CN117270575A - Unmanned aerial vehicle inspection obstacle avoidance method for high-voltage line overhead area based on coordinate transformation - Google Patents
Unmanned aerial vehicle inspection obstacle avoidance method for high-voltage line overhead area based on coordinate transformation Download PDFInfo
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Abstract
The invention discloses a high-voltage line overhead area unmanned aerial vehicle inspection obstacle avoidance method based on coordinate transformation, which relates to the unmanned aerial vehicle inspection obstacle avoidance field, and the technical scheme is characterized by comprising the following steps: the data layer comprises a database and a calling group, the data layer is designed based on a NET open source architecture, the database comprises unmanned aerial vehicle management information, user management information and inspection map management information, and distributed storage and calling management are carried out; the inspection layer is used for unmanned aerial vehicle according to route of patrolling and examiningThe inspection layer comprises an obstacle avoidance module, wherein the obstacle avoidance module comprises an identification unit and a processing unit, and the processing unit is used for constructing a dynamic obstacle avoidance model and a static obstacle avoidance model based on the identification unit and regulating and controlling the obstacle avoidance behavior of the unmanned aerial vehicle; the output layer comprises display equipment and a client, and performs end page display on the processing information and the application instruction, so that self-adaptive adjustment of obstacle avoidance behavior in the unmanned aerial vehicle inspection process is realized.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicle inspection obstacle avoidance, in particular to a high-voltage line overhead area unmanned aerial vehicle inspection obstacle avoidance method based on coordinate transformation.
Background
In recent years, the social economy of China continuously and rapidly develops, the electricity consumption of each industry and each field is gradually increased, so that stable and huge electric power running environment is a foundation for realizing industrialization and modernization development of China, and a high-voltage electric power circuit is an indispensable part of an electric power system as a tie for power transmission between a power plant and factories and living areas. Because the high-voltage power transmission line exposed in natural environment for a long time is subjected to the influence of severe weather such as frost, rain and snow, and challenges such as vertical and horizontal loads of a wire, wire tension and the like, the problems of damage, aging, self-explosion and the like are very easy to occur, more components and parts are distributed in the high-voltage power transmission line, the environment is severe, the traditional power inspection is carried out in a manual operation and manual recording mode, and great hidden trouble is caused to the safe operation of the power transmission line due to the fact that manpower is consumed, information transmission is not timely, the efficiency is low, the cost is high, safety accidents are frequent and the like. Therefore, the defect inspection of the components of the power transmission line by using the unmanned plane and machine vision method is a popular research direction in the current electrical engineering application background.
In the process of inspecting the defects of the power transmission line by adopting the thought of matching the unmanned aerial vehicle and the computer vision, as the unmanned aerial vehicle encounters various barriers in the planned inspection route in the field inspection process, including but not limited to trees growing to obstruct the route, flying birds and flying garbage bags, the faults and the influences on the operation of the unmanned aerial vehicle can be caused, the unmanned aerial vehicle cannot smoothly reach the target point to carry out related operations through the planned route, the smooth operation of the detection work can be influenced, and the battery energy storage of the unmanned aerial vehicle is limited, if the unmanned aerial vehicle is identified to pass by the barriers, the driving time is overlong, the power is exhausted, the signals are lost and the body is lost, and further the economic loss is caused.
Disclosure of Invention
Aiming at the problem that in the prior art, if the working process is easily affected by obstacles, the forward line is blocked, the invention aims to provide the unmanned aerial vehicle inspection obstacle avoidance method for the high-voltage line overhead area based on coordinate transformation, so that the obstacle avoidance regulation and control in the unmanned aerial vehicle inspection process are realized when the high-voltage line overhead area works.
In order to achieve the above purpose, the present invention provides the following technical solutions:
the high-voltage line overhead area unmanned aerial vehicle inspection obstacle avoidance method is applied to a high-voltage line overhead area unmanned aerial vehicle inspection obstacle avoidance system, and the high-voltage line overhead area unmanned aerial vehicle inspection obstacle avoidance system comprises a data layer, an inspection layer, a regulation layer and an output layer;
the data layer comprises a database and a calling group, the data layer is designed based on a NET open source architecture, the database comprises unmanned aerial vehicle management information, user management information and inspection map management information, and distributed storage and calling management are carried out;
the inspection layer is used for unmanned aerial vehicle according to route of patrolling and examiningTo the inspection of each high-voltage line pole and circuit, the layer of patrolling includes the obstacle avoidance module, and the obstacle avoidance module includes recognition element and processing unit, and processing unit is based on recognition element construction dynamic obstacle avoidance model and static obstacle avoidance model for regulate and control unmanned aerial vehicle Obstacle avoidance behavior;
the output layer comprises display equipment and a client, and displays end pages of the processing information and the application instructions.
Preferably, the unmanned aerial vehicle management information comprises a model, battery and power device parameter information of the inspection unmanned aerial vehicle and a task carrier carried by the unmanned aerial vehicle, wherein the task carrier comprises a radar, an ultrasonic device and image equipment, and the unmanned aerial vehicle management information further comprises an inspection task;
the user management information comprises user identity authentication and authority management, wherein the user identity authentication is applied to user login, and the calling group checks the identity information input during the user login with the identity information stored in the database and judges whether the user has login authority; the authority management designs roles through an authority model, gives corresponding roles according to authentication identities of users, and acquires corresponding authorities according to the roles;
the routing inspection map management information comprises a high-voltage line inspection point, a routing inspection landform model and a routing inspection route, wherein the routing inspection landform model comprises comprehensive landforms of landforms and mountains, and the routing inspection route is used for carrying out route planning and construction based on the routing inspection landform model;
the sample library includes sample images of dynamic and static obstructions.
