CN115686070B - Autonomous line patrol path planning method for unmanned aerial vehicle of power distribution/transmission line - Google Patents
Autonomous line patrol path planning method for unmanned aerial vehicle of power distribution/transmission line Download PDFInfo
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Abstract
The invention relates to a power distribution/transmission line unmanned aerial vehicle autonomous line patrol path planning method. The method for planning the unmanned aerial vehicle autonomous line patrol path of the distribution line utilizes the information of towers in the distribution line and the information of actual distribution lines among towers in the distribution line to carry out multi-layer iteration, and screens out the path which has the shortest mileage and is adopted for carrying out unmanned aerial vehicle autonomous line patrol on the distribution line. The method for planning the autonomous line patrol path of the unmanned aerial vehicle of the power transmission line carries out multi-layer iteration by utilizing the tower information in the power transmission line and the surface line information among towers in the power transmission line, and screens out the path which has the shortest mileage and is adopted for carrying out the autonomous line patrol of the unmanned aerial vehicle 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 unmanned aerial vehicle autonomous line inspection, in particular to a distribution line unmanned aerial vehicle autonomous line inspection path planning method and a transmission line unmanned aerial vehicle autonomous line inspection path planning method.
Background
With the deep development of digital China construction, the technology, the function and the form of a power grid are accelerated to be upgraded, and unmanned aerial vehicle operation meets significant development opportunities and challenges. In recent years, unmanned aerial vehicle business is developed across under the driving of strategic requirements such as national network digital new infrastructure and energy Internet. The intelligent inspection of the unmanned aerial vehicle is an important cut-in point for digital construction of the power grid.
At present, the power grid in each region has huge body, the mileage of a distribution line and a transmission line is very long, and an unmanned aerial vehicle autonomous line patrol is imperative. The key technologies of unmanned aerial vehicle line patrol are numerous, such as: path planning, wire tracking, fine inspection, endurance, data transmission, etc., wherein the path planning requires tower coordinates, involving privacy, while other technologies may be provided by third party companies.
At present, in the aspect of theoretical research, the path planning problem is generally regarded as a tourist problem, and only the unmanned aerial vehicle is considered to traverse all towers, so that line inspection among the towers is omitted. In addition, the research data are simulation data, and the actual distribution line coordinates of the power grid are not subjected to path planning in the process of inspecting the distribution line and the transmission line. In the aspect of actual work, for a power transmission line, an unmanned aerial vehicle is usually utilized to directly fly according to the sequence of towers, the shortest path planning is not considered, and huge waste is caused to the duration and the working efficiency of the unmanned aerial vehicle; for the distribution lines, because the distribution lines are complex in distribution, the line channel environment is complex, and due to safety consideration, the unmanned aerial vehicle can only fly along the lines, and no proper path planning has great influence on the endurance time and the working efficiency of the unmanned aerial vehicle. A power distribution line with a complicated line requires more path planning than a power transmission line with fewer branches.
Disclosure of Invention
The invention aims to provide a distribution line unmanned aerial vehicle autonomous line patrol path planning method capable of reasonably planning a path adopted by unmanned aerial vehicle autonomous line patrol of a distribution line so as to improve patrol efficiency.
In order to achieve the above purpose, the invention adopts the following technical scheme:
the unmanned aerial vehicle autonomous line patrol path planning method for the power distribution line is used for planning and acquiring a path adopted by unmanned aerial vehicle autonomous line patrol for the power distribution line, and comprises the following steps of:
step 1: acquiring tower number information and tower coordinate information contained in the distribution line;
step 2: let the matrix Gps= (GPS) ij ) n×n The element GPS (i, j) in the matrix GPS represents whether a line exists between the ith tower and the jth tower in the distribution line, and if so, GPS (i, j) =1;
step 3: let matrix d= (D) ij ) n×n Element D (i, j) in the matrix D represents a shortest path length in the distribution line between an i-th tower and a j-th tower in the distribution line;
step 4: determining a line inspection starting point and a line inspection ending point;
step 5: performing a plurality of iterations based on the distribution line, the patrol start point, the patrol end point, and the matrix GPS; obtaining a line inspection path of the distribution line to be screened after each iteration, and calculating the mileage of the line inspection path of the distribution line to be screened based on the matrix D;
step 6: and screening out one with the shortest mileage from the line inspection paths of the distribution lines to be screened as a path adopted for unmanned aerial vehicle autonomous line inspection of the distribution lines.
Said step 3 comprises the sub-steps of:
substep 3-1: traversing all towers in the distribution line, and based on the matrix GPS, if a line exists between an ith tower and a 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, so as to update 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.
In the step 2, the initial value of the matrix GPS is zero matrix; in the step 3, the initial value of the matrix D is an infinitely large matrix.
