method for planning and obtain the route that unmanned aerial vehicle was from line patrol to the distribution lines, distribution lines unmanned aerial vehicle is from line patrol route planning method includes the following step:
step 1: acquiring pole tower number information and pole tower coordinate information contained in the distribution line;
step 2: let matrix GPS = (GPS) ij ) n×n An element GPS (i, j) in the matrix GPS indicates whether a line exists between an ith tower and a jth tower in the distribution line, and if so, the GPS (i, j) =1;
and step 3: let matrix D = (D) ij ) n×n An element D (i, j) in the matrix D represents a shortest path length between an ith pole tower and a jth pole tower in the distribution line;
and 4, step 4: determining a line patrol starting point and a line patrol terminal point;
and 5: performing multiple iterations based on the distribution line, the line patrol starting point, the line patrol terminal point and the matrix GPS; obtaining a power distribution line inspection path to be screened after each iteration, and calculating the mileage of the power distribution line inspection path to be screened based on the matrix D;
step 6: and screening out one of the power distribution line inspection paths to be screened, wherein the shortest route is used as a route for performing unmanned aerial vehicle autonomous line inspection on the power distribution line.
The step 3 comprises the following substeps:
substep 3-1: traversing all the towers in the distribution line, and based on the matrix GPS, if a line exists between the ith tower and the jth tower in the distribution line, calculating the earth surface distance between the ith tower and the jth tower in the distribution line as an element D (i, j) in the matrix D, thereby updating the matrix D;
substep 3-2: and calculating the shortest path length between the ith tower and the jth tower in the distribution line by using a Floyd algorithm, wherein the shortest path length in the distribution line is used as an element D (i, j) in the matrix D, and the matrix D is updated.
In the step 2, the initial value of the matrix GPS is a zero matrix; in the step 3, the initial value of the matrix D is an infinite matrix.
In the step 5, each iteration performed based on the distribution line, the line patrol starting point, the line patrol ending point and the matrix GPS comprises the following substeps:
substep 5-1: setting one set or two sets of variables, wherein each set of variable comprises a path route and a current tower state; when a single unmanned aerial vehicle inspection mode is adopted, setting a set of variables, and taking the line inspection starting point or the line inspection end point as the starting point of the route; setting the initial value of the current tower state as the tower where the starting point of the route is; when the same-starting-point dual-unmanned aerial vehicle cooperative inspection mode is adopted, setting two sets of variables, and taking the inspection starting point or the inspection end point as the starting point of the path route in the two sets of variables; when a different-starting-point dual-unmanned aerial vehicle cooperative inspection mode is adopted, setting two sets of variables, and respectively taking the inspection starting point and the inspection end point as the starting points of the path routes in the two sets of variables;
substep 5-2: traversing the towers in the distribution line simultaneously according to each set of variable, adding the kth tower into the route if a line exists between the traversed kth tower and the current tower state, updating elements GPS (state, k) and GPS (k, state) in the matrix GPS to be 0, and updating the current tower state to be the kth tower; if the complete tower is traversed, and a tower with a line between the complete tower and the current tower state does not exist, searching the ith tower which is close to the current tower state and meets the preset condition, adding the ith tower into the route, updating the elements GPS (state, l) and GPS (l, state) in the matrix GPS to be 0, and updating the current tower state to be the ith tower;
substep 5-3: and repeating the substep 5-2 until the sum of the elements in the matrix GPS is 0, thereby obtaining the power distribution line patrol path to be screened.
In the substep 5-2, for the tower with the main line and the branch line, random selection is set, and the probability of selecting the branch line is set to be greater than the probability of selecting the main line.
In the substep 5-2, the preset conditions are: and other towers are connected with the ith tower, and the ith tower is closest to the current tower state.
The unmanned aerial vehicle autonomous line patrol path planning method for the distribution line further comprises the following steps:
and 7: and outputting the screened tower information on the path adopted by the unmanned aerial vehicle autonomous line patrol of the distribution line according to the sequence.
The method for planning the autonomous line patrol paths of the distribution line unmanned aerial vehicle is suitable for planning all the paths of the distribution line, can save the endurance time of the unmanned aerial vehicle, and greatly improves the working efficiency of the unmanned aerial vehicle.