Preferably, the routing inspection route planning based on the routing inspection geomorphic model comprises the following steps:
Step S31: constructing a patrol geomorphic model in a patrol area according to a formula, wherein the patrol geomorphic model comprises basic geomorphic and mountain bodies with higher topography, and respectively carrying out function expression on the basic geomorphic and mountain bodies with higher topography according to the formula, wherein the function formula is as follows:
(1)
(2)
(3)
The formula (1) is used for obtaining a function expression of the basic landform,
equation (2) is used to obtain a functional expression of the obstacle mountain,
the formula (3) is used for obtaining a function expression of the whole inspection geomorphic model;
wherein,coordinates expressed as projection of the inspection geomorphic model on the horizontal plane, including the abscissa +.>And the ordinate，
Represented by the coordinates +.>Height coordinates corresponding to horizontal plane, < >>Represented by the coordinates +.>Height coordinates corresponding to horizontal plane, < >>Functional expression of the whole inspection geomorphic model, < ->、/>、、/>、/>、/>、/>、/>Respectively, the adjustment coefficients are represented by the respective values,
reference numerals indicating mountain in inspection geomorphic model,/-for>Representing the number of mountain bodies in the inspection geomorphic model, < ->Indicating label->Mountain height of mountain based on reference level, +.>Indicating label->The center coordinates of mountain include horizontal coordinates->And ordinate +.>，/>Indicating label->Mountain edge->Attenuation in axial direction- >Indicating label->Mountain edge->An amount of attenuation in the axial direction;
step S32: the user examines the geomorphic model according to the wholeDesigning a routing inspection route, and setting the routing inspection route asAnd->。
By constructing the inspection topography model, a user models the inspection topography and reasonably plans the inspection route, and reliable data support is provided for the design of the inspection route.
Preferably, the identification unit acquires the category of each forward obstacle in the inspection route based on the image equipment, and avoids the obstacle according to the processing unit, so that the unmanned aerial vehicle is planned forward again, and the specific working process of the identification unit comprises the following steps:
step S41: the identification unit will patrol the routeSplitting each high-voltage line rod and each high-voltage line, marking the inspection sequence of the high-voltage line rods as k according to the inspection sequence, and setting an inspection route ∈ ->The number of the medium-high voltage lines is K, andunmanned aerial vehicle is based on near orderThe inspection route section between two high-voltage lines is used for conducting breakpoint line inspection, a target point is arranged in each section of inspection route, and one high-voltage line is set as one target point;
step S42: when the unmanned aerial vehicle moves to the target point on a single breakpoint line, the forward route of the unit task carrier is identified to monitor, whether an obstacle appears or not is judged, the type of the obstacle is judged, and the obstacle is divided into a dynamic obstacle and a static obstacle;
Step S43: the identification unit uploads the acquired information to the database and distributes the information to the processing unit.
Judging whether the obstacle appears in the inspection route through the identification unit, judging the type of the obstacle, and providing different solutions for dynamic and static obstacles.
Preferably, the processing unit constructs a dynamic obstacle avoidance model and a static obstacle avoidance model based on the data acquired by the identification unit, and the static obstacle avoidance model is used for regulating and controlling the obstacle avoidance behavior of the unmanned aerial vehicle under the static obstacle, and the specific working process comprises the following steps:
step S51: setting unmanned aerial vehicle to be located inspection routeThe current coordinate position of (a) is +.>The coordinates of the target high-voltage line pole are +.>And construct artificial potential field +>Carrying out stress analysis according to the positions of the unmanned aerial vehicle and the static obstacle in the artificial potential field;
step S52: when the traction force applied by the unmanned aerial vehicle is the same as the repulsive force integrally given by the obstacle, the unmanned aerial vehicle falls into a stop or oscillation state, and the unmanned aerial vehicle path planning is performed by constructing an interference force model, so that the unmanned aerial vehicle performs the interference force model under the action of the interference force and comprises the following formulas:
（4）
wherein,represents the applied disturbance force and also represents the traction force experienced by the unmanned aerial vehicle, +. >Indicating label->Distance between obstacle and unmanned aerial vehicle +.>，/>Reference numerals indicating obstacles->Representing the number of obstacles>The comprehensive attraction force is born by the unmanned aerial vehicle; />Indicating that the unmanned aerial vehicle is subjected to comprehensive repulsive force of the obstacle.
Preferably, the static obstacle avoidance model further includes: when the distance between the target point and the obstacle is very close, and the unmanned aerial vehicle cannot reach the target point, the unmanned aerial vehicle path is re-planned by constructing a distance correction model, and the distance correction comprises the following formula:
（5）
（6）
the display device (5) is used for displaying the distance between the target point and the unmanned aerial vehicleAfter the correction of the separation, the artificial potential fieldIs an expression of (2);
the formula (6) is used for showing a traction expression of the unmanned plane after the distance correction;
wherein,indicating the area of influence of the unmanned aerial vehicle being obstructed, < > and/or->Representing variable parameters and being positive real numbers.
The processing unit is used for carrying out patrol regulation and control on the unmanned aerial vehicle under the static obstacle through the static obstacle avoidance model under the conditions that the unmanned aerial vehicle is stressed and the distance between the obstacle and the target point is too close based on the artificial potential field, so that obstacle avoidance regulation and control of the unmanned aerial vehicle is realized.
Preferably, the dynamic obstacle avoidance model is used for regulating and controlling obstacle avoidance behaviors of the unmanned aerial vehicle under dynamic obstacle, and the specific working process comprises the following steps:
Step S51: the radar and the image equipment on the unmanned aerial vehicle perform interaction, and when the unmanned aerial vehicle is away from an obstacleWhen the distance d is greater than the set distance d, acquiring collision time T according to the running speed v of the unmanned aerial vehicle, wherein the collision time T is divided into processing time T1 and reaction time T2;
step S52: the processing time T1 is used for expelling time of the unmanned aerial vehicle to the dynamic obstacle, the unmanned aerial vehicle drives the dynamic obstacle through the surprise device of the task carrier, the expelling result is obtained, if the dynamic obstacle disappears, the unmanned aerial vehicle continues to move according to a preset inspection route, if the dynamic obstacle does not disappear, the influence area of the dynamic obstacle on the unmanned aerial vehicle is predicted according to the change of the dynamic coordinates of the dynamic obstacle image in the processing time T1And in the reaction time T2, converting the dynamic obstacle into the static obstacle to avoid the obstacle.