In the step 5, each iteration based on the distribution line, the line patrol start point, the line patrol end point and the matrix GPS includes the following sub-steps:
substep 5-1: setting one set or two sets of variables, wherein each set of variables 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 ending point as the starting point of the path route; setting the initial value of the current tower state as a tower where the starting point of the path route is; when a co-starting point double unmanned aerial vehicle cooperative inspection mode is adopted, setting two sets of variables, and taking the line inspection starting point or the line inspection end point as the starting point of the path route in the two sets of variables; when a cooperative inspection mode of the double unmanned aerial vehicles with different starting points is adopted, setting two sets of variables, and taking the line inspection starting points and the line inspection ending points as starting points of the path route in the two sets of variables respectively;
substep 5-2: traversing the towers in the distribution circuit aiming at each set of variables, adding the kth tower into the route if a circuit 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 0, and updating the current tower state to the kth tower; if all towers are traversed, a tower with a circuit between the current tower state and the current tower state does not exist, searching a first tower which meets a preset condition near the current tower state, adding the first tower into the path 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: repeating the substep 5-2 until the sum of elements in the matrix GPS is 0, thereby obtaining a line patrol path of the distribution line to be screened.
In the substep 5-2, a random selection is set for the towers in which the main line and the branch line exist, and the probability of selecting the branch line is set to be larger than the probability of selecting the main line.
In the substep 5-2, the preset condition is: other towers are connected with the first tower, and the first tower is closest to the current tower state.
The method for planning the autonomous line patrol path of the power distribution line unmanned aerial vehicle further comprises the following steps:
step 7: and outputting the screened tower information on the path adopted by the unmanned aerial vehicle autonomous line inspection on the distribution line in sequence.
The automatic line patrol path planning method for the power distribution line unmanned aerial vehicle is suitable for planning all power distribution line paths, 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 capable of reasonably planning a path adopted by the unmanned aerial vehicle autonomous line patrol of the power transmission line so as to improve the patrol efficiency, which comprises the following steps:
the method for planning and acquiring the path adopted by unmanned aerial vehicle autonomous line patrol of the power transmission line is used for planning and acquiring the path adopted by unmanned aerial vehicle autonomous line patrol of the power transmission line, and comprises the following steps:
step 1: acquiring tower number information and tower coordinate information contained in the power transmission line;
step 2: let the matrix Gps= (GPS) ij ) n×n The element GPS (i, j) in the matrix GPS represents whether a line exists between the ith tower and the jth tower in the power transmission line, and if so, GPS (i, j) =1;
step 3: let matrix d= (D) ij ) n×n The element representation D (i, j) in the matrix D represents the surface distance between the ith tower and the jth tower in the power transmission line;
step 4: determining a line inspection starting point and a line inspection ending point;
step 5: performing multiple iterations based on the power transmission line, the line inspection starting point, the line inspection ending point and the matrix GPS; obtaining a line inspection path of the power transmission line to be screened after each iteration, and calculating the mileage of the line inspection path of the power transmission line to be screened based on the matrix D;
step 6: and screening one of the line inspection paths of the power transmission lines to be screened, which has the shortest mileage, as a path adopted for unmanned aerial vehicle autonomous line inspection of the power transmission lines.
In the step 2, the initial value of the matrix GPS is zero matrix; in the step 3, the initial value of the matrix D is an infinitely large matrix.
In the step 5, each iteration based on the transmission line, the line inspection start point, the line inspection end point and the matrix GPS includes the following sub-steps:
substep 5-1: setting one set or two sets of variables, wherein each set of variables 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 ending point as the starting point of the path route; setting the initial value of the current tower state as a tower where the starting point of the path route is; when a co-starting point double unmanned aerial vehicle cooperative inspection mode is adopted, setting two sets of variables, and taking the line inspection starting point or the line inspection end point as the starting point of the path route in the two sets of variables; when a cooperative inspection mode of the double unmanned aerial vehicles with different starting points is adopted, setting two sets of variables, and taking the line inspection starting points and the line inspection ending points as starting points of the path route in the two sets of variables respectively;
substep 5-2: traversing the towers in the power transmission line for each set of variables, adding the kth tower into the path 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 0, and updating the current tower state to the kth tower; if all towers are traversed, a plurality of towers meeting preset conditions are searched, a plurality of towers which are located in the first m positions in the sequence from the near to the far are searched from the towers meeting the preset conditions, a first tower is randomly selected from the towers, a first tower is added into the route, meanwhile, elements GPS (state, l) and GPS (l, state) in the matrix GPS are updated to 0, and the current tower state is updated to a first tower;
substep 5-3: repeating the substep 5-2 until the sum of elements in the matrix GPS is 0, thereby obtaining a line patrol path of the transmission line to be screened.