The invention also provides a power transmission line unmanned aerial vehicle autonomous line patrol path planning method which can reasonably plan the path adopted by the unmanned aerial vehicle autonomous line patrol of the power transmission line so as to improve the patrol efficiency, and the scheme is as follows:
the utility model provides a power transmission line unmanned aerial vehicle is from line patrol route planning method for planning and acquire the route that unmanned aerial vehicle was from line patrol to power transmission line, power transmission line unmanned aerial vehicle is from line patrol route planning method includes the following step:
step 1: acquiring tower number information and tower coordinate information contained in the power transmission line;
and 2, step: let matrix GPS = (GPS) ij ) n×n An element GPS (i, j) in the matrix GPS represents whether a line exists between an ith tower and a jth tower in the power transmission line, and if so, the GPS (i, j) =1;
and step 3: let matrix D = (D) ij ) n×n The element in the matrix D represents D (i, j) represents the earth surface distance between the ith tower and the jth tower in the power transmission line;
and 4, step 4: determining a line patrol starting point and a line patrol terminal point;
and 5: performing multiple iterations based on the power transmission line, the line patrol starting point, the line patrol terminal point and the matrix GPS; obtaining a power transmission line patrol path to be screened after each iteration, and calculating the mileage of the power transmission line patrol path to be screened based on the matrix D;
step 6: and screening out one of the power transmission line patrol paths to be screened, wherein the shortest mileage is used as a path for performing unmanned aerial vehicle autonomous line patrol on the power transmission line.
In the step 2, the initial value of the matrix GPS is a zero matrix; in the step 3, the initial value of the matrix D is an infinite matrix.
In step 5, each iteration performed based on the power transmission line, the line patrol starting point, the line patrol end point and the matrix GPS includes the following substeps:
substep 5-1: setting one set or two sets of variables, wherein each set of variable comprises a route and a current tower state; when a single unmanned aerial vehicle inspection mode is adopted, setting a set of variables, and taking the inspection starting point or the inspection end point as the starting point of the route; setting the initial value of the current tower state as the tower where the starting point of the route is; when the same-starting-point dual-unmanned aerial vehicle cooperative inspection mode is adopted, setting two sets of variables, and taking the inspection starting point or the inspection end point as the starting point of the path route in the two sets of variables; when a different-starting-point dual-unmanned aerial vehicle cooperative inspection mode is adopted, setting two sets of variables, and taking the inspection starting point and the inspection end point as the starting points of the route in the two sets of variables respectively;
substep 5-2: traversing the towers in the power transmission line simultaneously according to each set of variable, adding the kth tower into the route if a line exists between the traversed kth tower and the current tower state, updating elements GPS (state, k) and GPS (k, state) in the matrix GPS to be 0, and updating the current tower state to be the kth tower; if the complete tower is traversed, and a tower with a line between the complete tower and the current tower state does not exist, searching a plurality of towers meeting preset conditions, searching a plurality of towers which are positioned in the first m positions in the sequence from near to far from the current tower state from the plurality of towers meeting the preset conditions, randomly selecting the first tower from the towers, adding the first tower into the route, updating elements GPS (state, l) and GPS (l, state) in the matrix GPS to 0, and updating the current tower state to the first tower;
substep 5-3: and repeating the substep 5-2 until the sum of the elements in the matrix GPS is 0, thereby obtaining the line patrol path of the power transmission line to be screened.
In the substep 5-2, for the tower with the main line and the branch line, random selection is set, and the probability of selecting the branch line is set to be greater than the probability of selecting the main line.
In the substep 5-2, the preset conditions are: and the tower is connected with other towers.
In the substep 5-2, m is 1 to 3.
The unmanned aerial vehicle autonomous line patrol path planning method for the power transmission line further comprises the following steps:
and 7: and outputting the screened tower information on the path of the power transmission line for unmanned aerial vehicle autonomous line patrol according to the sequence.
The method for planning the autonomous line patrol path of the power transmission line unmanned aerial vehicle is suitable for planning all power transmission line paths, can save the endurance time of the unmanned aerial vehicle, and greatly improves the working efficiency of the unmanned aerial vehicle.
Drawings
Figure 1 is a plan view of eight distribution lines.
Fig. 2 is a routing path diagram under eight different-starting-point dual-unmanned aerial vehicle cooperative routing inspection modes, which is obtained by planning through the distribution line unmanned aerial vehicle autonomous routing inspection path planning method of the invention.
Fig. 3 is a path mileage comparison graph of eight routing paths in three operating modes.
Fig. 4 is a comparison graph of the program run times of eight routing paths in three operating modes.
Detailed Description
The invention will be further described with reference to examples of embodiments shown in the drawings to which the invention is attached.
The first embodiment is as follows: an unmanned aerial vehicle autonomous line patrol path planning method for a distribution line comprises data processing, path planning and result output. In the following steps of the unmanned aerial vehicle autonomous line patrol path planning method for the distribution line, step 1 is data processing, steps 2 to 6 are path planning, and step 7 is result output.
The unmanned aerial vehicle autonomous line patrol path planning method for the distribution line comprises the following steps:
step 1: and obtaining the pole tower number information and the pole tower coordinate information contained in the distribution line.
The step 1 mainly comprises reading data, extracting a pole tower number and extracting a pole tower coordinate. The read data comes from tower information derived from a PMS3.0 system (a new generation equipment asset lean management system), the data format is Excel, and the content specifically comprises the following steps: and the tower name, the tower number, the tower coordinate and the like, and reading the Excel by using a read _ Excel function of a pandas library in python programming language.