Preferably, the processing unit regulates and controls the obstacle avoidance behavior of the unmanned aerial vehicle based on a dynamic obstacle avoidance model and a static obstacle avoidance model, and a specific control flow thereof comprises the following steps:
step S81: when the unmanned aerial vehicle advances to a target point, the obstacle in the inspection route and the sample in the sample library are visually identified through the radar and the image equipment in the task carrier, and the type of the obstacle is judged;
Step S82: if the identified obstacle is a static obstacle, judging the stress condition of the unmanned aerial vehicle relative to the obstacle based on the artificial potential field, and selecting an interference force model or a distance correction model to regulate and control the obstacle avoidance behavior of the unmanned aerial vehicle, so that the unmanned aerial vehicle deviates from avoiding the obstacle and reaches a target point;
step S83: if the identified obstacle is a dynamic obstacle, firstly driving the dynamic obstacle based on the surprise device, if the driving is successful, continuing to normally run, and if the driving is unsuccessful, predicting the influence area of the dynamic obstacle on the unmanned aerial vehicleConverting the dynamic obstacle into a static obstacle to avoid the obstacle, repeating the step S82, and performing obstacle avoidance regulation and control on the unmanned aerial vehicle;
step S84: and after the unmanned aerial vehicle reaches the target point, working the target point according to the inspection task.
The processing unit carries out preliminary treatment on the dynamic obstacle through the surprise device, predicts the influence area of the dynamic obstacle on the unmanned aerial vehicle, converts the dynamic obstacle into a static obstacle to avoid the obstacle, and realizes the obstacle avoidance regulation and control of the unmanned aerial vehicle in the inspection process.
Preferably, the technical scheme of the unmanned aerial vehicle inspection obstacle avoidance method mainly comprises the following steps:
step S1: the user performs identity verification through a Web browsing page of the client, judges whether to permit logging in the system, acquires corresponding access and management authority according to a role given by the user identity, and performs relevant management on the unmanned aerial vehicle through carrying the role;
Step S2: the method comprises the steps that a user inputs a patrol task and a patrol route of the unmanned aerial vehicle through a central processing unit, the unmanned aerial vehicle sequentially detects all target points through the patrol route, and a dynamic obstacle avoidance model and a static obstacle avoidance model are built through data of a processing unit in the detection process to regulate and control obstacle avoidance behaviors;
step S3: after the unmanned aerial vehicle reaches the target point, detecting a high-voltage line rod at the target point through the task carrier, transmitting a detection result to the central processing unit through the wireless network, and processing according to the transmitted detection information by a user;
step S4: when the unmanned aerial vehicle reaches the next target point, the steps S2 to S4 are repeated.
Preferably, the unmanned aerial vehicle inspection obstacle avoidance method is applied to a cloud processing platform, the unmanned aerial vehicle is connected to a central processing unit through a wireless network, a task carrier is installed on the unmanned aerial vehicle through an interface, a data layer is applied to a cloud, hadoopHDFS distributed storage is carried out, the central processing unit is arranged on the cloud processing platform and adopts an integrated information processing system, an inspection layer and the data layer are processed by the cloud based on the central processing unit, the central processing unit is connected with a client through the wireless network, an output layer carries out information display through a Web page program of an output device, detection information of the unmanned aerial vehicle and a machine body in a working process carry out end page display, the output layer adopts an information system structure of multiple clients, a user accesses to a system through clients, and rights access is carried out on information according to given roles.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, the database is designed in a distributed manner, so that the rapid response during data reading is facilitated, the elastic expansion of the storage space is realized, sufficient space is provided for the real-time updating of the electric power data and the mass data in each acquisition point, and the running performance of the whole system is improved; the security of identity verification during user login is improved by establishing roles and authorities to manage and design user information, different authorities are obtained by giving different roles to users, tightness of the users in a system management process and management efficiency of data information are achieved, and a patrol geomorphic model is established to enable the users to model patrol geomorphic and reasonably plan a patrol route so as to provide reliable data support for the design of the patrol route.
2. According to the invention, whether an obstacle appears in a routing inspection route is judged through the identification unit, the type of the obstacle is judged, the processing unit performs routing inspection regulation and control on the unmanned aerial vehicle under the static obstacle through the static obstacle avoidance model under the conditions that the stress balance of the unmanned aerial vehicle is balanced and the distance between the obstacle and a target point is too close based on the artificial potential field, the processing unit performs preliminary processing on the dynamic obstacle through the surprise device, and predicts the influence area of the dynamic obstacle on the unmanned aerial vehicle, so that the dynamic obstacle is converted into the static obstacle to avoid the obstacle, and the obstacle avoidance regulation and control of the unmanned aerial vehicle in the routing inspection process is realized.
Drawings
Fig. 1 is a schematic structural diagram of a high-voltage line overhead area unmanned aerial vehicle inspection obstacle avoidance method based on coordinate transformation;
FIG. 2 is a schematic diagram of the method steps in the present invention;
FIG. 3 is a schematic diagram of the method steps of the processing unit of the present invention;
FIG. 4 is a schematic flow chart of the present invention;
fig. 5 is a schematic diagram of an application scenario in the present invention.
Detailed Description
Hereinafter, example embodiments according to the present application will be described in detail with reference to the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application and not all of the embodiments of the present application, and it should be understood that the present application is not limited by the example embodiments described herein.
Because the high-voltage power transmission line exposed in natural environment for a long time is subjected to the influence of severe weather such as frost, rain and snow, and the like, and is subjected to challenges such as vertical and horizontal loads of a wire, wire tension and the like, the problems of damage, aging, self-explosion and the like are very easy to occur, more components and parts are distributed in the high-voltage power transmission line in the wild, the environment is severe, the traditional power inspection relies on manual operation and manual recording, and great hidden trouble is caused to the safe operation of the power transmission line due to the fact that not only is manpower consumed, but also the problems of untimely information transmission, low efficiency, high cost, frequent safety accidents and the like occur. Therefore, the defect inspection of the components of the power transmission line by using the unmanned plane and machine vision method is a popular research direction in the current electrical engineering application background.