In the substep 5-2, a random selection is set for the towers in which the main line and the branch line exist, and the probability of selecting the branch line is set to be larger than the probability of selecting the main line.
In the substep 5-2, the preset condition is: is connected with other towers.
In the substep 5-2, m is 1 to 3.
The method for planning the autonomous line patrol path of the unmanned aerial vehicle of the power transmission line further comprises the following steps:
step 7: and outputting the screened tower information on the path adopted by the unmanned aerial vehicle autonomous line inspection of the power transmission line in 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
Fig. 1 is a plan view of eight distribution lines.
Fig. 2 is a line inspection path diagram of eight different-start-point double unmanned aerial vehicles in a collaborative inspection mode, which is planned by the autonomous line inspection path planning method of the distribution line unmanned aerial vehicle.
Fig. 3 is a path mileage comparison chart of eight patrol paths in three operation modes.
Fig. 4 is a graph comparing program run times of eight patrol paths in three operation modes.
Detailed Description
The invention will be further described with reference to examples of embodiments shown in the drawings.
Embodiment one: a power distribution line unmanned aerial vehicle autonomous line patrol path planning method comprises data processing, path planning and result output. In the following steps of the method for planning the autonomous line-patrol path of the power distribution line unmanned aerial vehicle, the step 1 is data processing, the steps 2 to 6 are path planning, and the step 7 is result output.
The unmanned aerial vehicle autonomous line-patrol path planning method for the power distribution line comprises the following steps:
step 1: and acquiring tower number information and tower coordinate information contained in the distribution line.
The step 1 mainly comprises the steps of reading data, extracting a pole tower number and extracting pole tower coordinates. The read data come from tower information derived from a PMS3.0 system (new generation equipment asset lean management system), the data format is Excel, and the content specifically comprises: the read data is Excel read using the read_excel function of the pandas library in python programming language.
The extraction of the tower number is to divide and extract the tower number, and the tower number sample is shown by, for example, mo Jiangjia lines 70-1-5-1-3#, str.split (# ') str [0] function is adopted to remove #, str.split (' tower number '). Str [1] function is adopted to extract the numbers 70-1-5-1-3, str.split (' - ', expand=false) function is adopted to remove ' - ', and 70 1 5 1 3 is obtained. The extraction of the tower coordinates is to divide and extract the tower coordinates, and the coordinate samples are represented by 1.2345,6.7890, for example, and the longitude and latitude coordinates are divided by using a strip (). Index (',') function, so as to obtain 1.23456.7890.
The first step is to draw a line plan and calculate a tower connection matrix according to result data obtained by extracting the tower number, wherein a general tower line is divided into a main line, a branch line and a secondary branch line, the branch line is branched from the main line, and the secondary branch line is branched from the branch line. Taking the wan Jiang line 70-1-5-1-3# as an example, the Mo Jiangjia line is the line name, 70 is the main line 70 # tower, 1-5 is the 5 # tower of the first branch line branched from the main line 70 # tower, and 1-3 is the 3# tower of the first secondary branch line branched from the branch line 5 # tower. The adjacent numbered towers are also adjacent in geographic position, the numbers of the branch lines comprise branch node numbers, and the adjacent towers with lines can be identified through regular expressions.
The following path planning uses an improved Edmonds algorithm to traverse all towers and lines to obtain a shortest path plan. The unmanned aerial vehicle inspection work mode comprises single unmanned aerial vehicle inspection, same-origin double unmanned aerial vehicle cooperative inspection and different-origin double unmanned aerial vehicle cooperative inspection.
The Edmonds algorithm flow is as follows:
1) V-solving 0 ＝{v|v∈V(G),d(v)＝1(mod2)}；
2) Using Floyd algorithm to find each pair of vertices i, j E V 0 Shortest distance d (i, j) between;
3) Construction of a full weighting map K V0 In V 0 Weights d (i, j) as sides ij for vertex sets;
4) K is calculated V0 Perfect pair set M with minimum sum of middle weights;
5) Finding the shortest track in G between the end points of the edges in M;
6) Adding an equal weight 'double side' (namely a side sharing the end point and the weight) to each side on each shortest rail obtained in the step 5;
7) And solving an Euler loop on the graph G' obtained in the step 6, namely solving the problem of the Chinese postman.
Where d (v) is the number of edges associated with v in G (two edges per ring calculation), M is a subset of the edge set E, and perfect pair set M means that M passes through all nodes.