The tower number is extracted by dividing the tower number, the tower number is divided and extracted, for example, as shown by a Wanjiang cable 70-1-5-1-3#, the # is removed by using a str.split ('#').str [0] function, the number is extracted by using a str.split ('-', expanded = False) function and 70-1-5-1-3, and the '-', is removed by using a str.split ('-', expanded = False) function, so that 70 1 5 13 is obtained. The tower coordinates are extracted by dividing the tower coordinates, the coordinate samples are shown as 1.2345 and 6.7890, and the longitude and latitude coordinates are divided by using a strip (). Index (',') function to obtain 1.23456.7890.
Drawing a line plan and calculating a tower contact matrix according to the result data obtained by extracting the tower numbers, wherein the tower lines are generally divided into a main line, branch lines and secondary branch lines, the branch lines are branched from the main line, and the secondary branch lines are branched from the branch lines. Taking the Wanjiang cable 70-1-5-1-3# as an example, the Wanjiang cable is the name of a line, 70 is a No. 70 tower of a main line, 1-5 is a No. 5 tower of a first branch line branched from the No. 70 tower of the main line, and 1-3 is a No. 3 tower of a first secondary branch line branched from the No. 5 tower of the branch line. The adjacent numbered towers are also adjacent in geographic positions, the numbers of the branch lines comprise the numbers of the branch nodes, and the adjacent towers with lines can be identified through regular expressions.
The following path planning adopts an improved Edmonds algorithm, and traverses all towers and lines to obtain shortest path planning. The working modes of unmanned aerial vehicle inspection comprise single unmanned aerial vehicle inspection, same-starting-point double-unmanned aerial vehicle cooperative inspection and different-starting-point double-unmanned aerial vehicle cooperative inspection.
The Edmonds algorithm flow is as follows:
1) V of the solution 0 ＝{v|v∈V(G),d(v)＝1(mod2)}；
2) Using Floyd algorithm to solve each pair of vertexes i, j belongs to V 0 The shortest distance d (i, j) therebetween;
3) Construction complete empowerment graph K V0 With V 0 D (i, j) is taken as the weight of the edge ij;
4) Ask for K V0 A perfect couple set M with the minimum sum of the intermediate weights;
5) Solving the shortest track in G between the end points of the edges in M;
6) Adding a constant-weight 'multiple side' (namely a common-end-point common-weight side) to each side on each shortest track obtained in the step 5;
7) Solving the problem of the chinese postman was carried out by solving the Euler loop on the graph G' obtained in fig. 6.
Where d (v) is the number of edges associated with v in G (each ring is counted as two edges), M is a subset of the set of edges E, and a perfect-pair set M means that M passes through all nodes.
The Floyd algorithm is based on dynamic programming, and the minimum value between any two points can be obtained. Let G (V, E) be a set of points V: { V 1 ,v 2 ...,v n And set of edges E: { E: } 1 ,e 2 ...,e n An undirected graph is constructed; w = (W) ij ) n×n ，w ij Is the actual length of i to j, if i cannot reach j, then w ij ＝∞；D＝(d ij ) n×n ，d ij Is the shortest path length from i to j; p = (P) ij ) n×n ，p ij Is the maximum number of intermediate nodes on the shortest path from i to j, p ij =0 denotes no intermediate node. The flow of the Floyd algorithm is as follows:
1) Assigning an initial value: d is a radical of ij ＝w ij ,p ij ＝0,k＝1；
2) Update d ij And p ij : for all i and j, if d ik +d kj ＜d ij Then d is a ij ＝d ik +d kj ，p ij ＝k；
3) If k = n, stopping, otherwise k = k +1, and turning to the 2 nd step.
Thus, the improved Edmonds algorithm for path planning comprises the following steps:
and 2, step: let matrix GPS = (GPS) ij ) n×n The initial value of the matrix GPS is a zero matrix, an element GPS (i, j) in the matrix GPS represents whether a line exists between the ith pole tower and the jth pole tower in the power distribution line, if so, the GPS (i, j) =1, so that all the pole towers in the power distribution line are traversed, the pole tower connection is judged by using the regular expression, and if a line exists between the two pole towers i and j, the GPS (i, j) =1 is updated.
And step 3: let matrix D = (D) ij ) n×n The initial value of the matrix D is an infinite matrix, and an element D (i, j) in the matrix D represents the shortest path length between the ith tower and the jth tower in the distribution line.
This step 3 comprises the following substeps:
substep 3-1: traversing all towers in the distribution line, based on the matrix GPS, if a line exists between the ith tower and the jth tower in the distribution line, calculating the surface distance between the ith tower and the jth tower in the distribution line as an element D (i, j) in the matrix D, namely D (i, j) = distance, and updating the matrix GPS.
The longitude and latitude coordinates of the two points i and j are respectively known as (X) 1 ,Y 1 )、(X 2 ,Y 2 ) And calculating the surface distance of the space between the two points, wherein the calculation method comprises the following steps:
C＝sin(Y 1 )×sin(Y 2 )+cos(Y 1 )×cos(Y 2 )×sin(X 1 -X 2 )
distance＝R×arccos(C)×π/180
in the formula, the units of R and distance are kilometers, R is the average radius of the earth, and 6371.004 kilometers are taken.