In the process of inspecting the defects of the power transmission line by adopting the thought of matching the unmanned aerial vehicle and the computer vision, as the unmanned aerial vehicle encounters various barriers in the planned inspection route in the field inspection process, including but not limited to trees growing to obstruct the route, flying birds and flying garbage bags, the faults and the influences on the operation of the unmanned aerial vehicle can be caused, the unmanned aerial vehicle cannot smoothly reach the target point to carry out related operations through the planned route, the smooth progress of the monitoring work can be influenced, and the unmanned aerial vehicle can be innovated according to the invention because the battery energy storage of the unmanned aerial vehicle is limited, if the unmanned aerial vehicle is identified to pass by the barriers, the driving time is overlong, the power is exhausted, the signals are lost and the body is lost, and further the economic loss is caused.
Example 1
Referring to fig. 1, fig. 2 and fig. 5, an embodiment of the present invention further describes a method for unmanned aerial vehicle inspection obstacle avoidance in a high-voltage line overhead area based on coordinate transformation.
The unmanned aerial vehicle inspection obstacle avoidance method based on the coordinate transformation is applied to an unmanned aerial vehicle inspection obstacle avoidance system of the high-voltage line overhead area, and comprises a data layer, an inspection layer, a regulation layer and an output layer; the data layer comprises a database and a calling group, the data layer is designed based on a NET open source architecture, the database comprises unmanned aerial vehicle management information, user management information and inspection map management information, and distributed storage and calling management are carried out; the output layer comprises display equipment and a client, and displays end pages of the processing information and the application instructions.
The unmanned aerial vehicle management information comprises a model, battery and power device parameter information of the inspection unmanned aerial vehicle and a carried task carrier, wherein the task carrier comprises a radar, an ultrasonic device and image equipment, and the unmanned aerial vehicle management information also comprises an inspection task;
the user management information comprises user identity authentication and authority management, wherein the user identity authentication is applied to user login, and the calling group checks the identity information input during the user login with the identity information stored in the database and judges whether the user has login authority; the authority management carries out design roles through an authority model, corresponding roles are assigned according to authentication identities of users, corresponding authorities are acquired according to the roles, the users comprise administrators and operators, the regulation depth of the unmanned aerial vehicle and the functional operation of a database are different through the different authorities assigned by the roles, the server stores user information in the database, when the users carry out authority authentication, a calling group takes out information of the current users and the roles from the database, corresponding authorities associated with the roles are inquired, whether the users have the authorities for operating certain resources or not is judged, the authority authentication is completed through a filter in use, the authority filter intercepts a request sent by each client, when the request is intercepted, the operation authority of the current login user is searched from a domain, whether the request can operate the resources is judged, and if the request does not have the authority, error information is returned. After the authority authentication is completed, the user performs functional operation on the information in the database through the calling group.
The invention adopts the role access control authority model to design, the authority model introduces the concept of the role, interprets the relationship between the authority and the user, distributes the authority to the role instead of the user, distributes the authority to a certain role according to the responsibility of the user, acquires the corresponding authority according to the role, and distributes the authority of the user to the role through the association of the user and the role, wherein the role is associated with the resource or the operation.
The user performs identity verification through a Web browsing page of the client, judges whether to permit logging in the system, acquires corresponding access and management authority according to a role given by the user identity, and performs relevant management on the unmanned aerial vehicle through carrying the role.
The sample library comprises sample images of dynamic barriers and static barriers, and is used for comparing samples when the unmanned aerial vehicle identifies the barriers in the inspection process, so as to judge whether the types of the barriers are static or dynamic.
Aiming at the planning of the unmanned aerial vehicle inspection route, as the high-voltage lines and towers are generally arranged in the field with dangerous terrain and sometimes can cross some areas such as hills and dangerous peaks, the modeling of the terrain environment of the insulator inspection unmanned aerial vehicle is mainly classified into a comprehensive terrain model of basic landforms and mountain bodies, the model is built by a function simulation method, the environment modeling is firstly carried out on the inspected target area, and the modeling is mainly aimed at the surface relief, dynamic and static obstacles and the like in the task area. In addition, environmental constraint is carried out on the established model, so that analysis in a simulation task environment of a computer can be more close to an actual flight environment, inspection map management information comprises a high-voltage line inspection point, an inspection geomorphic model and an inspection route, the inspection geomorphic model comprises comprehensive landforms of landforms and mountains, and the inspection route is subjected to route planning and construction based on the inspection geomorphic model.
The routing inspection route planning based on the routing inspection landform model comprises the following steps:
step S31: constructing a patrol geomorphic model in a patrol area according to a formula, wherein the patrol geomorphic model comprises basic geomorphic and mountain bodies with higher topography, and respectively carrying out function expression on the basic geomorphic and mountain bodies with higher topography according to the formula, wherein the function formula is as follows:
(1)
(2)
(3)
The formula (1) is used for obtaining a function expression of the basic landform,
equation (2) is used to obtain a functional expression of the obstacle mountain,
the formula (3) is used for obtaining a function expression of the whole inspection geomorphic model;
wherein,coordinates expressed as projection of the inspection geomorphic model on the horizontal plane, including the abscissa +.>And the ordinate，
Represented by the coordinates +.>Height coordinates corresponding to horizontal plane, < >>Represented by the coordinates +.>Height coordinates corresponding to horizontal plane, < >>Functional expression of the whole inspection geomorphic model, < ->、/>、、/>、/>、/>、/>、/>Respectively, the adjustment coefficients are represented by the respective values,
reference numerals indicating mountain in inspection geomorphic model,/-for>Representing the number of mountain bodies in the inspection geomorphic model, < ->Indicating label->Mountain height of mountain based on reference level, +.>Indicating label->The center coordinates of mountain include horizontal coordinates- >And ordinate +.>，/>Indicating label->Mountain edge->Attenuation in axial direction->Indicating label->Mountain edge->An amount of attenuation in the axial direction;
step S32: the user examines the geomorphic model according to the wholeDesigning a routing inspection route, and setting the routing inspection route asEach unmanned aerial vehicle is correspondingly provided with a routing inspection route, and +.>The inspection route is split due to the fact that the inspection route comprises a high-voltage line and a high-voltage line rod, one high-voltage line rod is used as a target point, and the high-voltage line connected with the high-voltage line rod is used as a power-off route.