The Floyd algorithm is based on dynamic programming, and can calculate the minimum value between any two points. Let G (V, E) be a point set V: { V 1 ,v 2 ...,v n Sum of edges E { E 1 ,e 2 ...,e n An undirected graph of }; w= (W) ij ) n×n ，w ij Is the actual length of i to j, if i cannot reach j, w ij ＝∞；D＝(d ij ) n×n ，d ij Is the shortest length of i to j; p= (P) ij ) n×n ，p ij Is the maximum number of intermediate nodes on the shortest of i to j, p ij =0 indicates no intermediate node. The flow of the Floyd algorithm is as follows:
1) Initial value: d, d 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 D is then ij ＝d ik +d kj ，p ij ＝k；
3) If k=n, stopping, otherwise, k=k+1, and turning to step 2.
Thus, the modified Edmonds algorithm path planning comprises the steps of:
step 2: let the matrix Gps= (GPS) ij ) n×n The initial value of the matrix GPS is zero, the element GPS (i, j) in the matrix GPS represents whether a line exists between an ith pole tower and a jth pole tower in the distribution line, if so, the GPS (i, j) =1, so all poles in the distribution line are traversed, the pole tower connection is judged by using regular expression, and if the line exists between the two pole towers i, j, the GPS (i, j) =1 is updated.
Step 3: let matrix d= (D) ij ) n×n The initial value of matrix D is an infinitely large matrix, and element D (i, j) in matrix D represents the shortest path length in the distribution line between the i-th and j-th towers in the distribution line.
The step 3 comprises the following substeps:
substep 3-1: traversing all 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 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, so as to update the matrix GPS.
Let the longitude and latitude coordinates of the two points i and j be (X 1 ,Y 1 )、(X 2 ,Y 2 ) The surface distance of the space between two points is calculated by the following method:
C＝sin(Y 1 )×sin(Y 2 )+cos(Y 1 )×cos(Y 2 )×sin(X 1 -X 2 )
distance＝R×arccos(C)×π/180
wherein R and distance are both kilometers, R is the average radius of the earth, and 6371.004 kilometers are taken.
Substep 3-2: and calculating the shortest path length between the ith tower and the jth tower in the distribution line by using the Floyd algorithm as an element GPS (i, j) in the matrix D, so as to update the matrix GPS.
Step 4: and determining a line inspection starting point and a line inspection ending point.
Step 5: performing multiple iterations based on the distribution line, the line patrol starting point, the line patrol ending point and the matrix GPS; and obtaining a line inspection path of the distribution line to be screened after each iteration, and calculating the mileage of the line inspection path of the distribution line to be screened based on the matrix D.
In this step 5, each iteration based on the distribution line, the line start point, the line end point and the matrix GPS comprises the following sub-steps:
substep 5-1: one or two sets of variables are set, and each set of variables 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 start point or an inspection end point is used as a start point of a path route; and setting the initial value of the current tower state as the tower where the starting point of the route is located. When the same-starting-point double unmanned aerial vehicle collaborative inspection mode is adopted, two sets of variables are set, the line inspection starting point or the line inspection ending point is used as the starting point of a path route in the two sets of variables, and the initial value state1 and the initial value state2 of the current pole tower state in the two sets of variables are the same. When the different-start double-unmanned-aerial-vehicle collaborative inspection mode is adopted, two sets of variables are set, an inspection start point and an inspection end point are respectively used as the start points of paths route in the two sets of variables, initial values state1 and state2 of the current pole tower state in the two sets of variables are different, namely state1 and state2 are respectively the inspection start point and the inspection end point, or state1 and state2 are exchanged to be respectively the inspection end point and the inspection start point. The patrol mode is selected according to the distribution line characteristics.
Substep 5-2: and for each set of variables, traversing the towers 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 GPS (state, k) =1, adding the kth tower into the path route, updating 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 where both a main line and a branch line are present, a random selection is set, and the probability of selecting a branch line is set to be greater than the probability of selecting a main line (e.g., the probability of selecting a branch line is 2 to 3 times that of selecting the current line, since for most lines it is a better choice to have a priority to finish the branch line and return to the current line).
If the complete tower is traversed, a tower with a line between the current tower state and the current tower state does not exist, searching a first tower which meets a preset condition near the current tower state, adding the first tower into a path route, updating elements GPS (state, e) l and GPS (l, state) in a matrix GPS to 0, and updating the current tower state to the first tower. The preset conditions here are: other towers are connected with the first tower, and the first tower is closest to the current tower state.
Substep 5-3: and repeating the substep 5-2 until the sum of elements in the matrix GPS is 0, thereby obtaining a line patrol path of the distribution line to be screened.
After the sub-steps are completed for a plurality of times (for example, 1000 times of iterative updating), the mileage of each line inspection path of the distribution line to be screened can be obtained based on the matrix D.
Step 6: and screening out one with the shortest mileage from the line inspection paths of each distribution line to be screened as a path adopted for unmanned aerial vehicle autonomous line inspection of the distribution lines.
Step 7: and outputting the screened tower information on the paths adopted by the unmanned aerial vehicle autonomous line inspection to the distribution lines in sequence, namely deriving the path planning of each step.