Substep 3-2: and calculating the shortest path length in the distribution line between the ith tower and the jth tower in the distribution line by using a Floyd algorithm as an element GPS (i, j) in the matrix D, thereby updating the matrix GPS.
And 4, step 4: and determining a line patrol starting point and a line patrol terminal point.
And 5: performing multiple iterations based on the distribution line, the line patrol starting point, the line patrol terminal point and the matrix GPS; and obtaining a power distribution line inspection path to be screened after each iteration, and calculating the mileage of the power distribution line inspection path to be screened based on the matrix D.
In step 5, each iteration performed based on the distribution line, the line patrol starting point, the line patrol terminal point and the matrix GPS includes the following substeps:
substep 5-1: and setting one set or two sets of variables, wherein each set of variable comprises a path route and the current tower state.
When a single unmanned aerial vehicle inspection mode is adopted, a set of variables is set, and an inspection starting point or an inspection end point is used as a starting point of a route; and setting the initial value of the current tower state as the tower where the starting point of the path route is located. When the same-starting-point dual-unmanned aerial vehicle cooperative inspection mode is adopted, two sets of variables are set, the line inspection starting point or the line inspection end point is used as the starting point of the path route in the two sets of variables, and the initial value state1 of the current tower state in the two sets of variables is the same as the initial value state2 of the current tower state in the two sets of variables. When a different-starting-point dual-unmanned aerial vehicle cooperative inspection mode is adopted, two sets of variables are set, the line inspection starting point and the line inspection end point are respectively used as the starting point of the path route in the two sets of variables, the initial value state1 of the current tower state in the two sets of variables is different from the initial value state2, namely the state1 and the state2 are respectively used as the line inspection starting point and the line inspection end point, or the two are interchanged to be the state1 and the state2 which are respectively used as the line inspection end point and the line inspection starting point. The inspection mode is selected based on the characteristics of the distribution line.
Substep 5-2: and for each set of variable, traversing the tower in the distribution line by taking the current tower state as a reference.
If a line exists between the traversed kth tower and the current tower state, namely the GPS (state, k) =1, adding the kth tower into the route, updating the elements GPS (state, k) and GPS (k, state) in the matrix GPS to 0, and updating the current tower state to the kth tower. For towers with main lines and branch lines, random selection is set, and the probability of selecting branch lines is set to be greater than the probability of selecting main lines (for example, the probability of selecting branch lines is 2 to 3 times that of selecting the current line, because for most lines, it is a better choice to preferentially walk around branch lines and then return to the current line).
If the complete tower is traversed, and a tower with a line between the complete tower and the current tower state does not exist, searching the l-th tower which is close to the current tower state and meets the preset condition, adding the l-th tower into a route, updating elements GPS (stat, e) l and GPS (l, state) in the matrix GPS to be 0, and updating the current tower state to be the l-th tower. The preset conditions here are: and other towers are connected with the first tower, and the distance between the first tower and the current tower state is shortest.
Substep 5-3: and repeating the substep 5-2 until the sum of the elements in the matrix GPS is 0, thereby obtaining a power distribution line inspection path to be screened.
After the sub-steps are completed for multiple times (for example, 1000 times of iterative updating), the mileage of each distribution line routing path to be screened can be calculated based on the matrix D.
Step 6: and screening out the shortest route from the power distribution line inspection routes to be screened as the route adopted by unmanned aerial vehicle autonomous line inspection on the power distribution lines.
And 7: and outputting the screened tower information on the path adopted by the unmanned aerial vehicle autonomous line inspection of the distribution lines according to the sequence, and exporting the path planning of each step.
And the path of the tower coordinate can be planned and guided into the unmanned aerial vehicle subsequently, so that efficient autonomous line patrol is realized. Since the matrix D in step 3 is established based on the actual distribution lines, the finally planned route patrol is also based on the actual distribution lines, so that the unmanned aerial vehicle flies along the actual distribution lines during the route patrol. The unmanned working mode of the invention is to use the vehicle-mounted platform to transport and recover the unmanned aerial vehicle, and most unmanned aerial vehicle test point areas establish the unmanned aerial vehicle nest, which can be improved on the basis of the method of the invention, and the nest coordinate is added to the starting point and the end point of the route.
And respectively carrying out unmanned aerial vehicle autonomous line patrol path planning on the eight distribution lines shown in the attached drawing 1, and correspondingly obtaining paths adopted by eight unmanned aerial vehicles autonomous line patrol, wherein line patrol paths in a different-starting-point dual-unmanned aerial vehicle cooperative patrol mode are shown in the attached drawing 2. When the unmanned aerial vehicle autonomous line patrol adopts three different working modes (a single unmanned aerial vehicle inspection mode, a same-starting-point double-unmanned aerial vehicle cooperative inspection mode and a different-starting-point double-unmanned aerial vehicle cooperative inspection mode), the line patrol route mileage comparison corresponding to eight distribution lines is shown in attached figure 3, and the program operation time is shown in attached figure 4.