The user plans out the route of patrolling and examining of unmanned aerial vehicle according to the geomorphic model of patrolling and examining of constructing to mark each high-voltage line pole and high-voltage line in the route of patrolling and examining, make unmanned aerial vehicle laminate the object of waiting to examine more in the process of patrolling and examining.
In the embodiment, the database is designed in a distributed manner, so that the rapid response during data reading is facilitated, the elastic expansion of the storage space is realized, sufficient space is provided for the real-time updating of the electric power data and the mass data in each acquisition point, and the running performance of the whole system is improved; the security of identity verification during user login is improved by establishing roles and authorities to manage and design user information, different authorities are obtained by giving different roles to users, tightness of the users in a system management process and management efficiency of data information are achieved, and a patrol geomorphic model is established to enable the users to model patrol geomorphic and reasonably plan a patrol route so as to provide reliable data support for the design of the patrol route.
Example two
Unmanned aerial vehicle can meet various barriers in the route of patrolling and examining of planning, including but not limited to the trees that grow the hindrance route, birds that fly and the disposal bag that flies, these all can cause trouble and influence unmanned aerial vehicle's operation, lead to unmanned aerial vehicle to arrive the target point through planning route smoothly and carry out relevant operation, can not only influence going on smoothly of monitoring work, moreover because unmanned aerial vehicle's battery energy storage is limited, if the obstacle leads to unmanned aerial vehicle discernment to pass by mistake, cause travel time overlength, make electric power deplete and signal loss and organism lose, then lead to economic loss.
Referring to fig. 1, fig. 2, fig. 3, fig. 4 and fig. 5, a second embodiment of the present invention further describes a method for unmanned aerial vehicle inspection obstacle avoidance in a high-voltage line overhead area based on coordinate transformation.
In the high-voltage line overhead area unmanned aerial vehicle inspection obstacle avoidance method based on coordinate transformation, an inspection layer is used for unmanned aerial vehicles according to an inspection routeThe inspection layer comprises an obstacle avoidance module, wherein the obstacle avoidance module comprises an identification unit and a processing unit, and the processing unit is used for constructing a dynamic obstacle avoidance model and a static obstacle avoidance model based on the identification unit and regulating and controlling the obstacle avoidance behavior of the unmanned aerial vehicle; the processing unit regulates and controls the obstacle avoidance behavior of the unmanned aerial vehicle based on the dynamic obstacle avoidance model and the static obstacle avoidance model, and a specific control flow comprises the following steps:
Step S81: when the unmanned aerial vehicle advances to a target point, the obstacle in the inspection route and the sample in the sample library are visually identified through the radar and the image equipment in the task carrier, and the type of the obstacle is judged;
step S82: if the identified obstacle is a static obstacle, judging the stress condition of the unmanned aerial vehicle relative to the obstacle based on the artificial potential field, and selecting an interference force model or a distance correction model to regulate and control the obstacle avoidance behavior of the unmanned aerial vehicle, so that the unmanned aerial vehicle deviates from avoiding the obstacle and reaches a target point;
step S83: if the identified obstacle is a dynamic obstacle, firstly driving the dynamic obstacle based on the surprise device, if the driving is successful, continuing to normally run, and if the driving is unsuccessful, predicting the influence area of the dynamic obstacle on the unmanned aerial vehicleConverting the dynamic obstacle into a static obstacle to avoid the obstacle, repeating the step S82, and performing obstacle avoidance regulation and control on the unmanned aerial vehicle;
step S84: and after the unmanned aerial vehicle reaches the target point, working the target point according to the inspection task.
In the unmanned aerial vehicle inspection process, image recognition can be carried out on encountered obstacles, the recognition unit obtains the category of each forward obstacle in the inspection route based on image equipment, and avoids the obstacle according to the processing unit, so that the unmanned aerial vehicle is planned forward again, and the specific working process of the recognition unit comprises the following steps:
Step S41: the identification unit will patrol the routeSplitting each high-voltage line rod and each high-voltage line, marking the inspection sequence of the high-voltage line rods as k according to the inspection sequence, and setting an inspection route ∈ ->The number of the medium-high voltage lines is K, andthe unmanned aerial vehicle performs breakpoint line inspection based on the inspection route sections between two high-voltage lines in a similar order, a target point is arranged in each section of inspection route, and one high-voltage line is set as one target point;
step S42: when the unmanned aerial vehicle moves to a target point on a single breakpoint line, a task carrier advancing line of a recognition unit is monitored, whether an obstacle appears is judged through feedback of a radar, characteristic extraction is carried out on a recognized image according to morphological characteristics, texture characteristics, color characteristics and the like of the outside of the obstacle, the characteristics of the recognized image are compared with a sample library in a database, the extracted image characteristics are classified by a classifier, the type of the object in the image is obtained, the type of the obstacle is judged, and the obstacle is classified into a dynamic obstacle and a static obstacle;
step S43: the identification unit uploads the acquired information to the database and distributes the information to the processing unit.
The processing unit builds a dynamic obstacle avoidance model and a static obstacle avoidance model based on the data acquired by the identification unit, wherein the static obstacle avoidance model is used for regulating and controlling obstacle avoidance behaviors of the unmanned aerial vehicle under static obstacle, and the specific working process comprises the following steps:
step S51: setting unmanned aerial vehicle to be located inspection routeThe current coordinate position of (a) is +.>The coordinates of the target high-voltage line pole are +.>And construct artificial potential field +>Carrying out stress analysis according to the positions of the unmanned aerial vehicle and the static obstacle in the artificial potential field; according to the interaction rule between charges, an artificial potential field is mainly formed by respectively setting a gravitational field and a repulsive force field to a target point and an obstacle point in the flight process of the insulator inspection unmanned aerial vehicle, wherein an artificial potential field function is composed of two parts, namely, the gravitational function of the target point to the inspection unmanned aerial vehicle, and the repulsive force of the obstacle to the unmanned aerial vehicle are combined to form the traction force for the inspection unmanned aerial vehicle to avoid the obstacle, so that the unmanned aerial vehicle avoids the obstacle and finally completes inspection.