The path planning of the tower coordinates can be guided into the unmanned aerial vehicle subsequently, so that efficient autonomous line inspection is realized. Since the matrix D in step 3 is established based on the actual distribution line, the final planned route is also based on the actual distribution line, so that the unmanned aerial vehicle flies along the actual distribution line during the route patrol. The unmanned operation mode in the invention is to transport and recycle unmanned aerial vehicles by using a vehicle-mounted platform, and most unmanned aerial vehicle test point areas are to establish unmanned aerial vehicle nests, so that improvement can be carried out on the basis of the method of the invention, and the coordinates of the nests are added to the starting point and the ending point of a route.
And (3) planning autonomous line inspection paths of the unmanned aerial vehicles on eight distribution lines shown in the figure 1 respectively, and correspondingly obtaining paths adopted by the autonomous line inspection of the eight unmanned aerial vehicles, wherein the line inspection paths under the cooperative line inspection mode of the double unmanned aerial vehicles with different starting points are shown in the figure 2. When the unmanned aerial vehicle autonomously patrols the line and adopts three different working modes (a single unmanned aerial vehicle patrolling mode, a double unmanned aerial vehicle cooperative patrolling mode with a starting point and a double unmanned aerial vehicle cooperative patrolling mode with a different starting point), the comparison of the mileage of the patrolling paths corresponding to the eight distribution lines is shown in the figure 3, and the running time of the program is shown in the figure 4.
According to the scheme, the optimal path planning is obtained through data processing, a path planning algorithm and result output, so that the method is suitable for path planning of all distribution lines (general distribution lines are more in branches, lines are complex in distribution, unmanned aerial vehicles fly safely along the lines in rural areas, edmonds models are adopted, double unmanned aerial vehicles can be adopted to cooperatively patrol and examine if the single unmanned aerial vehicle is insufficient in cruising ability, double unmanned aerial vehicles with different starting points can be adopted to patrol and examine if the starting point and end point of the lines are not far away), and on the other hand, the unmanned aerial vehicle is saved in cruising time by the optimal path, and the working efficiency of the unmanned aerial vehicles is greatly improved.
Embodiment two: an autonomous line-patrol path planning method for an unmanned aerial vehicle of an electric transmission line comprises data processing, path planning and result output. In the following steps of the method for planning the autonomous line-patrol path of the unmanned aerial vehicle of the power transmission line, the step 1 is data processing, the steps 2 to 6 are path planning, and the step 7 is result output.
The invention also provides a power transmission line unmanned aerial vehicle autonomous line patrol path planning method capable of reasonably planning a path adopted by the unmanned aerial vehicle autonomous line patrol of the power transmission line so as to improve the patrol efficiency, which comprises the following steps:
the method for planning the autonomous line-patrol path of the unmanned aerial vehicle of the power transmission line comprises the following steps:
step 1: and acquiring tower number information and tower coordinate information contained in the power transmission line.
The step 1 mainly comprises the steps of reading data, extracting a pole tower number and extracting pole tower coordinates. The read data come from tower information derived from a PMS3.0 system (new generation equipment asset lean management system), the data format is Excel, and the content specifically comprises: the read data is Excel read using the read_excel function of the pandas library in python programming language.
The extraction of the tower number is to divide and extract the tower number, and the tower number sample is shown by, for example, mo Jiangjia lines 70-1-5-1-3#, str.split (# ') str [0] function is adopted to remove #, str.split (' tower number '). Str [1] function is adopted to extract the numbers 70-1-5-1-3, str.split (' - ', expand=false) function is adopted to remove ' - ', and 70 1 5 1 3 is obtained. The extraction of the tower coordinates is to divide and extract the tower coordinates, and the coordinate samples are represented by 1.2345,6.7890, for example, and the longitude and latitude coordinates are divided by using a strip (). Index (',') function, so as to obtain 1.23456.7890. And obtaining a planar two-dimensional graph of line distribution according to the longitude and latitude coordinates of the tower.
The method for identifying whether the line exists between the towers comprises the following steps of drawing a line plan according to result data obtained by extracting the tower numbers and calculating a tower connection matrix: the tai-ji line 35-1-14# is a tower number sample, wherein, the tai-ji line is a line name, 35 is a main line No. 35 tower, and 1-14 is a No. 14 tower of a first branch line branched from the main line No. 35 tower. The adjacent numbered towers are also adjacent in geographic position, the numbers of the branch lines comprise branch node numbers, 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 mode is single unmanned aerial vehicle inspection, co-inspection with double unmanned aerial vehicles at the same starting point and co-inspection with double unmanned aerial vehicles at different starting points.