Above-mentioned scheme passes through data processing, route planning algorithm and result output, obtain optimal path planning, be applicable to all distribution lines route planning on the one hand (general distribution lines branch is more, the line distribution is complicated, in the urban countryside of department, unmanned aerial vehicle is safer along the line flight, adopt the Edmonds model, if single unmanned aerial vehicle duration is not enough, can adopt two unmanned aerial vehicles to patrol and examine in coordination, if the starting point terminal point distance of line is not too far away, can adopt two unmanned aerial vehicles of different starting points to patrol and examine), on the other hand, unmanned aerial vehicle's duration has been practiced thrift to optimal path, unmanned aerial vehicle work efficiency has been improved greatly.
Example two: an unmanned aerial vehicle autonomous line patrol path planning method for a power transmission line comprises data processing, path planning and result output. In the following steps of the unmanned aerial vehicle autonomous line patrol path planning method for the power transmission line, step 1 is data processing, steps 2 to 6 are path planning, and step 7 is result output.
The invention also provides a power transmission line unmanned aerial vehicle autonomous line patrol path planning method which can reasonably plan the path adopted by the unmanned aerial vehicle autonomous line patrol of the power transmission line so as to improve the patrol efficiency, and the scheme is as follows:
the unmanned aerial vehicle autonomous line patrol path planning method for the power transmission line comprises the following steps:
step 1: and obtaining the number information and the coordinate information of the towers contained in the power transmission line.
The step 1 mainly comprises reading data, extracting a pole tower number and extracting a pole tower coordinate. The read data comes from tower information derived from a PMS3.0 system (a new generation equipment asset lean management system), the data format is Excel, and the content specifically comprises the following steps: and the tower name, the tower number, the tower coordinate and the like, and reading the Excel by using a read _ Excel function of a pandas library in python programming language.
The tower number is extracted by dividing the tower number, the tower number is divided and extracted, for example, as shown by a Wanjiang cable 70-1-5-1-3#, the # is removed by using a str.split ('#').str [0] function, the number is extracted by using a str.split ('-', expanded = False) function and 70-1-5-1-3, and the '-', is removed by using a str.split ('-', expanded = False) function, so that 70 1 5 13 is obtained. The tower coordinates are extracted by dividing the tower coordinates, the coordinate samples are shown as 1.2345 and 6.7890, and the longitude and latitude coordinates are divided by using a strip (). Index (',') function to obtain 1.23456.7890. And obtaining a plane two-dimensional graph of line distribution according to the tower longitude and latitude coordinates.
The method for drawing a line plan and calculating a pole tower contact matrix according to the result data obtained by extracting the pole tower number in the steps and identifying whether a line exists between pole towers comprises the following steps: the number of the tower is 35-1-14# of the Tai-Chi line, wherein the Tai-Chi line is the line name, 35 is the No. 35 tower of the main line, and 1-14 is the No. 14 tower of the first branch line branched from the No. 35 tower of the main line. The adjacent numbered towers are also adjacent in geographic positions, the numbers of the branch lines comprise the numbers of the branch nodes, and the adjacent towers with lines can be identified through regular expressions.
The path planning is to traverse all towers and lines by adopting an improved Fleury algorithm to obtain the shortest path planning, and the working modes are single unmanned aerial vehicle inspection, same-starting-point double-unmanned aerial vehicle cooperative inspection and different-starting-point double-unmanned aerial vehicle cooperative inspection.
Let G (V, E) be a set of points V: { V 1 ,v 2 ...,v n E and set of edges 1 ,e 2 ...,e n And (4) forming an undirected graph, wherein the flow of the flow algorithm is as follows:
1)
let W 0 ＝v 0 ；
2) Suppose trace W i ＝v 0 e 1 v 1 ...e i v i If selected, then the following procedure is followed from E- { E 1 ,...,e i Select edge e in } i+1 ：
(1)e i+1 And v i Associating;
(2) Unless no other edge is selectable, e i+1 Is other than G i ＝G-{e 1 ,...,e i Cut edge of (cut edge). (cut edge is an edge which is deleted and which makes the connected graph no longer connected).
3) When step 2 can no longer be performed, the algorithm stops.
Step 2: let n matrix GPS = (GPS) ij ) n×n The initial value of the matrix GPS is a zero matrix, and an element GPS (i, j) in the matrix GPS indicates whether a line exists between the ith tower and the jth tower in the power transmission line, and if so, then GPS (i, j) =1.
And step 3: let matrix D = (D) ij ) n×n The initial value of the matrix D is an infinite matrix, and the elements in the matrix D representD (i, j) represents a ground surface distance between the ith tower and the jth tower in the transmission line, i.e., D (i, j) = distance.