Step S52: when the traction force applied by the unmanned aerial vehicle is the same as the repulsive force integrally given by the obstacle, if the traction force and the repulsive force are the same, the unmanned aerial vehicle falls into a stressed balance state, and then falls into a stop or oscillation state, and the balance state is destroyed by applying an external interference force, so that the problem is solved. The unmanned aerial vehicle path planning is carried out by constructing an interference force model, so that the unmanned aerial vehicle carries out the interference force model under the action of interference force, and the interference force model comprises the following formula:
（4）
Wherein,represents the applied disturbance force and also represents the traction force experienced by the unmanned aerial vehicle, +.>Indicating label->Distance between obstacle and unmanned aerial vehicle +.>，/>Reference numerals indicating obstacles->Representing the number of obstacles>The comprehensive attraction force is born by the unmanned aerial vehicle; />The comprehensive repulsive force of the unmanned aerial vehicle under the obstacle is shown;
the static obstacle avoidance model further includes: when the distance between the target point and the obstacle is very close, the distance between the unmanned aerial vehicle and the obstacle is also more and more close when the unmanned aerial vehicle is close to the target point, so that the repulsive force born by the unmanned aerial vehicle can be always larger than the attractive force provided by the target point, and when the unmanned aerial vehicle cannot reach the target point, the unmanned aerial vehicle path is re-planned by constructing a distance correction model, and the distance correction comprises the following formula:
（5）
（6）
a display target and a drone (5)After the inter-distance correction, the artificial potential fieldIs an expression of (2);
the formula (6) is used for showing a traction expression of the unmanned plane after the distance correction;
wherein,indicating the area of influence of the unmanned aerial vehicle being obstructed, < > and/or->Representing variable parameters and being positive real numbers.
（7）
（8）
（9）As can be seen from formulas (7), (8) and (9), F 1 And F 2 Representing two components of the distance-modified repulsive force, F 1 The direction being directed by the obstacle to the unmanned plane, F 2 The direction is the same as the gravitational direction.
Under the condition of ensuring the safety distance from a patrol target, a certain of unknown burst threats, such as a flying bird, an aircraft, a balloon or a kite, can be encountered in the middle of patrol, the unmanned aerial vehicle is required to quickly react, namely, the burst threat information can be quickly identified, and a safety flight path from a current target point to a next target point can be quickly planned, so that the dynamic obstacle avoidance model is used for regulating and controlling the obstacle avoidance behavior of the unmanned aerial vehicle under the dynamic obstacle, and the specific working process comprises the following steps:
step S51: the radar and the image equipment on the unmanned aerial vehicle perform interaction, and when the unmanned aerial vehicle is away from an obstacleGreater thanWhen the distance d is set, acquiring collision time T according to the running speed v of the unmanned aerial vehicle, wherein the collision time T is divided into processing time T1 and reaction time T2;
step S52: the processing time T1 is used for expelling time of the unmanned aerial vehicle to the dynamic obstacle, the unmanned aerial vehicle drives the dynamic obstacle through the surprise device of the task carrier, the expelling result is obtained, if the dynamic obstacle disappears, the unmanned aerial vehicle continues to move according to a preset inspection route, if the dynamic obstacle does not disappear, the influence area of the dynamic obstacle on the unmanned aerial vehicle is predicted according to the change of the dynamic coordinates of the dynamic obstacle image in the processing time T1 And in the reaction time T2, converting the dynamic obstacle into the static obstacle to avoid the obstacle.
The method comprises the steps that a user inputs a patrol task and a patrol route of the unmanned aerial vehicle through a central processing unit, the unmanned aerial vehicle sequentially detects all target points through the patrol route, and a dynamic obstacle avoidance model and a static obstacle avoidance model are built through data of a processing unit in the detection process to regulate and control obstacle avoidance behaviors; after the unmanned aerial vehicle reaches the target point, detecting a high-voltage line rod at the target point through the task carrier, transmitting a detection result to the central processing unit through the wireless network, and processing according to the transmitted detection information by a user; and when the unmanned aerial vehicle reaches the next target point, repeating the inspection.
The unmanned aerial vehicle inspection obstacle avoidance method is applied to a cloud processing platform, the unmanned aerial vehicle is connected to a central processing unit through a wireless network, a task carrier is installed on the unmanned aerial vehicle through an interface, a data layer is applied to a cloud, hadoopHDFS distributed storage is carried out, the central processing unit is arranged on the cloud processing platform and adopts an integrated information processing system, an inspection layer and the data layer are processed by the cloud based on the central processing unit, the central processing unit is connected with a client through the wireless network, an output layer carries out information display through a Web page program of output equipment, an unmanned aerial vehicle detects information and an engine body in a working process carries out end page display, the output layer adopts an information system structure of multiple clients, a user accesses the system through clients, and rights access is carried out on the information according to given roles.
In this embodiment, the recognition unit is used to determine whether an obstacle appears in the inspection route, and determine the type of the obstacle, the processing unit performs inspection regulation and control on the unmanned aerial vehicle under the static obstacle through the static obstacle avoidance model based on the stress balance of the unmanned aerial vehicle by the artificial potential field and the too close distance between the obstacle and the target point, and the processing unit performs preliminary processing on the dynamic obstacle through the surprise device, and predicts the influence area of the dynamic obstacle on the unmanned aerial vehicleThe dynamic obstacle is converted into the static obstacle to avoid the obstacle, so that the obstacle avoidance regulation and control of the unmanned aerial vehicle in the inspection process is realized.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above examples, and all technical solutions belonging to the concept of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to those skilled in the art without departing from the principles of the present invention are intended to be comprehended within the scope of the present invention.