Let G (V, E) be a point set V: { V 1 ,v 2 ...,v n Sum of edges E { E 1 ,e 2 ...,e n The flow of the Fleury algorithm is as follows:
1)let W 0 ＝v 0 ；
2) Assume trace W i ＝v 0 e 1 v 1 ...e i v i Has been selected, then the following method is followed from E- { E 1 ,...,e i Selecting edge e from } i+1 ：
(1)e i+1 And v i Associating;
(2) E, unless no other edges are optional i+1 Not G i ＝G-{e 1 ,...,e i Cut edge (cut edge). (a cut edge is an edge that is deleted to make the connected graph no longer connected).
3) When step 2 can no longer be performed, the algorithm stops.
Step 2: let n x n matrix Gps= (GPS) ij ) n×n The initial value of the matrix GPS is zero, and the element GPS (i, j) in the matrix GPS represents whether a line exists between the ith tower and the jth tower in the power transmission line, and if so, GPS (i, j) =1.
Step 3: let matrix d= (D) ij ) n×n The initial value of the matrix D is an infinitely large matrix, and the element representation D (i, j) in the matrix D represents the surface distance between the ith tower and the jth tower in the power transmission line, i.e., D (i, j) =distance.
Let the earth be a perfect sphere with a radius of 6371.004 km, denoted R. If the 0 degree warp is used as a reference, the longitude and latitude coordinates of the two points are respectively (X 1 ，Y 1 ) And (X) 2 ，Y 2 ) The distance between the earth surface at any two points can be calculated by longitude and latitude of the earth surface (neglecting errors caused by the topography of the earth surface).
C＝sin(Y 1 )×sin(Y 2 )+cos(Y 1 )×cos(Y 2 )×sin(X 1 -X 2 )
distance＝R×arccos(C)×pi/180
Wherein R and distance are each in kilometers and pi is the circumference.
Step 4: and determining a line inspection starting point and a line inspection ending point.
Step 5: performing multiple iterations based on the transmission line, the line inspection starting point, the line inspection ending point and the matrix GPS; and obtaining a line inspection path of the power transmission line to be screened after each iteration, and obtaining the mileage of the line inspection path of the power transmission line to be screened based on matrix D.
Each iteration based on the transmission line, the line start point, the line end point and the matrix GPS comprises the following sub-steps:
substep 5-1: one or two sets of variables are set, and each set of variables 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 start point or an inspection end point is used as a start point of a path route; and setting the initial value of the current tower state as the tower where the starting point of the route is located. When the same-starting-point double unmanned aerial vehicle collaborative inspection mode is adopted, two sets of variables are set, the line inspection starting point or the line inspection ending point is used as the starting point of a path route in the two sets of variables, and the initial value state1 and the initial value state2 of the current pole tower state in the two sets of variables are the same. When the different-start double-unmanned-aerial-vehicle collaborative inspection mode is adopted, two sets of variables are set, an inspection start point and an inspection end point are respectively used as the start points of paths route in the two sets of variables, initial values state1 and state2 of the current pole tower state in the two sets of variables are different, namely state1 and state2 are respectively the inspection start point and the inspection end point, or state1 and state2 are exchanged to be respectively the inspection end point and the inspection start point.
Substep 5-2: and aiming at each set of variables, 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 GPS (state, k) =1, adding the kth tower into the path route, updating 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 where both a main line and a branch line are present, a random selection is set, and the probability of selecting a branch line is set to be greater than the probability of selecting a main line (e.g., the probability of selecting a branch line is 2 to 3 times that of selecting the current line, since for most lines it is a better choice to have a priority to finish the branch line and return to the current line).
If the complete tower is traversed, a tower with a circuit between the current tower state does not exist, a plurality of towers meeting preset conditions are searched, and the preset conditions are as follows: is connected with other towers. Searching a plurality of towers which are positioned in the first m (m is 1-3 or other proper integers) positions in the sequence from the near to the far of the current tower state and meet the preset condition, randomly selecting a first tower, adding the first tower into a route, updating the elements GPS (stat, e) 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 element sum in the matrix GPS is 0, thereby obtaining a line patrol path of the power transmission line to be screened.
After the substeps are completed for a plurality of times, the mileage of each line inspection path of the power transmission line to be screened can be obtained based on the matrix D.
Step 6: and screening one of the line inspection paths of the power transmission lines to be screened, which has the shortest mileage, as a path adopted for unmanned aerial vehicle autonomous line inspection of the power transmission lines.
Step 7: and outputting the screened tower information on the path adopted by the unmanned aerial vehicle autonomous line inspection of the power transmission line in sequence, namely deriving the path planning of each step.