The earth is assumed to be a perfect sphere with a radius of 6371.004 km, denoted as R. If the 0 degree longitude is taken as the reference, the longitude and latitude coordinates of the two points are respectively (X) 1 ，Y 1 ) And (X) 2 ，Y 2 ) Then, the distance between the earth surface of any two points on the earth surface can be calculated by the longitude and latitude of the two points (ignoring the error brought by the terrain of the earth surface in front).
C＝sin(Y 1 )×sin(Y 2 )+cos(Y 1 )×cos(Y 2 )×sin(X 1 -X 2 )
distance＝R×arccos(C)×pi/180
Where R and distance are both in kilometers and pi is the circumferential ratio.
And 4, step 4: and determining a line patrol starting point and a line patrol finishing point.
And 5: performing multiple iterations based on the power transmission line, the line patrol starting point, the line patrol terminal point and the matrix GPS; and obtaining a power transmission line patrolling path to be screened after each iteration, and calculating the mileage of the power transmission line patrolling path to be screened based on the matrix D.
Each iteration based on the transmission line, the line patrol starting point, the line patrol terminal point and the matrix GPS comprises the following substeps:
substep 5-1: and setting one set or two sets of variables, wherein each set of variable comprises a path route and a current tower state.
When a single unmanned aerial vehicle inspection mode is adopted, a set of variables is set, and an inspection starting point or an inspection end point is used as a starting point of a route; and setting the initial value of the current tower state as the tower where the starting point of the path route is located. When the same-starting-point dual-unmanned aerial vehicle cooperative inspection mode is adopted, two sets of variables are set, the line inspection starting point or the line inspection end point is used as the starting point of the path route in the two sets of variables, and the initial value state1 of the current tower state in the two sets of variables is the same as the initial value state2 of the current tower state in the two sets of variables. When the different-starting-point dual-unmanned aerial vehicle cooperative inspection mode is adopted, two sets of variables are set, the line inspection starting point and the line inspection end point are respectively used as the starting points of the paths route in the two sets of variables, the initial value state1 of the current tower state in the two sets of variables is different from the initial value state2, namely, the state1 and the state2 are respectively used as the line inspection starting point and the line inspection end point, or the two are exchanged to be the state1 and the state2 which are respectively used as the line inspection end point and the line inspection starting point.
Substep 5-2: and for each set of variable, traversing the towers in the power transmission line by taking the current tower state as a reference.
If a line exists between the traversed kth tower and the current tower state, namely the GPS (state, k) =1, adding the kth tower into the route, updating the elements GPS (state, k) and GPS (k, state) in the matrix GPS to 0, and updating the current tower state to the kth tower. For towers with main lines and branch lines, random selection is set, and the probability of selecting branch lines is set to be greater than the probability of selecting main lines (for example, the probability of selecting branch lines is 2 to 3 times that of selecting the current line, because for most lines, it is a better choice to preferentially walk around branch lines and then return to the current line).
If traversing the complete tower, and no tower with a line between the tower and the current tower state exists, searching a plurality of towers meeting preset conditions, wherein the preset conditions are as follows: and the tower is connected with other towers. Searching a plurality of towers which are positioned in the front m (m is 1-3 or other proper integers) position in the sequence from near to far from the current tower state from a plurality of towers meeting preset conditions, randomly selecting the first tower from the towers, adding the first tower into a route, updating elements GPS (stat, e) l and GPS (l, state) in a matrix GPS to 0, and updating the current tower state to the first tower.
Substep 5-3: and repeating the substep 5-2 until the sum of the elements in the matrix GPS is 0, thereby obtaining a power transmission line inspection path to be screened.
After the substeps are completed for many times, the mileage of each power transmission line inspection path to be screened can be obtained by calculation based on the matrix D.
Step 6: and screening out the shortest one of the inspection routes of the power transmission lines to be screened as the route adopted by the unmanned aerial vehicle autonomous inspection of the power transmission lines.
And 7: and outputting the screened tower information on the path adopted by the unmanned aerial vehicle autonomous line patrol on the power transmission line in sequence, namely exporting the path plan of each step.
And the route of the tower coordinate can be planned and guided into the unmanned aerial vehicle subsequently, so that efficient autonomous line patrol is realized. Because the matrix D in the step 3 is established based on the earth surface information among the towers, not along the actual transmission line, the finally planned line patrol path is also based on the earth surface information among the towers, so that the unmanned aerial vehicle does not need to fly along the actual transmission line when patrolling the line. The unmanned working mode of the invention is to use the vehicle-mounted platform to transport and recover the unmanned aerial vehicle, and most unmanned aerial vehicle test point areas establish the unmanned aerial vehicle nest, which can be improved on the basis of the method of the invention, and the nest coordinate is added to the starting point and the end point of the route.