Claims (10)
1. The high-voltage line overhead area unmanned aerial vehicle inspection obstacle avoidance method based on coordinate transformation is characterized in that the high-voltage line overhead area unmanned aerial vehicle inspection obstacle avoidance method is applied to a high-voltage line overhead area unmanned aerial vehicle inspection obstacle avoidance system, and the high-voltage line overhead area unmanned aerial vehicle inspection obstacle avoidance system comprises a data layer, an inspection layer, a regulation layer and an output layer;
The data layer comprises a database and a calling group, the data layer is designed based on a NET open source architecture, the database comprises unmanned aerial vehicle management information, user management information and inspection map management information, and distributed storage and calling management are carried out;
the inspection layer is used for unmanned aerial vehicle according to route of patrolling and examiningTo the inspection of each high-voltage line pole and circuit, the layer of patrolling and examining includes keeps away the barrier module, keeps away the barrier module and includes identification unit and processing unitThe processing unit builds a dynamic obstacle avoidance model and a static obstacle avoidance model based on the identification unit and is used for regulating and controlling the obstacle avoidance behavior of the unmanned aerial vehicle;
the output layer comprises display equipment and a client, and displays end pages of the processing information and the application instructions.
2. The coordinate transformation-based high-voltage line overhead area unmanned aerial vehicle inspection obstacle avoidance method according to claim 1, wherein the unmanned aerial vehicle management information comprises an inspection unmanned aerial vehicle model, battery and power device parameter information and a carried task carrier, wherein the task carrier comprises a radar, an ultrasonic device and image equipment, and the unmanned aerial vehicle management information further comprises an inspection task;
the user management information comprises user identity authentication and authority management, wherein the user identity authentication is applied to user login, and the calling group checks the identity information input during the user login with the identity information stored in the database and judges whether the user has login authority; the authority management designs roles through an authority model, gives corresponding roles according to authentication identities of users, and acquires corresponding authorities according to the roles;
The routing inspection map management information comprises a high-voltage line inspection point, a routing inspection landform model and a routing inspection route, wherein the routing inspection landform model comprises comprehensive landforms of landforms and mountains, and the routing inspection route is used for carrying out route planning and construction based on the routing inspection landform model;
the sample library includes sample images of dynamic and static obstructions.
3. The method for unmanned aerial vehicle inspection obstacle avoidance in the high-voltage line overhead area based on coordinate transformation according to claim 1, wherein the inspection route planning based on the inspection landform model comprises the following steps:
step S31: constructing a patrol geomorphic model in a patrol area according to a formula, wherein the patrol geomorphic model comprises basic geomorphic and mountain bodies with higher topography, and respectively carrying out function expression on the basic geomorphic and mountain bodies with higher topography according to the formula, wherein the function formula is as follows:
(1)
(2)
(3)
The formula (1) is used for obtaining a function expression of the basic landform,
equation (2) is used to obtain a functional expression of the obstacle mountain,
the formula (3) is used for obtaining a function expression of the whole inspection geomorphic model;
wherein,coordinates expressed as projection of the inspection geomorphic model on the horizontal plane, including the abscissa +. >And ordinate +.>，
Represented by the coordinates +.>Height coordinates corresponding to horizontal plane, < >>Represented by the coordinates +.>Height coordinates corresponding to horizontal plane, < >>Functional expression of the whole inspection geomorphic model, < ->、/>、/>、/>、/>、/>、/>、/>Respectively, the adjustment coefficients are represented by the respective values,
reference numerals indicating mountain in inspection geomorphic model,/-for>Representing the number of mountain bodies in the inspection geomorphic model, < ->Indicating label->Mountain height of mountain based on reference level, +.>Indicating label->The center coordinates of the mountain include the abscissaAnd ordinate +.>，/>Indicating label->Mountain edge->Attenuation in axial direction->Indicating label->Mountain edge->An amount of attenuation in the axial direction;
step S32: the user examines the geomorphic model according to the wholeDesigning a routing inspection route, and setting the routing inspection route as +.>And (2) and。
4. the method for the unmanned aerial vehicle to patrol and avoid the high-voltage line overhead area based on the coordinate transformation according to claim 1, wherein the identification unit obtains the category of each forward obstacle in the patrol route based on the image equipment, avoids the obstacle according to the processing unit, allows the unmanned aerial vehicle to advance in a re-planning mode, and the specific working process of the identification unit comprises the following steps:
step S41: the identification unit will patrol the route Splitting each high-voltage line rod and each high-voltage line, marking the inspection sequence of the high-voltage line rods as k according to the inspection sequence, and setting an inspection route ∈ ->The number of the medium-high voltage lines is K, and +.>The unmanned aerial vehicle performs breakpoint line inspection based on the inspection route sections between two high-voltage lines in a similar order, a target point is arranged in each section of inspection route, and one high-voltage line is set as one target point;
step S42: when the unmanned aerial vehicle moves to the target point on a single breakpoint line, the forward route of the unit task carrier is identified to monitor, whether an obstacle appears or not is judged, the type of the obstacle is judged, and the obstacle is divided into a dynamic obstacle and a static obstacle;
step S43: the identification unit uploads the acquired information to the database and distributes the information to the processing unit.
5. The coordinate transformation-based high-voltage line overhead area unmanned aerial vehicle inspection obstacle avoidance method according to claim 1, wherein the processing unit constructs a dynamic obstacle avoidance model and a static obstacle avoidance model based on the data acquired by the identification unit, and the static obstacle avoidance model is used for regulating and controlling the obstacle avoidance behavior of the unmanned aerial vehicle under the static obstacle, and the specific working process comprises the following steps:
Step S51: setting unmanned aerial vehicle to be located inspection routeThe current coordinate position of (a) is +.>The coordinates of the target high-voltage line pole are +.>And construct artificial potential field +>Carrying out stress analysis according to the positions of the unmanned aerial vehicle and the static obstacle in the artificial potential field;
step S52: when the traction force applied by the unmanned aerial vehicle is the same as the repulsive force integrally given by the obstacle, the unmanned aerial vehicle falls into a stop or oscillation state, and the unmanned aerial vehicle path planning is performed by constructing an interference force model, so that the unmanned aerial vehicle performs the interference force model under the action of the interference force and comprises the following formulas:
（4）
wherein,represents the applied disturbance force and also represents the traction force experienced by the unmanned aerial vehicle, +.>Indicating label->Distance between obstacle and unmanned aerial vehicle +.>，/>Reference numerals indicating obstacles->Representing the number of obstacles>The comprehensive attraction force is born by the unmanned aerial vehicle; />Indicating that the unmanned aerial vehicle is subjected to comprehensive repulsive force of the obstacle.