The path planning of the tower coordinates can be guided into the unmanned aerial vehicle subsequently, so that efficient autonomous line inspection is realized. Because the matrix D in the step 3 is established based on the ground surface information between towers and is not along the actual transmission line, the finally planned line inspection path is also based on the ground surface information between towers, and therefore the unmanned aerial vehicle does not need to fly along the actual transmission line when inspecting the line. The unmanned operation mode in the invention is to transport and recycle unmanned aerial vehicles by using a vehicle-mounted platform, and most unmanned aerial vehicle test point areas are to establish unmanned aerial vehicle nests, so that improvement can be carried out on the basis of the method of the invention, and the coordinates of the nests are added to the starting point and the ending point of a route.
According to the path planning scheme, the optimal path planning is obtained through data processing, a path planning algorithm and result output, so that the path planning method is suitable for path planning of all power transmission lines, on one hand, branches of the power transmission lines are less, a line channel is longer, the power transmission lines are remote, the unmanned aerial vehicle can take off a certain height after finishing inspection of one end point of the power transmission lines, fly directly to the next inspection point without flying completely along a power transmission line wire, a Fleury model is adopted, if the single unmanned aerial vehicle is insufficient in cruising ability, double unmanned aerial vehicles can be adopted for collaborative inspection, if the distance between the starting point and the end point of the power transmission lines is not far, such as certain 220kV ring network lines, different starting points and double unmanned aerial vehicles can be adopted for inspection, on the other hand, the optimal path saves the cruising time of the unmanned aerial vehicle, and the working efficiency of the unmanned aerial vehicle is greatly improved.
The above embodiments are provided to illustrate the technical concept and features of the present invention and are intended to enable those skilled in the art to understand the content of the present invention and implement the same, and are not intended to limit the scope of the present invention. All equivalent changes or modifications made in accordance with the spirit of the present invention should be construed to be included in the scope of the present invention.
Claims (12)
1. The utility model provides a distribution line unmanned aerial vehicle independently patrols line route planning method for planning and obtaining the route that carries out unmanned aerial vehicle independently patrols line to distribution line and adopts, its characterized in that: the method for planning the autonomous line patrol path of the power distribution line unmanned aerial vehicle comprises the following steps:
step 1: acquiring tower number information and tower coordinate information contained in the distribution line;
step 2: let the matrix Gps= (GPS) ij ) n×n The element GPS (i, j) in the matrix GPS represents whether a line exists between the ith tower and the jth tower in the distribution line, and if so, GPS (i, j) =1;
step 3: let matrix d= (D) ij ) n×n The elements in the matrix DElement D (i, j) represents a shortest path length in the distribution line between an i-th tower and a j-th tower in the distribution line;
step 4: determining a line inspection starting point and a line inspection ending point;
step 5: performing a plurality of iterations based on the distribution line, the patrol start point, the patrol end point, and the matrix GPS; obtaining a line inspection path of the distribution line to be screened after each iteration, and calculating the mileage of the line inspection path of the distribution line to be screened based on the matrix D;
step 6: screening one of the line inspection paths of the distribution lines to be screened, which has the shortest mileage, as a path adopted by unmanned aerial vehicle autonomous line inspection of the distribution lines;
in the step 5, each iteration based on the distribution line, the line patrol start point, the line patrol end point and the matrix GPS includes the following sub-steps:
substep 5-1: setting one set or two sets of variables, wherein each set of variables 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 ending point as the starting point of the path route; setting the initial value of the current tower state as a tower where the starting point of the path route is; when a co-starting point double unmanned aerial vehicle cooperative inspection mode is adopted, setting two sets of variables, and taking the line inspection starting point or the line inspection end point as the starting point of the path route in the two sets of variables; when a cooperative inspection mode of the double unmanned aerial vehicles with different starting points is adopted, setting two sets of variables, and taking the line inspection starting points and the line inspection ending points as starting points of the path route in the two sets of variables respectively;
substep 5-2: traversing the towers in the distribution circuit aiming at each set of variables, adding the kth tower into the route if a circuit 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 0, and updating the current tower state to the kth tower; if all towers are traversed, a tower with a circuit between the current tower state and the current tower state does not exist, searching a first tower which meets a preset condition near the current tower state, adding the first tower into the path 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: repeating the substep 5-2 until the sum of elements in the matrix GPS is 0, thereby obtaining a line patrol path of the distribution line to be screened.
2. The method for planning an autonomous line patrol path of a distribution line unmanned aerial vehicle according to claim 1, wherein: said step 3 comprises the sub-steps of:
substep 3-1: traversing all towers in the distribution line, and based on the matrix GPS, if a line exists between an ith tower and a 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, so as to update 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 method for planning an autonomous line patrol path of a distribution line unmanned aerial vehicle according to claim 1, wherein: in the step 2, the initial value of the matrix GPS is zero matrix; in the step 3, the initial value of the matrix D is an infinitely large matrix.