According to the path planning scheme, the optimal path planning is obtained through data processing, a path planning algorithm and result output, and the optimal path planning method is suitable for path planning of all power transmission lines, generally, the power transmission lines have fewer branches, the line channel is longer and is remote, an unmanned aerial vehicle can take off at a certain height after patrolling a certain end point of the line and directly fly to the next patrol point without completely flying along the lead of the power transmission line, a fleery model is adopted, if the cruising ability of a single unmanned aerial vehicle is insufficient, double unmanned aerial vehicles can be adopted for cooperative patrol, if the distances between the starting point and the end point of the line are not too far, for example, a certain 220kV looped network line can be adopted for patrol by adopting double unmanned aerial vehicles with different starting points, on the other hand, the cruising time of the unmanned aerial vehicle is saved by the optimal path, and the working efficiency of the unmanned aerial vehicle is greatly improved.
The above embodiments are only for illustrating the technical idea and features of the present invention, and the purpose of the present invention is to enable those skilled in the art to understand the content of the present invention and implement the present invention, and not to limit the protection scope of the present invention by this means. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (14)
1. The utility model provides a distribution lines unmanned aerial vehicle is from line patrol route planning method for planning and obtain the route that unmanned aerial vehicle was from line patrol to distribution lines adopted, its characterized in that: the unmanned aerial vehicle autonomous line patrol path planning method for the distribution line comprises the following steps:
step 1: acquiring pole tower number information and pole tower coordinate information contained in the distribution line;
step 2: let matrix GPS = (GPS) ij ) n×n An element GPS (i, j) in the matrix GPS indicates whether a line exists between an ith tower and a jth tower in the distribution line, and if so, the GPS (i, j) =1;
and step 3: let matrix D = (D) ij ) n×n An element D (i, j) in the matrix D represents a shortest path length between an ith tower and a jth tower in the distribution line;
and 4, step 4: determining a line patrol starting point and a line patrol terminal point;
and 5: performing multiple iterations based on the distribution line, the line patrol starting point, the line patrol terminal point and the matrix GPS; obtaining a power distribution line inspection path to be screened after each iteration, and calculating the mileage of the power distribution line inspection path to be screened based on the matrix D;
step 6: and screening out one of the power distribution line inspection paths to be screened, wherein the shortest mileage is used as a path for performing unmanned aerial vehicle autonomous line inspection on the power distribution line.
2. The unmanned aerial vehicle autonomous patrol route planning method for the distribution line according to claim 1, characterized in that: the step 3 comprises the following substeps:
substep 3-1: traversing all the towers in the distribution line, and based on the matrix GPS, if a line exists between the ith tower and the jth tower in the distribution line, calculating the earth surface distance between the ith tower and the jth tower in the distribution line as an element D (i, j) in the matrix D, thereby updating the matrix D;
substep 3-2: and calculating the shortest path length between the ith tower and the jth tower in the distribution line by using a Floyd algorithm as an element D (i, j) in the matrix D, so as to update the matrix D.
3. The unmanned aerial vehicle autonomous patrol route planning method for the distribution line according to claim 1, characterized in that: in the step 2, the initial value of the matrix GPS is a zero matrix; in the step 3, the initial value of the matrix D is an infinite matrix.
4. The unmanned aerial vehicle autonomous patrol route planning method for the distribution line according to claim 1, characterized in that: in the step 5, each iteration performed based on the distribution line, the line patrol starting point, the line patrol end point and the matrix GPS includes the following substeps:
substep 5-1: setting one set or two sets of variables, wherein each set of variable comprises a path route and a current tower state; when a single unmanned aerial vehicle inspection mode is adopted, setting a set of variables, and taking the inspection starting point or the inspection end point as the starting point of the route; setting the initial value of the current tower state as the tower where the starting point of the route is; when the same-starting-point dual-unmanned aerial vehicle cooperative inspection mode is adopted, setting two sets of variables, and taking the inspection starting point or the inspection end point as the starting point of the path route in the two sets of variables; when a different-starting-point dual-unmanned aerial vehicle cooperative inspection mode is adopted, setting two sets of variables, and respectively taking the inspection starting point and the inspection end point as the starting points of the path routes in the two sets of variables;
substep 5-2: traversing the towers in the distribution line simultaneously according to each set of variable, adding the kth tower into the route if a line exists between the traversed kth tower and the current tower state, updating elements GPS (state, k) and GPS (k, state) in the matrix GPS to be 0, and updating the current tower state to be the kth tower; if the complete tower is traversed, and a tower with a line between the complete tower and the current tower state does not exist, searching the ith tower which is close to the current tower state and meets the preset condition, adding the ith tower into the route, updating the elements GPS (state, l) and GPS (l, state) in the matrix GPS to be 0, and updating the current tower state to be the ith tower;
substep 5-3: and repeating the substep 5-2 until the sum of the elements in the matrix GPS is 0, thereby obtaining the power distribution line patrol route to be screened.
5. The distribution line unmanned aerial vehicle autonomous patrol route planning method according to claim 4, characterized in that: in the substep 5-2, for the tower with the main line and the branch line, random selection is set, and the probability of selecting the branch line is set to be greater than the probability of selecting the main line.