6. The coordinate transformation-based high-voltage line overhead area unmanned aerial vehicle inspection obstacle avoidance method of claim 5, wherein the static obstacle avoidance model further comprises: when the distance between the target point and the obstacle is very close, and the unmanned aerial vehicle cannot reach the target point, the unmanned aerial vehicle path is re-planned by constructing a distance correction model, and the distance correction comprises the following formula:
（5）
（6）
After the distance between the display target point and the unmanned aerial vehicle is corrected, the artificial potential field is used forIs an expression of (2);
the formula (6) is used for showing a traction expression of the unmanned plane after the distance correction;
wherein,indicating the area of influence of the unmanned aerial vehicle being obstructed, < > and/or->Representing variable parameters and being positive real numbers.
7. The coordinate transformation-based high-voltage line overhead area unmanned aerial vehicle inspection obstacle avoidance method according to claim 5, wherein the dynamic obstacle avoidance model is used for regulating and controlling the obstacle avoidance behavior of the unmanned aerial vehicle under the dynamic obstacle, and the specific working process comprises the following steps:
step S51: the radar and the image equipment on the unmanned aerial vehicle perform interaction, and when the unmanned aerial vehicle is away from an obstacleWhen the distance d is greater than the set distance d, acquiring collision time T according to the running speed v of the unmanned aerial vehicle, wherein the collision time T is divided into processing time T1 and reaction time T2;
step S52: the processing time T1 is used for expelling time of the unmanned aerial vehicle to the dynamic obstacle, the unmanned aerial vehicle drives the dynamic obstacle through the surprise device of the task carrier, the expelling result is obtained, if the dynamic obstacle disappears, the unmanned aerial vehicle continues to move according to a preset inspection route, if the dynamic obstacle does not disappear, the influence area of the dynamic obstacle on the unmanned aerial vehicle is predicted according to the change of the dynamic coordinates of the dynamic obstacle image in the processing time T1 And in the reaction time T2, converting the dynamic obstacle into the static obstacle to avoid the obstacle.
8. The coordinate transformation-based high-voltage line overhead area unmanned aerial vehicle inspection obstacle avoidance method according to claim 5, wherein the processing unit regulates the obstacle avoidance behavior of the unmanned aerial vehicle based on a dynamic obstacle avoidance model and a static obstacle avoidance model, and the specific control flow comprises the following steps:
step S81: when the unmanned aerial vehicle advances to a target point, the obstacle in the inspection route and the sample in the sample library are visually identified through the radar and the image equipment in the task carrier, and the type of the obstacle is judged;
step S82: if the identified obstacle is a static obstacle, judging the stress condition of the unmanned aerial vehicle relative to the obstacle based on the artificial potential field, and selecting an interference force model or a distance correction model to regulate and control the obstacle avoidance behavior of the unmanned aerial vehicle, so that the unmanned aerial vehicle deviates from avoiding the obstacle and reaches a target point;
step S83: if the identified obstacle is a dynamic obstacle, firstly driving the dynamic obstacle based on the surprise device, if the driving is successful, continuing to normally run, and if the driving is unsuccessful, predicting the influence area of the dynamic obstacle on the unmanned aerial vehicleConverting the dynamic obstacle into a static obstacle to avoid the obstacle, repeating the step S82, and performing obstacle avoidance regulation and control on the unmanned aerial vehicle;
Step S84: and after the unmanned aerial vehicle reaches the target point, working the target point according to the inspection task.
9. The unmanned aerial vehicle inspection obstacle avoidance method for the high-voltage line overhead area based on the coordinate transformation according to claim 1 is characterized in that the technical scheme of the unmanned aerial vehicle inspection obstacle avoidance method mainly comprises the following steps:
step S1: the user performs identity verification through a Web browsing page of the client, judges whether to permit logging in the system, acquires corresponding access and management authority according to a role given by the user identity, and performs relevant management on the unmanned aerial vehicle through carrying the role;
step S2: the method comprises the steps that a user inputs a patrol task and a patrol route of the unmanned aerial vehicle through a central processing unit, the unmanned aerial vehicle sequentially detects all target points through the patrol route, and a dynamic obstacle avoidance model and a static obstacle avoidance model are built through data of a processing unit in the detection process to regulate and control obstacle avoidance behaviors;
step S3: after the unmanned aerial vehicle reaches the target point, detecting a high-voltage line rod at the target point through the task carrier, transmitting a detection result to the central processing unit through the wireless network, and processing according to the transmitted detection information by a user;
Step S4: when the unmanned aerial vehicle reaches the next target point, the steps S2 to S4 are repeated.
10. The unmanned aerial vehicle inspection obstacle avoidance method based on the coordinate transformation for the high-voltage line overhead area is characterized in that the unmanned aerial vehicle inspection obstacle avoidance method is applied to a cloud processing platform, an unmanned aerial vehicle is connected with a central processing unit through a wireless network, a task carrier is installed on the unmanned aerial vehicle through an interface, a data layer is applied to a cloud, hadoopHDFS distributed storage is carried out, the central processing unit is arranged on the cloud processing platform and adopts an integrated information processing system, an inspection layer and the data layer are processed based on the central processing unit, the central processing unit is connected with a client through the wireless network, an output layer displays information through a Web page program of an output device, an unmanned aerial vehicle body displays end pages, an output layer adopts an information system structure of multiple clients, a user accesses the system through the clients, and rights access is carried out on the information according to the given roles.
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