4. The method for planning an autonomous line patrol path of a distribution line unmanned aerial vehicle according to claim 1, wherein: in the substep 5-2, a random selection is set for the towers in which the main line and the branch line exist, and the probability of selecting the branch line is set to be larger than the probability of selecting the main line.
5. The method for planning an autonomous line patrol path of a distribution line unmanned aerial vehicle according to claim 1, wherein: in the substep 5-2, the preset condition is: other towers are connected with the first tower, and the first tower is closest to the current tower state.
6. The method for planning an autonomous line patrol path of a distribution line unmanned aerial vehicle according to claim 1, wherein: the method for planning the autonomous line patrol path of the power distribution line unmanned aerial vehicle further comprises the following steps:
step 7: and outputting the screened tower information on the path adopted by the unmanned aerial vehicle autonomous line inspection on the distribution line in sequence.
7. The utility model provides a transmission line unmanned aerial vehicle independently patrols line route planning method for planning and obtaining the route that carries out unmanned aerial vehicle independently patrols line to transmission line and adopts, its characterized in that: the method for planning the autonomous line patrol path of the unmanned aerial vehicle of the power transmission line comprises the following steps:
step 1: acquiring tower number information and tower coordinate information contained in the power transmission line;
step 2: let the matrix Gps= (GPS) ij ) n×n The element GPS (i, j) in the matrix GPS represents whether a line exists between the ith tower and the jth tower in the power transmission line, and if so, GPS (i, j) =1;
step 3: let matrix d= (D) ij ) n×n The element representation D (i, j) in the matrix D represents the surface distance between the ith tower and the jth tower in the power transmission line;
step 4: determining a line inspection starting point and a line inspection ending point;
step 5: performing multiple iterations based on the power transmission line, the line inspection starting point, the line inspection ending point and the matrix GPS; obtaining a line inspection path of the power transmission line to be screened after each iteration, and calculating the mileage of the line inspection path of the power transmission line to be screened based on the matrix D;
step 6: screening one of the line inspection paths of the power transmission lines to be screened, which has the shortest mileage, as a path adopted by unmanned aerial vehicle autonomous line inspection of the power transmission lines;
in the step 5, each iteration based on the transmission line, the line inspection start point, the line inspection end point and the matrix GPS includes the following sub-steps:
substep 5-1: setting one set or two sets of variables, wherein each set of variables 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 ending point as the starting point of the path route; setting the initial value of the current tower state as a tower where the starting point of the path route is; when a co-starting point double unmanned aerial vehicle cooperative inspection mode is adopted, setting two sets of variables, and taking the line inspection starting point or the line inspection end point as the starting point of the path route in the two sets of variables; when a cooperative inspection mode of the double unmanned aerial vehicles with different starting points is adopted, setting two sets of variables, and taking the line inspection starting points and the line inspection ending points as starting points of the path route in the two sets of variables respectively;
substep 5-2: traversing the towers in the power transmission line for each set of variables, adding the kth tower into the path 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 0, and updating the current tower state to the kth tower; if all towers are traversed, a plurality of towers meeting preset conditions are searched, a plurality of towers which are located in the first m positions in the sequence from the near to the far are searched from the towers meeting the preset conditions, a first tower is randomly selected from the towers, a first tower is added into the route, meanwhile, elements GPS (state, l) and GPS (l, state) in the matrix GPS are updated to 0, and the current tower state is updated to a first tower;
substep 5-3: repeating the substep 5-2 until the sum of elements in the matrix GPS is 0, thereby obtaining a line patrol path of the transmission line to be screened.
8. The method for planning an autonomous patrol path of an electric power transmission line unmanned aerial vehicle according to claim 7, wherein: in the step 2, the initial value of the matrix GPS is zero matrix; in the step 3, the initial value of the matrix D is an infinitely large matrix.
9. The method for planning an autonomous patrol path of an electric power transmission line unmanned aerial vehicle according to claim 7, wherein: in the substep 5-2, a random selection is set for the towers in which the main line and the branch line exist, and the probability of selecting the branch line is set to be larger than the probability of selecting the main line.
10. The method for planning an autonomous patrol path of an electric power transmission line unmanned aerial vehicle according to claim 7, wherein: in the substep 5-2, the preset condition is: is connected with other towers.
11. The method for planning an autonomous patrol path of an electric power transmission line unmanned aerial vehicle according to claim 7, wherein: in the substep 5-2, m is 1 to 3.
12. The method for planning an autonomous patrol path of an electric power transmission line unmanned aerial vehicle according to claim 7, wherein: the method for planning the autonomous line patrol path of the unmanned aerial vehicle of the power transmission line further comprises the following steps:
step 7: and outputting the screened tower information on the path adopted by the unmanned aerial vehicle autonomous line inspection of the power transmission line in sequence.
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