6. The unmanned aerial vehicle autonomous line patrol path planning method for the distribution line according to claim 4, characterized in that: in the substep 5-2, the preset conditions are: and other towers are connected with the ith tower, and the ith tower is closest to the current tower state.
7. The unmanned aerial vehicle autonomous patrol route planning method for the distribution line according to claim 1, characterized in that: the distribution line unmanned aerial vehicle autonomous line patrol path planning method further comprises the following steps:
and 7: and outputting the screened tower information on the path adopted by the unmanned aerial vehicle autonomous line patrol of the distribution line according to the sequence.
8. The utility model provides a transmission line unmanned aerial vehicle is from line patrol route planning method for planning and obtain the route that unmanned aerial vehicle was from line patrol and adopt to transmission line, its characterized in that: the unmanned aerial vehicle autonomous line patrol path planning method for the power transmission line comprises the following steps of:
step 1: acquiring tower number information and tower coordinate information contained in the power transmission line;
step 2: let matrix GPS = (GPS) ij ) n×n An element GPS (i, j) in the matrix GPS represents whether a line exists between an ith tower and a jth tower in the power transmission line, and if so, the GPS (i, j) =1;
step (ii) of3: let matrix D = (D) ij ) n×n The element in the matrix D represents D (i, j) represents the earth surface distance between the ith tower and the jth tower in the power transmission line;
and 4, step 4: determining a line patrol starting point and a line patrol terminal point;
and 5: performing multiple iterations based on the power transmission line, the line patrol starting point, the line patrol terminal point and the matrix GPS; obtaining a power transmission line patrol path to be screened after each iteration, and calculating the mileage of the power transmission line patrol path to be screened based on the matrix D;
and 6: and screening out one of the power transmission line patrol paths to be screened, wherein the shortest mileage is used as a path for performing unmanned aerial vehicle autonomous line patrol on the power transmission line.
9. The unmanned aerial vehicle autonomous patrol route planning method for the power transmission line according to claim 8, characterized in that: in the step 2, the initial value of the matrix GPS is a zero matrix; in the step 3, the initial value of the matrix D is an infinite matrix.
10. The unmanned aerial vehicle autonomous patrol route planning method for the power transmission line according to claim 8, characterized in that: in step 5, each iteration performed based on the power transmission line, the line patrol starting point, the line patrol end point and the matrix GPS includes the following substeps:
substep 5-1: setting one set or two sets of variables, wherein each set of variable comprises a path route and a current tower state; when a single unmanned aerial vehicle inspection mode is adopted, setting a set of variables, and taking the line inspection starting point or the line inspection end point as the starting point of the route; setting the initial value of the current tower state as the tower where the starting point of the route is; when a co-starting point dual-unmanned aerial vehicle cooperative inspection mode is adopted, setting two sets of variables, and taking the inspection starting point or the inspection end point as the starting point of the route in the two sets of variables; when a different-starting-point dual-unmanned aerial vehicle cooperative inspection mode is adopted, setting two sets of variables, and respectively taking the inspection starting point and the inspection end point as the starting points of the path routes in the two sets of variables;
substep 5-2: traversing the towers in the power transmission line aiming at each set of variable, adding the kth tower into the route if a line exists between the traversed kth tower and the current tower state, updating elements GPS (state, k) and GPS (k, state) in the matrix GPS to be 0, and updating the current tower state to be the kth tower; if the complete tower is traversed, and a tower with a line between the complete tower and the current tower state does not exist, searching a plurality of towers meeting preset conditions, searching a plurality of towers which are positioned in the front m positions in the sequence from near to far from the current tower state from the plurality of towers meeting the preset conditions, randomly selecting the first tower from the towers, adding the first tower into the route, updating the elements GPS (state, l) and GPS (l, state) in the matrix GPS to 0, and updating the current tower state to the first tower;
substep 5-3: and repeating the substep 5-2 until the sum of the elements in the matrix GPS is 0, thereby obtaining the line patrol path of the power transmission line to be screened.
11. The unmanned aerial vehicle autonomous patrol route planning method for the power transmission line according to claim 10, characterized in that: in the substep 5-2, for the tower with the main line and the branch line, random selection is set, and the probability of selecting the branch line is set to be greater than the probability of selecting the main line.
12. The unmanned aerial vehicle autonomous patrol route planning method for the power transmission line according to claim 10, characterized in that: in the substep 5-2, the preset conditions are: and the tower is connected with other towers.
13. The unmanned aerial vehicle autonomous patrol route planning method for the power transmission line according to claim 10, characterized in that: in the substep 5-2, m is 1 to 3.
14. The unmanned aerial vehicle autonomous patrol route planning method for the power transmission line according to claim 1, characterized in that: the unmanned aerial vehicle autonomous line patrol path planning method for the power transmission line further comprises the following steps:
and 7: and outputting the screened tower information on the path adopted by the unmanned aerial vehicle autonomous line patrol of the power transmission line according to the sequence.
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